From 67e0b3b776c4d16abb0cbb4eae536b520c66654d Mon Sep 17 00:00:00 2001 From: magraina Date: Thu, 13 Nov 2025 22:34:23 +0100 Subject: [PATCH 01/33] chore: add first thoughts --- libs/serialIO/.clang-format | 79 + libs/serialIO/.gitignore | 3 + libs/serialIO/.readthedocs.yaml | 25 + libs/serialIO/CODE_OF_CONDUCT.md | 128 + libs/serialIO/Docs/.gitignore | 14 + libs/serialIO/Docs/Makefile | 33 + libs/serialIO/Docs/requirements.txt | Bin 0 -> 1554 bytes .../Docs/source/_static/formatsbus.png | Bin 0 -> 29551 bytes .../serialIO/Docs/source/_static/inverter.png | Bin 0 -> 8147 bytes libs/serialIO/Docs/source/_static/sbus.png | Bin 0 -> 80307 bytes .../serialIO/Docs/source/apidocumentation.rst | 7 + libs/serialIO/Docs/source/conf.py | 62 + libs/serialIO/Docs/source/contributing.rst | 47 + libs/serialIO/Docs/source/example.rst | 16 + libs/serialIO/Docs/source/index.rst | 48 + libs/serialIO/Docs/source/installation.rst | 25 + libs/serialIO/Docs/source/tutorial.rst | 116 + libs/serialIO/Doxyfile | 2893 +++++++++++++++++ libs/serialIO/LICENSE | 674 ++++ libs/serialIO/README.md | 30 + .../examples/atmel/ibus_basic/.arduino-ci.yml | 5 + .../examples/atmel/ibus_basic/ibus_basic.ino | 18 + .../rp2040/ibus_basic/.arduino-ci.yml | 18 + .../examples/rp2040/ibus_basic/ibus_basic.ino | 54 + libs/serialIO/library.properties | 12 + libs/serialIO/src/SerialIO.cpp | 31 + libs/serialIO/src/SerialIO.h | 115 + libs/serialIO/src/crsf/crsf.cpp | 67 + libs/serialIO/src/crsf/crsf.h | 56 + libs/serialIO/src/crsf/crsf_protocol.h | 194 ++ libs/serialIO/src/fport/fport.cpp | 52 + libs/serialIO/src/fport/fport.h | 27 + libs/serialIO/src/fport/fport_protocol.h | 55 + libs/serialIO/src/ibus/ibus.cpp | 80 + libs/serialIO/src/ibus/ibus.h | 59 + libs/serialIO/src/ibus/ibus_protocol.h | 45 + libs/serialIO/src/sbus/sbus.cpp | 68 + libs/serialIO/src/sbus/sbus.h | 86 + libs/serialIO/src/sbus/sbus_protocol.h | 52 + truckLightAndFunction.ino | 1 + vehicleConfig.h | 52 + 41 files changed, 5347 insertions(+) create mode 100644 libs/serialIO/.clang-format create mode 100644 libs/serialIO/.gitignore create mode 100644 libs/serialIO/.readthedocs.yaml create mode 100644 libs/serialIO/CODE_OF_CONDUCT.md create mode 100644 libs/serialIO/Docs/.gitignore create mode 100644 libs/serialIO/Docs/Makefile create mode 100644 libs/serialIO/Docs/requirements.txt create mode 100644 libs/serialIO/Docs/source/_static/formatsbus.png create mode 100644 libs/serialIO/Docs/source/_static/inverter.png create mode 100644 libs/serialIO/Docs/source/_static/sbus.png create mode 100644 libs/serialIO/Docs/source/apidocumentation.rst create mode 100644 libs/serialIO/Docs/source/conf.py create mode 100644 libs/serialIO/Docs/source/contributing.rst create mode 100644 libs/serialIO/Docs/source/example.rst create mode 100644 libs/serialIO/Docs/source/index.rst create mode 100644 libs/serialIO/Docs/source/installation.rst create mode 100644 libs/serialIO/Docs/source/tutorial.rst create mode 100644 libs/serialIO/Doxyfile create mode 100644 libs/serialIO/LICENSE create mode 100644 libs/serialIO/README.md create mode 100644 libs/serialIO/examples/atmel/ibus_basic/.arduino-ci.yml create mode 100644 libs/serialIO/examples/atmel/ibus_basic/ibus_basic.ino create mode 100644 libs/serialIO/examples/rp2040/ibus_basic/.arduino-ci.yml create mode 100644 libs/serialIO/examples/rp2040/ibus_basic/ibus_basic.ino create mode 100644 libs/serialIO/library.properties create mode 100644 libs/serialIO/src/SerialIO.cpp create mode 100644 libs/serialIO/src/SerialIO.h create mode 100644 libs/serialIO/src/crsf/crsf.cpp create mode 100644 libs/serialIO/src/crsf/crsf.h create mode 100644 libs/serialIO/src/crsf/crsf_protocol.h create mode 100644 libs/serialIO/src/fport/fport.cpp create mode 100644 libs/serialIO/src/fport/fport.h create mode 100644 libs/serialIO/src/fport/fport_protocol.h create mode 100644 libs/serialIO/src/ibus/ibus.cpp create mode 100644 libs/serialIO/src/ibus/ibus.h create mode 100644 libs/serialIO/src/ibus/ibus_protocol.h create mode 100644 libs/serialIO/src/sbus/sbus.cpp create mode 100644 libs/serialIO/src/sbus/sbus.h create mode 100644 libs/serialIO/src/sbus/sbus_protocol.h diff --git a/libs/serialIO/.clang-format b/libs/serialIO/.clang-format new file mode 100644 index 0000000..d90731a --- /dev/null +++ b/libs/serialIO/.clang-format @@ -0,0 +1,79 @@ +AccessModifierOffset: -2 +AlignAfterOpenBracket: Align +AlignConsecutiveAssignments: false +AlignConsecutiveDeclarations: false +AlignEscapedNewlinesLeft: false +AlignOperands: true +AlignTrailingComments: true +AllowAllParametersOfDeclarationOnNextLine: false +AllowShortBlocksOnASingleLine: false +AllowShortCaseLabelsOnASingleLine: false +AllowShortFunctionsOnASingleLine: Inline +AllowShortIfStatementsOnASingleLine: false +AllowShortLoopsOnASingleLine: false +AlwaysBreakAfterDefinitionReturnType: TopLevel +AlwaysBreakAfterReturnType: TopLevelDefinitions +AlwaysBreakBeforeMultilineStrings: false +AlwaysBreakTemplateDeclarations: true +BinPackArguments: false +BinPackParameters: true +BraceWrapping: + AfterClass: true + AfterControlStatement: false + AfterEnum: true + AfterFunction: true + AfterNamespace: false + AfterObjCDeclaration: false + AfterStruct: true + AfterUnion: true + BeforeCatch: false + BeforeElse: true + IndentBraces: false +BreakBeforeBinaryOperators: None +BreakBeforeBraces: Custom +BreakBeforeTernaryOperators: true +BreakConstructorInitializersBeforeComma: true +ColumnLimit: 79 +CommentPragmas: '^ IWYU pragma:' +ConstructorInitializerAllOnOneLineOrOnePerLine: true +ConstructorInitializerIndentWidth: 2 +ContinuationIndentWidth: 2 +Cpp11BracedListStyle: false +DerivePointerAlignment: false +DisableFormat: false +ExperimentalAutoDetectBinPacking: false +ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ] +IncludeCategories: + - Regex: '^"(llvm|llvm-c|clang|clang-c)/' + Priority: 2 + - Regex: '^(<|"(gtest|isl|json)/)' + Priority: 3 + - Regex: '.*' + Priority: 1 +IndentCaseLabels: false +IndentWidth: 2 +IndentWrappedFunctionNames: false +KeepEmptyLinesAtTheStartOfBlocks: true +MacroBlockBegin: '' +MacroBlockEnd: '' +MaxEmptyLinesToKeep: 1 +NamespaceIndentation: None +ObjCBlockIndentWidth: 2 +ObjCSpaceAfterProperty: true +ObjCSpaceBeforeProtocolList: false +PointerAlignment: Right +ReflowComments: true +SortIncludes: false +SpaceAfterCStyleCast: false +SpaceBeforeAssignmentOperators: true +SpaceBeforeParens: Never +SpaceInEmptyParentheses: false +SpacesBeforeTrailingComments: 1 +SpacesInAngles: false +SpacesInContainerLiterals: true +SpacesInCStyleCastParentheses: false +SpacesInParentheses: false +SpacesInSquareBrackets: false +Standard: Cpp11 +TabWidth: 8 +UseTab: Never \ No newline at end of file diff --git a/libs/serialIO/.gitignore b/libs/serialIO/.gitignore new file mode 100644 index 0000000..58f62a4 --- /dev/null +++ b/libs/serialIO/.gitignore @@ -0,0 +1,3 @@ +/Docs/html +/Docs/latex +/Docs/xml \ No newline at end of file diff --git a/libs/serialIO/.readthedocs.yaml b/libs/serialIO/.readthedocs.yaml new file mode 100644 index 0000000..1dc82ce --- /dev/null +++ b/libs/serialIO/.readthedocs.yaml @@ -0,0 +1,25 @@ +# Read the Docs configuration file +# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details + +# Required +version: 2 + +# Set the OS, Python version, and other tools you might need +build: + os: ubuntu-24.04 + tools: + python: "3.10" + apt_packages: + - doxygen + +# Build documentation in the "docs/" directory with Sphinx +sphinx: + configuration: Docs/source/conf.py + +# Optionally, but recommended, +# declare the Python requirements required to build your documentation +# See https://docs.readthedocs.io/en/stable/guides/reproducible-builds.html +python: + install: + - requirements: Docs/requirements.txt + diff --git a/libs/serialIO/CODE_OF_CONDUCT.md b/libs/serialIO/CODE_OF_CONDUCT.md new file mode 100644 index 0000000..18c9147 --- /dev/null +++ b/libs/serialIO/CODE_OF_CONDUCT.md @@ -0,0 +1,128 @@ +# Contributor Covenant Code of Conduct + +## Our Pledge + +We as members, contributors, and leaders pledge to make participation in our +community a harassment-free experience for everyone, regardless of age, body +size, visible or invisible disability, ethnicity, sex characteristics, gender +identity and expression, level of experience, education, socio-economic status, +nationality, personal appearance, race, religion, or sexual identity +and orientation. + +We pledge to act and interact in ways that contribute to an open, welcoming, +diverse, inclusive, and healthy community. + +## Our Standards + +Examples of behavior that contributes to a positive environment for our +community include: + +* Demonstrating empathy and kindness toward other people +* Being respectful of differing opinions, viewpoints, and experiences +* Giving and gracefully accepting constructive feedback +* Accepting responsibility and apologizing to those affected by our mistakes, + and learning from the experience +* Focusing on what is best not just for us as individuals, but for the + overall community + +Examples of unacceptable behavior include: + +* The use of sexualized language or imagery, and sexual attention or + advances of any kind +* Trolling, insulting or derogatory comments, and personal or political attacks +* Public or private harassment +* Publishing others' private information, such as a physical or email + address, without their explicit permission +* Other conduct which could reasonably be considered inappropriate in a + professional setting + +## Enforcement Responsibilities + +Community leaders are responsible for clarifying and enforcing our standards of +acceptable behavior and will take appropriate and fair corrective action in +response to any behavior that they deem inappropriate, threatening, offensive, +or harmful. + +Community leaders have the right and responsibility to remove, edit, or reject +comments, commits, code, wiki edits, issues, and other contributions that are +not aligned to this Code of Conduct, and will communicate reasons for moderation +decisions when appropriate. + +## Scope + +This Code of Conduct applies within all community spaces, and also applies when +an individual is officially representing the community in public spaces. +Examples of representing our community include using an official e-mail address, +posting via an official social media account, or acting as an appointed +representative at an online or offline event. + +## Enforcement + +Instances of abusive, harassing, or otherwise unacceptable behavior may be +reported to the community leaders responsible for enforcement at +. +All complaints will be reviewed and investigated promptly and fairly. + +All community leaders are obligated to respect the privacy and security of the +reporter of any incident. + +## Enforcement Guidelines + +Community leaders will follow these Community Impact Guidelines in determining +the consequences for any action they deem in violation of this Code of Conduct: + +### 1. Correction + +**Community Impact**: Use of inappropriate language or other behavior deemed +unprofessional or unwelcome in the community. + +**Consequence**: A private, written warning from community leaders, providing +clarity around the nature of the violation and an explanation of why the +behavior was inappropriate. A public apology may be requested. + +### 2. Warning + +**Community Impact**: A violation through a single incident or series +of actions. + +**Consequence**: A warning with consequences for continued behavior. No +interaction with the people involved, including unsolicited interaction with +those enforcing the Code of Conduct, for a specified period of time. This +includes avoiding interactions in community spaces as well as external channels +like social media. Violating these terms may lead to a temporary or +permanent ban. + +### 3. Temporary Ban + +**Community Impact**: A serious violation of community standards, including +sustained inappropriate behavior. + +**Consequence**: A temporary ban from any sort of interaction or public +communication with the community for a specified period of time. No public or +private interaction with the people involved, including unsolicited interaction +with those enforcing the Code of Conduct, is allowed during this period. +Violating these terms may lead to a permanent ban. + +### 4. Permanent Ban + +**Community Impact**: Demonstrating a pattern of violation of community +standards, including sustained inappropriate behavior, harassment of an +individual, or aggression toward or disparagement of classes of individuals. + +**Consequence**: A permanent ban from any sort of public interaction within +the community. + +## Attribution + +This Code of Conduct is adapted from the [Contributor Covenant][homepage], +version 2.0, available at +https://www.contributor-covenant.org/version/2/0/code_of_conduct.html. + +Community Impact Guidelines were inspired by [Mozilla's code of conduct +enforcement ladder](https://github.com/mozilla/diversity). + +[homepage]: https://www.contributor-covenant.org + +For answers to common questions about this code of conduct, see the FAQ at +https://www.contributor-covenant.org/faq. Translations are available at +https://www.contributor-covenant.org/translations. diff --git a/libs/serialIO/Docs/.gitignore b/libs/serialIO/Docs/.gitignore new file mode 100644 index 0000000..bdaa177 --- /dev/null +++ b/libs/serialIO/Docs/.gitignore @@ -0,0 +1,14 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# Virtual environment +venv/ +.env/ +.venv/ + +# Sphinx build directory +_build +build/ +docs/_build/ diff --git a/libs/serialIO/Docs/Makefile b/libs/serialIO/Docs/Makefile new file mode 100644 index 0000000..7b52247 --- /dev/null +++ b/libs/serialIO/Docs/Makefile @@ -0,0 +1,33 @@ +# Minimal makefile for Sphinx documentation + +# You can set these variables from the command line, and also +# from the environment for the first two. +SPHINXOPTS ?= +SPHINXBUILD ?= .venv/bin/sphinx-build +SPHINXAUTOBUILD ?= .venv/bin/sphinx-autobuild +PIP ?= .venv/bin/pip +PYTHON ?= .venv/bin/python +SOURCEDIR = source +BUILDDIR = build + +# Put it first so that 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z!WR#Et%RoyO19X)8@q}|Rcv-HTAUGwY~QW>g9m`&=FS0Q(Q4Jnt|ChzkbvQ zX)SCOcY33`Nj<5j(gZ%ju$U#pD6tZ|p}Ih+^vaVLOMCUXbL*=gyOl+7GU)^|dVv6) zg3bF+V1wwVC=*x<|0(@$<4?A^Ce$X1WEE?@#%<= z5rh4QoK;~W<8+pvX}oOtJ`V*)G`T{b^sd7|3ITBHx2cJ8is#u_ehT&fcM^?#fQmzonyu?m^-Z9FlfS)P0>49h?gtt1MEBK3C)`8Mna68`OE zAOge13QRX%`}b*$)oqpmBm@iY27xsSnJ0jo0uO7zADjocnE_g!!=`o+@fpR3?yo$5-e9=#I)8ZiK9of%%6(?=Xg zcQRyP&zNUVeg8mHKcA2V3O{(Q+pjA=JIyR2P)GC;;^oIYr%`%K0fVqY#Q&T6e^&p` zVg3u#|1!+~PmUY@sFjzdtLOfml0mT + + class XYZProtocol : public SerialIO { + public: + explicit XYZProtocol(HardwareSerial &rxPort, int rxPin, int txPin, bool inverted = false) + : SerialIO(&rxPort, rxPin, txPin, inverted) {} + ~XYZProtocol(); + + void begin(); + void processIncoming(); + void getChannel(); + + private: + HardwareSerial *_serialPort; + }; + + #endif // XYZ_PROTOCOL_H \ No newline at end of file diff --git a/libs/serialIO/Docs/source/example.rst b/libs/serialIO/Docs/source/example.rst new file mode 100644 index 0000000..ce22a46 --- /dev/null +++ b/libs/serialIO/Docs/source/example.rst @@ -0,0 +1,16 @@ +.. _example: + +Examples +======== + +CRSF Basic Example +------------------ + +.. literalinclude:: ../../examples/espresiff/crsf_basic/crsf_basic.ino + :language: cpp + +SBUS Basic Example +------------------ + +.. literalinclude:: ../../examples/espresiff/sbus_basic/sbus_basic.ino + :language: cpp \ No newline at end of file diff --git a/libs/serialIO/Docs/source/index.rst b/libs/serialIO/Docs/source/index.rst new file mode 100644 index 0000000..1af3386 --- /dev/null +++ b/libs/serialIO/Docs/source/index.rst @@ -0,0 +1,48 @@ +.. SerialIO documentation master file, created by + sphinx-quickstart on Sat Mar 29 19:38:49 2025. + You can adapt this file completely to your liking, but it should at least + contain the root `toctree` directive. + +SerialIO +====================== + +.. _mainpage: + +SerialIO is a common library designed to simplify the implementation of RC protocol decoding in Arduino projects. It provides a modular and extensible architecture that allows for easy integration of various RC protocols. + +.. toctree:: + :maxdepth: 1 + :caption: Getting Started: + + installation + tutorial + example + +.. toctree:: + :maxdepth: 1 + :caption: Supported Protocols: + + sbus + fport + +.. toctree:: + :maxdepth: 1 + :caption: API Documentation: + + apidocumentation + +.. toctree:: + :maxdepth: 1 + :caption: Development: + + contributing + +License +------- + +.. image:: https://www.gnu.org/graphics/gplv3-or-later.svg + :target: https://www.gnu.org/licenses/gpl-3.0.en.html + :alt: GPL‑3.0‑or‑later + :width: 160 + +This library is distributed under the `GNU General Public License v3.0 or later `_. \ No newline at end of file diff --git a/libs/serialIO/Docs/source/installation.rst b/libs/serialIO/Docs/source/installation.rst new file mode 100644 index 0000000..00c3145 --- /dev/null +++ b/libs/serialIO/Docs/source/installation.rst @@ -0,0 +1,25 @@ +.. _installation: + +Installation +============ + +Arduino Installation +-------------------- +SerialIO is available on the Arduino library manager or, + +you can install it manually by downloading the library from the GitHub repository: + +1. Download the SerialIO library from the `GitHub repository `_. +2. Extract the downloaded ZIP file. +3. Copy the extracted folder to the `libraries` directory in your Arduino sketchbook. +4. Restart the Arduino IDE. +5. You should now be able to include the SerialIO library in your Arduino sketches. + +PlatformIO Installation +----------------------- + +If you are using PlatformIO, you can install the SerialIO library directly from the PlatformIO Library Manager. Add the following line to your ``platformio.ini`` file: + +.. code-block:: ini + + lib_deps = Witty-Wizard/SerialIO \ No newline at end of file diff --git a/libs/serialIO/Docs/source/tutorial.rst b/libs/serialIO/Docs/source/tutorial.rst new file mode 100644 index 0000000..a6710bd --- /dev/null +++ b/libs/serialIO/Docs/source/tutorial.rst @@ -0,0 +1,116 @@ +.. _tutorial: + +Tutorial +########## + +General usage +========================== + +To use the library for decoding RC protocols in your Arduino project, follow these steps: + +1. **Include Necessary Libraries**: + +.. code-block:: cpp + + #include + +2. **Define Channel Data Structure**: + +.. code-block:: cpp + + crsf_channels_t channelData; + +3. **Instantiate SerialIO Object**: + +.. code-block:: cpp + + SerialIO *receiver = new crsf(&Serial1, pinRX, pinTX); + +To instantiate a SerialIO object for receiving data only: + +.. code-block:: cpp + + SerialIO *receiver = new crsf(&Serial1, pinRX); + +4. **Initialize Communication**: + +.. code-block:: cpp + + void setup() { + receiver->begin(); + } + +5. **Process Incoming Data**: + +.. code-block:: cpp + + receiver->processIncoming(); + +6. **Retrieve Channel Data**: + +.. code-block:: cpp + + receiver->getChannel(&channelData); + +Using software serial +========================== +If you are using a board that does not have hardware serial ports, you can use the SoftwareSerial library to create a software serial port. +The SerialIO class can accept a SoftwareSerial object, but the begin method does not support software serial, so after creating the object, you need to +manually initiate the software serial port. + +.. note:: + + On AVR boards, only ibus, and fport protocols are supported (fport required an external inverter circuit), this is because sbus and crsf use unusual baudrate that are not supported by the hardware serial. + sbus can be used, by using a software serial library, but it is not recommended. + +Sbus +^^^^^^ + +.. code-block:: cpp + + #include + #include + + #define pinRX 2 + #define pinTX 3 + #define SBUS_BAUDRATE 100000 + + /** SoftwareSerial(pinRX, pinTX, true); + * ^^^^ + * set to true because sbus uses inverted uart + */ + + SoftwareSerial *mySerial = new SoftwareSerial(pinRX, pinTX, true); + mySerial.begin(SBUS_BAUDRATE); + SerialIO *receiver = new sbus(mySerial); + +Crossfire +^^^^^^^^^ + +.. note:: + + Crossfire uses a rather high baudrate of `420000`, which is not supported by hardware serial and for software serial, + it is not recommended to use it, because the software serial library is not optimized for high baudrate. The following code + is not tested. Best alternative would be to use a better microcontroller or if you are using ELRS receivers, then reduce the + baudrate to `115200`, which is supported by hardware and software serial. + +.. code-block:: cpp + + #include + #include + + #define pinRX 2 + #define pinTX 3 + #define CRSF_BAUDRATE 100000 + + SoftwareSerial *mySerial = new SoftwareSerial(pinRX, pinTX); + mySerial.begin(CRSF_BAUDRATE); + SerialIO *receiver = new crsf(mySerial); + +See Also +^^^^^^^^ +- :cpp:class:`SerialIO` +- :cpp:class:`sbus` +- :cpp:class:`crsf` +- :cpp:class:`ibus` +- :cpp:class:`fport` \ No newline at end of file diff --git a/libs/serialIO/Doxyfile b/libs/serialIO/Doxyfile new file mode 100644 index 0000000..302ae3f --- /dev/null +++ b/libs/serialIO/Doxyfile @@ -0,0 +1,2893 @@ +# Doxyfile 1.10.0 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). +# +# Note: +# +# Use doxygen to compare the used configuration file with the template +# configuration file: +# doxygen -x [configFile] +# Use doxygen to compare the used configuration file with the template +# configuration file without replacing the environment variables or CMake type +# replacement variables: +# doxygen -x_noenv [configFile] + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the configuration +# file that follow. 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The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. If set to NO, the Javadoc-style will behave just like regular Qt- +# style comments (thus requiring an explicit @brief command for a brief +# description.) +# The default value is: NO. + +JAVADOC_AUTOBRIEF = NO + +# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line +# such as +# /*************** +# as being the beginning of a Javadoc-style comment "banner". If set to NO, the +# Javadoc-style will behave just like regular comments and it will not be +# interpreted by doxygen. +# The default value is: NO. + +JAVADOC_BANNER = NO + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# By default Python docstrings are displayed as preformatted text and doxygen's +# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the +# doxygen's special commands can be used and the contents of the docstring +# documentation blocks is shown as doxygen documentation. +# The default value is: YES. + +PYTHON_DOCSTRING = YES + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:^^" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". Note that you cannot put \n's in the value part of an alias +# to insert newlines (in the resulting output). You can put ^^ in the value part +# of an alias to insert a newline as if a physical newline was in the original +# file. When you need a literal { or } or , in the value part of an alias you +# have to escape them by means of a backslash (\), this can lead to conflicts +# with the commands \{ and \} for these it is advised to use the version @{ and +# @} or use a double escape (\\{ and \\}) + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice +# sources only. Doxygen will then generate output that is more tailored for that +# language. For instance, namespaces will be presented as modules, types will be +# separated into more groups, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_SLICE = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, JavaScript, +# Csharp (C#), C, C++, Lex, D, PHP, md (Markdown), Objective-C, Python, Slice, +# VHDL, Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: +# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser +# tries to guess whether the code is fixed or free formatted code, this is the +# default for Fortran type files). For instance to make doxygen treat .inc files +# as Fortran files (default is PHP), and .f files as C (default is Fortran), +# use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. When specifying no_extension you should add +# * to the FILE_PATTERNS. +# +# Note see also the list of default file extension mappings. + +EXTENSION_MAPPING = ino=C++ + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See https://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up +# to that level are automatically included in the table of contents, even if +# they do not have an id attribute. +# Note: This feature currently applies only to Markdown headings. +# Minimum value: 0, maximum value: 99, default value: 5. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +TOC_INCLUDE_HEADINGS = 5 + +# The MARKDOWN_ID_STYLE tag can be used to specify the algorithm used to +# generate identifiers for the Markdown headings. Note: Every identifier is +# unique. +# Possible values are: DOXYGEN use a fixed 'autotoc_md' string followed by a +# sequence number starting at 0 and GITHUB use the lower case version of title +# with any whitespace replaced by '-' and punctuation characters removed. +# The default value is: DOXYGEN. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +MARKDOWN_ID_STYLE = DOXYGEN + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +# The NUM_PROC_THREADS specifies the number of threads doxygen is allowed to use +# during processing. When set to 0 doxygen will based this on the number of +# cores available in the system. You can set it explicitly to a value larger +# than 0 to get more control over the balance between CPU load and processing +# speed. At this moment only the input processing can be done using multiple +# threads. Since this is still an experimental feature the default is set to 1, +# which effectively disables parallel processing. Please report any issues you +# encounter. Generating dot graphs in parallel is controlled by the +# DOT_NUM_THREADS setting. +# Minimum value: 0, maximum value: 32, default value: 1. + +NUM_PROC_THREADS = 1 + +# If the TIMESTAMP tag is set different from NO then each generated page will +# contain the date or date and time when the page was generated. Setting this to +# NO can help when comparing the output of multiple runs. +# Possible values are: YES, NO, DATETIME and DATE. +# The default value is: NO. + +TIMESTAMP = NO + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual +# methods of a class will be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIV_VIRTUAL = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If this flag is set to YES, the name of an unnamed parameter in a declaration +# will be determined by the corresponding definition. By default unnamed +# parameters remain unnamed in the output. +# The default value is: YES. + +RESOLVE_UNNAMED_PARAMS = YES + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# will also hide undocumented C++ concepts if enabled. This option has no effect +# if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# declarations. If set to NO, these declarations will be included in the +# documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# With the correct setting of option CASE_SENSE_NAMES doxygen will better be +# able to match the capabilities of the underlying filesystem. In case the +# filesystem is case sensitive (i.e. it supports files in the same directory +# whose names only differ in casing), the option must be set to YES to properly +# deal with such files in case they appear in the input. For filesystems that +# are not case sensitive the option should be set to NO to properly deal with +# output files written for symbols that only differ in casing, such as for two +# classes, one named CLASS and the other named Class, and to also support +# references to files without having to specify the exact matching casing. On +# Windows (including Cygwin) and MacOS, users should typically set this option +# to NO, whereas on Linux or other Unix flavors it should typically be set to +# YES. +# Possible values are: SYSTEM, NO and YES. +# The default value is: SYSTEM. + +CASE_SENSE_NAMES = SYSTEM + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_HEADERFILE tag is set to YES then the documentation for a class +# will show which file needs to be included to use the class. +# The default value is: YES. + +SHOW_HEADERFILE = YES + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. See also section "Changing the +# layout of pages" for information. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as documenting some parameters in +# a documented function twice, or documenting parameters that don't exist or +# using markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# If WARN_IF_INCOMPLETE_DOC is set to YES, doxygen will warn about incomplete +# function parameter documentation. If set to NO, doxygen will accept that some +# parameters have no documentation without warning. +# The default value is: YES. + +WARN_IF_INCOMPLETE_DOC = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong parameter +# documentation, but not about the absence of documentation. If EXTRACT_ALL is +# set to YES then this flag will automatically be disabled. See also +# WARN_IF_INCOMPLETE_DOC +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If WARN_IF_UNDOC_ENUM_VAL option is set to YES, doxygen will warn about +# undocumented enumeration values. If set to NO, doxygen will accept +# undocumented enumeration values. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: NO. + +WARN_IF_UNDOC_ENUM_VAL = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS +# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but +# at the end of the doxygen process doxygen will return with a non-zero status. +# If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS_PRINT then doxygen behaves +# like FAIL_ON_WARNINGS but in case no WARN_LOGFILE is defined doxygen will not +# write the warning messages in between other messages but write them at the end +# of a run, in case a WARN_LOGFILE is defined the warning messages will be +# besides being in the defined file also be shown at the end of a run, unless +# the WARN_LOGFILE is defined as - i.e. standard output (stdout) in that case +# the behavior will remain as with the setting FAIL_ON_WARNINGS. +# Possible values are: NO, YES, FAIL_ON_WARNINGS and FAIL_ON_WARNINGS_PRINT. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# See also: WARN_LINE_FORMAT +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# In the $text part of the WARN_FORMAT command it is possible that a reference +# to a more specific place is given. To make it easier to jump to this place +# (outside of doxygen) the user can define a custom "cut" / "paste" string. +# Example: +# WARN_LINE_FORMAT = "'vi $file +$line'" +# See also: WARN_FORMAT +# The default value is: at line $line of file $file. + +WARN_LINE_FORMAT = "at line $line of file $file" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). In case the file specified cannot be opened for writing the +# warning and error messages are written to standard error. When as file - is +# specified the warning and error messages are written to standard output +# (stdout). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: +# https://www.gnu.org/software/libiconv/) for the list of possible encodings. +# See also: INPUT_FILE_ENCODING +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses The INPUT_FILE_ENCODING tag can be used to specify +# character encoding on a per file pattern basis. Doxygen will compare the file +# name with each pattern and apply the encoding instead of the default +# INPUT_ENCODING) if there is a match. The character encodings are a list of the +# form: pattern=encoding (like *.php=ISO-8859-1). See cfg_input_encoding +# "INPUT_ENCODING" for further information on supported encodings. + +INPUT_FILE_ENCODING = + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# Note the list of default checked file patterns might differ from the list of +# default file extension mappings. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cxxm, +# *.cpp, *.cppm, *.ccm, *.c++, *.c++m, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, +# *.idl, *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp, *.h++, *.ixx, *.l, *.cs, *.d, +# *.php, *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to +# be provided as doxygen C comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, +# *.f18, *.f, *.for, *.vhd, *.vhdl, *.ucf, *.qsf and *.ice. + +FILE_PATTERNS = *.c \ + *.cc \ + *.cxx \ + *.cxxm \ + *.cpp \ + *.cppm \ + *.ccm \ + *.c++ \ + *.c++m \ + *.java \ + *.ii \ + *.ixx \ + *.ipp \ + *.i++ \ + *.inl \ + *.idl \ + *.ddl \ + *.odl \ + *.h \ + *.hh \ + *.hxx \ + *.hpp \ + *.h++ \ + *.ixx \ + *.l \ + *.cs \ + *.d \ + *.php \ + *.php4 \ + *.php5 \ + *.phtml \ + *.inc \ + *.m \ + *.mm \ + *.dox \ + *.pyw \ + *.f90 \ + *.f95 \ + *.f03 \ + *.f08 \ + *.f18 \ + *.f \ + *.for \ + *.vhd \ + *.vhdl \ + *.ucf \ + *.qsf \ + *.ice \ + *.ino + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# ANamespace::AClass, ANamespace::*Test + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = * + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = Docs/ + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that doxygen will use the data processed and written to standard output +# for further processing, therefore nothing else, like debug statements or used +# commands (so in case of a Windows batch file always use @echo OFF), should be +# written to standard output. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +# The Fortran standard specifies that for fixed formatted Fortran code all +# characters from position 72 are to be considered as comment. A common +# extension is to allow longer lines before the automatic comment starts. The +# setting FORTRAN_COMMENT_AFTER will also make it possible that longer lines can +# be processed before the automatic comment starts. +# Minimum value: 7, maximum value: 10000, default value: 72. + +FORTRAN_COMMENT_AFTER = 72 + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# multi-line macros, enums or list initialized variables directly into the +# documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# entity all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see https://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the +# clang parser (see: +# http://clang.llvm.org/) for more accurate parsing at the cost of reduced +# performance. This can be particularly helpful with template rich C++ code for +# which doxygen's built-in parser lacks the necessary type information. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse_libclang=ON option for CMake. +# The default value is: NO. + +CLANG_ASSISTED_PARSING = NO + +# If the CLANG_ASSISTED_PARSING tag is set to YES and the CLANG_ADD_INC_PATHS +# tag is set to YES then doxygen will add the directory of each input to the +# include path. +# The default value is: YES. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_ADD_INC_PATHS = YES + +# If clang assisted parsing is enabled you can provide the compiler with command +# line options that you would normally use when invoking the compiler. Note that +# the include paths will already be set by doxygen for the files and directories +# specified with INPUT and INCLUDE_PATH. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_OPTIONS = + +# If clang assisted parsing is enabled you can provide the clang parser with the +# path to the directory containing a file called compile_commands.json. This +# file is the compilation database (see: +# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) containing the +# options used when the source files were built. This is equivalent to +# specifying the -p option to a clang tool, such as clang-check. These options +# will then be passed to the parser. Any options specified with CLANG_OPTIONS +# will be added as well. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse_libclang=ON option for CMake. + +CLANG_DATABASE_PATH = + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The IGNORE_PREFIX tag can be used to specify a prefix (or a list of prefixes) +# that should be ignored while generating the index headers. The IGNORE_PREFIX +# tag works for classes, function and member names. The entity will be placed in +# the alphabetical list under the first letter of the entity name that remains +# after removing the prefix. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = NO + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). +# Note: Since the styling of scrollbars can currently not be overruled in +# Webkit/Chromium, the styling will be left out of the default doxygen.css if +# one or more extra stylesheets have been specified. So if scrollbar +# customization is desired it has to be added explicitly. For an example see the +# documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE tag can be used to specify if the generated HTML output +# should be rendered with a dark or light theme. +# Possible values are: LIGHT always generate light mode output, DARK always +# generate dark mode output, AUTO_LIGHT automatically set the mode according to +# the user preference, use light mode if no preference is set (the default), +# AUTO_DARK automatically set the mode according to the user preference, use +# dark mode if no preference is set and TOGGLE allow to user to switch between +# light and dark mode via a button. +# The default value is: AUTO_LIGHT. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE = AUTO_LIGHT + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a color-wheel, see +# https://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use gray-scales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML +# documentation will contain a main index with vertical navigation menus that +# are dynamically created via JavaScript. If disabled, the navigation index will +# consists of multiple levels of tabs that are statically embedded in every HTML +# page. Disable this option to support browsers that do not have JavaScript, +# like the Qt help browser. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_MENUS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# If the HTML_CODE_FOLDING tag is set to YES then classes and functions can be +# dynamically folded and expanded in the generated HTML source code. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_CODE_FOLDING = YES + +# If the HTML_COPY_CLIPBOARD tag is set to YES then doxygen will show an icon in +# the top right corner of code and text fragments that allows the user to copy +# its content to the clipboard. Note this only works if supported by the browser +# and the web page is served via a secure context (see: +# https://www.w3.org/TR/secure-contexts/), i.e. using the https: or file: +# protocol. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COPY_CLIPBOARD = YES + +# Doxygen stores a couple of settings persistently in the browser (via e.g. +# cookies). By default these settings apply to all HTML pages generated by +# doxygen across all projects. The HTML_PROJECT_COOKIE tag can be used to store +# the settings under a project specific key, such that the user preferences will +# be stored separately. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_PROJECT_COOKIE = + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: +# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To +# create a documentation set, doxygen will generate a Makefile in the HTML +# output directory. Running make will produce the docset in that directory and +# running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy +# genXcode/_index.html for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag determines the URL of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDURL = + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# on Windows. In the beginning of 2021 Microsoft took the original page, with +# a.o. the download links, offline the HTML help workshop was already many years +# in maintenance mode). You can download the HTML help workshop from the web +# archives at Installation executable (see: +# http://web.archive.org/web/20160201063255/http://download.microsoft.com/downlo +# ad/0/A/9/0A939EF6-E31C-430F-A3DF-DFAE7960D564/htmlhelp.exe). +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the main .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# The SITEMAP_URL tag is used to specify the full URL of the place where the +# generated documentation will be placed on the server by the user during the +# deployment of the documentation. The generated sitemap is called sitemap.xml +# and placed on the directory specified by HTML_OUTPUT. In case no SITEMAP_URL +# is specified no sitemap is generated. For information about the sitemap +# protocol see https://www.sitemaps.org +# This tag requires that the tag GENERATE_HTML is set to YES. + +SITEMAP_URL = + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location (absolute path +# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to +# run qhelpgenerator on the generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine tune the look of the index (see "Fine-tuning the output"). As an +# example, the default style sheet generated by doxygen has an example that +# shows how to put an image at the root of the tree instead of the PROJECT_NAME. +# Since the tree basically has the same information as the tab index, you could +# consider setting DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = YES + +# When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the +# FULL_SIDEBAR option determines if the side bar is limited to only the treeview +# area (value NO) or if it should extend to the full height of the window (value +# YES). Setting this to YES gives a layout similar to +# https://docs.readthedocs.io with more room for contents, but less room for the +# project logo, title, and description. If either GENERATE_TREEVIEW or +# DISABLE_INDEX is set to NO, this option has no effect. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FULL_SIDEBAR = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# If the OBFUSCATE_EMAILS tag is set to YES, doxygen will obfuscate email +# addresses. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +OBFUSCATE_EMAILS = YES + +# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg +# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see +# https://inkscape.org) to generate formulas as SVG images instead of PNGs for +# the HTML output. These images will generally look nicer at scaled resolutions. +# Possible values are: png (the default) and svg (looks nicer but requires the +# pdf2svg or inkscape tool). +# The default value is: png. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FORMULA_FORMAT = png + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands +# to create new LaTeX commands to be used in formulas as building blocks. See +# the section "Including formulas" for details. + +FORMULA_MACROFILE = + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# https://www.mathjax.org) which uses client side JavaScript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# With MATHJAX_VERSION it is possible to specify the MathJax version to be used. +# Note that the different versions of MathJax have different requirements with +# regards to the different settings, so it is possible that also other MathJax +# settings have to be changed when switching between the different MathJax +# versions. +# Possible values are: MathJax_2 and MathJax_3. +# The default value is: MathJax_2. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_VERSION = MathJax_2 + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. For more details about the output format see MathJax +# version 2 (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) and MathJax version 3 +# (see: +# http://docs.mathjax.org/en/latest/web/components/output.html). +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility. This is the name for Mathjax version 2, for MathJax version 3 +# this will be translated into chtml), NativeMML (i.e. MathML. Only supported +# for NathJax 2. For MathJax version 3 chtml will be used instead.), chtml (This +# is the name for Mathjax version 3, for MathJax version 2 this will be +# translated into HTML-CSS) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from https://www.mathjax.org before deployment. The default value is: +# - in case of MathJax version 2: https://cdn.jsdelivr.net/npm/mathjax@2 +# - in case of MathJax version 3: https://cdn.jsdelivr.net/npm/mathjax@3 +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# for MathJax version 2 (see +# https://docs.mathjax.org/en/v2.7-latest/tex.html#tex-and-latex-extensions): +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# For example for MathJax version 3 (see +# http://docs.mathjax.org/en/latest/input/tex/extensions/index.html): +# MATHJAX_EXTENSIONS = ams +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /Node, +# Edge and Graph Attributes specification You need to make sure dot is able +# to find the font, which can be done by putting it in a standard location or by +# setting the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the +# directory containing the font. Default graphviz fontsize is 14. +# The default value is: fontname=Helvetica,fontsize=10. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_COMMON_ATTR = "fontname=Helvetica,fontsize=10" + +# DOT_EDGE_ATTR is concatenated with DOT_COMMON_ATTR. For elegant style you can +# add 'arrowhead=open, arrowtail=open, arrowsize=0.5'. Complete documentation about +# arrows shapes. +# The default value is: labelfontname=Helvetica,labelfontsize=10. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_EDGE_ATTR = "labelfontname=Helvetica,labelfontsize=10" + +# DOT_NODE_ATTR is concatenated with DOT_COMMON_ATTR. For view without boxes +# around nodes set 'shape=plain' or 'shape=plaintext' Shapes specification +# The default value is: shape=box,height=0.2,width=0.4. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_NODE_ATTR = "shape=box,height=0.2,width=0.4" + +# You can set the path where dot can find font specified with fontname in +# DOT_COMMON_ATTR and others dot attributes. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_FONTPATH = + +# If the CLASS_GRAPH tag is set to YES or GRAPH or BUILTIN then doxygen will +# generate a graph for each documented class showing the direct and indirect +# inheritance relations. In case the CLASS_GRAPH tag is set to YES or GRAPH and +# HAVE_DOT is enabled as well, then dot will be used to draw the graph. In case +# the CLASS_GRAPH tag is set to YES and HAVE_DOT is disabled or if the +# CLASS_GRAPH tag is set to BUILTIN, then the built-in generator will be used. +# If the CLASS_GRAPH tag is set to TEXT the direct and indirect inheritance +# relations will be shown as texts / links. Explicit enabling an inheritance +# graph or choosing a different representation for an inheritance graph of a +# specific class, can be accomplished by means of the command \inheritancegraph. +# Disabling an inheritance graph can be accomplished by means of the command +# \hideinheritancegraph. +# Possible values are: NO, YES, TEXT, GRAPH and BUILTIN. +# The default value is: YES. + +CLASS_GRAPH = YES + +# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a +# graph for each documented class showing the direct and indirect implementation +# dependencies (inheritance, containment, and class references variables) of the +# class with other documented classes. Explicit enabling a collaboration graph, +# when COLLABORATION_GRAPH is set to NO, can be accomplished by means of the +# command \collaborationgraph. Disabling a collaboration graph can be +# accomplished by means of the command \hidecollaborationgraph. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +COLLABORATION_GRAPH = YES + +# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for +# groups, showing the direct groups dependencies. Explicit enabling a group +# dependency graph, when GROUP_GRAPHS is set to NO, can be accomplished by means +# of the command \groupgraph. Disabling a directory graph can be accomplished by +# means of the command \hidegroupgraph. See also the chapter Grouping in the +# manual. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +GROUP_GRAPHS = YES + +# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling +# Language. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +UML_LOOK = NO + +# If the UML_LOOK tag is enabled, the fields and methods are shown inside the +# class node. If there are many fields or methods and many nodes the graph may +# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the +# number of items for each type to make the size more manageable. Set this to 0 +# for no limit. Note that the threshold may be exceeded by 50% before the limit +# is enforced. So when you set the threshold to 10, up to 15 fields may appear, +# but if the number exceeds 15, the total amount of fields shown is limited to +# 10. +# Minimum value: 0, maximum value: 100, default value: 10. +# This tag requires that the tag UML_LOOK is set to YES. + +UML_LIMIT_NUM_FIELDS = 10 + +# If the DOT_UML_DETAILS tag is set to NO, doxygen will show attributes and +# methods without types and arguments in the UML graphs. If the DOT_UML_DETAILS +# tag is set to YES, doxygen will add type and arguments for attributes and +# methods in the UML graphs. If the DOT_UML_DETAILS tag is set to NONE, doxygen +# will not generate fields with class member information in the UML graphs. The +# class diagrams will look similar to the default class diagrams but using UML +# notation for the relationships. +# Possible values are: NO, YES and NONE. +# The default value is: NO. +# This tag requires that the tag UML_LOOK is set to YES. + +DOT_UML_DETAILS = NO + +# The DOT_WRAP_THRESHOLD tag can be used to set the maximum number of characters +# to display on a single line. If the actual line length exceeds this threshold +# significantly it will be wrapped across multiple lines. Some heuristics are +# applied to avoid ugly line breaks. +# Minimum value: 0, maximum value: 1000, default value: 17. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_WRAP_THRESHOLD = 17 + +# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and +# collaboration graphs will show the relations between templates and their +# instances. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +TEMPLATE_RELATIONS = NO + +# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to +# YES then doxygen will generate a graph for each documented file showing the +# direct and indirect include dependencies of the file with other documented +# files. Explicit enabling an include graph, when INCLUDE_GRAPH is is set to NO, +# can be accomplished by means of the command \includegraph. Disabling an +# include graph can be accomplished by means of the command \hideincludegraph. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +INCLUDE_GRAPH = YES + +# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are +# set to YES then doxygen will generate a graph for each documented file showing +# the direct and indirect include dependencies of the file with other documented +# files. Explicit enabling an included by graph, when INCLUDED_BY_GRAPH is set +# to NO, can be accomplished by means of the command \includedbygraph. Disabling +# an included by graph can be accomplished by means of the command +# \hideincludedbygraph. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +INCLUDED_BY_GRAPH = YES + +# If the CALL_GRAPH tag is set to YES then doxygen will generate a call +# dependency graph for every global function or class method. +# +# Note that enabling this option will significantly increase the time of a run. +# So in most cases it will be better to enable call graphs for selected +# functions only using the \callgraph command. Disabling a call graph can be +# accomplished by means of the command \hidecallgraph. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +CALL_GRAPH = NO + +# If the CALLER_GRAPH tag is set to YES then doxygen will generate a caller +# dependency graph for every global function or class method. +# +# Note that enabling this option will significantly increase the time of a run. +# So in most cases it will be better to enable caller graphs for selected +# functions only using the \callergraph command. Disabling a caller graph can be +# accomplished by means of the command \hidecallergraph. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +CALLER_GRAPH = NO + +# If the GRAPHICAL_HIERARCHY tag is set to YES then doxygen will graphical +# hierarchy of all classes instead of a textual one. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +GRAPHICAL_HIERARCHY = YES + +# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the +# dependencies a directory has on other directories in a graphical way. The +# dependency relations are determined by the #include relations between the +# files in the directories. Explicit enabling a directory graph, when +# DIRECTORY_GRAPH is set to NO, can be accomplished by means of the command +# \directorygraph. Disabling a directory graph can be accomplished by means of +# the command \hidedirectorygraph. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +DIRECTORY_GRAPH = YES + +# The DIR_GRAPH_MAX_DEPTH tag can be used to limit the maximum number of levels +# of child directories generated in directory dependency graphs by dot. +# Minimum value: 1, maximum value: 25, default value: 1. +# This tag requires that the tag DIRECTORY_GRAPH is set to YES. + +DIR_GRAPH_MAX_DEPTH = 1 + +# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images +# generated by dot. For an explanation of the image formats see the section +# output formats in the documentation of the dot tool (Graphviz (see: +# https://www.graphviz.org/)). +# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order +# to make the SVG files visible in IE 9+ (other browsers do not have this +# requirement). +# Possible values are: png, jpg, gif, svg, png:gd, png:gd:gd, png:cairo, +# png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and +# png:gdiplus:gdiplus. +# The default value is: png. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_IMAGE_FORMAT = svg + +# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to +# enable generation of interactive SVG images that allow zooming and panning. +# +# Note that this requires a modern browser other than Internet Explorer. Tested +# and working are Firefox, Chrome, Safari, and Opera. +# Note: For IE 9+ you need to set HTML_FILE_EXTENSION to xhtml in order to make +# the SVG files visible. Older versions of IE do not have SVG support. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +INTERACTIVE_SVG = NO + +# The DOT_PATH tag can be used to specify the path where the dot tool can be +# found. If left blank, it is assumed the dot tool can be found in the path. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_PATH = + +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the \dotfile +# command). +# This tag requires that the tag HAVE_DOT is set to YES. + +DOTFILE_DIRS = + +# You can include diagrams made with dia in doxygen documentation. Doxygen will +# then run dia to produce the diagram and insert it in the documentation. The +# DIA_PATH tag allows you to specify the directory where the dia binary resides. +# If left empty dia is assumed to be found in the default search path. + +DIA_PATH = + +# The DIAFILE_DIRS tag can be used to specify one or more directories that +# contain dia files that are included in the documentation (see the \diafile +# command). + +DIAFILE_DIRS = + +# When using plantuml, the PLANTUML_JAR_PATH tag should be used to specify the +# path where java can find the plantuml.jar file or to the filename of jar file +# to be used. If left blank, it is assumed PlantUML is not used or called during +# a preprocessing step. Doxygen will generate a warning when it encounters a +# \startuml command in this case and will not generate output for the diagram. + +PLANTUML_JAR_PATH = + +# When using plantuml, the PLANTUML_CFG_FILE tag can be used to specify a +# configuration file for plantuml. + +PLANTUML_CFG_FILE = + +# When using plantuml, the specified paths are searched for files specified by +# the !include statement in a plantuml block. + +PLANTUML_INCLUDE_PATH = + +# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes +# that will be shown in the graph. If the number of nodes in a graph becomes +# larger than this value, doxygen will truncate the graph, which is visualized +# by representing a node as a red box. Note that doxygen if the number of direct +# children of the root node in a graph is already larger than +# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note that +# the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. +# Minimum value: 0, maximum value: 10000, default value: 50. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_GRAPH_MAX_NODES = 50 + +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the graphs +# generated by dot. A depth value of 3 means that only nodes reachable from the +# root by following a path via at most 3 edges will be shown. Nodes that lay +# further from the root node will be omitted. Note that setting this option to 1 +# or 2 may greatly reduce the computation time needed for large code bases. Also +# note that the size of a graph can be further restricted by +# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. +# Minimum value: 0, maximum value: 1000, default value: 0. +# This tag requires that the tag HAVE_DOT is set to YES. + +MAX_DOT_GRAPH_DEPTH = 0 + +# Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) support +# this, this feature is disabled by default. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_MULTI_TARGETS = NO + +# If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page +# explaining the meaning of the various boxes and arrows in the dot generated +# graphs. +# Note: This tag requires that UML_LOOK isn't set, i.e. the doxygen internal +# graphical representation for inheritance and collaboration diagrams is used. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +GENERATE_LEGEND = YES + +# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate +# files that are used to generate the various graphs. +# +# Note: This setting is not only used for dot files but also for msc temporary +# files. +# The default value is: YES. + +DOT_CLEANUP = YES + +# You can define message sequence charts within doxygen comments using the \msc +# command. 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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/libs/serialIO/README.md b/libs/serialIO/README.md new file mode 100644 index 0000000..cec5612 --- /dev/null +++ b/libs/serialIO/README.md @@ -0,0 +1,30 @@ +

+ GitHub Release + Github Issues + Arduino_CI + GitHub License +

+ +# SerialIO + +An arduino library for parsing almost any RC protocol. + +## Overview + +SerialIO is a common library designed to simplify the implementation of RC protocol decoding in Arduino projects. It provides a modular and extensible architecture that allows for easy integration of various RC protocols. + +## How to use? + +The examples and the tutorial are available on [this link](https://docs.wittywizard.in/projects/serialio) + +## Contributing to the library + +You see a bug or any feature that you require, please feel free to open an issue or if you have fixed the issue then please create a PR on github. + +## License + + + GPL​-3.0​-or​later + + +This library is licensed under the [GNU General Public License v3.0 or later](https://www.gnu.org/licenses/gpl-3.0.en.html). diff --git a/libs/serialIO/examples/atmel/ibus_basic/.arduino-ci.yml b/libs/serialIO/examples/atmel/ibus_basic/.arduino-ci.yml new file mode 100644 index 0000000..028c474 --- /dev/null +++ b/libs/serialIO/examples/atmel/ibus_basic/.arduino-ci.yml @@ -0,0 +1,5 @@ +compile: + platforms: + - uno + - mega2560 + - leonardo \ No newline at end of file diff --git a/libs/serialIO/examples/atmel/ibus_basic/ibus_basic.ino b/libs/serialIO/examples/atmel/ibus_basic/ibus_basic.ino new file mode 100644 index 0000000..8d8f2f0 --- /dev/null +++ b/libs/serialIO/examples/atmel/ibus_basic/ibus_basic.ino @@ -0,0 +1,18 @@ +/*! + * @file ibus_basic.ino + */ +#include + +rc_channels_t channelData; + +ibus receiver(&Serial); + +void setup() { + receiver.begin(); +} + +void loop() { + receiver.processIncoming(); + receiver.getChannel(&channelData); +} + diff --git a/libs/serialIO/examples/rp2040/ibus_basic/.arduino-ci.yml b/libs/serialIO/examples/rp2040/ibus_basic/.arduino-ci.yml new file mode 100644 index 0000000..f08632d --- /dev/null +++ b/libs/serialIO/examples/rp2040/ibus_basic/.arduino-ci.yml @@ -0,0 +1,18 @@ +platforms: + rpipico: + board: rp2040:rp2040:rpipico + package: rp2040:rp2040 + gcc: + features: + defines: + - ARDUINO_ARCH_RP2040 + warnings: + flags: + +packages: + rp2040:rp2040: + url: https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json + +compile: + platforms: + - rpipico diff --git a/libs/serialIO/examples/rp2040/ibus_basic/ibus_basic.ino b/libs/serialIO/examples/rp2040/ibus_basic/ibus_basic.ino new file mode 100644 index 0000000..931e9b4 --- /dev/null +++ b/libs/serialIO/examples/rp2040/ibus_basic/ibus_basic.ino @@ -0,0 +1,54 @@ +/*! + * @file ibus_basic.ino + */ +/* + +# Sample platformio.ini file: +# --------------------------- +[platformio] +default_envs = ws-rp2040-zero + +[env:ws-rp2040-zero] +platform = https://github.com/maxgerhardt/platform-raspberrypi.git +board = waveshare_rp2040_pizero +framework = arduino +board_build.core = earlephilhower +monitor_speed = 115200 + +lib_deps = + https://github.com/Witty-Wizard/SerialIO +*/ + +#include + +#define SBUS_TX_PIN 0 +#define SBUS_RX_PIN 1 + +rc_channels_t rcdata; +ibus receiver(&Serial1, SBUS_RX_PIN, SBUS_TX_PIN, + true); // RP2040 requires the TX_PIN so to not hang up the mcu + +void setup() { + // setup sbus receiver + receiver.begin(); + + Serial.begin(115200); +} + +void loop() { + static unsigned long last_millis = millis(); + + receiver.processIncoming(); + receiver.getChannel(&rcdata); + + if (millis() > last_millis + 100) { + Serial.printf("RC: %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d", + rcdata.channel1, rcdata.channel2, rcdata.channel3, + rcdata.channel4, rcdata.channel5, rcdata.channel6, + rcdata.channel7, rcdata.channel8, rcdata.channel9, + rcdata.channel10, rcdata.channel11, rcdata.channel12, + rcdata.channel13, rcdata.channel14); + Serial.println(); + last_millis = millis(); + } +} diff --git a/libs/serialIO/library.properties b/libs/serialIO/library.properties new file mode 100644 index 0000000..5493eca --- /dev/null +++ b/libs/serialIO/library.properties @@ -0,0 +1,12 @@ +name=serialIO +version=0.2.4 +category=Communication +sentence=RC protocol +paragraph=A common library that can decode multiple RC protocols +keywords=sbus, crsf, ibus, elrs, flysky, frsky, freesky, betaflight, futaba, fport +url=https://github.com/Witty-Wizard/SerialIO +author=Witty Wizard +maintainer=Witty Wizard +license=GPL-3.0-only +frameworks=arduino +architectures= rp2040, avr diff --git a/libs/serialIO/src/SerialIO.cpp b/libs/serialIO/src/SerialIO.cpp new file mode 100644 index 0000000..7722494 --- /dev/null +++ b/libs/serialIO/src/SerialIO.cpp @@ -0,0 +1,31 @@ +#include "SerialIO.h" + +SerialIO::SerialIO(Stream *rxPort, int rxPin, int txPin, bool inverted) + : _rxPort(rxPort), _rxPin(rxPin), _txPin(txPin), _inverted(inverted) { + // Constructor implementation +} + +SerialIO::~SerialIO() { +// End serial communication +#if defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_AVR) + HardwareSerial *serialPort = (HardwareSerial *)_rxPort; + serialPort->end(); +#elif defined(ARDUINO_ARCH_RP2040) + SerialUART *serialPort = (SerialUART *)_rxPort; + serialPort->end(); +#else +#warning "Unsupported hardware platform." +#endif +} + +void SerialIO::leftShift(uint8_t arr[], size_t size) { + memmove(arr, arr + 1, (size - 1)); + arr[size - 1] = 0xFF; +} + +void SerialIO::rightShift(uint8_t arr[], size_t size) { + memmove(arr + 1, arr, size - 1); + arr[0] = 0xFF; +} + +void SerialIO::getChannel(ibus_channels_t *channelData) {} \ No newline at end of file diff --git a/libs/serialIO/src/SerialIO.h b/libs/serialIO/src/SerialIO.h new file mode 100644 index 0000000..bbbc044 --- /dev/null +++ b/libs/serialIO/src/SerialIO.h @@ -0,0 +1,115 @@ +/** + * @file SerialIO.h + * @brief Header file for SerialIO class, providing serial input/output (IO) functionality. + * + * @author WittyWizard + */ + +#pragma once +#ifndef SerialIO_H +#define SerialIO_H + +#include +#include "ibus/ibus_protocol.h" + +#define PACKED __attribute__((packed)) + +/** + * @brief Structure representing 16 RC channels using 11-bit values. + */ +typedef struct rc_channels_s +{ + unsigned channel1 : 11; + unsigned channel2 : 11; + unsigned channel3 : 11; + unsigned channel4 : 11; + unsigned channel5 : 11; + unsigned channel6 : 11; + unsigned channel7 : 11; + unsigned channel8 : 11; + unsigned channel9 : 11; + unsigned channel10 : 11; + unsigned channel11 : 11; + unsigned channel12 : 11; + unsigned channel13 : 11; + unsigned channel14 : 11; + unsigned channel15 : 11; + unsigned channel16 : 11; +} PACKED rc_channels_t; + +/** + * @brief Class providing methods for initializing and decoding RC protocols. + */ +class SerialIO +{ +public: + /** + * @brief Constructor to initialize the SerialIO class. + * + * @param rxPort Pointer to the hardware serial port to use. + * @param rxPin RX pin number. + * @param txPin TX pin number. + * @param inverted Set to true if the serial signal is inverted. + */ + SerialIO(Stream *rxPort, int rxPin, int txPin, bool inverted); + + /** + * @brief Virtual destructor. + */ + virtual ~SerialIO(); + + /** + * @brief Initialize pins and set up the serial port. + */ + virtual void begin() = 0; + + /** + * @brief Process incoming serial data and decode it. + */ + virtual void processIncoming() = 0; + + /** + * @brief Retrieve the current channel data. + * + * @param[out] channelData Pointer to an rc_channels_t structure to store the retrieved channel data. + * + * @note The structure contains 16 channels, each represented as an 11-bit unsigned integer with a maximum value of 2047. + */ + virtual void getChannel(rc_channels_t *channelData) = 0; + + /** + * @brief Retrieve the current channel data using ibus_channels_t. + * + * @param[out] channelData Pointer to an ibus_channels_t structure to store the channel data. + */ + virtual void getChannel(ibus_channels_t *channelData); + +protected: + Stream *_rxPort; ///< Pointer to the hardware serial port used for communication. + bool _inverted; ///< Indicates whether the serial signal is inverted. + int _rxPin; ///< RX pin number. + int _txPin; ///< TX pin number. + + /** + * @brief Perform a left shift operation on the given byte array. + * + * @param arr Pointer to the byte array. + * @param size Size of the array. + */ + void leftShift(uint8_t arr[], size_t size); + + /** + * @brief Perform a right shift operation on the given byte array. + * + * @param arr Pointer to the byte array. + * @param size Size of the array. + */ + void rightShift(uint8_t arr[], size_t size); +}; + +#include "crsf/crsf.h" +#include "fport/fport.h" +#include "ibus/ibus.h" +#include "sbus/sbus.h" + +#endif // SerialIO_H diff --git a/libs/serialIO/src/crsf/crsf.cpp b/libs/serialIO/src/crsf/crsf.cpp new file mode 100644 index 0000000..9a5ed2f --- /dev/null +++ b/libs/serialIO/src/crsf/crsf.cpp @@ -0,0 +1,67 @@ +#include "crsf.h" + +crsf::crsf(Stream *rxPort, int rxPin, int txPin, bool inverted) + : SerialIO(rxPort, rxPin, txPin, inverted){}; + +void crsf::begin() { + +// Initialize the serial port +#if defined(ARDUINO_ARCH_ESP32) + HardwareSerial *serialPort = (HardwareSerial *)_rxPort; + serialPort->begin(CRSF_BAUDRATE, SERIAL_8N1, _rxPin, _txPin, _inverted); +#elif defined(ARDUINO_ARCH_RP2040) + SerialUART *serialPort = (SerialUART *)_rxPort; + serialPort->setPinout(_txPin, _rxPin); + serialPort->setInvertRX(_inverted); + serialPort->setInvertTX(_inverted); + serialPort->begin(CRSF_BAUDRATE, SERIAL_8N1); +#else +#warning "Unsupported hardware platform." +#endif +} + +void crsf::processIncoming() { + uint8_t size = CRSF_MAX_PACKET_SIZE; + while (_rxPort->available()) { + _rxData[CRSF_MAX_PACKET_SIZE - 1] = _rxPort->read(); + if (crc8(&_rxData[CRSF_MAX_PACKET_SIZE - size], + _rxData[CRSF_MAX_PACKET_SIZE - size - 1]) == 0) { + if ((_rxData[CRSF_MAX_PACKET_SIZE - size - 2] == + CRSF_ADDRESS_FLIGHT_CONTROLLER) || + (_rxData[CRSF_MAX_PACKET_SIZE - size - 2] == + CRSF_ADDRESS_CRSF_TRANSMITTER)) { + if (_rxData[CRSF_MAX_PACKET_SIZE - size] == + CRSF_FRAMETYPE_RC_CHANNELS_PACKED) { + memcpy(&_channelData, &_rxData[CRSF_MAX_PACKET_SIZE - size + 1], + sizeof(_channelData)); + } + } + } + if (_rxData[CRSF_MAX_PACKET_SIZE - 2] == + CRSF_ADDRESS_CRSF_TRANSMITTER || + _rxData[CRSF_MAX_PACKET_SIZE - 2] == + CRSF_ADDRESS_FLIGHT_CONTROLLER) { + size = _rxData[CRSF_MAX_PACKET_SIZE - 1]; + } + leftShift(_rxData, sizeof(_rxData)); + } +} + +void crsf::getChannel(rc_channels_t *channelData) { + memcpy(channelData, &_channelData, sizeof(rc_channels_t)); +} + +uint8_t crsf::crc8(uint8_t *data, uint8_t len) { + uint8_t crc = 0; + for (uint8_t i = 0; i < len; i++) { + crc ^= data[i]; + for (uint8_t j = 0; j < 8; j++) { + if (crc & 0x80) { + crc = (crc << 1) ^ CRC8_POLY_D5; + } else { + crc <<= 1; + } + } + } + return crc; +} \ No newline at end of file diff --git a/libs/serialIO/src/crsf/crsf.h b/libs/serialIO/src/crsf/crsf.h new file mode 100644 index 0000000..6485468 --- /dev/null +++ b/libs/serialIO/src/crsf/crsf.h @@ -0,0 +1,56 @@ +/*! + * @file crsf.h + * @brief Header file for the CRSF protocol implementation. + * @author Witty-Wizard + */ + +#pragma once +#ifndef CRSF_H +#define CRSF_H +#include "crsf_protocol.h" +#include "../SerialIO.h" // Include header file for the serial IO class +#include "crsf_protocol.h" + +#define CRC8_POLY_D5 0xD5 + +/** + * @brief A class for handling CRSF protocol communication. + */ +class crsf : public SerialIO { +private: + crsf_channels_t _channelData; + uint8_t _rxData[CRSF_MAX_PACKET_SIZE]={0}; + bool _headerDetected; // Flag indicating whether a header has been detected in + // the incoming data. + uint8_t _rxIndex; // Index for the receive_buffer. + uint8_t _buffer; + +public: + /** + * @brief Constructor for the CRSF class. + * @param rxPort Reference to the hardware serial port for RX communication. + * @param rxPin The RX pin number. + * @param txPin The TX pin number. + * @param inverted Whether the serial signal is inverted (true) or not + * (false). + */ + explicit crsf(Stream *rxPort, int rxPin = -1, int txPin = -1, + bool inverted = false); + + /** + * @brief Initializes the CRSF communication. + */ + void begin() override; + void processIncoming() override; + + /** + * @brief Retrieves the decoded RC channels from the received CRSF data. + * @param channelData Pointer to a crsf_channels_t struct where the decoded + * channel data will be stored. + */ + void getChannel(rc_channels_t *channelData) override; + + uint8_t crc8(uint8_t *data, uint8_t len); +}; + +#endif \ No newline at end of file diff --git a/libs/serialIO/src/crsf/crsf_protocol.h b/libs/serialIO/src/crsf/crsf_protocol.h new file mode 100644 index 0000000..06dcca3 --- /dev/null +++ b/libs/serialIO/src/crsf/crsf_protocol.h @@ -0,0 +1,194 @@ +#pragma once + +#ifndef CRSF_PROTOCOL_H +#define CRSF_PROTOCOL_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#define PACKED __attribute__((packed)) + +#define CRSF_BAUDRATE 420000 ///< CRSF default baud rate +#define CRSF_NUM_CHANNELS 16 ///< CRSF number of channels +#define CRSF_CHANNEL_VALUE_MIN \ + 172 ///< 987us - actual CRSF min is 0 with E.Limits on +#define CRSF_CHANNEL_VALUE_1000 191 +#define CRSF_CHANNEL_VALUE_MID 992 +#define CRSF_CHANNEL_VALUE_2000 1792 +#define CRSF_CHANNEL_VALUE_MAX \ + 1811 ///< 2012us - actual CRSF max is 1984 with E.Limits on +#define CRSF_CHANNEL_VALUE_SPAN \ + (CRSF_CHANNEL_VALUE_MAX - CRSF_CHANNEL_VALUE_MIN) +#define CRSF_MAX_PACKET_SIZE \ + 64 ///< max declared len is 62+DEST+LEN on top of that = 64 +#define CRSF_MAX_PAYLOAD_LEN \ + (CRSF_MAX_PACKET_SIZE - \ + 4) ///< Max size of payload in [dest] [len] [type] [payload] [crc8] + +/** Length of different CRSF frame */ +enum { + CRSF_FRAME_LENGTH_ADDRESS = 1, // length of ADDRESS field + CRSF_FRAME_LENGTH_FRAMELENGTH = 1, // length of FRAMELENGTH field + CRSF_FRAME_LENGTH_TYPE = 1, // length of TYPE field + CRSF_FRAME_LENGTH_CRC = 1, // length of CRC field + CRSF_FRAME_LENGTH_TYPE_CRC = 2, // length of TYPE and CRC fields combined + CRSF_FRAME_LENGTH_EXT_TYPE_CRC = + 4, // length of Extended Dest/Origin, TYPE and CRC fields combined + CRSF_FRAME_LENGTH_NON_PAYLOAD = + 4, // combined length of all fields except payload +}; + +/** Length of CRSF frames */ +enum { + CRSF_FRAME_GPS_PAYLOAD_SIZE = 15, + CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8, + CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10, + CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = + 22, // 11 bits per channel * 16 channels = 22 bytes. + CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6, +}; + +/** CRSF Sensor frame type */ +typedef enum { + CRSF_FRAMETYPE_GPS = 0x02, + CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08, + CRSF_FRAMETYPE_LINK_STATISTICS = 0x14, + CRSF_FRAMETYPE_OPENTX_SYNC = 0x10, + CRSF_FRAMETYPE_RADIO_ID = 0x3A, + CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16, + CRSF_FRAMETYPE_ATTITUDE = 0x1E, + CRSF_FRAMETYPE_FLIGHT_MODE = 0x21, + // Extended Header Frames, range: 0x28 to 0x96 + CRSF_FRAMETYPE_DEVICE_PING = 0x28, + CRSF_FRAMETYPE_DEVICE_INFO = 0x29, + CRSF_FRAMETYPE_PARAMETER_SETTINGS_ENTRY = 0x2B, + CRSF_FRAMETYPE_PARAMETER_READ = 0x2C, + CRSF_FRAMETYPE_PARAMETER_WRITE = 0x2D, + CRSF_FRAMETYPE_COMMAND = 0x32, + // MSP commands + CRSF_FRAMETYPE_MSP_REQ = + 0x7A, // response request using msp sequence as command + CRSF_FRAMETYPE_MSP_RESP = 0x7B, // reply with 58 byte chunked binary + CRSF_FRAMETYPE_MSP_WRITE = 0x7C, // write with 8 byte chunked binary (OpenTX + // outbound telemetry_buffer limit) +} crsf_frame_type_e; + +/** CRSF sensor address */ +typedef enum { + CRSF_ADDRESS_BROADCAST = 0x00, + CRSF_ADDRESS_USB = 0x10, + CRSF_ADDRESS_TBS_CORE_PNP_PRO = 0x80, + CRSF_ADDRESS_RESERVED1 = 0x8A, + CRSF_ADDRESS_CURRENT_SENSOR = 0xC0, + CRSF_ADDRESS_GPS = 0xC2, + CRSF_ADDRESS_TBS_BLACKBOX = 0xC4, + CRSF_ADDRESS_FLIGHT_CONTROLLER = 0xC8, + CRSF_ADDRESS_RESERVED2 = 0xCA, + CRSF_ADDRESS_RACE_TAG = 0xCC, + CRSF_ADDRESS_RADIO_TRANSMITTER = 0xEA, + CRSF_ADDRESS_CRSF_RECEIVER = 0xEC, + CRSF_ADDRESS_CRSF_TRANSMITTER = 0xEE, +} crsf_addr_e; + +/** Heder of CRSF Packet*/ +typedef struct crsf_header_s { + uint8_t device_addr; // from crsf_addr_e + uint8_t frame_size; // counts size after this byte, so it must be the payload + // size + 2 (type and crc) + uint8_t type; // from crsf_frame_type_e +} PACKED crsf_header_t; + +/** RC Packet Frame */ +typedef struct crsf_channels_s { + unsigned channel1 : 11; + unsigned channel2 : 11; + unsigned channel3 : 11; + unsigned channel4 : 11; + unsigned channel5 : 11; + unsigned channel6 : 11; + unsigned channel7 : 11; + unsigned channel8 : 11; + unsigned channel9 : 11; + unsigned channel10 : 11; + unsigned channel11 : 11; + unsigned channel12 : 11; + unsigned channel13 : 11; + unsigned channel14 : 11; + unsigned channel15 : 11; + unsigned channel16 : 11; +} PACKED crsf_channels_t; + +/** Payload Statics */ +typedef struct crsfPayloadLinkstatistics_s { + uint8_t uplink_RSSI_1; + uint8_t uplink_RSSI_2; + uint8_t uplink_Link_quality; + int8_t uplink_SNR; + uint8_t active_antenna; + uint8_t rf_Mode; + uint8_t uplink_TX_Power; + uint8_t downlink_RSSI; + uint8_t downlink_Link_quality; + int8_t downlink_SNR; +} crsfLinkStatistics_t; + +/** Battery Voltage parameters */ +typedef struct crsf_sensor_battery_s { + uint32_t voltage : 16; // V * 10 big endian + uint32_t current : 16; // A * 10 big endian + uint32_t capacity : 24; // mah big endian + uint32_t remaining : 8; // % +} PACKED crsf_sensor_battery_t; + +/** GPS parameters */ +typedef struct crsf_sensor_gps_s { + int32_t latitude; // degree / 10,000,000 big endian + int32_t longitude; // degree / 10,000,000 big endian + uint16_t groundspeed; // km/h / 10 big endian + uint16_t heading; // GPS heading, degree/100 big endian + uint16_t altitude; // meters, +1000m big endian + uint8_t satellites; // satellites +} PACKED crsf_sensor_gps_t; + +#if !defined(__linux__) +static inline uint16_t htobe16(uint16_t val) { +#if (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__) + return val; +#else + return __builtin_bswap16(val); +#endif +} + +static inline uint16_t be16toh(uint16_t val) { +#if (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__) + return val; +#else + return __builtin_bswap16(val); +#endif +} + +static inline uint32_t htobe32(uint32_t val) { +#if (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__) + return val; +#else + return __builtin_bswap32(val); +#endif +} + +static inline uint32_t be32toh(uint32_t val) { +#if (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__) + return val; +#else + return __builtin_bswap32(val); +#endif +} +#endif + +#ifdef __cplusplus +} +#endif + +#endif // CRSF_PROTOCOL_H \ No newline at end of file diff --git a/libs/serialIO/src/fport/fport.cpp b/libs/serialIO/src/fport/fport.cpp new file mode 100644 index 0000000..dcbe24b --- /dev/null +++ b/libs/serialIO/src/fport/fport.cpp @@ -0,0 +1,52 @@ +/*! + * @file fport.cpp + * @brief Source file for the F.Port implementations + * @author Witty-Wizard + */ + +#include "fport.h" + +fport::fport(Stream *rxPort, int rxPin, int txPin, bool inverted) + : SerialIO(rxPort, rxPin, txPin, inverted) {} + +void fport::begin() { + +// Initialize the serial port +#if defined(ARDUINO_ARCH_ESP32) + HardwareSerial *serialPort = (HardwareSerial *)_rxPort; + serialPort->begin(FPORT_BAUDRATE, SERIAL_8N1, _rxPin, _txPin, _inverted); +#elif defined(ARDUINO_ARCH_RP2040) + SerialUART *serialPort = (SerialUART *)_rxPort; + serialPort->setPinout(_txPin, _rxPin); + serialPort->setInvertRX(_inverted); + serialPort->setInvertTX(_inverted); + serialPort->begin(FPORT_BAUDRATE, SERIAL_8N1); +#else +#warning "Unsupported hardware platform." +#endif +} + +void fport::processIncoming() { + uint8_t size = FPORT_MAX_PACKET_SIZE; + while (_rxPort->available()) { + _rxData[FPORT_MAX_PACKET_SIZE - 1] = _rxPort->read(); + if (_rxData[FPORT_MAX_PACKET_SIZE - size - 4] == FPORT_END_BYTES && + _rxData[FPORT_MAX_PACKET_SIZE - 1] == FPORT_END_BYTES) { + if (_rxData[FPORT_MAX_PACKET_SIZE - size - 2] == + FPORT_FRAMETYPE_RC_CHANNELS_PACKED) { + memcpy(&_channelData, &_rxData[FPORT_MAX_PACKET_SIZE - size - 1], + sizeof(_channelData)); + } + } + if (_rxData[FPORT_MAX_PACKET_SIZE - 2] == FPORT_END_BYTES) { + size = _rxData[FPORT_MAX_PACKET_SIZE - 1]; + } + leftShift(_rxData, sizeof(_rxData)); + } +} + +void fport::getChannel(rc_channels_t *channelData) { + memcpy(channelData, &_channelData, sizeof(rc_channels_t)); +} + +void fport::crc() {} \ No newline at end of file diff --git a/libs/serialIO/src/fport/fport.h b/libs/serialIO/src/fport/fport.h new file mode 100644 index 0000000..57f3f70 --- /dev/null +++ b/libs/serialIO/src/fport/fport.h @@ -0,0 +1,27 @@ +/*! + * @file fport.h + * @brief Header file for the FPort Protocol definations + * @author Witty-Wizard + */ + +#pragma once +#ifndef FPORT_H +#define FPORT_H + +#include "../SerialIO.h" +#include "fport_protocol.h" + +class fport : public SerialIO { +private: + uint8_t _rxData[FPORT_MAX_PACKET_SIZE] = {0}; + fport_channels_t _channelData; + +public: + explicit fport(Stream *rxPort, int rxPin = -1, int txPin = -1, + bool inverted = true); + void begin() override; + void processIncoming() override; + void getChannel(rc_channels_t *channelData) override; + void crc(); +}; +#endif \ No newline at end of file diff --git a/libs/serialIO/src/fport/fport_protocol.h b/libs/serialIO/src/fport/fport_protocol.h new file mode 100644 index 0000000..55b0fa3 --- /dev/null +++ b/libs/serialIO/src/fport/fport_protocol.h @@ -0,0 +1,55 @@ +/*! + * @file fport_protocol.h + * @brief Header file for the F.Port protocol implementation. + */ +#pragma once + +#ifndef FPORT_PROTOCOL_H +#define FPORT_PROTOCOL_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#define PACKED __attribute__((packed)) +#define FPORT_BAUDRATE 115200 ///< F.Port baudrate +#define FPORT_MAX_PACKET_SIZE 29 ///< F.Port maximum packet length +#define FPORT_END_BYTES 0x7E + +typedef enum { + FPORT_FRAMETYPE_RC_CHANNELS_PACKED = 0x00, + FPORT_FRAMETYPE_DOWNLINK = 0x01, + FPORT_FRAMETYPE_UPLINK = 0x81, +} fport_frame_type_e; + +typedef struct fport_channels_s { + unsigned channel1 : 11; + unsigned channel2 : 11; + unsigned channel3 : 11; + unsigned channel4 : 11; + unsigned channel5 : 11; + unsigned channel6 : 11; + unsigned channel7 : 11; + unsigned channel8 : 11; + unsigned channel9 : 11; + unsigned channel10 : 11; + unsigned channel11 : 11; + unsigned channel12 : 11; + unsigned channel13 : 11; + unsigned channel14 : 11; + unsigned channel15 : 11; + unsigned channel16 : 11; + unsigned dummy : 4; + unsigned failsafe : 1; + unsigned framelost : 1; + unsigned channel17 : 1; + unsigned channel18 : 1; +} PACKED fport_channels_t; + +#ifdef __cplusplus +} +#endif + +#endif \ No newline at end of file diff --git a/libs/serialIO/src/ibus/ibus.cpp b/libs/serialIO/src/ibus/ibus.cpp new file mode 100644 index 0000000..07a0dbf --- /dev/null +++ b/libs/serialIO/src/ibus/ibus.cpp @@ -0,0 +1,80 @@ +#include "ibus.h" + +ibus::ibus(Stream *rxPort, int rxPin, int txPin, bool inverted) + : SerialIO(rxPort, rxPin, txPin, inverted) {} + +void ibus::begin() { + +// Initialize the serial port +#if defined(ARDUINO_ARCH_ESP32) + HardwareSerial *serialPort = (HardwareSerial *)_rxPort; + serialPort->begin(IBUS_BAUDRATE, SERIAL_8N1, _rxPin, _txPin, _inverted); +#elif defined(ARDUINO_ARCH_AVR) + HardwareSerial *serialPort = (HardwareSerial *)_rxPort; + serialPort->begin(IBUS_BAUDRATE); +#elif defined(ARDUINO_ARCH_RP2040) + SerialUART *serialPort = (SerialUART *)_rxPort; + serialPort->setPinout(_txPin, _rxPin); + serialPort->setInvertRX(_inverted); + serialPort->setInvertTX(_inverted); + serialPort->begin(IBUS_BAUDRATE, SERIAL_8N1); +#else +#warning "Unsupported hardware platform." +#endif +} + +void ibus::processIncoming() { + while (_rxPort->available()) { + _rxData[IBUS_MAX_PACKET_SIZE - 1] = _rxPort->read(); + if (_rxData[0] == IBUS_HEADER1 && _rxData[1] == IBUS_HEADER2) { + if (checkSum()) { + size_t len = sizeof(ibus_channels_s) / sizeof(uint16_t); + uint16_t *arr = (uint16_t *)&_channelData; + for (int i = 0; i < len; i++) { + arr[i] = (_rxData[i * sizeof(uint16_t) + 1] << 8) | + _rxData[i * sizeof(uint16_t)]; + } + } + } + leftShift(_rxData, sizeof(_rxData)); + } +} + +void ibus::getChannel(rc_channels_t *channelData) { + channelData->channel1 = _channelData.channel1; + channelData->channel2 = _channelData.channel2; + channelData->channel3 = _channelData.channel3; + channelData->channel4 = _channelData.channel4; + channelData->channel5 = _channelData.channel5; + channelData->channel6 = _channelData.channel6; + channelData->channel7 = _channelData.channel7; + channelData->channel8 = _channelData.channel8; + channelData->channel9 = _channelData.channel9; + channelData->channel10 = _channelData.channel10; + channelData->channel11 = _channelData.channel11; + channelData->channel12 = _channelData.channel12; + channelData->channel13 = _channelData.channel13; + channelData->channel14 = _channelData.channel14; +} + +void ibus::getChannel(ibus_channels_t *channelData) { + *channelData = _channelData; +} + +bool ibus::checkSum() { + // Sum all the elements of _rxData except the last two bytes + uint16_t sum = 0; + for (size_t i = 0; i < sizeof(_rxData) - 2; ++i) { + sum += _rxData[i]; + } + + // Transform the last two bytes into a little-endian uint16_t + uint16_t checkSum = + (_rxData[sizeof(_rxData) - 1] << 8) | _rxData[sizeof(_rxData) - 2]; + + // Add the last two bytes to the sum + sum += checkSum; + + // Check if the sum matches the expected CRC + return (sum == 0xFFFF); // Assuming IBUS CRC is 0xFFFF when correct +} \ No newline at end of file diff --git a/libs/serialIO/src/ibus/ibus.h b/libs/serialIO/src/ibus/ibus.h new file mode 100644 index 0000000..d2cb2d4 --- /dev/null +++ b/libs/serialIO/src/ibus/ibus.h @@ -0,0 +1,59 @@ +/*! + * @file ibus.h + * @brief Header file for the Ibus protocol implementation. + */ + +#pragma once +#ifndef IBUS_H +#define IBUS_H + +#include "../SerialIO.h" // Include header file for the serial IO class +#include "ibus_protocol.h" + +/** + * @brief A class for handling IBUS protocol communication. + */ +class ibus : public SerialIO { +private: + ibus_channels_t _channelData; + uint8_t _rxData[IBUS_MAX_PACKET_SIZE]; ///< Buffer to store received IBUS data + bool checkSum(); + +public: + /** + * @brief Constructor for the IBUS class. + * @param rxPort Reference to the hardware serial port for RX communication. + * @param rxPin The RX pin number. + * @param txPin The TX pin number. + * @param inverted Whether the serial signal is inverted (true) or not + * (false). + */ + explicit ibus(Stream *rxPort, int rxPin = -1, int txPin = -1, + bool inverted = false); + + /** + * @brief Initializes the IBUS communication. + */ + void begin() override; + + /** + * @brief Processes incoming IBUS data. + */ + void processIncoming() override; + + /** + * @brief Gets the decoded RC channels from the IBUS data. + * @param channelData Pointer to a rc_channels_t struct where the decoded + * channel data will be stored. + */ + void getChannel(rc_channels_t *channelData) override; + + /** + * @brief Gets the decoded RC channels from the IBUS data. + * @param channelData Pointer to a ibus_channels_t struct where the decoded + * channel data will be stored. + */ + void getChannel(ibus_channels_t *channelData) override; +}; + +#endif // IBUS_H diff --git a/libs/serialIO/src/ibus/ibus_protocol.h b/libs/serialIO/src/ibus/ibus_protocol.h new file mode 100644 index 0000000..e88103e --- /dev/null +++ b/libs/serialIO/src/ibus/ibus_protocol.h @@ -0,0 +1,45 @@ +/*! + * @file ibus_protocol.h + * @brief Header file for the iBus protocol implementation. + */ +#pragma once + +#ifndef IBUS_PROTOCOL_H +#define IBUS_PROTOCOL_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#define PACKED __attribute__((packed)) +#define IBUS_MAX_PACKET_SIZE 32 ///< Maximum packet size for the IBUS protocol +#define IBUS_BAUDRATE 115200 ///< Baud rate for IBUS communication +#define IBUS_HEADER1 0x20 +#define IBUS_HEADER2 0x40 + +typedef struct ibus_channels_s { + unsigned header : 16; + unsigned channel1 : 16; + unsigned channel2 : 16; + unsigned channel3 : 16; + unsigned channel4 : 16; + unsigned channel5 : 16; + unsigned channel6 : 16; + unsigned channel7 : 16; + unsigned channel8 : 16; + unsigned channel9 : 16; + unsigned channel10 : 16; + unsigned channel11 : 16; + unsigned channel12 : 16; + unsigned channel13 : 16; + unsigned channel14 : 16; + unsigned checksum : 16; +} PACKED ibus_channels_t; + +#ifdef __cplusplus +} +#endif + +#endif \ No newline at end of file diff --git a/libs/serialIO/src/sbus/sbus.cpp b/libs/serialIO/src/sbus/sbus.cpp new file mode 100644 index 0000000..ce8d933 --- /dev/null +++ b/libs/serialIO/src/sbus/sbus.cpp @@ -0,0 +1,68 @@ +/*! + * @file sbus.cpp + * @brief Source file for the SBus implementations + * @author Witty-Wizard + */ +#include "sbus.h" + +sbus::sbus(Stream *rxPort, int rxPin, int txPin, bool inverted) + : SerialIO(rxPort, rxPin, txPin, inverted) {} + +void sbus::begin() { + +// Initialize the serial port +#if defined(ARDUINO_ARCH_ESP32) + HardwareSerial *serialPort = (HardwareSerial *)_rxPort; + serialPort->begin(SBUS_BAUDRATE, SERIAL_8E2, _rxPin, _txPin, _inverted); +#elif defined(ARDUINO_ARCH_RP2040) + SerialUART *serialPort = (SerialUART *)_rxPort; + serialPort->setPinout(_txPin, _rxPin); + serialPort->setInvertRX(_inverted); + serialPort->setInvertTX(_inverted); + serialPort->begin(SBUS_BAUDRATE, SERIAL_8E2); +#else +#warning "Unsupported hardware platform." +#endif +} + +void sbus::processIncoming() { + while (_rxPort->available()) { + _rxData[SBUS_MAX_PACKET_SIZE - 1] = _rxPort->read(); + if (_rxData[0] == HEADER_SBUS && + _rxData[SBUS_MAX_PACKET_SIZE - 1] == FOOTER_SBUS) { + memcpy(&_channelData, _rxData, sizeof(_channelData)); + } + leftShift(_rxData, sizeof(_rxData)); + + _lastPacketTime = millis(); + _connectionTimeout = false; + } + + if (millis() - _lastPacketTime > SBUS_TIMEOUT) { + _connectionTimeout = true; + } +} + +void sbus::getChannel(rc_channels_t *channelData) { + memcpy(channelData, (uint8_t *)&_channelData + 1, sizeof(rc_channels_t)); +} + +bool sbus::getFailsafe() { + return _channelData.failsafe; +} + +bool sbus::getFramelost() { + return _channelData.framelost; +} + +bool sbus::getChannel17() { + return _channelData.channel17; +} + +bool sbus::getChannel18() { + return _channelData.channel18; +} + +bool sbus::getSerialConnectionStatus() { + return !_connectionTimeout; +} \ No newline at end of file diff --git a/libs/serialIO/src/sbus/sbus.h b/libs/serialIO/src/sbus/sbus.h new file mode 100644 index 0000000..5535d71 --- /dev/null +++ b/libs/serialIO/src/sbus/sbus.h @@ -0,0 +1,86 @@ +/*! + * @file sbus.h + * @brief Header file for the SBUS protocol implementation. + */ + +#pragma once +#ifndef SBUS_H +#define SBUS_H + +#include "../SerialIO.h" // Include header file for the serial IO class +#include "sbus_protocol.h" + +/** + * @brief A class for handling SBUS protocol communication. + */ +class sbus : public SerialIO { +private: + sbus_channels_t _channelData; + uint8_t _rxData[SBUS_MAX_PACKET_SIZE]; + uint32_t _lastPacketTime = 0; + bool _connectionTimeout = false; + +public: + /** + * @brief Constructor for the SBUS class. + * @param rxPort Reference to the hardware serial port for RX communication. + * @param rxPin The RX pin number. + * @param txPin The TX pin number. + * @param inverted Whether the serial signal is inverted (true) or not + * (false). + */ + explicit sbus(Stream *rxPort, int rxPin = -1, int txPin = -1, + bool inverted = true); + + /** + * @brief Initializes the SBUS communication. + */ + void begin() override; + void processIncoming() override; + + /** + * @brief Gets the decoded RC channels from the SBUS data. + * @param channelData Pointer to a crsf_channels_t struct where the decoded + * channel data will be stored. + */ + void getChannel(rc_channels_t *channelData) override; + + /** + * @brief Gets the failsafe status from the SBUS data. + * @param failsafeData Pointer to a failsafe_t struct where the failsafe + * status will be stored. + */ + void getFailsafe(failsafe_t *failsafeData); + + /** + * @brief Gets the failsafe status from the SBUS data. + * @return True if failsafe is active, false otherwise. + */ + bool getFailsafe(); + + /** + * @brief Gets the frame lost status from the SBUS data. + * @return True if frame lost is active, false otherwise. + */ + bool getFramelost(); + + /** + * @brief Gets the channel 17 status from the SBUS data. + * @return True if channel 17 is active, false otherwise. + */ + bool getChannel17(); + + /** + * @brief Gets the channel 18 status from the SBUS data. + * @return True if channel 18 is active, false otherwise. + */ + bool getChannel18(); + + /** + * @brief Gets the serial connection status. + * @return True if the connection is active, false if it has timed out. + */ + bool getSerialConnectionStatus(); +}; + +#endif \ No newline at end of file diff --git a/libs/serialIO/src/sbus/sbus_protocol.h b/libs/serialIO/src/sbus/sbus_protocol.h new file mode 100644 index 0000000..1431d81 --- /dev/null +++ b/libs/serialIO/src/sbus/sbus_protocol.h @@ -0,0 +1,52 @@ +/*! + * @file sbus_protocol.h + * @brief Header file for the SBus protocol implementation. + */ +#pragma once + +#ifndef SBUS_PROTOCOL_H +#define SBUS_PROTOCOL_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#define PACKED __attribute__((packed)) +#define HEADER_SBUS 0x0F ///< SBus Header Byte +#define FOOTER_SBUS 0x00 ///< SBus Footer Byte +#define SBUS_BAUDRATE 100000 ///< SBus baudrate +#define SBUS_MAX_PACKET_SIZE 25 ///< SBus packet length +#define SBUS_TIMEOUT 200 ///< SBus timeout in milliseconds + +typedef struct sbus_channels_s { + unsigned header : 8; + unsigned channel1 : 11; + unsigned channel2 : 11; + unsigned channel3 : 11; + unsigned channel4 : 11; + unsigned channel5 : 11; + unsigned channel6 : 11; + unsigned channel7 : 11; + unsigned channel8 : 11; + unsigned channel9 : 11; + unsigned channel10 : 11; + unsigned channel11 : 11; + unsigned channel12 : 11; + unsigned channel13 : 11; + unsigned channel14 : 11; + unsigned channel15 : 11; + unsigned channel16 : 11; + unsigned dummy : 4; + unsigned failsafe : 1; + unsigned framelost : 1; + unsigned channel17 : 1; + unsigned channel18 : 1; + unsigned footer : 8; +} PACKED sbus_channels_t; +#ifdef __cplusplus +} +#endif + +#endif \ No newline at end of file diff --git a/truckLightAndFunction.ino b/truckLightAndFunction.ino index ce9abe0..379027c 100644 --- a/truckLightAndFunction.ino +++ b/truckLightAndFunction.ino @@ -30,6 +30,7 @@ #include "starterBrightnessAdjustment.h" #include "debugging.h" // Handles debbuging info #include "serialCommMaster.h" +#include struct MultiswitchChannel { uint16_t channel[8]; diff --git a/vehicleConfig.h b/vehicleConfig.h index 94988c9..7e3831a 100644 --- a/vehicleConfig.h +++ b/vehicleConfig.h @@ -38,6 +38,58 @@ enum ProtocolVersion { V2 }; +enum OutputType : uint8_t { + TYPE_LIGHT = 0, + TYPE_SERVO = 1 +}; + +enum LightFunctions : uint32_t { + FUNC_NONE = 0, + FUNC_PARK = 1 << 0, + FUNC_DAYTIME = 1 << 1, + FUNC_LOW_BEAM = 1 << 2, + FUNC_HIGH_BEAM = 1 << 3, + FUNC_FOG = 1 << 4, + FUNC_LEFT_INDICATOR = 1 << 5, + FUNC_RIGHT_INDICATOR = 1 << 6, + FUNC_HAZARD = 1 << 7, + FUNC_REVERSE = 1 << 8, + FUNC_BRAKE = 1 << 9, + FUNC_BEACON = 1 << 10, + FUNC_AUX = 1 << 11, + FUNC_STARTER = 1 << 12, +}; + +struct LightTypeConfig { + LightFunctions lightFunctions; + // Brightness Level when light is OFF + uint8_t brightnessLevelOff; + // Brightness Level when light is in a function state with low brightness (like parking light) + uint8_t brightnessLevelLow; + // Brightness Level when light is in a function state with medium brightness (like low beam) + uint8_t brightnessLevelMedium; + // Brightness Level when light is in a function state with high brightness (like high beam, brake light, Turn signal) + uint8_t brightnessLevelHigh; +}; + +struct ServoTypeConfig { + // Minimum Pulse Width for Servo + uint16_t minPulseWidth; + // Maximum Pulse Width for Servo + uint16_t maxPulseWidth; + // Neutral Pulse Width for Servo + uint16_t neutralPulseWidth; + // Sweep Time for Servo + uint16_t sweepTime; +}; + +struct OutputConfig { + OutputType outputType; + uint8_t outputPin; + LightTypeConfig lightTypeConfig; + ServoTypeConfig servoTypeConfig; +}; + struct GeneralConfig { // Setup Region EU or US for Truck - Use `CountryOption` enum CountryOption countryOption; From 087cb879b7170add68731e97b90b0e8cf2de87aa Mon Sep 17 00:00:00 2001 From: magraina Date: Wed, 18 Mar 2026 14:00:41 +0100 Subject: [PATCH 02/33] feat: add new configuration structure --- config.h | 2 +- config/global-effects-config.h | 25 ++ config/input-config.h | 30 ++ config/light-mode.h | 48 ++++ config/local-output-config.h | 46 +++ config/main-config.h | 39 +++ truck-multi-function-sbus.ino | 491 +++++++++++++++++++++++++++++++++ 7 files changed, 680 insertions(+), 1 deletion(-) create mode 100644 config/global-effects-config.h create mode 100644 config/input-config.h create mode 100644 config/light-mode.h create mode 100644 config/local-output-config.h create mode 100644 config/main-config.h create mode 100644 truck-multi-function-sbus.ino diff --git a/config.h b/config.h index 7bf3519..6229f54 100644 --- a/config.h +++ b/config.h @@ -1,5 +1,5 @@ /************************************ - * Copyright (C) 2020-2025 Marina Egner + * Copyright (C) 2020-2026 Marina Egner * * This program is free software: you can redistribute it and/or modify it * under the terms of the GNU General Public License as published by the diff --git a/config/global-effects-config.h b/config/global-effects-config.h new file mode 100644 index 0000000..2b98675 --- /dev/null +++ b/config/global-effects-config.h @@ -0,0 +1,25 @@ +#pragma once +#include + +struct GlobalEffectsConfig { + // --- Timings in milliseconds --- + + // Turn signals & Hazards (usually identical speed, but distinct logic) + uint16_t turnSignalFreq; // e.g., 500ms ON / 500ms OFF + + // Strobes (Double Flash Sequence / Doppelblitz) + // Pattern: ON -> shortPause -> ON -> longPause -> (repeat) + uint16_t strobeFlashDuration; // e.g., 40 (Time the LED stays ON) + uint16_t strobeShortPause; // e.g., 60 (Pause between the two rapid flashes) + uint16_t strobeLongPause; // e.g., 400 (Pause before the next double flash starts) + + // Flash to pass (Lichthupe) + uint16_t flashToPassFreq; // e.g., 100ms ON / 100ms OFF + + // Rotating beacon (Rundumleuchte) + uint16_t beaconSpeed; // Time between LED transition steps + + // --- Specific settings --- + uint8_t beaconMaxLeds; // Amount of virtual LEDs in the beacon circle + uint8_t starterDimFactor; // Dimming percentage (e.g., 50%) during motor start +}; \ No newline at end of file diff --git a/config/input-config.h b/config/input-config.h new file mode 100644 index 0000000..77607b4 --- /dev/null +++ b/config/input-config.h @@ -0,0 +1,30 @@ +#pragma once +#include + +// --- INPUT DEFINITIONS --- + +enum class InputType : uint8_t { + NONE = 0, // Channel is disabled / ignored + SWITCH_3POS = 1, // Evaluates Low, Mid, and High positions + PROPORTIONAL = 2 // Raw value passed through (e.g., for servos/ESC) +}; + +struct InputConfig { + InputType type; + + // The targets (bits) to trigger based on the switch position + uint32_t targetMaskLow; // Triggered if value < thresholdLow + uint32_t targetMaskMid; // Triggered if value >= thresholdLow AND <= thresholdHigh + uint32_t targetMaskHigh; // Triggered if value > thresholdHigh + + // The limits defining the 3 switch zones (typically around 1300 and 1700 µs) + uint16_t thresholdLow; + uint16_t thresholdHigh; +}; + +struct LightInputChannel { + // Pin for Reverse Signal from External Controller + uint8_t reverseSignal; + // Pin for Brake Signal from External Controller + uint8_t brakeSignal; +}; \ No newline at end of file diff --git a/config/light-mode.h b/config/light-mode.h new file mode 100644 index 0000000..b87947d --- /dev/null +++ b/config/light-mode.h @@ -0,0 +1,48 @@ +/************************************ + * Copyright (C) 2020-2026 Marina Egner + * + * This program is free software: you can redistribute it and/or modify it + * under the terms of the GNU General Public License as published by the + * Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; + * without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License along with this program. + * If not, see . + ************************************/ + +#pragma once +#include + +// The 16-bit master mask (The vocabulary of the bus) +enum LightBits : uint32_t { + BIT_STATIC_OFF = 0, + // --- Standard Driving Lights --- + BIT_PARKING_LIGHT = (1UL << 0), // Value: 1 + BIT_LOW_BEAM = (1UL << 1), // Value: 2 + BIT_HIGH_BEAM = (1UL << 2), // Value: 4 + + // --- Signal Lights --- + BIT_TURN_SIGNAL_L = (1UL << 3), // Value: 8 + BIT_TURN_SIGNAL_R = (1UL << 4), // Value: 16 + BIT_HAZARD_LIGHT = (1UL << 5), // Value: 32 + BIT_BRAKE_LIGHT = (1UL << 6), // Value: 64 + BIT_REVERSE_LIGHT = (1UL << 7), // Value: 128 + + // --- Special Functions --- + BIT_BEACON_LIGHT = (1UL << 8), // Value: 256 (Rotating beacon) + BIT_AUX_1 = (1UL << 9), // Value: 512 (e.g., Work light) + BIT_AUX_2 = (1UL << 10), // Value: 1024 (e.g., Fog light) + BIT_AUX_3 = (1UL << 11), // Value: 2048 (e.g., Additional light) + BIT_STARTER_DIM = (1UL << 12), // Value: 4096 (Starter dims lights) + + // --- System & Control Bits --- + BIT_SHOWMODE = (1UL << 13), // Value: 8192 (Triggers show/sequence mode on slaves) + BIT_STATIC_ON = (1UL << 14), // Value: 16384 (Virtual bit for always-on/marker lights) + BIT_STROBE_LIGHT = (1UL << 15), // Value: 32768 (Warning strobes) + BIT_FLASH_TO_PASS = (1UL << 16) // Value: 65536 (Lichthupe / Optical horn sequence) + + // Available: Bits 17 to 31 (Over 2 billion possible combinations!) +}; diff --git a/config/local-output-config.h b/config/local-output-config.h new file mode 100644 index 0000000..fb57aa0 --- /dev/null +++ b/config/local-output-config.h @@ -0,0 +1,46 @@ +#pragma once +#include + +// --- LOCAL OUTPUT DEFINITIONS --- + +enum class OutputMode : uint8_t { + NONE = 0, // Pin is disabled + DIGITAL = 1, // Simple HIGH/LOW (e.g., Relays, basic LEDs) + PWM = 2, // Dimmable output (ESP32 ledc hardware PWM) + SERVO = 3 // 50Hz Servo or ESC control +}; + +struct LocalOutputConfig { + uint8_t pin; // The physical GPIO pin on the ESP32 + OutputMode mode; // How should this pin be driven? + + uint32_t triggerMask; // Which LightBits trigger this output? (e.g., BIT_LOW_BEAM) + + // Generic parameters depending on the selected OutputMode: + // + // Mode DIGITAL: + // - param1, param2, param3 are ignored. + // + // Mode PWM: + // Multi-purpose parameters. + // Example for combined lights (Parking | Low | High): + // param1 = Brightness for Parking (lowest priority) + // param2 = Brightness for Low Beam + // param3 = Brightness for High Beam (highest priority) + // + // Example for Beacon: + // param1 = LED Index (e.g., 2nd LED in the circle) + // param2 = Beacon Group ID (0 or 1, for independent beacons) + // + // Mode SERVO: + // - param1 = Minimum pulse width in microseconds (e.g., 1000) + // - param2 = Maximum pulse width in microseconds (e.g., 2000) + // - param3 = Center/Neutral pulse width in microseconds (e.g., 1500) + uint16_t param1; + uint16_t param2; + uint16_t param3; + // Global fade transition time for this specific pin. + // 0 = Instant snap (good for strobes/blinkers) + // 1-255 = Milliseconds to fade to the new target value (soft on/off) + uint16_t fadeTime; +}; \ No newline at end of file diff --git a/config/main-config.h b/config/main-config.h new file mode 100644 index 0000000..66a3682 --- /dev/null +++ b/config/main-config.h @@ -0,0 +1,39 @@ +#pragma once +#include +#include "input-config.h" +#include "local-output-config.h" + +#define NUM_SBUS_CHANNELS 16 +#define NUM_PPM_CHANNELS 8 +#define NUM_LOCAL_OUTPUTS 14 + +// Defines how the physical PPM pin is evaluated +enum class PpmInputMode : uint8_t { + MULTIPLEXED_8CH = 0, // Expects a standard 8-channel PPM stream + SINGLE_PWM = 1 // Expects a single traditional RC PWM pulse +}; + +struct MainConfig { + // --- Network / Identification --- + uint8_t nodeId; // Address of this module (e.g., 0x00 for Master, 0x10 for Trailer 1) + + // --- Routing: Inputs --- + InputConfig sbusInputs[NUM_SBUS_CHANNELS]; + + PpmInputMode ppmMode; // Toggle between 8-channel PPM or single-channel PWM + InputConfig ppmInputs[NUM_PPM_CHANNELS]; // If SINGLE_PWM, only ppmInputs[0] is evaluated + LightInputChannel lightInputs; + + // --- Routing: Outputs (ESP32 Pins) --- + LocalOutputConfig localOuts[NUM_LOCAL_OUTPUTS]; + + // --- System Safety: Failsafe --- + // Timeout in milliseconds without a valid PPM/PWM pulse before failsafe triggers + uint16_t failsafeTimeoutMs; + + // Which bits to force ON during a failsafe (e.g., BIT_HAZARD_LIGHT | BIT_BRAKE_LIGHT) + uint32_t failsafeMask; +}; + +// Global instance +extern MainConfig activeMainConfig; \ No newline at end of file diff --git a/truck-multi-function-sbus.ino b/truck-multi-function-sbus.ino new file mode 100644 index 0000000..8a39707 --- /dev/null +++ b/truck-multi-function-sbus.ino @@ -0,0 +1,491 @@ +/************************************ + * truck-multi-function-sbus v2.0.0 + * Date: 20.08.2025 + * + * Copyright (C) 2020-2026 Marina Egner + * + * This program is free software: you can redistribute it and/or modify it + * under the terms of the GNU General Public License as published by the + * Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; + * without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License along with this program. + * If not, see . + ************************************/ + +/************************************ + * Configuration Programm + ************************************/ +#include "config.h" // Configuration File +//#include "ioMapping.h" // IO Mapping File +/************************************ + * Include Module and Library Files + ************************************/ + +#include "readPPMdata.h" // read Data from Buffer +#include "lightFunctions.h" +#include "starterBrightnessAdjustment.h" +#include "debugging.h" // Handles debbuging info +#include "serialCommMaster.h" +#include + +struct MultiswitchChannel { + uint16_t channel[8]; +}; + +MultiswitchChannel multiswitch1; +MultiswitchChannel multiswitch2; + +struct Lights { + bool state; + bool out; + uint8_t brightness; +}; + +Lights parkLight; +Lights lowBeamLight; +Lights highBeamLight; +Lights highBeamLightFlash; +Lights leftIndicatorLight; +Lights rightIndicatorLight; +Lights fogLight; +Lights hazardLight; +Lights beaconLight; +Lights auxLight; +Lights brakeLight; +Lights reverseLight; + +SerialCommMaster truckSerial; +StarterAdjustedBrightness brightnessAdjust; + +uint8_t channel3Switch = 0; + +//Setup Serial and check if Board is UNO with one Serial or Leonardo/Micro with to Serials +#ifdef HAVE_HWSERIAL1 //if serial ports 1 exist then the arduino has more than one serial port + #ifndef SerialUSB //if not allready defined + #define SerialUSB SERIAL_PORT_MONITOR //then define monitor port + #endif +#else + #define DEBUGLEVEL 1 +#endif +#ifndef SerialHW //if not allready defined + #define SerialHW SERIAL_PORT_HARDWARE //then define hardware port +#endif + + +void setup() { + // put your setup code here, to run once: + /************************************ + * Setup Inputs + ************************************/ + pinMode(vehicleConfig.ppmConfig.pinChannel1, INPUT_PULLUP); + pinMode(vehicleConfig.ppmConfig.pinChannel2, INPUT_PULLUP); + pinMode(vehicleConfig.ppmConfig.pinSoundChannel, INPUT); + pinMode(vehicleConfig.lightInputChannel.brakeSignal, INPUT_PULLUP); + pinMode(vehicleConfig.lightInputChannel.reverseSignal, INPUT_PULLUP); + /************************************ + * Setup Outputs + ************************************/ + initLightOutput(); + setupLightOutput( + vehicleConfig.parkingLight.outputPin, + vehicleConfig.parkingLight.fadeOnTime, + vehicleConfig.parkingLight.fadeOffTime + ); + setupLightOutput( + vehicleConfig.lowBeamLight.outputPin, + vehicleConfig.lowBeamLight.fadeOnTime, + vehicleConfig.lowBeamLight.fadeOffTime + ); + setupLightOutput( + vehicleConfig.highBeamLight.outputPin, + vehicleConfig.highBeamLight.fadeOnTime, + vehicleConfig.highBeamLight.fadeOffTime + ); + setupLightOutput( + vehicleConfig.fogLight.outputPin, + vehicleConfig.fogLight.fadeOnTime, + vehicleConfig.fogLight.fadeOffTime + ); + setupLightOutput( + vehicleConfig.frontLeftTurnLight.outputPin, + vehicleConfig.frontLeftTurnLight.fadeOnTime, + vehicleConfig.frontLeftTurnLight.fadeOffTime + ); + setupLightOutput( + vehicleConfig.frontRightTurnLight.outputPin, + vehicleConfig.frontRightTurnLight.fadeOnTime, + vehicleConfig.frontRightTurnLight.fadeOffTime + ); + setupLightOutput( + vehicleConfig.rearLeftTurnLight.outputPin, + vehicleConfig.rearLeftTurnLight.fadeOnTime, + vehicleConfig.rearLeftTurnLight.fadeOffTime + ); + setupLightOutput( + vehicleConfig.rearRightTurnLight.outputPin, + vehicleConfig.rearRightTurnLight.fadeOnTime, + vehicleConfig.rearRightTurnLight.fadeOffTime + ); + setupLightOutput( + vehicleConfig.reverseLight.outputPin, + vehicleConfig.reverseLight.fadeOnTime, + vehicleConfig.reverseLight.fadeOffTime + ); + setupLightOutput( + vehicleConfig.brakeLight.outputPin, + vehicleConfig.brakeLight.fadeOnTime, + vehicleConfig.brakeLight.fadeOffTime + ); + setupLightOutput( + vehicleConfig.auxLight.outputPin, + vehicleConfig.auxLight.fadeOnTime, + vehicleConfig.auxLight.fadeOffTime + ); + + // Initialize brightness adjustment + brightnessAdjust.setupAdjustmentParameters(vehicleConfig.generalLightConfig.starterDimmingFactor, vehicleConfig.generalLightConfig.starterDimmingMultiplier); + brightnessAdjust.configureBrightnessLevels(LightType::LOW_BEAM, LightModes::PRIMARY, vehicleConfig.lowBeamLight.primaryOnBrightness); + brightnessAdjust.configureBrightnessLevels(LightType::LOW_BEAM, LightModes::SECONDARY, vehicleConfig.lowBeamLight.secondaryOnBrightness); + brightnessAdjust.configureBrightnessLevels(LightType::LOW_BEAM, LightModes::TERTIARY, vehicleConfig.lowBeamLight.tertiaryOnBrightness); + brightnessAdjust.configureBrightnessLevels(LightType::HIGH_BEAM, LightModes::PRIMARY, vehicleConfig.highBeamLight.primaryOnBrightness); + brightnessAdjust.configureBrightnessLevels(LightType::PARKING, LightModes::PRIMARY, vehicleConfig.parkingLight.primaryOnBrightness); + brightnessAdjust.configureBrightnessLevels(LightType::BRAKE, LightModes::PRIMARY, vehicleConfig.brakeLight.primaryOnBrightness); + brightnessAdjust.configureBrightnessLevels(LightType::BRAKE, LightModes::SECONDARY, vehicleConfig.brakeLight.secondaryOnBrightness); + brightnessAdjust.configureBrightnessLevels(LightType::REAR_LEFT_TURN, LightModes::PRIMARY, vehicleConfig.rearLeftTurnLight.primaryOnBrightness); + brightnessAdjust.configureBrightnessLevels(LightType::REAR_LEFT_TURN, LightModes::SECONDARY, vehicleConfig.rearLeftTurnLight.secondaryOnBrightness); + brightnessAdjust.configureBrightnessLevels(LightType::REAR_RIGHT_TURN, LightModes::PRIMARY, vehicleConfig.rearRightTurnLight.primaryOnBrightness); + brightnessAdjust.configureBrightnessLevels(LightType::REAR_RIGHT_TURN, LightModes::SECONDARY, vehicleConfig.rearRightTurnLight.secondaryOnBrightness); + brightnessAdjust.configureBrightnessLevels(LightType::FRONT_LEFT_TURN, LightModes::PRIMARY, vehicleConfig.frontLeftTurnLight.primaryOnBrightness); + brightnessAdjust.configureBrightnessLevels(LightType::FRONT_RIGHT_TURN, LightModes::PRIMARY, vehicleConfig.frontRightTurnLight.primaryOnBrightness); + brightnessAdjust.configureBrightnessLevels(LightType::REVERSE, LightModes::PRIMARY, vehicleConfig.reverseLight.primaryOnBrightness); + brightnessAdjust.configureBrightnessLevels(LightType::FOG, LightModes::PRIMARY, vehicleConfig.fogLight.primaryOnBrightness); + brightnessAdjust.configureBrightnessLevels(LightType::AUX, LightModes::PRIMARY, vehicleConfig.auxLight.primaryOnBrightness); + + /************************************ + * Setup Functions + ************************************/ + initInterrupts(vehicleConfig.ppmConfig.pinChannel1, vehicleConfig.ppmConfig.pinChannel2, vehicleConfig.ppmConfig.pinSoundChannel); + if (DEBUGLEVEL >=1) { + debuggingInit(DEBUGLEVEL, vehicleConfig.generalConfig.statusLightPin); + } + + if (vehicleConfig.serialConfig.isEnabled) { + truckSerial.begin(&SerialHW, // Serial interface on arduino + vehicleConfig.serialConfig.baudRate, + vehicleConfig.serialConfig.byteFormat, + vehicleConfig.serialConfig.timeout, + vehicleConfig.serialConfig.pollingInterval, + vehicleConfig.serialConfig.outTxEnablePin, + vehicleConfig.serialConfig.protocolVersion + ); + } +} + +void loop() { // put your main code here, to run repeatedly: + bool errorFlag = false; + + /* + * Read Switches and Potis from Multiswitches + * Some switches are commented as they are not yet in use. + */ + multiswitch1.channel[0] = getChannel1Switch(0, DIRECTION_DOWN); + multiswitch1.channel[1] = getChannel1Switch(1, DIRECTION_MID); + multiswitch1.channel[2] = getChannel1Switch(2, DIRECTION_DOWN); + multiswitch1.channel[3] = getChannel1Switch(3, DIRECTION_UP); + multiswitch1.channel[4] = getChannel1Switch(4, DIRECTION_DOWN); + multiswitch1.channel[5] = getChannel1Switch(5, DIRECTION_MID); + multiswitch1.channel[6] = getChannel1Switch(6, DIRECTION_DOWN); + multiswitch1.channel[7] = getChannel1Switch(7, DIRECTION_DOWN); + + multiswitch2.channel[0] = getChannel2Poti(0, 1520); + multiswitch2.channel[1] = getChannel2Poti(1, 1520); + multiswitch2.channel[2] = getChannel2Switch(2, DIRECTION_MID); + multiswitch2.channel[3] = getChannel2Switch(3, DIRECTION_MID); + multiswitch2.channel[4] = getChannel2Switch(4, DIRECTION_MID); + multiswitch2.channel[5] = getChannel2Switch(5, DIRECTION_MID); + multiswitch2.channel[6] = getChannel2Switch(6, DIRECTION_MID); + multiswitch2.channel[7] = getChannel2Switch(7, DIRECTION_MID); + + channel3Switch = getChannel3Signal(); + + /* + * Map switches to Functions + */ + + parkLight.state = mapSwitchToFunction(multiswitch1.channel[0], false, true, true); // Function to map a Key [Down, Mid, Up] + lowBeamLight.state = mapSwitchToFunction(multiswitch1.channel[0], false, false, true); // Function to map a Key [Down, Mid, Up] + leftIndicatorLight.state = mapSwitchToFunction(multiswitch1.channel[1], true, false, false); // Function to map a Key [Down, Mid, Up] + rightIndicatorLight.state = mapSwitchToFunction(multiswitch1.channel[1], false, false, true); // Function to map a Key [Down, Mid, Up] + fogLight.state = mapSwitchToFunction(multiswitch1.channel[2], false, false, true); // Function to map a Key [Down, Mid, Up] + hazardLight.state = mapSwitchToFunction(multiswitch1.channel[3], false, false, true); // Function to map a Key [Down, Mid, Up] + beaconLight.state = mapSwitchToFunction(multiswitch1.channel[4], false, false, true); // Function to map a Key [Down, Mid, Up] + highBeamLight.state = mapSwitchToFunction(multiswitch1.channel[5], true, false, false); // Function to map a Key [Down, Mid, Up] + highBeamLightFlash.state = mapSwitchToFunction(multiswitch1.channel[5], false, false, true); // Function to map a Key [Down, Mid, Up] + auxLight.state = mapSwitchToFunction(multiswitch1.channel[6], false, false, true); // Function to map a Key [Down, Mid, Up] + reverseLight.state = !digitalRead(vehicleConfig.lightInputChannel.reverseSignal); // Function to read the Reverse Signal from the External Controller + brakeLight.state = !digitalRead(vehicleConfig.lightInputChannel.brakeSignal); + + /* + * Write Light function state to the output var + */ + parkLight.out = directlyToOutput(parkLight.state); + lowBeamLight.out = directlyToOutput(lowBeamLight.state); + highBeamLight.out = highBeamFlash(highBeamLight.state, highBeamLightFlash.state, vehicleConfig.highBeamConfig.flashFrequency); + fogLight.out = directlyToOutput(fogLight.state); + beaconLight.out = directlyToOutput(beaconLight.state); + auxLight.out = directlyToOutput(auxLight.state); + reverseLight.out = directlyToOutput(reverseLight.state); + brakeLight.out = directlyToOutput(brakeLight.state); + + setTurnIndicators( + leftIndicatorLight.state, + rightIndicatorLight.state, + hazardLight.state, + &leftIndicatorLight.out, + &rightIndicatorLight.out, + vehicleConfig.turnSignalConfig.flashFrequency + ); + + bool isStarterActive = false; + if(channel3Switch == DIRECTION_DOWN) isStarterActive = true; + brightnessAdjust.setStarterState(isStarterActive); + + /* + * Set Outputs + */ + + setBooleanLight( + vehicleConfig.parkingLight.outputPin, + parkLight.out, + brightnessAdjust.getBrightnessLevel(LightType::PARKING) + ); + + if (vehicleConfig.lowBeamConfig.isParkingLight && vehicleConfig.lowBeamConfig.isHighBeam) { + setCombinedHeadlightAll( + vehicleConfig.lowBeamLight.outputPin, + parkLight.out, + lowBeamLight.out, + highBeamLight.out, + brightnessAdjust.getBrightnessLevel(LightType::LOW_BEAM, LightModes::TERTIARY), + brightnessAdjust.getBrightnessLevel(LightType::LOW_BEAM, LightModes::SECONDARY), + brightnessAdjust.getBrightnessLevel(LightType::LOW_BEAM) + ); + } else if (vehicleConfig.lowBeamConfig.isHighBeam) { + setCombinedHeadlightHighOnly( + vehicleConfig.lowBeamLight.outputPin, + lowBeamLight.out, + highBeamLight.out, + brightnessAdjust.getBrightnessLevel(LightType::LOW_BEAM, LightModes::SECONDARY), + brightnessAdjust.getBrightnessLevel(LightType::LOW_BEAM) + ); + } else if (vehicleConfig.lowBeamConfig.isParkingLight) { + setCombinedHeadlightParkOnly( + vehicleConfig.lowBeamLight.outputPin, + parkLight.out, + lowBeamLight.out, + + brightnessAdjust.getBrightnessLevel(LightType::LOW_BEAM, LightModes::SECONDARY), + brightnessAdjust.getBrightnessLevel(LightType::LOW_BEAM) + ); + } else { + setBooleanLight( + vehicleConfig.lowBeamLight.outputPin, + lowBeamLight.out, + brightnessAdjust.getBrightnessLevel(LightType::LOW_BEAM) + ); + } + + setBooleanLight( + vehicleConfig.highBeamLight.outputPin, + highBeamLight.out, + brightnessAdjust.getBrightnessLevel(LightType::HIGH_BEAM) + ); + setBooleanLight( + vehicleConfig.fogLight.outputPin, + fogLight.out, + brightnessAdjust.getBrightnessLevel(LightType::FOG) + ); + setBooleanLight( + vehicleConfig.auxLight.outputPin, + auxLight.out, + brightnessAdjust.getBrightnessLevel(LightType::AUX) + ); + setBooleanLight( + vehicleConfig.frontLeftTurnLight.outputPin, + leftIndicatorLight.out, + brightnessAdjust.getBrightnessLevel(LightType::FRONT_LEFT_TURN) + ); + setBooleanLight( + vehicleConfig.frontRightTurnLight.outputPin, + rightIndicatorLight.out, + brightnessAdjust.getBrightnessLevel(LightType::FRONT_RIGHT_TURN) + ); + setBooleanLight( + vehicleConfig.reverseLight.outputPin, + reverseLight.out, + brightnessAdjust.getBrightnessLevel(LightType::REVERSE) + ); + + switch (vehicleConfig.generalConfig.countryOption) { + case CountryOption::EU: + setBooleanLight( + vehicleConfig.rearLeftTurnLight.outputPin, + leftIndicatorLight.out, + brightnessAdjust.getBrightnessLevel(LightType::REAR_LEFT_TURN) + ); + setBooleanLight( + vehicleConfig.rearRightTurnLight.outputPin, + rightIndicatorLight.out, + brightnessAdjust.getBrightnessLevel(LightType::REAR_RIGHT_TURN) + ); + setBooleanLight( + vehicleConfig.brakeLight.outputPin, + brakeLight.out, + brightnessAdjust.getBrightnessLevel(LightType::BRAKE) + ); + break; + + case CountryOption::US: + if (leftIndicatorLight.state || hazardLight.state) { + setBooleanLight( + vehicleConfig.rearLeftTurnLight.outputPin, + leftIndicatorLight.out, + brightnessAdjust.getBrightnessLevel(LightType::REAR_LEFT_TURN) + ); + } else if (leftIndicatorLight.out == false) { + setBrakingWithPark( + vehicleConfig.rearLeftTurnLight.outputPin, + parkLight.state, + brakeLight.state, + brightnessAdjust.getBrightnessLevel(LightType::REAR_LEFT_TURN, LightModes::SECONDARY), + brightnessAdjust.getBrightnessLevel(LightType::REAR_LEFT_TURN, LightModes::PRIMARY) + ); + } + + if (rightIndicatorLight.state || hazardLight.state) { + setBooleanLight( + vehicleConfig.rearRightTurnLight.outputPin, + rightIndicatorLight.out, + brightnessAdjust.getBrightnessLevel(LightType::REAR_RIGHT_TURN) + ); + } else if (rightIndicatorLight.out == false) { + setBrakingWithPark( + vehicleConfig.rearRightTurnLight.outputPin, + parkLight.state, + brakeLight.state, + brightnessAdjust.getBrightnessLevel(LightType::REAR_RIGHT_TURN, LightModes::SECONDARY), + brightnessAdjust.getBrightnessLevel(LightType::REAR_RIGHT_TURN, LightModes::PRIMARY) + ); + } + + setBrakingWithPark( + vehicleConfig.brakeLight.outputPin, + parkLight.state, + brakeLight.state, + brightnessAdjust.getBrightnessLevel(LightType::BRAKE, LightModes::SECONDARY), + brightnessAdjust.getBrightnessLevel(LightType::BRAKE, LightModes::PRIMARY) + ); + break; + } + + if (vehicleConfig.serialConfig.isEnabled == true) { + /* + * Setup serial communication + */ + truckSerial.setLightData(LightIdentifier::PARK_LIGHT, parkLight.out); + truckSerial.setLightData(LightIdentifier::BRAKE_LIGHT, brakeLight.out); + truckSerial.setLightData(LightIdentifier::REVERSE_LIGHT, reverseLight.out); + truckSerial.setLightData(LightIdentifier::RIGHT_BLINK, rightIndicatorLight.out); + truckSerial.setLightData(LightIdentifier::LEFT_BLINK, leftIndicatorLight.out); + truckSerial.setLightData(LightIdentifier::AUX_LIGHT, auxLight.out); + truckSerial.setLightData(LightIdentifier::BEACON_LIGHT, beaconLight.out); + truckSerial.setLightData(LightIdentifier::DIMM_LIGHTS, isStarterActive); + truckSerial.setAdditionalData(AdditionalDataIdentifier::LEFT_TURN_INDICATOR, leftIndicatorLight.state); + truckSerial.setAdditionalData(AdditionalDataIdentifier::RIGHT_TURN_INDICATOR, rightIndicatorLight.state); + truckSerial.setAdditionalData(AdditionalDataIdentifier::HAZARD_STATE, hazardLight.state); + //truckSerial.setAdditionalData(AdditionalDataIdentifier::SERVO_POSITION_DOWN, multiswitch2.channel[1] == DIRECTION_DOWN); + //truckSerial.setAdditionalData(AdditionalDataIdentifier::SERVO_POSITION_UP, multiswitch2.channel[1] == DIRECTION_UP); + truckSerial.setServoData(ServoDataIdentifier::SERVO_CHANNEL_1, multiswitch2.channel[0]); + truckSerial.setServoData(ServoDataIdentifier::SERVO_CHANNEL_2, multiswitch2.channel[1]); + truckSerial.update(); + } + + /* + * Setup Debugging + */ + + if (DEBUGLEVEL >=1) { + controllerStatus(errorFlag, vehicleConfig.generalConfig.statusLightPin); + } + + switch (DEBUGLEVEL) { + case DebugLevel::NONE: + // No debugging information + break; + case DebugLevel::STATUS_ONLY: + // Handled below + break; + case DebugLevel::PPM_CHANNEL1: + debugChannelEvaluation( + 1, + multiswitch1.channel[0], + multiswitch1.channel[1], + multiswitch1.channel[2], + multiswitch1.channel[3], + multiswitch1.channel[4], + multiswitch1.channel[5], + multiswitch1.channel[6], + multiswitch1.channel[7] + ); + break; + case DebugLevel::PPM_CHANNEL2: + debugChannelEvaluation( + 2, + multiswitch2.channel[0], + multiswitch2.channel[1], + multiswitch2.channel[2], + multiswitch2.channel[3], + multiswitch2.channel[4], + multiswitch2.channel[5], + multiswitch2.channel[6], + multiswitch2.channel[7] + ); + break; + case DebugLevel::FUNCTION_STATE: + debugFunctionState(parkLight.state, + lowBeamLight.state, + highBeamLight.state, + highBeamLightFlash.state, + fogLight.state, + beaconLight.state, + auxLight.state, + hazardLight.state, + leftIndicatorLight.state, + rightIndicatorLight.state, + reverseLight.state, + brakeLight.state); + break; + case DebugLevel::FUNCTION_OUT: + debugFunctionOut(parkLight.out, + lowBeamLight.out, + highBeamLight.out, + highBeamLightFlash.out, + fogLight.out, + beaconLight.out, + auxLight.out, + hazardLight.out, + leftIndicatorLight.out, + rightIndicatorLight.out, + reverseLight.state, + brakeLight.state); + break; + case DebugLevel::STARTER_DIMMING: + SerialUSB.println(isStarterActive); + SerialUSB.println(digitalRead(vehicleConfig.ppmConfig.pinSoundChannel)); + break; + } +} \ No newline at end of file From 243c7118f9eb57741aa3efa6e07b2bc18856e5f1 Mon Sep 17 00:00:00 2001 From: magraina Date: Wed, 18 Mar 2026 20:04:23 +0100 Subject: [PATCH 03/33] feat: add new parsers for input signals --- .vscode/arduino.json | 7 +- .vscode/c_cpp_properties.json | 533 +-- debugging.cpp | 170 - debugging.h | 65 - libs/serialIO/.clang-format | 79 - libs/serialIO/.gitignore | 3 - libs/serialIO/.readthedocs.yaml | 25 - libs/serialIO/CODE_OF_CONDUCT.md | 128 - libs/serialIO/Docs/.gitignore | 14 - libs/serialIO/Docs/Makefile | 33 - libs/serialIO/Docs/requirements.txt | Bin 1554 -> 0 bytes .../Docs/source/_static/formatsbus.png | Bin 29551 -> 0 bytes .../serialIO/Docs/source/_static/inverter.png | Bin 8147 -> 0 bytes libs/serialIO/Docs/source/_static/sbus.png | Bin 80307 -> 0 bytes .../serialIO/Docs/source/apidocumentation.rst | 7 - libs/serialIO/Docs/source/conf.py | 62 - libs/serialIO/Docs/source/contributing.rst | 47 - libs/serialIO/Docs/source/example.rst | 16 - libs/serialIO/Docs/source/index.rst | 48 - libs/serialIO/Docs/source/installation.rst | 25 - libs/serialIO/Docs/source/tutorial.rst | 116 - libs/serialIO/Doxyfile | 2893 ----------------- libs/serialIO/LICENSE | 674 ---- libs/serialIO/README.md | 30 - .../examples/atmel/ibus_basic/.arduino-ci.yml | 5 - .../examples/atmel/ibus_basic/ibus_basic.ino | 18 - .../rp2040/ibus_basic/.arduino-ci.yml | 18 - .../examples/rp2040/ibus_basic/ibus_basic.ino | 54 - libs/serialIO/library.properties | 12 - libs/serialIO/src/SerialIO.cpp | 31 - libs/serialIO/src/SerialIO.h | 115 - libs/serialIO/src/crsf/crsf.cpp | 67 - libs/serialIO/src/crsf/crsf.h | 56 - libs/serialIO/src/crsf/crsf_protocol.h | 194 -- libs/serialIO/src/fport/fport.cpp | 52 - libs/serialIO/src/fport/fport.h | 27 - libs/serialIO/src/fport/fport_protocol.h | 55 - libs/serialIO/src/ibus/ibus.cpp | 80 - libs/serialIO/src/ibus/ibus.h | 59 - libs/serialIO/src/ibus/ibus_protocol.h | 45 - libs/serialIO/src/sbus/sbus.cpp | 68 - libs/serialIO/src/sbus/sbus.h | 86 - libs/serialIO/src/sbus/sbus_protocol.h | 52 - lightFunctions.cpp | 122 - lightFunctions.h | 52 - .../config}/global-effects-config.h | 0 {config => src/config}/input-config.h | 7 +- {config => src/config}/light-mode.h | 0 {config => src/config}/local-output-config.h | 0 {config => src/config}/main-config.h | 0 src/input/esc-parser.cpp | 33 + src/input/esc-parser.h | 25 + src/input/ppm-parser.cpp | 96 + src/input/ppm-parser.h | 34 + src/input/sbus-parser.cpp | 80 + src/input/sbus-parser.h | 28 + src/memory/memory-manager.cpp | 52 + src/memory/memory-manager.h | 38 + tools.h | 1 - truck-multi-function-sbus.ino | 492 +-- ...nction.ino => truckLightAndFunction.oldino | 0 61 files changed, 448 insertions(+), 6681 deletions(-) delete mode 100644 debugging.cpp delete mode 100644 debugging.h delete mode 100644 libs/serialIO/.clang-format delete mode 100644 libs/serialIO/.gitignore delete mode 100644 libs/serialIO/.readthedocs.yaml delete mode 100644 libs/serialIO/CODE_OF_CONDUCT.md delete mode 100644 libs/serialIO/Docs/.gitignore delete mode 100644 libs/serialIO/Docs/Makefile delete mode 100644 libs/serialIO/Docs/requirements.txt delete mode 100644 libs/serialIO/Docs/source/_static/formatsbus.png delete mode 100644 libs/serialIO/Docs/source/_static/inverter.png delete mode 100644 libs/serialIO/Docs/source/_static/sbus.png delete mode 100644 libs/serialIO/Docs/source/apidocumentation.rst delete mode 100644 libs/serialIO/Docs/source/conf.py delete mode 100644 libs/serialIO/Docs/source/contributing.rst delete mode 100644 libs/serialIO/Docs/source/example.rst delete mode 100644 libs/serialIO/Docs/source/index.rst delete mode 100644 libs/serialIO/Docs/source/installation.rst delete mode 100644 libs/serialIO/Docs/source/tutorial.rst delete mode 100644 libs/serialIO/Doxyfile delete mode 100644 libs/serialIO/LICENSE delete mode 100644 libs/serialIO/README.md delete mode 100644 libs/serialIO/examples/atmel/ibus_basic/.arduino-ci.yml delete mode 100644 libs/serialIO/examples/atmel/ibus_basic/ibus_basic.ino delete mode 100644 libs/serialIO/examples/rp2040/ibus_basic/.arduino-ci.yml delete mode 100644 libs/serialIO/examples/rp2040/ibus_basic/ibus_basic.ino delete mode 100644 libs/serialIO/library.properties delete mode 100644 libs/serialIO/src/SerialIO.cpp delete mode 100644 libs/serialIO/src/SerialIO.h delete mode 100644 libs/serialIO/src/crsf/crsf.cpp delete mode 100644 libs/serialIO/src/crsf/crsf.h delete mode 100644 libs/serialIO/src/crsf/crsf_protocol.h delete mode 100644 libs/serialIO/src/fport/fport.cpp delete mode 100644 libs/serialIO/src/fport/fport.h delete mode 100644 libs/serialIO/src/fport/fport_protocol.h delete mode 100644 libs/serialIO/src/ibus/ibus.cpp delete mode 100644 libs/serialIO/src/ibus/ibus.h delete mode 100644 libs/serialIO/src/ibus/ibus_protocol.h delete mode 100644 libs/serialIO/src/sbus/sbus.cpp delete mode 100644 libs/serialIO/src/sbus/sbus.h delete mode 100644 libs/serialIO/src/sbus/sbus_protocol.h delete mode 100644 lightFunctions.cpp delete mode 100644 lightFunctions.h rename {config => src/config}/global-effects-config.h (100%) rename {config => src/config}/input-config.h (74%) rename {config => src/config}/light-mode.h (100%) rename {config => src/config}/local-output-config.h (100%) rename {config => src/config}/main-config.h (100%) create mode 100644 src/input/esc-parser.cpp create mode 100644 src/input/esc-parser.h create mode 100644 src/input/ppm-parser.cpp create mode 100644 src/input/ppm-parser.h create mode 100644 src/input/sbus-parser.cpp create mode 100644 src/input/sbus-parser.h create mode 100644 src/memory/memory-manager.cpp create mode 100644 src/memory/memory-manager.h rename truckLightAndFunction.ino => truckLightAndFunction.oldino (100%) diff --git a/.vscode/arduino.json b/.vscode/arduino.json index a0ddeba..7dd99e1 100644 --- a/.vscode/arduino.json +++ b/.vscode/arduino.json @@ -1,8 +1,9 @@ { - "board": "arduino:avr:micro", + "board": "arduino:esp32:nano_nora", "programmer": "arduino:avrispmkii", "port": "/dev/ttyACM0", - "sketch": "truckLightAndFunction.ino", + "sketch": "truck-multi-function-sbus.ino", "output": "./build", - "intelliSenseGen": "global" + "intelliSenseGen": "global", + "configuration": "PartitionScheme=default,PinNumbers=default,USBMode=default" } \ No newline at end of file diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json index cda8204..823c74e 100644 --- a/.vscode/c_cpp_properties.json +++ b/.vscode/c_cpp_properties.json @@ -17,526 +17,37 @@ "intelliSenseMode": "gcc-x64", "includePath": [ "${workspaceFolder}/**", - "/home/magraina/.arduino15/packages/arduino/hardware/avr/1.8.6/cores/arduino", - "/home/magraina/.arduino15/packages/arduino/hardware/avr/1.8.6/variants/micro", + "/home/magraina/.arduino15/packages/arduino/hardware/avr/1.8.7/cores/arduino", + "/home/magraina/.arduino15/packages/arduino/hardware/avr/1.8.7/variants/micro", + // ESP32 Paths + "/home/magraina/.arduino15/packages/arduino/hardware/esp32/2.0.18-arduino.5/cores/esp32", + "/home/magraina/.arduino15/packages/arduino/hardware/esp32/2.0.18-arduino.5/variants/arduino_nano_nora", + "/home/magraina/.arduino15/packages/arduino/hardware/esp32/2.0.18-arduino.5/libraries/**", "/home/magraina/Arduino/libraries/**", "/home/magraina/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/lib/gcc/avr/7.3.0/include", "/home/magraina/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/lib/gcc/avr/7.3.0/include-fixed", - "/home/magraina/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/avr/include" + "/home/magraina/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/avr/include", + "/home/magraina/.arduino15/packages/esp32/tools/**", + "/home/magraina/.arduino15/packages/arduino/tools/**" ], "forcedInclude": [ - "/home/magraina/.arduino15/packages/arduino/hardware/avr/1.8.6/cores/arduino/Arduino.h" + "/home/magraina/.arduino15/packages/arduino/hardware/avr/1.8.7/cores/arduino/Arduino.h", + "/home/magraina/.arduino15/packages/arduino/hardware/esp32/2.0.18-arduino.5/cores/esp32/Arduino.h", + "/home/magraina/.arduino15/packages/arduino/hardware/esp32/2.0.18-arduino.5/cores/esp32/HardwareSerial.h" ], "cStandard": "c11", "cppStandard": "c++11", "defines": [ - "F_CPU=16000000L", - "ARDUINO=10607", - "ARDUINO_AVR_MICRO", - "ARDUINO_ARCH_AVR", - "USB_VID=0x2341", - "USB_PID=0x8037", - "USB_MANUFACTURER=\"Unknown\"", - "USB_PRODUCT=\"Arduino Micro\"", - "__DBL_MIN_EXP__=(-125)", - "__HQ_FBIT__=15", - "__cpp_attributes=200809", - "__UINT_LEAST16_MAX__=0xffffU", - "__ATOMIC_ACQUIRE=2", - "__SFRACT_IBIT__=0", - "__FLT_MIN__=1.17549435e-38F", - "__GCC_IEC_559_COMPLEX=0", - "__BUILTIN_AVR_SLEEP=1", - "__BUILTIN_AVR_COUNTLSULLK=1", - "__cpp_aggregate_nsdmi=201304", - "__BUILTIN_AVR_COUNTLSULLR=1", - "__UFRACT_MAX__=0XFFFFP-16UR", - "__UINT_LEAST8_TYPE__=unsigned char", - "__DQ_FBIT__=63", - 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"__ULACCUM_EPSILON__=0x1P-32ULK", - "__cpp_user_defined_literals=200809", - "__SACCUM_IBIT__=8", - "__GCC_ATOMIC_LLONG_LOCK_FREE=1", - "__LDBL_DIG__=6", - "__FLT_DECIMAL_DIG__=9", - "__UINT_FAST16_MAX__=0xffffU", - "__GCC_ATOMIC_SHORT_LOCK_FREE=1", - "__BUILTIN_AVR_ABSHK=1", - "__BUILTIN_AVR_FLASH_SEGMENT=1", - "__INT_LEAST64_WIDTH__=64", - "__ULLFRACT_MAX__=0XFFFFFFFFFFFFFFFFP-64ULLR", - "__UINT_FAST8_TYPE__=unsigned char", - "__USFRACT_EPSILON__=0x1P-8UHR", - "__ULACCUM_FBIT__=32", - "__QQ_IBIT__=0", - "__cpp_init_captures=201304", - "__ATOMIC_ACQ_REL=4", - "__ATOMIC_RELEASE=3", - "__BUILTIN_AVR_FMUL=1", - "USBCON" + "IRAM_ATTR=", + "ESP32", + "ARDUINO=10819", + "ARDUINO_NANO_ESP32", + "ARDUINO_ARCH_ESP32", + "ARDUINO_USB_MODE=1", + "ARDUINO_USB_CDC_ON_BOOT=1", + "USBCON", + "attachInterruptArg(p,f,a,m)=", + "F_CPU=240000000L" ] } ] diff --git a/debugging.cpp b/debugging.cpp deleted file mode 100644 index 3d846f1..0000000 --- a/debugging.cpp +++ /dev/null @@ -1,170 +0,0 @@ -/************************************s - * Copyright (C) 2020-2025 Marina Egner - * - * This program is free software: you can redistribute it and/or modify it - * under the terms of the GNU General Public License as published by the - * Free Software Foundation, either version 3 of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; - * without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License along with this program. - * If not, see . - ************************************/ - -#include "debugging.h" - -bool pulseStatus = false; -uint32_t StatusPreviousMillis = 0; -uint32_t blinkOnTime = 0; -bool serialIsSent[3] = { false }; - - -void debuggingInit(uint8_t debugLevel, uint8_t outputLED) { - if(debugLevel >=1) pinMode(outputLED, OUTPUT); - if(debugLevel >=2) SerialUSB.begin(9600); // start Serial for Monitoring -} - -void controllerStatus(bool errorFlag, uint8_t outputLED) { - if(errorFlag) { - digitalWrite(outputLED, true); - } else { - uint32_t currentMillis = millis(); - if (currentMillis - StatusPreviousMillis >= 1000) { //Zeitverzoegerte Abfrage - StatusPreviousMillis = currentMillis; - pulseStatus = !pulseStatus; - } else if (currentMillis < StatusPreviousMillis) { //Reset - StatusPreviousMillis = currentMillis; - } - digitalWrite(outputLED, pulseStatus); //Flash if everything is OK - } -} - -void debugChannelEvaluation( - uint16_t channelNumber, - uint16_t channel1, - uint16_t channel2, - uint16_t channel3, - uint16_t channel4, - uint16_t channel5, - uint16_t channel6, - uint16_t channel7, - uint16_t channel8 -) { - if((millis()%1000 >= 500) && (serialIsSent[0] == false)) { - SerialUSB.print(F("--Multiswitch ")); - SerialUSB.print(channelNumber); - SerialUSB.println(F(" --")); - SerialUSB.print(F("channel 1: ")); - SerialUSB.println(channel1); - SerialUSB.print(F("channel 2: ")); - SerialUSB.println(channel2); - SerialUSB.print(F("channel 3: ")); - SerialUSB.println(channel3); - SerialUSB.print(F("channel 4: ")); - SerialUSB.println(channel4); - SerialUSB.print(F("channel 5: ")); - SerialUSB.println(channel5); - SerialUSB.print(F("channel 6: ")); - SerialUSB.println(channel6); - SerialUSB.print(F("channel 7: ")); - SerialUSB.println(channel7); - SerialUSB.print(F("channel 8: ")); - SerialUSB.println(channel8); - SerialUSB.println(F("-------End-------")); - serialIsSent[0] = true; - } else if((millis()%1000 < 500) && (serialIsSent[0] == true)) { - serialIsSent[0] = false; - } -} - -void debugFunctionState(bool parkLight, - bool lowBeamLight, - bool highBeamLight, - bool highBeamLightFlash, - bool fogLight, - bool beaconLight, - bool auxLight, - bool hazardLight, - bool leftIndicatorLight, - bool rightIndicatorLight, - bool reverseLight, - bool brakeLight) { - if((millis()%1000 >= 500) && (serialIsSent[1] == false)) { - SerialUSB.println(F("-- Light State --")); - SerialUSB.print(F("parkLight: ")); - SerialUSB.println(parkLight); - SerialUSB.print(F("lowBeamLight: ")); - SerialUSB.println(lowBeamLight); - SerialUSB.print(F("highBeamLight: ")); - SerialUSB.println(highBeamLight); - SerialUSB.print(F("highBeamLightFlash: ")); - SerialUSB.println(highBeamLightFlash); - SerialUSB.print(F("fogLight: ")); - SerialUSB.println(fogLight); - SerialUSB.print(F("beaconLight: ")); - SerialUSB.println(beaconLight); - SerialUSB.print(F("auxLight: ")); - SerialUSB.println(auxLight); - SerialUSB.print(F("hazardLight: ")); - SerialUSB.println(hazardLight); - SerialUSB.print(F("leftIndicatorLight: ")); - SerialUSB.println(leftIndicatorLight); - SerialUSB.print(F("rightIndicatorLight: ")); - SerialUSB.println(rightIndicatorLight); - SerialUSB.print(F("reverseLight: ")); - SerialUSB.println(reverseLight); - SerialUSB.print(F("brakeLight: ")); - SerialUSB.println(brakeLight); - SerialUSB.println(F("-------End-------")); - serialIsSent[1] = true; - } else if((millis()%1000 < 500) && (serialIsSent[1] == true)) { - serialIsSent[1] = false; - } -} - -void debugFunctionOut(bool parkLight, - bool lowBeamLight, - bool highBeamLight, - bool highBeamLightFlash, - bool fogLight, - bool beaconLight, - bool auxLight, - bool hazardLight, - bool leftIndicatorLight, - bool rightIndicatorLight, - bool reverseLight, - bool brakeLight) { - if((millis()%1000 >= 500) && (serialIsSent[2] == false)) { - SerialUSB.println(F("-- Light Out --")); - SerialUSB.print(F("parkLight: ")); - SerialUSB.println(parkLight); - SerialUSB.print(F("lowBeamLight: ")); - SerialUSB.println(lowBeamLight); - SerialUSB.print(F("highBeamLight: ")); - SerialUSB.println(highBeamLight); - SerialUSB.print(F("highBeamLightFlash: ")); - SerialUSB.println(highBeamLightFlash); - SerialUSB.print(F("fogLight: ")); - SerialUSB.println(fogLight); - SerialUSB.print(F("beaconLight: ")); - SerialUSB.println(beaconLight); - SerialUSB.print(F("auxLight: ")); - SerialUSB.println(auxLight); - SerialUSB.print(F("hazardLight: ")); - SerialUSB.println(hazardLight); - SerialUSB.print(F("leftIndicatorLight: ")); - SerialUSB.println(leftIndicatorLight); - SerialUSB.print(F("rightIndicatorLight: ")); - SerialUSB.println(rightIndicatorLight); - SerialUSB.print(F("reverseLight: ")); - SerialUSB.println(reverseLight); - SerialUSB.print(F("brakeLight: ")); - SerialUSB.println(brakeLight); - SerialUSB.println(F("-------End-------")); - serialIsSent[2] = true; - } else if((millis()%1000 < 500) && (serialIsSent[2] == true)) { - serialIsSent[2] = false; - } -} \ No newline at end of file diff --git a/debugging.h b/debugging.h deleted file mode 100644 index 43da26d..0000000 --- a/debugging.h +++ /dev/null @@ -1,65 +0,0 @@ -/************************************ - * Copyright (C) 2020-2025 Marina Egner - * - * This program is free software: you can redistribute it and/or modify it - * under the terms of the GNU General Public License as published by the - * Free Software Foundation, either version 3 of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; - * without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License along with this program. - * If not, see . - ************************************/ - -#ifndef _DEBBUGING_H_ -#define _DEBBUGING_H_ - -#include "Arduino.h" - - -#ifndef SerialUSB //if not allready defined -#define SerialUSB SERIAL_PORT_MONITOR //then define monitor port -#endif - -void debuggingInit(uint8_t debugLevel, uint8_t outputLED); -void controllerStatus(bool errorFlag, uint8_t outputLED); //function to signal errorstate -void debugChannelEvaluation( - uint16_t channelNumber, - uint16_t channel1, - uint16_t channel2, - uint16_t channel3, - uint16_t channel4, - uint16_t channel5, - uint16_t channel6, - uint16_t channel7, - uint16_t channel8 -); - -void debugFunctionState(bool parkLight, - bool lowBeamLight, - bool highBeamLight, - bool highBeamLightFlash, - bool fogLight, - bool beaconLight, - bool auxLight, - bool hazardLight, - bool leftIndicatorLight, - bool rightIndicatorLight, - bool reverseLight, - bool brakeLight); -void debugFunctionOut(bool parkLight, - bool lowBeamLight, - bool highBeamLight, - bool highBeamLightFlash, - bool fogLight, - bool beaconLight, - bool auxLight, - bool hazardLight, - bool leftIndicatorLight, - bool rightIndicatorLight, - bool reverseLight, - bool brakeLight); - -#endif \ No newline at end of file diff --git a/libs/serialIO/.clang-format b/libs/serialIO/.clang-format deleted file mode 100644 index d90731a..0000000 --- a/libs/serialIO/.clang-format +++ /dev/null @@ -1,79 +0,0 @@ -AccessModifierOffset: -2 -AlignAfterOpenBracket: Align -AlignConsecutiveAssignments: false -AlignConsecutiveDeclarations: false -AlignEscapedNewlinesLeft: false -AlignOperands: true -AlignTrailingComments: true -AllowAllParametersOfDeclarationOnNextLine: false -AllowShortBlocksOnASingleLine: false -AllowShortCaseLabelsOnASingleLine: false -AllowShortFunctionsOnASingleLine: Inline -AllowShortIfStatementsOnASingleLine: false -AllowShortLoopsOnASingleLine: false -AlwaysBreakAfterDefinitionReturnType: TopLevel -AlwaysBreakAfterReturnType: TopLevelDefinitions -AlwaysBreakBeforeMultilineStrings: false -AlwaysBreakTemplateDeclarations: true -BinPackArguments: false -BinPackParameters: true -BraceWrapping: - AfterClass: true - AfterControlStatement: false - AfterEnum: true - AfterFunction: true - AfterNamespace: false - AfterObjCDeclaration: false - AfterStruct: true - AfterUnion: true - BeforeCatch: false - BeforeElse: true - IndentBraces: false -BreakBeforeBinaryOperators: None -BreakBeforeBraces: Custom -BreakBeforeTernaryOperators: true -BreakConstructorInitializersBeforeComma: true -ColumnLimit: 79 -CommentPragmas: '^ IWYU pragma:' -ConstructorInitializerAllOnOneLineOrOnePerLine: true -ConstructorInitializerIndentWidth: 2 -ContinuationIndentWidth: 2 -Cpp11BracedListStyle: false -DerivePointerAlignment: false -DisableFormat: false -ExperimentalAutoDetectBinPacking: false -ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ] -IncludeCategories: - - Regex: '^"(llvm|llvm-c|clang|clang-c)/' - Priority: 2 - - Regex: '^(<|"(gtest|isl|json)/)' - Priority: 3 - - Regex: '.*' - Priority: 1 -IndentCaseLabels: false -IndentWidth: 2 -IndentWrappedFunctionNames: false -KeepEmptyLinesAtTheStartOfBlocks: true -MacroBlockBegin: '' -MacroBlockEnd: '' -MaxEmptyLinesToKeep: 1 -NamespaceIndentation: None -ObjCBlockIndentWidth: 2 -ObjCSpaceAfterProperty: true -ObjCSpaceBeforeProtocolList: false -PointerAlignment: Right -ReflowComments: true -SortIncludes: false -SpaceAfterCStyleCast: false -SpaceBeforeAssignmentOperators: true -SpaceBeforeParens: Never -SpaceInEmptyParentheses: false -SpacesBeforeTrailingComments: 1 -SpacesInAngles: false -SpacesInContainerLiterals: true -SpacesInCStyleCastParentheses: false -SpacesInParentheses: false -SpacesInSquareBrackets: false -Standard: Cpp11 -TabWidth: 8 -UseTab: Never \ No newline at end of file diff --git a/libs/serialIO/.gitignore b/libs/serialIO/.gitignore deleted file mode 100644 index 58f62a4..0000000 --- a/libs/serialIO/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -/Docs/html -/Docs/latex -/Docs/xml \ No newline at end of file diff --git a/libs/serialIO/.readthedocs.yaml b/libs/serialIO/.readthedocs.yaml deleted file mode 100644 index 1dc82ce..0000000 --- a/libs/serialIO/.readthedocs.yaml +++ /dev/null @@ -1,25 +0,0 @@ -# Read the Docs configuration file -# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details - -# Required -version: 2 - -# Set the OS, Python version, and other tools you might need -build: - os: ubuntu-24.04 - tools: - python: "3.10" - apt_packages: - - doxygen - -# Build documentation in the "docs/" directory with Sphinx -sphinx: - configuration: Docs/source/conf.py - -# Optionally, but recommended, -# declare the Python requirements required to build your documentation -# See https://docs.readthedocs.io/en/stable/guides/reproducible-builds.html -python: - install: - - requirements: Docs/requirements.txt - diff --git a/libs/serialIO/CODE_OF_CONDUCT.md b/libs/serialIO/CODE_OF_CONDUCT.md deleted file mode 100644 index 18c9147..0000000 --- a/libs/serialIO/CODE_OF_CONDUCT.md +++ /dev/null @@ -1,128 +0,0 @@ -# Contributor Covenant Code of Conduct - -## Our Pledge - -We as members, contributors, and leaders pledge to make participation in our -community a harassment-free experience for everyone, regardless of age, body -size, visible or invisible disability, ethnicity, sex characteristics, gender -identity and expression, level of experience, education, socio-economic status, -nationality, personal appearance, race, religion, or sexual identity -and orientation. - -We pledge to act and interact in ways that contribute to an open, welcoming, -diverse, inclusive, and healthy community. - -## Our Standards - -Examples of behavior that contributes to a positive environment for our -community include: - -* Demonstrating empathy and kindness toward other people -* Being respectful of differing opinions, viewpoints, and experiences -* Giving and gracefully accepting constructive feedback -* Accepting responsibility and apologizing to those affected by our mistakes, - and learning from the experience -* Focusing on what is best not just for us as individuals, but for the - overall community - -Examples of unacceptable behavior include: - -* The use of sexualized language or imagery, and sexual attention or - advances of any kind -* Trolling, insulting or derogatory comments, and personal or political attacks -* Public or private harassment -* Publishing others' private information, such as a physical or email - address, without their explicit permission -* Other conduct which could reasonably be considered inappropriate in a - professional setting - -## Enforcement Responsibilities - -Community leaders are responsible for clarifying and enforcing our standards of -acceptable behavior and will take appropriate and fair corrective action in -response to any behavior that they deem inappropriate, threatening, offensive, -or harmful. - -Community leaders have the right and responsibility to remove, edit, or reject -comments, commits, code, wiki edits, issues, and other contributions that are -not aligned to this Code of Conduct, and will communicate reasons for moderation -decisions when appropriate. - -## Scope - -This Code of Conduct applies within all community spaces, and also applies when -an individual is officially representing the community in public spaces. -Examples of representing our community include using an official e-mail address, -posting via an official social media account, or acting as an appointed -representative at an online or offline event. - -## Enforcement - -Instances of abusive, harassing, or otherwise unacceptable behavior may be -reported to the community leaders responsible for enforcement at -. -All complaints will be reviewed and investigated promptly and fairly. - -All community leaders are obligated to respect the privacy and security of the -reporter of any incident. - -## Enforcement Guidelines - -Community leaders will follow these Community Impact Guidelines in determining -the consequences for any action they deem in violation of this Code of Conduct: - -### 1. Correction - -**Community Impact**: Use of inappropriate language or other behavior deemed -unprofessional or unwelcome in the community. - -**Consequence**: A private, written warning from community leaders, providing -clarity around the nature of the violation and an explanation of why the -behavior was inappropriate. A public apology may be requested. - -### 2. Warning - -**Community Impact**: A violation through a single incident or series -of actions. - -**Consequence**: A warning with consequences for continued behavior. No -interaction with the people involved, including unsolicited interaction with -those enforcing the Code of Conduct, for a specified period of time. This -includes avoiding interactions in community spaces as well as external channels -like social media. Violating these terms may lead to a temporary or -permanent ban. - -### 3. Temporary Ban - -**Community Impact**: A serious violation of community standards, including -sustained inappropriate behavior. - -**Consequence**: A temporary ban from any sort of interaction or public -communication with the community for a specified period of time. No public or -private interaction with the people involved, including unsolicited interaction -with those enforcing the Code of Conduct, is allowed during this period. -Violating these terms may lead to a permanent ban. - -### 4. Permanent Ban - -**Community Impact**: Demonstrating a pattern of violation of community -standards, including sustained inappropriate behavior, harassment of an -individual, or aggression toward or disparagement of classes of individuals. - -**Consequence**: A permanent ban from any sort of public interaction within -the community. - -## Attribution - -This Code of Conduct is adapted from the [Contributor Covenant][homepage], -version 2.0, available at -https://www.contributor-covenant.org/version/2/0/code_of_conduct.html. - -Community Impact Guidelines were inspired by [Mozilla's code of conduct -enforcement ladder](https://github.com/mozilla/diversity). - -[homepage]: https://www.contributor-covenant.org - -For answers to common questions about this code of conduct, see the FAQ at -https://www.contributor-covenant.org/faq. Translations are available at -https://www.contributor-covenant.org/translations. diff --git a/libs/serialIO/Docs/.gitignore b/libs/serialIO/Docs/.gitignore deleted file mode 100644 index bdaa177..0000000 --- a/libs/serialIO/Docs/.gitignore +++ /dev/null @@ -1,14 +0,0 @@ -# Byte-compiled / optimized / DLL files -__pycache__/ -*.py[cod] -*$py.class - -# Virtual environment -venv/ -.env/ -.venv/ - -# Sphinx build directory -_build -build/ -docs/_build/ diff --git a/libs/serialIO/Docs/Makefile b/libs/serialIO/Docs/Makefile deleted file mode 100644 index 7b52247..0000000 --- a/libs/serialIO/Docs/Makefile +++ /dev/null @@ -1,33 +0,0 @@ -# Minimal makefile for Sphinx documentation - -# You can set these variables from the command line, and also -# from the environment for the first two. -SPHINXOPTS ?= -SPHINXBUILD ?= .venv/bin/sphinx-build -SPHINXAUTOBUILD ?= .venv/bin/sphinx-autobuild -PIP ?= .venv/bin/pip -PYTHON ?= .venv/bin/python -SOURCEDIR = source -BUILDDIR = build - -# Put it first so that "make" without argument is like "make help". -help: - @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) - -.PHONY: help Makefile setup dev - -# Setup virtual environment and install dependencies -setup: - python -m venv .venv && \ - . .venv/bin/activate && \ - .venv/bin/pip install --upgrade pip && \ - .venv/bin/pip install -r requirements.txt - -# Run sphinx-autobuild for live-reloading docs during development -dev: - @$(SPHINXAUTOBUILD) "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) - -# Catch-all target: route all unknown targets to Sphinx using the new -# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS). -%: Makefile - @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) diff --git a/libs/serialIO/Docs/requirements.txt b/libs/serialIO/Docs/requirements.txt deleted file mode 100644 index 417e4c1e2f3f5fa9840da98ec5a491c6b741dbe6..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 1554 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z!WR#Et%RoyO19X)8@q}|Rcv-HTAUGwY~QW>g9m`&=FS0Q(Q4Jnt|ChzkbvQ zX)SCOcY33`Nj<5j(gZ%ju$U#pD6tZ|p}Ih+^vaVLOMCUXbL*=gyOl+7GU)^|dVv6) zg3bF+V1wwVC=*x<|0(@$<4?A^Ce$X1WEE?@#%<= z5rh4QoK;~W<8+pvX}oOtJ`V*)G`T{b^sd7|3ITBHx2cJ8is#u_ehT&fcM^?#fQmzonyu?m^-Z9FlfS)P0>49h?gtt1MEBK3C)`8Mna68`OE zAOge13QRX%`}b*$)oqpmBm@iY27xsSnJ0jo0uO7zADjocnE_g!!=`o+@fpR3?yo$5-e9=#I)8ZiK9of%%6(?=Xg zcQRyP&zNUVeg8mHKcA2V3O{(Q+pjA=JIyR2P)GC;;^oIYr%`%K0fVqY#Q&T6e^&p` zVg3u#|1!+~PmUY@sFjzdtLOfml0mT - - class XYZProtocol : public SerialIO { - public: - explicit XYZProtocol(HardwareSerial &rxPort, int rxPin, int txPin, bool inverted = false) - : SerialIO(&rxPort, rxPin, txPin, inverted) {} - ~XYZProtocol(); - - void begin(); - void processIncoming(); - void getChannel(); - - private: - HardwareSerial *_serialPort; - }; - - #endif // XYZ_PROTOCOL_H \ No newline at end of file diff --git a/libs/serialIO/Docs/source/example.rst b/libs/serialIO/Docs/source/example.rst deleted file mode 100644 index ce22a46..0000000 --- a/libs/serialIO/Docs/source/example.rst +++ /dev/null @@ -1,16 +0,0 @@ -.. _example: - -Examples -======== - -CRSF Basic Example ------------------- - -.. literalinclude:: ../../examples/espresiff/crsf_basic/crsf_basic.ino - :language: cpp - -SBUS Basic Example ------------------- - -.. literalinclude:: ../../examples/espresiff/sbus_basic/sbus_basic.ino - :language: cpp \ No newline at end of file diff --git a/libs/serialIO/Docs/source/index.rst b/libs/serialIO/Docs/source/index.rst deleted file mode 100644 index 1af3386..0000000 --- a/libs/serialIO/Docs/source/index.rst +++ /dev/null @@ -1,48 +0,0 @@ -.. SerialIO documentation master file, created by - sphinx-quickstart on Sat Mar 29 19:38:49 2025. - You can adapt this file completely to your liking, but it should at least - contain the root `toctree` directive. - -SerialIO -====================== - -.. _mainpage: - -SerialIO is a common library designed to simplify the implementation of RC protocol decoding in Arduino projects. It provides a modular and extensible architecture that allows for easy integration of various RC protocols. - -.. toctree:: - :maxdepth: 1 - :caption: Getting Started: - - installation - tutorial - example - -.. toctree:: - :maxdepth: 1 - :caption: Supported Protocols: - - sbus - fport - -.. toctree:: - :maxdepth: 1 - :caption: API Documentation: - - apidocumentation - -.. toctree:: - :maxdepth: 1 - :caption: Development: - - contributing - -License -------- - -.. image:: https://www.gnu.org/graphics/gplv3-or-later.svg - :target: https://www.gnu.org/licenses/gpl-3.0.en.html - :alt: GPL‑3.0‑or‑later - :width: 160 - -This library is distributed under the `GNU General Public License v3.0 or later `_. \ No newline at end of file diff --git a/libs/serialIO/Docs/source/installation.rst b/libs/serialIO/Docs/source/installation.rst deleted file mode 100644 index 00c3145..0000000 --- a/libs/serialIO/Docs/source/installation.rst +++ /dev/null @@ -1,25 +0,0 @@ -.. _installation: - -Installation -============ - -Arduino Installation --------------------- -SerialIO is available on the Arduino library manager or, - -you can install it manually by downloading the library from the GitHub repository: - -1. Download the SerialIO library from the `GitHub repository `_. -2. Extract the downloaded ZIP file. -3. Copy the extracted folder to the `libraries` directory in your Arduino sketchbook. -4. Restart the Arduino IDE. -5. You should now be able to include the SerialIO library in your Arduino sketches. - -PlatformIO Installation ------------------------ - -If you are using PlatformIO, you can install the SerialIO library directly from the PlatformIO Library Manager. Add the following line to your ``platformio.ini`` file: - -.. code-block:: ini - - lib_deps = Witty-Wizard/SerialIO \ No newline at end of file diff --git a/libs/serialIO/Docs/source/tutorial.rst b/libs/serialIO/Docs/source/tutorial.rst deleted file mode 100644 index a6710bd..0000000 --- a/libs/serialIO/Docs/source/tutorial.rst +++ /dev/null @@ -1,116 +0,0 @@ -.. _tutorial: - -Tutorial -########## - -General usage -========================== - -To use the library for decoding RC protocols in your Arduino project, follow these steps: - -1. **Include Necessary Libraries**: - -.. code-block:: cpp - - #include - -2. **Define Channel Data Structure**: - -.. code-block:: cpp - - crsf_channels_t channelData; - -3. **Instantiate SerialIO Object**: - -.. code-block:: cpp - - SerialIO *receiver = new crsf(&Serial1, pinRX, pinTX); - -To instantiate a SerialIO object for receiving data only: - -.. code-block:: cpp - - SerialIO *receiver = new crsf(&Serial1, pinRX); - -4. **Initialize Communication**: - -.. code-block:: cpp - - void setup() { - receiver->begin(); - } - -5. **Process Incoming Data**: - -.. code-block:: cpp - - receiver->processIncoming(); - -6. **Retrieve Channel Data**: - -.. code-block:: cpp - - receiver->getChannel(&channelData); - -Using software serial -========================== -If you are using a board that does not have hardware serial ports, you can use the SoftwareSerial library to create a software serial port. -The SerialIO class can accept a SoftwareSerial object, but the begin method does not support software serial, so after creating the object, you need to -manually initiate the software serial port. - -.. note:: - - On AVR boards, only ibus, and fport protocols are supported (fport required an external inverter circuit), this is because sbus and crsf use unusual baudrate that are not supported by the hardware serial. - sbus can be used, by using a software serial library, but it is not recommended. - -Sbus -^^^^^^ - -.. code-block:: cpp - - #include - #include - - #define pinRX 2 - #define pinTX 3 - #define SBUS_BAUDRATE 100000 - - /** SoftwareSerial(pinRX, pinTX, true); - * ^^^^ - * set to true because sbus uses inverted uart - */ - - SoftwareSerial *mySerial = new SoftwareSerial(pinRX, pinTX, true); - mySerial.begin(SBUS_BAUDRATE); - SerialIO *receiver = new sbus(mySerial); - -Crossfire -^^^^^^^^^ - -.. note:: - - Crossfire uses a rather high baudrate of `420000`, which is not supported by hardware serial and for software serial, - it is not recommended to use it, because the software serial library is not optimized for high baudrate. The following code - is not tested. Best alternative would be to use a better microcontroller or if you are using ELRS receivers, then reduce the - baudrate to `115200`, which is supported by hardware and software serial. - -.. code-block:: cpp - - #include - #include - - #define pinRX 2 - #define pinTX 3 - #define CRSF_BAUDRATE 100000 - - SoftwareSerial *mySerial = new SoftwareSerial(pinRX, pinTX); - mySerial.begin(CRSF_BAUDRATE); - SerialIO *receiver = new crsf(mySerial); - -See Also -^^^^^^^^ -- :cpp:class:`SerialIO` -- :cpp:class:`sbus` -- :cpp:class:`crsf` -- :cpp:class:`ibus` -- :cpp:class:`fport` \ No newline at end of file diff --git a/libs/serialIO/Doxyfile b/libs/serialIO/Doxyfile deleted file mode 100644 index 302ae3f..0000000 --- a/libs/serialIO/Doxyfile +++ /dev/null @@ -1,2893 +0,0 @@ -# Doxyfile 1.10.0 - -# This file describes the settings to be used by the documentation system -# doxygen (www.doxygen.org) for a project. -# -# All text after a double hash (##) is considered a comment and is placed in -# front of the TAG it is preceding. -# -# All text after a single hash (#) is considered a comment and will be ignored. -# The format is: -# TAG = value [value, ...] -# For lists, items can also be appended using: -# TAG += value [value, ...] -# Values that contain spaces should be placed between quotes (\" \"). -# -# Note: -# -# Use doxygen to compare the used configuration file with the template -# configuration file: -# doxygen -x [configFile] -# Use doxygen to compare the used configuration file with the template -# configuration file without replacing the environment variables or CMake type -# replacement variables: -# doxygen -x_noenv [configFile] - -#--------------------------------------------------------------------------- -# Project related configuration options -#--------------------------------------------------------------------------- - -# This tag specifies the encoding used for all characters in the configuration -# file that follow. 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For instance, namespaces will be presented as packages, -# qualified scopes will look different, etc. -# The default value is: NO. - -OPTIMIZE_OUTPUT_JAVA = NO - -# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran -# sources. Doxygen will then generate output that is tailored for Fortran. -# The default value is: NO. - -OPTIMIZE_FOR_FORTRAN = NO - -# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL -# sources. Doxygen will then generate output that is tailored for VHDL. -# The default value is: NO. - -OPTIMIZE_OUTPUT_VHDL = NO - -# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice -# sources only. Doxygen will then generate output that is more tailored for that -# language. For instance, namespaces will be presented as modules, types will be -# separated into more groups, etc. -# The default value is: NO. - -OPTIMIZE_OUTPUT_SLICE = NO - -# Doxygen selects the parser to use depending on the extension of the files it -# parses. With this tag you can assign which parser to use for a given -# extension. Doxygen has a built-in mapping, but you can override or extend it -# using this tag. The format is ext=language, where ext is a file extension, and -# language is one of the parsers supported by doxygen: IDL, Java, JavaScript, -# Csharp (C#), C, C++, Lex, D, PHP, md (Markdown), Objective-C, Python, Slice, -# VHDL, Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: -# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser -# tries to guess whether the code is fixed or free formatted code, this is the -# default for Fortran type files). For instance to make doxygen treat .inc files -# as Fortran files (default is PHP), and .f files as C (default is Fortran), -# use: inc=Fortran f=C. -# -# Note: For files without extension you can use no_extension as a placeholder. -# -# Note that for custom extensions you also need to set FILE_PATTERNS otherwise -# the files are not read by doxygen. When specifying no_extension you should add -# * to the FILE_PATTERNS. -# -# Note see also the list of default file extension mappings. - -EXTENSION_MAPPING = ino=C++ - -# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments -# according to the Markdown format, which allows for more readable -# documentation. See https://daringfireball.net/projects/markdown/ for details. -# The output of markdown processing is further processed by doxygen, so you can -# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in -# case of backward compatibilities issues. -# The default value is: YES. - -MARKDOWN_SUPPORT = YES - -# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up -# to that level are automatically included in the table of contents, even if -# they do not have an id attribute. -# Note: This feature currently applies only to Markdown headings. -# Minimum value: 0, maximum value: 99, default value: 5. -# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. - -TOC_INCLUDE_HEADINGS = 5 - -# The MARKDOWN_ID_STYLE tag can be used to specify the algorithm used to -# generate identifiers for the Markdown headings. Note: Every identifier is -# unique. -# Possible values are: DOXYGEN use a fixed 'autotoc_md' string followed by a -# sequence number starting at 0 and GITHUB use the lower case version of title -# with any whitespace replaced by '-' and punctuation characters removed. -# The default value is: DOXYGEN. -# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. - -MARKDOWN_ID_STYLE = DOXYGEN - -# When enabled doxygen tries to link words that correspond to documented -# classes, or namespaces to their corresponding documentation. Such a link can -# be prevented in individual cases by putting a % sign in front of the word or -# globally by setting AUTOLINK_SUPPORT to NO. -# The default value is: YES. - -AUTOLINK_SUPPORT = YES - -# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want -# to include (a tag file for) the STL sources as input, then you should set this -# tag to YES in order to let doxygen match functions declarations and -# definitions whose arguments contain STL classes (e.g. func(std::string); -# versus func(std::string) {}). This also make the inheritance and collaboration -# diagrams that involve STL classes more complete and accurate. -# The default value is: NO. - -BUILTIN_STL_SUPPORT = NO - -# If you use Microsoft's C++/CLI language, you should set this option to YES to -# enable parsing support. -# The default value is: NO. - -CPP_CLI_SUPPORT = NO - -# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: -# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen -# will parse them like normal C++ but will assume all classes use public instead -# of private inheritance when no explicit protection keyword is present. -# The default value is: NO. - -SIP_SUPPORT = NO - -# For Microsoft's IDL there are propget and propput attributes to indicate -# getter and setter methods for a property. Setting this option to YES will make -# doxygen to replace the get and set methods by a property in the documentation. -# This will only work if the methods are indeed getting or setting a simple -# type. If this is not the case, or you want to show the methods anyway, you -# should set this option to NO. -# The default value is: YES. - -IDL_PROPERTY_SUPPORT = YES - -# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC -# tag is set to YES then doxygen will reuse the documentation of the first -# member in the group (if any) for the other members of the group. By default -# all members of a group must be documented explicitly. -# The default value is: NO. - -DISTRIBUTE_GROUP_DOC = NO - -# If one adds a struct or class to a group and this option is enabled, then also -# any nested class or struct is added to the same group. By default this option -# is disabled and one has to add nested compounds explicitly via \ingroup. -# The default value is: NO. - -GROUP_NESTED_COMPOUNDS = NO - -# Set the SUBGROUPING tag to YES to allow class member groups of the same type -# (for instance a group of public functions) to be put as a subgroup of that -# type (e.g. under the Public Functions section). Set it to NO to prevent -# subgrouping. Alternatively, this can be done per class using the -# \nosubgrouping command. -# The default value is: YES. - -SUBGROUPING = YES - -# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions -# are shown inside the group in which they are included (e.g. using \ingroup) -# instead of on a separate page (for HTML and Man pages) or section (for LaTeX -# and RTF). -# -# Note that this feature does not work in combination with -# SEPARATE_MEMBER_PAGES. -# The default value is: NO. - -INLINE_GROUPED_CLASSES = NO - -# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions -# with only public data fields or simple typedef fields will be shown inline in -# the documentation of the scope in which they are defined (i.e. file, -# namespace, or group documentation), provided this scope is documented. If set -# to NO, structs, classes, and unions are shown on a separate page (for HTML and -# Man pages) or section (for LaTeX and RTF). -# The default value is: NO. - -INLINE_SIMPLE_STRUCTS = NO - -# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or -# enum is documented as struct, union, or enum with the name of the typedef. So -# typedef struct TypeS {} TypeT, will appear in the documentation as a struct -# with name TypeT. When disabled the typedef will appear as a member of a file, -# namespace, or class. And the struct will be named TypeS. This can typically be -# useful for C code in case the coding convention dictates that all compound -# types are typedef'ed and only the typedef is referenced, never the tag name. -# The default value is: NO. - -TYPEDEF_HIDES_STRUCT = NO - -# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This -# cache is used to resolve symbols given their name and scope. Since this can be -# an expensive process and often the same symbol appears multiple times in the -# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small -# doxygen will become slower. If the cache is too large, memory is wasted. The -# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range -# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 -# symbols. At the end of a run doxygen will report the cache usage and suggest -# the optimal cache size from a speed point of view. -# Minimum value: 0, maximum value: 9, default value: 0. - -LOOKUP_CACHE_SIZE = 0 - -# The NUM_PROC_THREADS specifies the number of threads doxygen is allowed to use -# during processing. When set to 0 doxygen will based this on the number of -# cores available in the system. You can set it explicitly to a value larger -# than 0 to get more control over the balance between CPU load and processing -# speed. At this moment only the input processing can be done using multiple -# threads. Since this is still an experimental feature the default is set to 1, -# which effectively disables parallel processing. Please report any issues you -# encounter. Generating dot graphs in parallel is controlled by the -# DOT_NUM_THREADS setting. -# Minimum value: 0, maximum value: 32, default value: 1. - -NUM_PROC_THREADS = 1 - -# If the TIMESTAMP tag is set different from NO then each generated page will -# contain the date or date and time when the page was generated. Setting this to -# NO can help when comparing the output of multiple runs. -# Possible values are: YES, NO, DATETIME and DATE. -# The default value is: NO. - -TIMESTAMP = NO - -#--------------------------------------------------------------------------- -# Build related configuration options -#--------------------------------------------------------------------------- - -# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in -# documentation are documented, even if no documentation was available. Private -# class members and static file members will be hidden unless the -# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. -# Note: This will also disable the warnings about undocumented members that are -# normally produced when WARNINGS is set to YES. -# The default value is: NO. - -EXTRACT_ALL = NO - -# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will -# be included in the documentation. -# The default value is: NO. - -EXTRACT_PRIVATE = NO - -# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual -# methods of a class will be included in the documentation. -# The default value is: NO. - -EXTRACT_PRIV_VIRTUAL = NO - -# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal -# scope will be included in the documentation. -# The default value is: NO. - -EXTRACT_PACKAGE = NO - -# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be -# included in the documentation. -# The default value is: NO. - -EXTRACT_STATIC = NO - -# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined -# locally in source files will be included in the documentation. If set to NO, -# only classes defined in header files are included. Does not have any effect -# for Java sources. -# The default value is: YES. - -EXTRACT_LOCAL_CLASSES = YES - -# This flag is only useful for Objective-C code. If set to YES, local methods, -# which are defined in the implementation section but not in the interface are -# included in the documentation. If set to NO, only methods in the interface are -# included. -# The default value is: NO. - -EXTRACT_LOCAL_METHODS = NO - -# If this flag is set to YES, the members of anonymous namespaces will be -# extracted and appear in the documentation as a namespace called -# 'anonymous_namespace{file}', where file will be replaced with the base name of -# the file that contains the anonymous namespace. By default anonymous namespace -# are hidden. -# The default value is: NO. - -EXTRACT_ANON_NSPACES = NO - -# If this flag is set to YES, the name of an unnamed parameter in a declaration -# will be determined by the corresponding definition. By default unnamed -# parameters remain unnamed in the output. -# The default value is: YES. - -RESOLVE_UNNAMED_PARAMS = YES - -# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all -# undocumented members inside documented classes or files. If set to NO these -# members will be included in the various overviews, but no documentation -# section is generated. This option has no effect if EXTRACT_ALL is enabled. -# The default value is: NO. - -HIDE_UNDOC_MEMBERS = NO - -# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. If set -# to NO, these classes will be included in the various overviews. This option -# will also hide undocumented C++ concepts if enabled. This option has no effect -# if EXTRACT_ALL is enabled. -# The default value is: NO. - -HIDE_UNDOC_CLASSES = NO - -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend -# declarations. If set to NO, these declarations will be included in the -# documentation. -# The default value is: NO. - -HIDE_FRIEND_COMPOUNDS = NO - -# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any -# documentation blocks found inside the body of a function. If set to NO, these -# blocks will be appended to the function's detailed documentation block. -# The default value is: NO. - -HIDE_IN_BODY_DOCS = NO - -# The INTERNAL_DOCS tag determines if documentation that is typed after a -# \internal command is included. If the tag is set to NO then the documentation -# will be excluded. Set it to YES to include the internal documentation. -# The default value is: NO. - -INTERNAL_DOCS = NO - -# With the correct setting of option CASE_SENSE_NAMES doxygen will better be -# able to match the capabilities of the underlying filesystem. In case the -# filesystem is case sensitive (i.e. it supports files in the same directory -# whose names only differ in casing), the option must be set to YES to properly -# deal with such files in case they appear in the input. For filesystems that -# are not case sensitive the option should be set to NO to properly deal with -# output files written for symbols that only differ in casing, such as for two -# classes, one named CLASS and the other named Class, and to also support -# references to files without having to specify the exact matching casing. On -# Windows (including Cygwin) and MacOS, users should typically set this option -# to NO, whereas on Linux or other Unix flavors it should typically be set to -# YES. -# Possible values are: SYSTEM, NO and YES. -# The default value is: SYSTEM. - -CASE_SENSE_NAMES = SYSTEM - -# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with -# their full class and namespace scopes in the documentation. If set to YES, the -# scope will be hidden. -# The default value is: NO. - -HIDE_SCOPE_NAMES = NO - -# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will -# append additional text to a page's title, such as Class Reference. If set to -# YES the compound reference will be hidden. -# The default value is: NO. - -HIDE_COMPOUND_REFERENCE= NO - -# If the SHOW_HEADERFILE tag is set to YES then the documentation for a class -# will show which file needs to be included to use the class. -# The default value is: YES. - -SHOW_HEADERFILE = YES - -# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of -# the files that are included by a file in the documentation of that file. -# The default value is: YES. - -SHOW_INCLUDE_FILES = YES - -# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each -# grouped member an include statement to the documentation, telling the reader -# which file to include in order to use the member. -# The default value is: NO. - -SHOW_GROUPED_MEMB_INC = NO - -# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include -# files with double quotes in the documentation rather than with sharp brackets. -# The default value is: NO. - -FORCE_LOCAL_INCLUDES = NO - -# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the -# documentation for inline members. -# The default value is: YES. - -INLINE_INFO = YES - -# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the -# (detailed) documentation of file and class members alphabetically by member -# name. If set to NO, the members will appear in declaration order. -# The default value is: YES. - -SORT_MEMBER_DOCS = YES - -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief -# descriptions of file, namespace and class members alphabetically by member -# name. If set to NO, the members will appear in declaration order. Note that -# this will also influence the order of the classes in the class list. -# The default value is: NO. - -SORT_BRIEF_DOCS = NO - -# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the -# (brief and detailed) documentation of class members so that constructors and -# destructors are listed first. If set to NO the constructors will appear in the -# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. -# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief -# member documentation. -# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting -# detailed member documentation. -# The default value is: NO. - -SORT_MEMBERS_CTORS_1ST = NO - -# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy -# of group names into alphabetical order. If set to NO the group names will -# appear in their defined order. -# The default value is: NO. - -SORT_GROUP_NAMES = NO - -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by -# fully-qualified names, including namespaces. If set to NO, the class list will -# be sorted only by class name, not including the namespace part. -# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the alphabetical -# list. -# The default value is: NO. - -SORT_BY_SCOPE_NAME = NO - -# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper -# type resolution of all parameters of a function it will reject a match between -# the prototype and the implementation of a member function even if there is -# only one candidate or it is obvious which candidate to choose by doing a -# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still -# accept a match between prototype and implementation in such cases. -# The default value is: NO. - -STRICT_PROTO_MATCHING = NO - -# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo -# list. This list is created by putting \todo commands in the documentation. -# The default value is: YES. - -GENERATE_TODOLIST = YES - -# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test -# list. This list is created by putting \test commands in the documentation. -# The default value is: YES. - -GENERATE_TESTLIST = YES - -# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug -# list. This list is created by putting \bug commands in the documentation. -# The default value is: YES. - -GENERATE_BUGLIST = YES - -# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) -# the deprecated list. This list is created by putting \deprecated commands in -# the documentation. -# The default value is: YES. - -GENERATE_DEPRECATEDLIST= YES - -# The ENABLED_SECTIONS tag can be used to enable conditional documentation -# sections, marked by \if ... \endif and \cond -# ... \endcond blocks. - -ENABLED_SECTIONS = - -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the -# initial value of a variable or macro / define can have for it to appear in the -# documentation. If the initializer consists of more lines than specified here -# it will be hidden. Use a value of 0 to hide initializers completely. The -# appearance of the value of individual variables and macros / defines can be -# controlled using \showinitializer or \hideinitializer command in the -# documentation regardless of this setting. -# Minimum value: 0, maximum value: 10000, default value: 30. - -MAX_INITIALIZER_LINES = 30 - -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at -# the bottom of the documentation of classes and structs. If set to YES, the -# list will mention the files that were used to generate the documentation. -# The default value is: YES. - -SHOW_USED_FILES = YES - -# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This -# will remove the Files entry from the Quick Index and from the Folder Tree View -# (if specified). -# The default value is: YES. - -SHOW_FILES = YES - -# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces -# page. This will remove the Namespaces entry from the Quick Index and from the -# Folder Tree View (if specified). -# The default value is: YES. - -SHOW_NAMESPACES = YES - -# The FILE_VERSION_FILTER tag can be used to specify a program or script that -# doxygen should invoke to get the current version for each file (typically from -# the version control system). Doxygen will invoke the program by executing (via -# popen()) the command command input-file, where command is the value of the -# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided -# by doxygen. Whatever the program writes to standard output is used as the file -# version. For an example see the documentation. - -FILE_VERSION_FILTER = - -# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed -# by doxygen. The layout file controls the global structure of the generated -# output files in an output format independent way. To create the layout file -# that represents doxygen's defaults, run doxygen with the -l option. You can -# optionally specify a file name after the option, if omitted DoxygenLayout.xml -# will be used as the name of the layout file. See also section "Changing the -# layout of pages" for information. -# -# Note that if you run doxygen from a directory containing a file called -# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE -# tag is left empty. - -LAYOUT_FILE = - -# The CITE_BIB_FILES tag can be used to specify one or more bib files containing -# the reference definitions. This must be a list of .bib files. The .bib -# extension is automatically appended if omitted. This requires the bibtex tool -# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. -# For LaTeX the style of the bibliography can be controlled using -# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the -# search path. See also \cite for info how to create references. - -CITE_BIB_FILES = - -#--------------------------------------------------------------------------- -# Configuration options related to warning and progress messages -#--------------------------------------------------------------------------- - -# The QUIET tag can be used to turn on/off the messages that are generated to -# standard output by doxygen. If QUIET is set to YES this implies that the -# messages are off. -# The default value is: NO. - -QUIET = NO - -# The WARNINGS tag can be used to turn on/off the warning messages that are -# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES -# this implies that the warnings are on. -# -# Tip: Turn warnings on while writing the documentation. -# The default value is: YES. - -WARNINGS = YES - -# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate -# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag -# will automatically be disabled. -# The default value is: YES. - -WARN_IF_UNDOCUMENTED = YES - -# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as documenting some parameters in -# a documented function twice, or documenting parameters that don't exist or -# using markup commands wrongly. -# The default value is: YES. - -WARN_IF_DOC_ERROR = YES - -# If WARN_IF_INCOMPLETE_DOC is set to YES, doxygen will warn about incomplete -# function parameter documentation. If set to NO, doxygen will accept that some -# parameters have no documentation without warning. -# The default value is: YES. - -WARN_IF_INCOMPLETE_DOC = YES - -# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that -# are documented, but have no documentation for their parameters or return -# value. If set to NO, doxygen will only warn about wrong parameter -# documentation, but not about the absence of documentation. If EXTRACT_ALL is -# set to YES then this flag will automatically be disabled. See also -# WARN_IF_INCOMPLETE_DOC -# The default value is: NO. - -WARN_NO_PARAMDOC = NO - -# If WARN_IF_UNDOC_ENUM_VAL option is set to YES, doxygen will warn about -# undocumented enumeration values. If set to NO, doxygen will accept -# undocumented enumeration values. If EXTRACT_ALL is set to YES then this flag -# will automatically be disabled. -# The default value is: NO. - -WARN_IF_UNDOC_ENUM_VAL = NO - -# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when -# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS -# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but -# at the end of the doxygen process doxygen will return with a non-zero status. -# If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS_PRINT then doxygen behaves -# like FAIL_ON_WARNINGS but in case no WARN_LOGFILE is defined doxygen will not -# write the warning messages in between other messages but write them at the end -# of a run, in case a WARN_LOGFILE is defined the warning messages will be -# besides being in the defined file also be shown at the end of a run, unless -# the WARN_LOGFILE is defined as - i.e. standard output (stdout) in that case -# the behavior will remain as with the setting FAIL_ON_WARNINGS. -# Possible values are: NO, YES, FAIL_ON_WARNINGS and FAIL_ON_WARNINGS_PRINT. -# The default value is: NO. - -WARN_AS_ERROR = NO - -# The WARN_FORMAT tag determines the format of the warning messages that doxygen -# can produce. The string should contain the $file, $line, and $text tags, which -# will be replaced by the file and line number from which the warning originated -# and the warning text. Optionally the format may contain $version, which will -# be replaced by the version of the file (if it could be obtained via -# FILE_VERSION_FILTER) -# See also: WARN_LINE_FORMAT -# The default value is: $file:$line: $text. - -WARN_FORMAT = "$file:$line: $text" - -# In the $text part of the WARN_FORMAT command it is possible that a reference -# to a more specific place is given. To make it easier to jump to this place -# (outside of doxygen) the user can define a custom "cut" / "paste" string. -# Example: -# WARN_LINE_FORMAT = "'vi $file +$line'" -# See also: WARN_FORMAT -# The default value is: at line $line of file $file. - -WARN_LINE_FORMAT = "at line $line of file $file" - -# The WARN_LOGFILE tag can be used to specify a file to which warning and error -# messages should be written. If left blank the output is written to standard -# error (stderr). In case the file specified cannot be opened for writing the -# warning and error messages are written to standard error. When as file - is -# specified the warning and error messages are written to standard output -# (stdout). - -WARN_LOGFILE = - -#--------------------------------------------------------------------------- -# Configuration options related to the input files -#--------------------------------------------------------------------------- - -# The INPUT tag is used to specify the files and/or directories that contain -# documented source files. You may enter file names like myfile.cpp or -# directories like /usr/src/myproject. Separate the files or directories with -# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING -# Note: If this tag is empty the current directory is searched. - -INPUT = - -# This tag can be used to specify the character encoding of the source files -# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses -# libiconv (or the iconv built into libc) for the transcoding. See the libiconv -# documentation (see: -# https://www.gnu.org/software/libiconv/) for the list of possible encodings. -# See also: INPUT_FILE_ENCODING -# The default value is: UTF-8. - -INPUT_ENCODING = UTF-8 - -# This tag can be used to specify the character encoding of the source files -# that doxygen parses The INPUT_FILE_ENCODING tag can be used to specify -# character encoding on a per file pattern basis. Doxygen will compare the file -# name with each pattern and apply the encoding instead of the default -# INPUT_ENCODING) if there is a match. The character encodings are a list of the -# form: pattern=encoding (like *.php=ISO-8859-1). See cfg_input_encoding -# "INPUT_ENCODING" for further information on supported encodings. - -INPUT_FILE_ENCODING = - -# If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and -# *.h) to filter out the source-files in the directories. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# read by doxygen. -# -# Note the list of default checked file patterns might differ from the list of -# default file extension mappings. -# -# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cxxm, -# *.cpp, *.cppm, *.ccm, *.c++, *.c++m, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, -# *.idl, *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp, *.h++, *.ixx, *.l, *.cs, *.d, -# *.php, *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to -# be provided as doxygen C comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, -# *.f18, *.f, *.for, *.vhd, *.vhdl, *.ucf, *.qsf and *.ice. - -FILE_PATTERNS = *.c \ - *.cc \ - *.cxx \ - *.cxxm \ - *.cpp \ - *.cppm \ - *.ccm \ - *.c++ \ - *.c++m \ - *.java \ - *.ii \ - *.ixx \ - *.ipp \ - *.i++ \ - *.inl \ - *.idl \ - *.ddl \ - *.odl \ - *.h \ - *.hh \ - *.hxx \ - *.hpp \ - *.h++ \ - *.ixx \ - *.l \ - *.cs \ - *.d \ - *.php \ - *.php4 \ - *.php5 \ - *.phtml \ - *.inc \ - *.m \ - *.mm \ - *.dox \ - *.pyw \ - *.f90 \ - *.f95 \ - *.f03 \ - *.f08 \ - *.f18 \ - *.f \ - *.for \ - *.vhd \ - *.vhdl \ - *.ucf \ - *.qsf \ - *.ice \ - *.ino - -# The RECURSIVE tag can be used to specify whether or not subdirectories should -# be searched for input files as well. -# The default value is: NO. - -RECURSIVE = YES - -# The EXCLUDE tag can be used to specify files and/or directories that should be -# excluded from the INPUT source files. This way you can easily exclude a -# subdirectory from a directory tree whose root is specified with the INPUT tag. -# -# Note that relative paths are relative to the directory from which doxygen is -# run. - -EXCLUDE = - -# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or -# directories that are symbolic links (a Unix file system feature) are excluded -# from the input. -# The default value is: NO. - -EXCLUDE_SYMLINKS = NO - -# If the value of the INPUT tag contains directories, you can use the -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. -# -# Note that the wildcards are matched against the file with absolute path, so to -# exclude all test directories for example use the pattern */test/* - -EXCLUDE_PATTERNS = - -# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names -# (namespaces, classes, functions, etc.) that should be excluded from the -# output. The symbol name can be a fully qualified name, a word, or if the -# wildcard * is used, a substring. Examples: ANamespace, AClass, -# ANamespace::AClass, ANamespace::*Test - -EXCLUDE_SYMBOLS = - -# The EXAMPLE_PATH tag can be used to specify one or more files or directories -# that contain example code fragments that are included (see the \include -# command). - -EXAMPLE_PATH = - -# If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and -# *.h) to filter out the source-files in the directories. If left blank all -# files are included. - -EXAMPLE_PATTERNS = * - -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude commands -# irrespective of the value of the RECURSIVE tag. -# The default value is: NO. - -EXAMPLE_RECURSIVE = NO - -# The IMAGE_PATH tag can be used to specify one or more files or directories -# that contain images that are to be included in the documentation (see the -# \image command). - -IMAGE_PATH = Docs/ - -# The INPUT_FILTER tag can be used to specify a program that doxygen should -# invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command: -# -# -# -# where is the value of the INPUT_FILTER tag, and is the -# name of an input file. Doxygen will then use the output that the filter -# program writes to standard output. If FILTER_PATTERNS is specified, this tag -# will be ignored. -# -# Note that the filter must not add or remove lines; it is applied before the -# code is scanned, but not when the output code is generated. If lines are added -# or removed, the anchors will not be placed correctly. -# -# Note that doxygen will use the data processed and written to standard output -# for further processing, therefore nothing else, like debug statements or used -# commands (so in case of a Windows batch file always use @echo OFF), should be -# written to standard output. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# properly processed by doxygen. - -INPUT_FILTER = - -# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern -# basis. Doxygen will compare the file name with each pattern and apply the -# filter if there is a match. The filters are a list of the form: pattern=filter -# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how -# filters are used. If the FILTER_PATTERNS tag is empty or if none of the -# patterns match the file name, INPUT_FILTER is applied. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# properly processed by doxygen. - -FILTER_PATTERNS = - -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER) will also be used to filter the input files that are used for -# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). -# The default value is: NO. - -FILTER_SOURCE_FILES = NO - -# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file -# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and -# it is also possible to disable source filtering for a specific pattern using -# *.ext= (so without naming a filter). -# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. - -FILTER_SOURCE_PATTERNS = - -# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that -# is part of the input, its contents will be placed on the main page -# (index.html). This can be useful if you have a project on for instance GitHub -# and want to reuse the introduction page also for the doxygen output. - -USE_MDFILE_AS_MAINPAGE = - -# The Fortran standard specifies that for fixed formatted Fortran code all -# characters from position 72 are to be considered as comment. A common -# extension is to allow longer lines before the automatic comment starts. The -# setting FORTRAN_COMMENT_AFTER will also make it possible that longer lines can -# be processed before the automatic comment starts. -# Minimum value: 7, maximum value: 10000, default value: 72. - -FORTRAN_COMMENT_AFTER = 72 - -#--------------------------------------------------------------------------- -# Configuration options related to source browsing -#--------------------------------------------------------------------------- - -# If the SOURCE_BROWSER tag is set to YES then a list of source files will be -# generated. Documented entities will be cross-referenced with these sources. -# -# Note: To get rid of all source code in the generated output, make sure that -# also VERBATIM_HEADERS is set to NO. -# The default value is: NO. - -SOURCE_BROWSER = NO - -# Setting the INLINE_SOURCES tag to YES will include the body of functions, -# multi-line macros, enums or list initialized variables directly into the -# documentation. -# The default value is: NO. - -INLINE_SOURCES = NO - -# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any -# special comment blocks from generated source code fragments. Normal C, C++ and -# Fortran comments will always remain visible. -# The default value is: YES. - -STRIP_CODE_COMMENTS = YES - -# If the REFERENCED_BY_RELATION tag is set to YES then for each documented -# entity all documented functions referencing it will be listed. -# The default value is: NO. - -REFERENCED_BY_RELATION = NO - -# If the REFERENCES_RELATION tag is set to YES then for each documented function -# all documented entities called/used by that function will be listed. -# The default value is: NO. - -REFERENCES_RELATION = NO - -# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set -# to YES then the hyperlinks from functions in REFERENCES_RELATION and -# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will -# link to the documentation. -# The default value is: YES. - -REFERENCES_LINK_SOURCE = YES - -# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the -# source code will show a tooltip with additional information such as prototype, -# brief description and links to the definition and documentation. Since this -# will make the HTML file larger and loading of large files a bit slower, you -# can opt to disable this feature. -# The default value is: YES. -# This tag requires that the tag SOURCE_BROWSER is set to YES. - -SOURCE_TOOLTIPS = YES - -# If the USE_HTAGS tag is set to YES then the references to source code will -# point to the HTML generated by the htags(1) tool instead of doxygen built-in -# source browser. The htags tool is part of GNU's global source tagging system -# (see https://www.gnu.org/software/global/global.html). You will need version -# 4.8.6 or higher. -# -# To use it do the following: -# - Install the latest version of global -# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file -# - Make sure the INPUT points to the root of the source tree -# - Run doxygen as normal -# -# Doxygen will invoke htags (and that will in turn invoke gtags), so these -# tools must be available from the command line (i.e. in the search path). -# -# The result: instead of the source browser generated by doxygen, the links to -# source code will now point to the output of htags. -# The default value is: NO. -# This tag requires that the tag SOURCE_BROWSER is set to YES. - -USE_HTAGS = NO - -# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a -# verbatim copy of the header file for each class for which an include is -# specified. Set to NO to disable this. -# See also: Section \class. -# The default value is: YES. - -VERBATIM_HEADERS = YES - -# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the -# clang parser (see: -# http://clang.llvm.org/) for more accurate parsing at the cost of reduced -# performance. This can be particularly helpful with template rich C++ code for -# which doxygen's built-in parser lacks the necessary type information. -# Note: The availability of this option depends on whether or not doxygen was -# generated with the -Duse_libclang=ON option for CMake. -# The default value is: NO. - -CLANG_ASSISTED_PARSING = NO - -# If the CLANG_ASSISTED_PARSING tag is set to YES and the CLANG_ADD_INC_PATHS -# tag is set to YES then doxygen will add the directory of each input to the -# include path. -# The default value is: YES. -# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. - -CLANG_ADD_INC_PATHS = YES - -# If clang assisted parsing is enabled you can provide the compiler with command -# line options that you would normally use when invoking the compiler. Note that -# the include paths will already be set by doxygen for the files and directories -# specified with INPUT and INCLUDE_PATH. -# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. - -CLANG_OPTIONS = - -# If clang assisted parsing is enabled you can provide the clang parser with the -# path to the directory containing a file called compile_commands.json. This -# file is the compilation database (see: -# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) containing the -# options used when the source files were built. This is equivalent to -# specifying the -p option to a clang tool, such as clang-check. These options -# will then be passed to the parser. Any options specified with CLANG_OPTIONS -# will be added as well. -# Note: The availability of this option depends on whether or not doxygen was -# generated with the -Duse_libclang=ON option for CMake. - -CLANG_DATABASE_PATH = - -#--------------------------------------------------------------------------- -# Configuration options related to the alphabetical class index -#--------------------------------------------------------------------------- - -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all -# compounds will be generated. Enable this if the project contains a lot of -# classes, structs, unions or interfaces. -# The default value is: YES. - -ALPHABETICAL_INDEX = YES - -# The IGNORE_PREFIX tag can be used to specify a prefix (or a list of prefixes) -# that should be ignored while generating the index headers. The IGNORE_PREFIX -# tag works for classes, function and member names. The entity will be placed in -# the alphabetical list under the first letter of the entity name that remains -# after removing the prefix. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -IGNORE_PREFIX = - -#--------------------------------------------------------------------------- -# Configuration options related to the HTML output -#--------------------------------------------------------------------------- - -# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output -# The default value is: YES. - -GENERATE_HTML = NO - -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a -# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of -# it. -# The default directory is: html. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_OUTPUT = html - -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each -# generated HTML page (for example: .htm, .php, .asp). -# The default value is: .html. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FILE_EXTENSION = .html - -# The HTML_HEADER tag can be used to specify a user-defined HTML header file for -# each generated HTML page. If the tag is left blank doxygen will generate a -# standard header. -# -# To get valid HTML the header file that includes any scripts and style sheets -# that doxygen needs, which is dependent on the configuration options used (e.g. -# the setting GENERATE_TREEVIEW). It is highly recommended to start with a -# default header using -# doxygen -w html new_header.html new_footer.html new_stylesheet.css -# YourConfigFile -# and then modify the file new_header.html. See also section "Doxygen usage" -# for information on how to generate the default header that doxygen normally -# uses. -# Note: The header is subject to change so you typically have to regenerate the -# default header when upgrading to a newer version of doxygen. For a description -# of the possible markers and block names see the documentation. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_HEADER = - -# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each -# generated HTML page. If the tag is left blank doxygen will generate a standard -# footer. See HTML_HEADER for more information on how to generate a default -# footer and what special commands can be used inside the footer. See also -# section "Doxygen usage" for information on how to generate the default footer -# that doxygen normally uses. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FOOTER = - -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style -# sheet that is used by each HTML page. It can be used to fine-tune the look of -# the HTML output. If left blank doxygen will generate a default style sheet. -# See also section "Doxygen usage" for information on how to generate the style -# sheet that doxygen normally uses. -# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as -# it is more robust and this tag (HTML_STYLESHEET) will in the future become -# obsolete. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_STYLESHEET = - -# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined -# cascading style sheets that are included after the standard style sheets -# created by doxygen. Using this option one can overrule certain style aspects. -# This is preferred over using HTML_STYLESHEET since it does not replace the -# standard style sheet and is therefore more robust against future updates. -# Doxygen will copy the style sheet files to the output directory. -# Note: The order of the extra style sheet files is of importance (e.g. the last -# style sheet in the list overrules the setting of the previous ones in the -# list). -# Note: Since the styling of scrollbars can currently not be overruled in -# Webkit/Chromium, the styling will be left out of the default doxygen.css if -# one or more extra stylesheets have been specified. So if scrollbar -# customization is desired it has to be added explicitly. For an example see the -# documentation. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_EXTRA_STYLESHEET = - - -# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or -# other source files which should be copied to the HTML output directory. Note -# that these files will be copied to the base HTML output directory. Use the -# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these -# files. In the HTML_STYLESHEET file, use the file name only. Also note that the -# files will be copied as-is; there are no commands or markers available. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_EXTRA_FILES = - -# The HTML_COLORSTYLE tag can be used to specify if the generated HTML output -# should be rendered with a dark or light theme. -# Possible values are: LIGHT always generate light mode output, DARK always -# generate dark mode output, AUTO_LIGHT automatically set the mode according to -# the user preference, use light mode if no preference is set (the default), -# AUTO_DARK automatically set the mode according to the user preference, use -# dark mode if no preference is set and TOGGLE allow to user to switch between -# light and dark mode via a button. -# The default value is: AUTO_LIGHT. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE = AUTO_LIGHT - -# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen -# will adjust the colors in the style sheet and background images according to -# this color. Hue is specified as an angle on a color-wheel, see -# https://en.wikipedia.org/wiki/Hue for more information. For instance the value -# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 -# purple, and 360 is red again. -# Minimum value: 0, maximum value: 359, default value: 220. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_HUE = 220 - -# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors -# in the HTML output. For a value of 0 the output will use gray-scales only. A -# value of 255 will produce the most vivid colors. -# Minimum value: 0, maximum value: 255, default value: 100. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_SAT = 100 - -# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the -# luminance component of the colors in the HTML output. Values below 100 -# gradually make the output lighter, whereas values above 100 make the output -# darker. The value divided by 100 is the actual gamma applied, so 80 represents -# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not -# change the gamma. -# Minimum value: 40, maximum value: 240, default value: 80. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_GAMMA = 80 - -# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML -# documentation will contain a main index with vertical navigation menus that -# are dynamically created via JavaScript. If disabled, the navigation index will -# consists of multiple levels of tabs that are statically embedded in every HTML -# page. Disable this option to support browsers that do not have JavaScript, -# like the Qt help browser. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_DYNAMIC_MENUS = YES - -# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML -# documentation will contain sections that can be hidden and shown after the -# page has loaded. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_DYNAMIC_SECTIONS = NO - -# If the HTML_CODE_FOLDING tag is set to YES then classes and functions can be -# dynamically folded and expanded in the generated HTML source code. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_CODE_FOLDING = YES - -# If the HTML_COPY_CLIPBOARD tag is set to YES then doxygen will show an icon in -# the top right corner of code and text fragments that allows the user to copy -# its content to the clipboard. Note this only works if supported by the browser -# and the web page is served via a secure context (see: -# https://www.w3.org/TR/secure-contexts/), i.e. using the https: or file: -# protocol. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COPY_CLIPBOARD = YES - -# Doxygen stores a couple of settings persistently in the browser (via e.g. -# cookies). By default these settings apply to all HTML pages generated by -# doxygen across all projects. The HTML_PROJECT_COOKIE tag can be used to store -# the settings under a project specific key, such that the user preferences will -# be stored separately. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_PROJECT_COOKIE = - -# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries -# shown in the various tree structured indices initially; the user can expand -# and collapse entries dynamically later on. Doxygen will expand the tree to -# such a level that at most the specified number of entries are visible (unless -# a fully collapsed tree already exceeds this amount). So setting the number of -# entries 1 will produce a full collapsed tree by default. 0 is a special value -# representing an infinite number of entries and will result in a full expanded -# tree by default. -# Minimum value: 0, maximum value: 9999, default value: 100. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_INDEX_NUM_ENTRIES = 100 - -# If the GENERATE_DOCSET tag is set to YES, additional index files will be -# generated that can be used as input for Apple's Xcode 3 integrated development -# environment (see: -# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To -# create a documentation set, doxygen will generate a Makefile in the HTML -# output directory. Running make will produce the docset in that directory and -# running make install will install the docset in -# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at -# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy -# genXcode/_index.html for more information. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_DOCSET = NO - -# This tag determines the name of the docset feed. A documentation feed provides -# an umbrella under which multiple documentation sets from a single provider -# (such as a company or product suite) can be grouped. -# The default value is: Doxygen generated docs. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_FEEDNAME = "Doxygen generated docs" - -# This tag determines the URL of the docset feed. A documentation feed provides -# an umbrella under which multiple documentation sets from a single provider -# (such as a company or product suite) can be grouped. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_FEEDURL = - -# This tag specifies a string that should uniquely identify the documentation -# set bundle. This should be a reverse domain-name style string, e.g. -# com.mycompany.MyDocSet. Doxygen will append .docset to the name. -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_BUNDLE_ID = org.doxygen.Project - -# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify -# the documentation publisher. This should be a reverse domain-name style -# string, e.g. com.mycompany.MyDocSet.documentation. -# The default value is: org.doxygen.Publisher. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_PUBLISHER_ID = org.doxygen.Publisher - -# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. -# The default value is: Publisher. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_PUBLISHER_NAME = Publisher - -# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three -# additional HTML index files: index.hhp, index.hhc, and index.hhk. The -# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop -# on Windows. In the beginning of 2021 Microsoft took the original page, with -# a.o. the download links, offline the HTML help workshop was already many years -# in maintenance mode). You can download the HTML help workshop from the web -# archives at Installation executable (see: -# http://web.archive.org/web/20160201063255/http://download.microsoft.com/downlo -# ad/0/A/9/0A939EF6-E31C-430F-A3DF-DFAE7960D564/htmlhelp.exe). -# -# The HTML Help Workshop contains a compiler that can convert all HTML output -# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML -# files are now used as the Windows 98 help format, and will replace the old -# Windows help format (.hlp) on all Windows platforms in the future. Compressed -# HTML files also contain an index, a table of contents, and you can search for -# words in the documentation. The HTML workshop also contains a viewer for -# compressed HTML files. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_HTMLHELP = NO - -# The CHM_FILE tag can be used to specify the file name of the resulting .chm -# file. You can add a path in front of the file if the result should not be -# written to the html output directory. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -CHM_FILE = - -# The HHC_LOCATION tag can be used to specify the location (absolute path -# including file name) of the HTML help compiler (hhc.exe). If non-empty, -# doxygen will try to run the HTML help compiler on the generated index.hhp. -# The file has to be specified with full path. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -HHC_LOCATION = - -# The GENERATE_CHI flag controls if a separate .chi index file is generated -# (YES) or that it should be included in the main .chm file (NO). -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -GENERATE_CHI = NO - -# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) -# and project file content. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -CHM_INDEX_ENCODING = - -# The BINARY_TOC flag controls whether a binary table of contents is generated -# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it -# enables the Previous and Next buttons. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -BINARY_TOC = NO - -# The TOC_EXPAND flag can be set to YES to add extra items for group members to -# the table of contents of the HTML help documentation and to the tree view. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -TOC_EXPAND = NO - -# The SITEMAP_URL tag is used to specify the full URL of the place where the -# generated documentation will be placed on the server by the user during the -# deployment of the documentation. The generated sitemap is called sitemap.xml -# and placed on the directory specified by HTML_OUTPUT. In case no SITEMAP_URL -# is specified no sitemap is generated. For information about the sitemap -# protocol see https://www.sitemaps.org -# This tag requires that the tag GENERATE_HTML is set to YES. - -SITEMAP_URL = - -# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and -# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that -# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help -# (.qch) of the generated HTML documentation. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_QHP = NO - -# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify -# the file name of the resulting .qch file. The path specified is relative to -# the HTML output folder. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QCH_FILE = - -# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help -# Project output. For more information please see Qt Help Project / Namespace -# (see: -# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_NAMESPACE = org.doxygen.Project - -# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt -# Help Project output. For more information please see Qt Help Project / Virtual -# Folders (see: -# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders). -# The default value is: doc. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_VIRTUAL_FOLDER = doc - -# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom -# filter to add. For more information please see Qt Help Project / Custom -# Filters (see: -# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_CUST_FILTER_NAME = - -# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the -# custom filter to add. For more information please see Qt Help Project / Custom -# Filters (see: -# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_CUST_FILTER_ATTRS = - -# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this -# project's filter section matches. Qt Help Project / Filter Attributes (see: -# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_SECT_FILTER_ATTRS = - -# The QHG_LOCATION tag can be used to specify the location (absolute path -# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to -# run qhelpgenerator on the generated .qhp file. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHG_LOCATION = - -# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be -# generated, together with the HTML files, they form an Eclipse help plugin. To -# install this plugin and make it available under the help contents menu in -# Eclipse, the contents of the directory containing the HTML and XML files needs -# to be copied into the plugins directory of eclipse. The name of the directory -# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. -# After copying Eclipse needs to be restarted before the help appears. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_ECLIPSEHELP = NO - -# A unique identifier for the Eclipse help plugin. When installing the plugin -# the directory name containing the HTML and XML files should also have this -# name. Each documentation set should have its own identifier. -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. - -ECLIPSE_DOC_ID = org.doxygen.Project - -# If you want full control over the layout of the generated HTML pages it might -# be necessary to disable the index and replace it with your own. The -# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top -# of each HTML page. A value of NO enables the index and the value YES disables -# it. Since the tabs in the index contain the same information as the navigation -# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -DISABLE_INDEX = NO - -# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index -# structure should be generated to display hierarchical information. If the tag -# value is set to YES, a side panel will be generated containing a tree-like -# index structure (just like the one that is generated for HTML Help). For this -# to work a browser that supports JavaScript, DHTML, CSS and frames is required -# (i.e. any modern browser). Windows users are probably better off using the -# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can -# further fine tune the look of the index (see "Fine-tuning the output"). As an -# example, the default style sheet generated by doxygen has an example that -# shows how to put an image at the root of the tree instead of the PROJECT_NAME. -# Since the tree basically has the same information as the tab index, you could -# consider setting DISABLE_INDEX to YES when enabling this option. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_TREEVIEW = YES - -# When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the -# FULL_SIDEBAR option determines if the side bar is limited to only the treeview -# area (value NO) or if it should extend to the full height of the window (value -# YES). Setting this to YES gives a layout similar to -# https://docs.readthedocs.io with more room for contents, but less room for the -# project logo, title, and description. If either GENERATE_TREEVIEW or -# DISABLE_INDEX is set to NO, this option has no effect. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -FULL_SIDEBAR = NO - -# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that -# doxygen will group on one line in the generated HTML documentation. -# -# Note that a value of 0 will completely suppress the enum values from appearing -# in the overview section. -# Minimum value: 0, maximum value: 20, default value: 4. -# This tag requires that the tag GENERATE_HTML is set to YES. - -ENUM_VALUES_PER_LINE = 4 - -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used -# to set the initial width (in pixels) of the frame in which the tree is shown. -# Minimum value: 0, maximum value: 1500, default value: 250. -# This tag requires that the tag GENERATE_HTML is set to YES. - -TREEVIEW_WIDTH = 250 - -# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to -# external symbols imported via tag files in a separate window. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -EXT_LINKS_IN_WINDOW = NO - -# If the OBFUSCATE_EMAILS tag is set to YES, doxygen will obfuscate email -# addresses. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -OBFUSCATE_EMAILS = YES - -# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg -# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see -# https://inkscape.org) to generate formulas as SVG images instead of PNGs for -# the HTML output. These images will generally look nicer at scaled resolutions. -# Possible values are: png (the default) and svg (looks nicer but requires the -# pdf2svg or inkscape tool). -# The default value is: png. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FORMULA_FORMAT = png - -# Use this tag to change the font size of LaTeX formulas included as images in -# the HTML documentation. When you change the font size after a successful -# doxygen run you need to manually remove any form_*.png images from the HTML -# output directory to force them to be regenerated. -# Minimum value: 8, maximum value: 50, default value: 10. -# This tag requires that the tag GENERATE_HTML is set to YES. - -FORMULA_FONTSIZE = 10 - -# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands -# to create new LaTeX commands to be used in formulas as building blocks. See -# the section "Including formulas" for details. - -FORMULA_MACROFILE = - -# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see -# https://www.mathjax.org) which uses client side JavaScript for the rendering -# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX -# installed or if you want to formulas look prettier in the HTML output. When -# enabled you may also need to install MathJax separately and configure the path -# to it using the MATHJAX_RELPATH option. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -USE_MATHJAX = NO - -# With MATHJAX_VERSION it is possible to specify the MathJax version to be used. -# Note that the different versions of MathJax have different requirements with -# regards to the different settings, so it is possible that also other MathJax -# settings have to be changed when switching between the different MathJax -# versions. -# Possible values are: MathJax_2 and MathJax_3. -# The default value is: MathJax_2. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_VERSION = MathJax_2 - -# When MathJax is enabled you can set the default output format to be used for -# the MathJax output. For more details about the output format see MathJax -# version 2 (see: -# http://docs.mathjax.org/en/v2.7-latest/output.html) and MathJax version 3 -# (see: -# http://docs.mathjax.org/en/latest/web/components/output.html). -# Possible values are: HTML-CSS (which is slower, but has the best -# compatibility. This is the name for Mathjax version 2, for MathJax version 3 -# this will be translated into chtml), NativeMML (i.e. MathML. Only supported -# for NathJax 2. For MathJax version 3 chtml will be used instead.), chtml (This -# is the name for Mathjax version 3, for MathJax version 2 this will be -# translated into HTML-CSS) and SVG. -# The default value is: HTML-CSS. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_FORMAT = HTML-CSS - -# When MathJax is enabled you need to specify the location relative to the HTML -# output directory using the MATHJAX_RELPATH option. The destination directory -# should contain the MathJax.js script. For instance, if the mathjax directory -# is located at the same level as the HTML output directory, then -# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax -# Content Delivery Network so you can quickly see the result without installing -# MathJax. However, it is strongly recommended to install a local copy of -# MathJax from https://www.mathjax.org before deployment. The default value is: -# - in case of MathJax version 2: https://cdn.jsdelivr.net/npm/mathjax@2 -# - in case of MathJax version 3: https://cdn.jsdelivr.net/npm/mathjax@3 -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_RELPATH = - -# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax -# extension names that should be enabled during MathJax rendering. For example -# for MathJax version 2 (see -# https://docs.mathjax.org/en/v2.7-latest/tex.html#tex-and-latex-extensions): -# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols -# For example for MathJax version 3 (see -# http://docs.mathjax.org/en/latest/input/tex/extensions/index.html): -# MATHJAX_EXTENSIONS = ams -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_EXTENSIONS = - -# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces -# of code that will be used on startup of the MathJax code. See the MathJax site -# (see: -# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an -# example see the documentation. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_CODEFILE = - -# When the SEARCHENGINE tag is enabled doxygen will generate a search box for -# the HTML output. The underlying search engine uses javascript and DHTML and -# should work on any modern browser. Note that when using HTML help -# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) -# there is already a search function so this one should typically be disabled. -# For large projects the javascript based search engine can be slow, then -# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to -# search using the keyboard; to jump to the search box use + S -# (what the is depends on the OS and browser, but it is typically -# , /Node, -# Edge and Graph Attributes specification You need to make sure dot is able -# to find the font, which can be done by putting it in a standard location or by -# setting the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the -# directory containing the font. Default graphviz fontsize is 14. -# The default value is: fontname=Helvetica,fontsize=10. -# This tag requires that the tag HAVE_DOT is set to YES. - -DOT_COMMON_ATTR = "fontname=Helvetica,fontsize=10" - -# DOT_EDGE_ATTR is concatenated with DOT_COMMON_ATTR. For elegant style you can -# add 'arrowhead=open, arrowtail=open, arrowsize=0.5'. Complete documentation about -# arrows shapes. -# The default value is: labelfontname=Helvetica,labelfontsize=10. -# This tag requires that the tag HAVE_DOT is set to YES. - -DOT_EDGE_ATTR = "labelfontname=Helvetica,labelfontsize=10" - -# DOT_NODE_ATTR is concatenated with DOT_COMMON_ATTR. For view without boxes -# around nodes set 'shape=plain' or 'shape=plaintext' Shapes specification -# The default value is: shape=box,height=0.2,width=0.4. -# This tag requires that the tag HAVE_DOT is set to YES. - -DOT_NODE_ATTR = "shape=box,height=0.2,width=0.4" - -# You can set the path where dot can find font specified with fontname in -# DOT_COMMON_ATTR and others dot attributes. -# This tag requires that the tag HAVE_DOT is set to YES. - -DOT_FONTPATH = - -# If the CLASS_GRAPH tag is set to YES or GRAPH or BUILTIN then doxygen will -# generate a graph for each documented class showing the direct and indirect -# inheritance relations. In case the CLASS_GRAPH tag is set to YES or GRAPH and -# HAVE_DOT is enabled as well, then dot will be used to draw the graph. In case -# the CLASS_GRAPH tag is set to YES and HAVE_DOT is disabled or if the -# CLASS_GRAPH tag is set to BUILTIN, then the built-in generator will be used. -# If the CLASS_GRAPH tag is set to TEXT the direct and indirect inheritance -# relations will be shown as texts / links. Explicit enabling an inheritance -# graph or choosing a different representation for an inheritance graph of a -# specific class, can be accomplished by means of the command \inheritancegraph. -# Disabling an inheritance graph can be accomplished by means of the command -# \hideinheritancegraph. -# Possible values are: NO, YES, TEXT, GRAPH and BUILTIN. -# The default value is: YES. - -CLASS_GRAPH = YES - -# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a -# graph for each documented class showing the direct and indirect implementation -# dependencies (inheritance, containment, and class references variables) of the -# class with other documented classes. Explicit enabling a collaboration graph, -# when COLLABORATION_GRAPH is set to NO, can be accomplished by means of the -# command \collaborationgraph. Disabling a collaboration graph can be -# accomplished by means of the command \hidecollaborationgraph. -# The default value is: YES. -# This tag requires that the tag HAVE_DOT is set to YES. - -COLLABORATION_GRAPH = YES - -# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for -# groups, showing the direct groups dependencies. Explicit enabling a group -# dependency graph, when GROUP_GRAPHS is set to NO, can be accomplished by means -# of the command \groupgraph. Disabling a directory graph can be accomplished by -# means of the command \hidegroupgraph. See also the chapter Grouping in the -# manual. -# The default value is: YES. -# This tag requires that the tag HAVE_DOT is set to YES. - -GROUP_GRAPHS = YES - -# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and -# collaboration diagrams in a style similar to the OMG's Unified Modeling -# Language. -# The default value is: NO. -# This tag requires that the tag HAVE_DOT is set to YES. - -UML_LOOK = NO - -# If the UML_LOOK tag is enabled, the fields and methods are shown inside the -# class node. If there are many fields or methods and many nodes the graph may -# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the -# number of items for each type to make the size more manageable. Set this to 0 -# for no limit. Note that the threshold may be exceeded by 50% before the limit -# is enforced. So when you set the threshold to 10, up to 15 fields may appear, -# but if the number exceeds 15, the total amount of fields shown is limited to -# 10. -# Minimum value: 0, maximum value: 100, default value: 10. -# This tag requires that the tag UML_LOOK is set to YES. - -UML_LIMIT_NUM_FIELDS = 10 - -# If the DOT_UML_DETAILS tag is set to NO, doxygen will show attributes and -# methods without types and arguments in the UML graphs. If the DOT_UML_DETAILS -# tag is set to YES, doxygen will add type and arguments for attributes and -# methods in the UML graphs. If the DOT_UML_DETAILS tag is set to NONE, doxygen -# will not generate fields with class member information in the UML graphs. The -# class diagrams will look similar to the default class diagrams but using UML -# notation for the relationships. -# Possible values are: NO, YES and NONE. -# The default value is: NO. -# This tag requires that the tag UML_LOOK is set to YES. - -DOT_UML_DETAILS = NO - -# The DOT_WRAP_THRESHOLD tag can be used to set the maximum number of characters -# to display on a single line. If the actual line length exceeds this threshold -# significantly it will be wrapped across multiple lines. Some heuristics are -# applied to avoid ugly line breaks. -# Minimum value: 0, maximum value: 1000, default value: 17. -# This tag requires that the tag HAVE_DOT is set to YES. - -DOT_WRAP_THRESHOLD = 17 - -# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and -# collaboration graphs will show the relations between templates and their -# instances. -# The default value is: NO. -# This tag requires that the tag HAVE_DOT is set to YES. - -TEMPLATE_RELATIONS = NO - -# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to -# YES then doxygen will generate a graph for each documented file showing the -# direct and indirect include dependencies of the file with other documented -# files. Explicit enabling an include graph, when INCLUDE_GRAPH is is set to NO, -# can be accomplished by means of the command \includegraph. Disabling an -# include graph can be accomplished by means of the command \hideincludegraph. -# The default value is: YES. -# This tag requires that the tag HAVE_DOT is set to YES. - -INCLUDE_GRAPH = YES - -# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are -# set to YES then doxygen will generate a graph for each documented file showing -# the direct and indirect include dependencies of the file with other documented -# files. Explicit enabling an included by graph, when INCLUDED_BY_GRAPH is set -# to NO, can be accomplished by means of the command \includedbygraph. Disabling -# an included by graph can be accomplished by means of the command -# \hideincludedbygraph. -# The default value is: YES. -# This tag requires that the tag HAVE_DOT is set to YES. - -INCLUDED_BY_GRAPH = YES - -# If the CALL_GRAPH tag is set to YES then doxygen will generate a call -# dependency graph for every global function or class method. -# -# Note that enabling this option will significantly increase the time of a run. -# So in most cases it will be better to enable call graphs for selected -# functions only using the \callgraph command. Disabling a call graph can be -# accomplished by means of the command \hidecallgraph. -# The default value is: NO. -# This tag requires that the tag HAVE_DOT is set to YES. - -CALL_GRAPH = NO - -# If the CALLER_GRAPH tag is set to YES then doxygen will generate a caller -# dependency graph for every global function or class method. -# -# Note that enabling this option will significantly increase the time of a run. -# So in most cases it will be better to enable caller graphs for selected -# functions only using the \callergraph command. Disabling a caller graph can be -# accomplished by means of the command \hidecallergraph. -# The default value is: NO. -# This tag requires that the tag HAVE_DOT is set to YES. - -CALLER_GRAPH = NO - -# If the GRAPHICAL_HIERARCHY tag is set to YES then doxygen will graphical -# hierarchy of all classes instead of a textual one. -# The default value is: YES. -# This tag requires that the tag HAVE_DOT is set to YES. - -GRAPHICAL_HIERARCHY = YES - -# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the -# dependencies a directory has on other directories in a graphical way. The -# dependency relations are determined by the #include relations between the -# files in the directories. Explicit enabling a directory graph, when -# DIRECTORY_GRAPH is set to NO, can be accomplished by means of the command -# \directorygraph. Disabling a directory graph can be accomplished by means of -# the command \hidedirectorygraph. -# The default value is: YES. -# This tag requires that the tag HAVE_DOT is set to YES. - -DIRECTORY_GRAPH = YES - -# The DIR_GRAPH_MAX_DEPTH tag can be used to limit the maximum number of levels -# of child directories generated in directory dependency graphs by dot. -# Minimum value: 1, maximum value: 25, default value: 1. -# This tag requires that the tag DIRECTORY_GRAPH is set to YES. - -DIR_GRAPH_MAX_DEPTH = 1 - -# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images -# generated by dot. For an explanation of the image formats see the section -# output formats in the documentation of the dot tool (Graphviz (see: -# https://www.graphviz.org/)). -# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order -# to make the SVG files visible in IE 9+ (other browsers do not have this -# requirement). -# Possible values are: png, jpg, gif, svg, png:gd, png:gd:gd, png:cairo, -# png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and -# png:gdiplus:gdiplus. -# The default value is: png. -# This tag requires that the tag HAVE_DOT is set to YES. - -DOT_IMAGE_FORMAT = svg - -# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to -# enable generation of interactive SVG images that allow zooming and panning. -# -# Note that this requires a modern browser other than Internet Explorer. Tested -# and working are Firefox, Chrome, Safari, and Opera. -# Note: For IE 9+ you need to set HTML_FILE_EXTENSION to xhtml in order to make -# the SVG files visible. Older versions of IE do not have SVG support. -# The default value is: NO. -# This tag requires that the tag HAVE_DOT is set to YES. - -INTERACTIVE_SVG = NO - -# The DOT_PATH tag can be used to specify the path where the dot tool can be -# found. If left blank, it is assumed the dot tool can be found in the path. -# This tag requires that the tag HAVE_DOT is set to YES. - -DOT_PATH = - -# The DOTFILE_DIRS tag can be used to specify one or more directories that -# contain dot files that are included in the documentation (see the \dotfile -# command). -# This tag requires that the tag HAVE_DOT is set to YES. - -DOTFILE_DIRS = - -# You can include diagrams made with dia in doxygen documentation. Doxygen will -# then run dia to produce the diagram and insert it in the documentation. The -# DIA_PATH tag allows you to specify the directory where the dia binary resides. -# If left empty dia is assumed to be found in the default search path. - -DIA_PATH = - -# The DIAFILE_DIRS tag can be used to specify one or more directories that -# contain dia files that are included in the documentation (see the \diafile -# command). - -DIAFILE_DIRS = - -# When using plantuml, the PLANTUML_JAR_PATH tag should be used to specify the -# path where java can find the plantuml.jar file or to the filename of jar file -# to be used. If left blank, it is assumed PlantUML is not used or called during -# a preprocessing step. Doxygen will generate a warning when it encounters a -# \startuml command in this case and will not generate output for the diagram. - -PLANTUML_JAR_PATH = - -# When using plantuml, the PLANTUML_CFG_FILE tag can be used to specify a -# configuration file for plantuml. - -PLANTUML_CFG_FILE = - -# When using plantuml, the specified paths are searched for files specified by -# the !include statement in a plantuml block. - -PLANTUML_INCLUDE_PATH = - -# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes -# that will be shown in the graph. If the number of nodes in a graph becomes -# larger than this value, doxygen will truncate the graph, which is visualized -# by representing a node as a red box. Note that doxygen if the number of direct -# children of the root node in a graph is already larger than -# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. 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It is safest -to attach them to the start of each source file to most effectively -state the exclusion of warranty; and each file should have at least -the "copyright" line and a pointer to where the full notice is found. - - - Copyright (C) - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - -Also add information on how to contact you by electronic and paper mail. - - If the program does terminal interaction, make it output a short -notice like this when it starts in an interactive mode: - - Copyright (C) - This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. - This is free software, and you are welcome to redistribute it - under certain conditions; type `show c' for details. - -The hypothetical commands `show w' and `show c' should show the appropriate -parts of the General Public License. Of course, your program's commands -might be different; for a GUI interface, you would use an "about box". - - You should also get your employer (if you work as a programmer) or school, -if any, to sign a "copyright disclaimer" for the program, if necessary. -For more information on this, and how to apply and follow the GNU GPL, see -. - - The GNU General Public License does not permit incorporating your program -into proprietary programs. If your program is a subroutine library, you -may consider it more useful to permit linking proprietary applications with -the library. If this is what you want to do, use the GNU Lesser General -Public License instead of this License. But first, please read -. diff --git a/libs/serialIO/README.md b/libs/serialIO/README.md deleted file mode 100644 index cec5612..0000000 --- a/libs/serialIO/README.md +++ /dev/null @@ -1,30 +0,0 @@ -

- GitHub Release - Github Issues - Arduino_CI - GitHub License -

- -# SerialIO - -An arduino library for parsing almost any RC protocol. - -## Overview - -SerialIO is a common library designed to simplify the implementation of RC protocol decoding in Arduino projects. It provides a modular and extensible architecture that allows for easy integration of various RC protocols. - -## How to use? - -The examples and the tutorial are available on [this link](https://docs.wittywizard.in/projects/serialio) - -## Contributing to the library - -You see a bug or any feature that you require, please feel free to open an issue or if you have fixed the issue then please create a PR on github. - -## License - - - GPL​-3.0​-or​later - - -This library is licensed under the [GNU General Public License v3.0 or later](https://www.gnu.org/licenses/gpl-3.0.en.html). diff --git a/libs/serialIO/examples/atmel/ibus_basic/.arduino-ci.yml b/libs/serialIO/examples/atmel/ibus_basic/.arduino-ci.yml deleted file mode 100644 index 028c474..0000000 --- a/libs/serialIO/examples/atmel/ibus_basic/.arduino-ci.yml +++ /dev/null @@ -1,5 +0,0 @@ -compile: - platforms: - - uno - - mega2560 - - leonardo \ No newline at end of file diff --git a/libs/serialIO/examples/atmel/ibus_basic/ibus_basic.ino b/libs/serialIO/examples/atmel/ibus_basic/ibus_basic.ino deleted file mode 100644 index 8d8f2f0..0000000 --- a/libs/serialIO/examples/atmel/ibus_basic/ibus_basic.ino +++ /dev/null @@ -1,18 +0,0 @@ -/*! - * @file ibus_basic.ino - */ -#include - -rc_channels_t channelData; - -ibus receiver(&Serial); - -void setup() { - receiver.begin(); -} - -void loop() { - receiver.processIncoming(); - receiver.getChannel(&channelData); -} - diff --git a/libs/serialIO/examples/rp2040/ibus_basic/.arduino-ci.yml b/libs/serialIO/examples/rp2040/ibus_basic/.arduino-ci.yml deleted file mode 100644 index f08632d..0000000 --- a/libs/serialIO/examples/rp2040/ibus_basic/.arduino-ci.yml +++ /dev/null @@ -1,18 +0,0 @@ -platforms: - rpipico: - board: rp2040:rp2040:rpipico - package: rp2040:rp2040 - gcc: - features: - defines: - - ARDUINO_ARCH_RP2040 - warnings: - flags: - -packages: - rp2040:rp2040: - url: https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json - -compile: - platforms: - - rpipico diff --git a/libs/serialIO/examples/rp2040/ibus_basic/ibus_basic.ino b/libs/serialIO/examples/rp2040/ibus_basic/ibus_basic.ino deleted file mode 100644 index 931e9b4..0000000 --- a/libs/serialIO/examples/rp2040/ibus_basic/ibus_basic.ino +++ /dev/null @@ -1,54 +0,0 @@ -/*! - * @file ibus_basic.ino - */ -/* - -# Sample platformio.ini file: -# --------------------------- -[platformio] -default_envs = ws-rp2040-zero - -[env:ws-rp2040-zero] -platform = https://github.com/maxgerhardt/platform-raspberrypi.git -board = waveshare_rp2040_pizero -framework = arduino -board_build.core = earlephilhower -monitor_speed = 115200 - -lib_deps = - https://github.com/Witty-Wizard/SerialIO -*/ - -#include - -#define SBUS_TX_PIN 0 -#define SBUS_RX_PIN 1 - -rc_channels_t rcdata; -ibus receiver(&Serial1, SBUS_RX_PIN, SBUS_TX_PIN, - true); // RP2040 requires the TX_PIN so to not hang up the mcu - -void setup() { - // setup sbus receiver - receiver.begin(); - - Serial.begin(115200); -} - -void loop() { - static unsigned long last_millis = millis(); - - receiver.processIncoming(); - receiver.getChannel(&rcdata); - - if (millis() > last_millis + 100) { - Serial.printf("RC: %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d %4d", - rcdata.channel1, rcdata.channel2, rcdata.channel3, - rcdata.channel4, rcdata.channel5, rcdata.channel6, - rcdata.channel7, rcdata.channel8, rcdata.channel9, - rcdata.channel10, rcdata.channel11, rcdata.channel12, - rcdata.channel13, rcdata.channel14); - Serial.println(); - last_millis = millis(); - } -} diff --git a/libs/serialIO/library.properties b/libs/serialIO/library.properties deleted file mode 100644 index 5493eca..0000000 --- a/libs/serialIO/library.properties +++ /dev/null @@ -1,12 +0,0 @@ -name=serialIO -version=0.2.4 -category=Communication -sentence=RC protocol -paragraph=A common library that can decode multiple RC protocols -keywords=sbus, crsf, ibus, elrs, flysky, frsky, freesky, betaflight, futaba, fport -url=https://github.com/Witty-Wizard/SerialIO -author=Witty Wizard -maintainer=Witty Wizard -license=GPL-3.0-only -frameworks=arduino -architectures= rp2040, avr diff --git a/libs/serialIO/src/SerialIO.cpp b/libs/serialIO/src/SerialIO.cpp deleted file mode 100644 index 7722494..0000000 --- a/libs/serialIO/src/SerialIO.cpp +++ /dev/null @@ -1,31 +0,0 @@ -#include "SerialIO.h" - -SerialIO::SerialIO(Stream *rxPort, int rxPin, int txPin, bool inverted) - : _rxPort(rxPort), _rxPin(rxPin), _txPin(txPin), _inverted(inverted) { - // Constructor implementation -} - -SerialIO::~SerialIO() { -// End serial communication -#if defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_AVR) - HardwareSerial *serialPort = (HardwareSerial *)_rxPort; - serialPort->end(); -#elif defined(ARDUINO_ARCH_RP2040) - SerialUART *serialPort = (SerialUART *)_rxPort; - serialPort->end(); -#else -#warning "Unsupported hardware platform." -#endif -} - -void SerialIO::leftShift(uint8_t arr[], size_t size) { - memmove(arr, arr + 1, (size - 1)); - arr[size - 1] = 0xFF; -} - -void SerialIO::rightShift(uint8_t arr[], size_t size) { - memmove(arr + 1, arr, size - 1); - arr[0] = 0xFF; -} - -void SerialIO::getChannel(ibus_channels_t *channelData) {} \ No newline at end of file diff --git a/libs/serialIO/src/SerialIO.h b/libs/serialIO/src/SerialIO.h deleted file mode 100644 index bbbc044..0000000 --- a/libs/serialIO/src/SerialIO.h +++ /dev/null @@ -1,115 +0,0 @@ -/** - * @file SerialIO.h - * @brief Header file for SerialIO class, providing serial input/output (IO) functionality. - * - * @author WittyWizard - */ - -#pragma once -#ifndef SerialIO_H -#define SerialIO_H - -#include -#include "ibus/ibus_protocol.h" - -#define PACKED __attribute__((packed)) - -/** - * @brief Structure representing 16 RC channels using 11-bit values. - */ -typedef struct rc_channels_s -{ - unsigned channel1 : 11; - unsigned channel2 : 11; - unsigned channel3 : 11; - unsigned channel4 : 11; - unsigned channel5 : 11; - unsigned channel6 : 11; - unsigned channel7 : 11; - unsigned channel8 : 11; - unsigned channel9 : 11; - unsigned channel10 : 11; - unsigned channel11 : 11; - unsigned channel12 : 11; - unsigned channel13 : 11; - unsigned channel14 : 11; - unsigned channel15 : 11; - unsigned channel16 : 11; -} PACKED rc_channels_t; - -/** - * @brief Class providing methods for initializing and decoding RC protocols. - */ -class SerialIO -{ -public: - /** - * @brief Constructor to initialize the SerialIO class. - * - * @param rxPort Pointer to the hardware serial port to use. - * @param rxPin RX pin number. - * @param txPin TX pin number. - * @param inverted Set to true if the serial signal is inverted. - */ - SerialIO(Stream *rxPort, int rxPin, int txPin, bool inverted); - - /** - * @brief Virtual destructor. - */ - virtual ~SerialIO(); - - /** - * @brief Initialize pins and set up the serial port. - */ - virtual void begin() = 0; - - /** - * @brief Process incoming serial data and decode it. - */ - virtual void processIncoming() = 0; - - /** - * @brief Retrieve the current channel data. - * - * @param[out] channelData Pointer to an rc_channels_t structure to store the retrieved channel data. - * - * @note The structure contains 16 channels, each represented as an 11-bit unsigned integer with a maximum value of 2047. - */ - virtual void getChannel(rc_channels_t *channelData) = 0; - - /** - * @brief Retrieve the current channel data using ibus_channels_t. - * - * @param[out] channelData Pointer to an ibus_channels_t structure to store the channel data. - */ - virtual void getChannel(ibus_channels_t *channelData); - -protected: - Stream *_rxPort; ///< Pointer to the hardware serial port used for communication. - bool _inverted; ///< Indicates whether the serial signal is inverted. - int _rxPin; ///< RX pin number. - int _txPin; ///< TX pin number. - - /** - * @brief Perform a left shift operation on the given byte array. - * - * @param arr Pointer to the byte array. - * @param size Size of the array. - */ - void leftShift(uint8_t arr[], size_t size); - - /** - * @brief Perform a right shift operation on the given byte array. - * - * @param arr Pointer to the byte array. - * @param size Size of the array. - */ - void rightShift(uint8_t arr[], size_t size); -}; - -#include "crsf/crsf.h" -#include "fport/fport.h" -#include "ibus/ibus.h" -#include "sbus/sbus.h" - -#endif // SerialIO_H diff --git a/libs/serialIO/src/crsf/crsf.cpp b/libs/serialIO/src/crsf/crsf.cpp deleted file mode 100644 index 9a5ed2f..0000000 --- a/libs/serialIO/src/crsf/crsf.cpp +++ /dev/null @@ -1,67 +0,0 @@ -#include "crsf.h" - -crsf::crsf(Stream *rxPort, int rxPin, int txPin, bool inverted) - : SerialIO(rxPort, rxPin, txPin, inverted){}; - -void crsf::begin() { - -// Initialize the serial port -#if defined(ARDUINO_ARCH_ESP32) - HardwareSerial *serialPort = (HardwareSerial *)_rxPort; - serialPort->begin(CRSF_BAUDRATE, SERIAL_8N1, _rxPin, _txPin, _inverted); -#elif defined(ARDUINO_ARCH_RP2040) - SerialUART *serialPort = (SerialUART *)_rxPort; - serialPort->setPinout(_txPin, _rxPin); - serialPort->setInvertRX(_inverted); - serialPort->setInvertTX(_inverted); - serialPort->begin(CRSF_BAUDRATE, SERIAL_8N1); -#else -#warning "Unsupported hardware platform." -#endif -} - -void crsf::processIncoming() { - uint8_t size = CRSF_MAX_PACKET_SIZE; - while (_rxPort->available()) { - _rxData[CRSF_MAX_PACKET_SIZE - 1] = _rxPort->read(); - if (crc8(&_rxData[CRSF_MAX_PACKET_SIZE - size], - _rxData[CRSF_MAX_PACKET_SIZE - size - 1]) == 0) { - if ((_rxData[CRSF_MAX_PACKET_SIZE - size - 2] == - CRSF_ADDRESS_FLIGHT_CONTROLLER) || - (_rxData[CRSF_MAX_PACKET_SIZE - size - 2] == - CRSF_ADDRESS_CRSF_TRANSMITTER)) { - if (_rxData[CRSF_MAX_PACKET_SIZE - size] == - CRSF_FRAMETYPE_RC_CHANNELS_PACKED) { - memcpy(&_channelData, &_rxData[CRSF_MAX_PACKET_SIZE - size + 1], - sizeof(_channelData)); - } - } - } - if (_rxData[CRSF_MAX_PACKET_SIZE - 2] == - CRSF_ADDRESS_CRSF_TRANSMITTER || - _rxData[CRSF_MAX_PACKET_SIZE - 2] == - CRSF_ADDRESS_FLIGHT_CONTROLLER) { - size = _rxData[CRSF_MAX_PACKET_SIZE - 1]; - } - leftShift(_rxData, sizeof(_rxData)); - } -} - -void crsf::getChannel(rc_channels_t *channelData) { - memcpy(channelData, &_channelData, sizeof(rc_channels_t)); -} - -uint8_t crsf::crc8(uint8_t *data, uint8_t len) { - uint8_t crc = 0; - for (uint8_t i = 0; i < len; i++) { - crc ^= data[i]; - for (uint8_t j = 0; j < 8; j++) { - if (crc & 0x80) { - crc = (crc << 1) ^ CRC8_POLY_D5; - } else { - crc <<= 1; - } - } - } - return crc; -} \ No newline at end of file diff --git a/libs/serialIO/src/crsf/crsf.h b/libs/serialIO/src/crsf/crsf.h deleted file mode 100644 index 6485468..0000000 --- a/libs/serialIO/src/crsf/crsf.h +++ /dev/null @@ -1,56 +0,0 @@ -/*! - * @file crsf.h - * @brief Header file for the CRSF protocol implementation. - * @author Witty-Wizard - */ - -#pragma once -#ifndef CRSF_H -#define CRSF_H -#include "crsf_protocol.h" -#include "../SerialIO.h" // Include header file for the serial IO class -#include "crsf_protocol.h" - -#define CRC8_POLY_D5 0xD5 - -/** - * @brief A class for handling CRSF protocol communication. - */ -class crsf : public SerialIO { -private: - crsf_channels_t _channelData; - uint8_t _rxData[CRSF_MAX_PACKET_SIZE]={0}; - bool _headerDetected; // Flag indicating whether a header has been detected in - // the incoming data. - uint8_t _rxIndex; // Index for the receive_buffer. - uint8_t _buffer; - -public: - /** - * @brief Constructor for the CRSF class. - * @param rxPort Reference to the hardware serial port for RX communication. - * @param rxPin The RX pin number. - * @param txPin The TX pin number. - * @param inverted Whether the serial signal is inverted (true) or not - * (false). - */ - explicit crsf(Stream *rxPort, int rxPin = -1, int txPin = -1, - bool inverted = false); - - /** - * @brief Initializes the CRSF communication. - */ - void begin() override; - void processIncoming() override; - - /** - * @brief Retrieves the decoded RC channels from the received CRSF data. - * @param channelData Pointer to a crsf_channels_t struct where the decoded - * channel data will be stored. - */ - void getChannel(rc_channels_t *channelData) override; - - uint8_t crc8(uint8_t *data, uint8_t len); -}; - -#endif \ No newline at end of file diff --git a/libs/serialIO/src/crsf/crsf_protocol.h b/libs/serialIO/src/crsf/crsf_protocol.h deleted file mode 100644 index 06dcca3..0000000 --- a/libs/serialIO/src/crsf/crsf_protocol.h +++ /dev/null @@ -1,194 +0,0 @@ -#pragma once - -#ifndef CRSF_PROTOCOL_H -#define CRSF_PROTOCOL_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include - -#define PACKED __attribute__((packed)) - -#define CRSF_BAUDRATE 420000 ///< CRSF default baud rate -#define CRSF_NUM_CHANNELS 16 ///< CRSF number of channels -#define CRSF_CHANNEL_VALUE_MIN \ - 172 ///< 987us - actual CRSF min is 0 with E.Limits on -#define CRSF_CHANNEL_VALUE_1000 191 -#define CRSF_CHANNEL_VALUE_MID 992 -#define CRSF_CHANNEL_VALUE_2000 1792 -#define CRSF_CHANNEL_VALUE_MAX \ - 1811 ///< 2012us - actual CRSF max is 1984 with E.Limits on -#define CRSF_CHANNEL_VALUE_SPAN \ - (CRSF_CHANNEL_VALUE_MAX - CRSF_CHANNEL_VALUE_MIN) -#define CRSF_MAX_PACKET_SIZE \ - 64 ///< max declared len is 62+DEST+LEN on top of that = 64 -#define CRSF_MAX_PAYLOAD_LEN \ - (CRSF_MAX_PACKET_SIZE - \ - 4) ///< Max size of payload in [dest] [len] [type] [payload] [crc8] - -/** Length of different CRSF frame */ -enum { - CRSF_FRAME_LENGTH_ADDRESS = 1, // length of ADDRESS field - CRSF_FRAME_LENGTH_FRAMELENGTH = 1, // length of FRAMELENGTH field - CRSF_FRAME_LENGTH_TYPE = 1, // length of TYPE field - CRSF_FRAME_LENGTH_CRC = 1, // length of CRC field - CRSF_FRAME_LENGTH_TYPE_CRC = 2, // length of TYPE and CRC fields combined - CRSF_FRAME_LENGTH_EXT_TYPE_CRC = - 4, // length of Extended Dest/Origin, TYPE and CRC fields combined - CRSF_FRAME_LENGTH_NON_PAYLOAD = - 4, // combined length of all fields except payload -}; - -/** Length of CRSF frames */ -enum { - CRSF_FRAME_GPS_PAYLOAD_SIZE = 15, - CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8, - CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10, - CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = - 22, // 11 bits per channel * 16 channels = 22 bytes. - CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6, -}; - -/** CRSF Sensor frame type */ -typedef enum { - CRSF_FRAMETYPE_GPS = 0x02, - CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08, - CRSF_FRAMETYPE_LINK_STATISTICS = 0x14, - CRSF_FRAMETYPE_OPENTX_SYNC = 0x10, - CRSF_FRAMETYPE_RADIO_ID = 0x3A, - CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16, - CRSF_FRAMETYPE_ATTITUDE = 0x1E, - CRSF_FRAMETYPE_FLIGHT_MODE = 0x21, - // Extended Header Frames, range: 0x28 to 0x96 - CRSF_FRAMETYPE_DEVICE_PING = 0x28, - CRSF_FRAMETYPE_DEVICE_INFO = 0x29, - CRSF_FRAMETYPE_PARAMETER_SETTINGS_ENTRY = 0x2B, - CRSF_FRAMETYPE_PARAMETER_READ = 0x2C, - CRSF_FRAMETYPE_PARAMETER_WRITE = 0x2D, - CRSF_FRAMETYPE_COMMAND = 0x32, - // MSP commands - CRSF_FRAMETYPE_MSP_REQ = - 0x7A, // response request using msp sequence as command - CRSF_FRAMETYPE_MSP_RESP = 0x7B, // reply with 58 byte chunked binary - CRSF_FRAMETYPE_MSP_WRITE = 0x7C, // write with 8 byte chunked binary (OpenTX - // outbound telemetry_buffer limit) -} crsf_frame_type_e; - -/** CRSF sensor address */ -typedef enum { - CRSF_ADDRESS_BROADCAST = 0x00, - CRSF_ADDRESS_USB = 0x10, - CRSF_ADDRESS_TBS_CORE_PNP_PRO = 0x80, - CRSF_ADDRESS_RESERVED1 = 0x8A, - CRSF_ADDRESS_CURRENT_SENSOR = 0xC0, - CRSF_ADDRESS_GPS = 0xC2, - CRSF_ADDRESS_TBS_BLACKBOX = 0xC4, - CRSF_ADDRESS_FLIGHT_CONTROLLER = 0xC8, - CRSF_ADDRESS_RESERVED2 = 0xCA, - CRSF_ADDRESS_RACE_TAG = 0xCC, - CRSF_ADDRESS_RADIO_TRANSMITTER = 0xEA, - CRSF_ADDRESS_CRSF_RECEIVER = 0xEC, - CRSF_ADDRESS_CRSF_TRANSMITTER = 0xEE, -} crsf_addr_e; - -/** Heder of CRSF Packet*/ -typedef struct crsf_header_s { - uint8_t device_addr; // from crsf_addr_e - uint8_t frame_size; // counts size after this byte, so it must be the payload - // size + 2 (type and crc) - uint8_t type; // from crsf_frame_type_e -} PACKED crsf_header_t; - -/** RC Packet Frame */ -typedef struct crsf_channels_s { - unsigned channel1 : 11; - unsigned channel2 : 11; - unsigned channel3 : 11; - unsigned channel4 : 11; - unsigned channel5 : 11; - unsigned channel6 : 11; - unsigned channel7 : 11; - unsigned channel8 : 11; - unsigned channel9 : 11; - unsigned channel10 : 11; - unsigned channel11 : 11; - unsigned channel12 : 11; - unsigned channel13 : 11; - unsigned channel14 : 11; - unsigned channel15 : 11; - unsigned channel16 : 11; -} PACKED crsf_channels_t; - -/** Payload Statics */ -typedef struct crsfPayloadLinkstatistics_s { - uint8_t uplink_RSSI_1; - uint8_t uplink_RSSI_2; - uint8_t uplink_Link_quality; - int8_t uplink_SNR; - uint8_t active_antenna; - uint8_t rf_Mode; - uint8_t uplink_TX_Power; - uint8_t downlink_RSSI; - uint8_t downlink_Link_quality; - int8_t downlink_SNR; -} crsfLinkStatistics_t; - -/** Battery Voltage parameters */ -typedef struct crsf_sensor_battery_s { - uint32_t voltage : 16; // V * 10 big endian - uint32_t current : 16; // A * 10 big endian - uint32_t capacity : 24; // mah big endian - uint32_t remaining : 8; // % -} PACKED crsf_sensor_battery_t; - -/** GPS parameters */ -typedef struct crsf_sensor_gps_s { - int32_t latitude; // degree / 10,000,000 big endian - int32_t longitude; // degree / 10,000,000 big endian - uint16_t groundspeed; // km/h / 10 big endian - uint16_t heading; // GPS heading, degree/100 big endian - uint16_t altitude; // meters, +1000m big endian - uint8_t satellites; // satellites -} PACKED crsf_sensor_gps_t; - -#if !defined(__linux__) -static inline uint16_t htobe16(uint16_t val) { -#if (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__) - return val; -#else - return __builtin_bswap16(val); -#endif -} - -static inline uint16_t be16toh(uint16_t val) { -#if (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__) - return val; -#else - return __builtin_bswap16(val); -#endif -} - -static inline uint32_t htobe32(uint32_t val) { -#if (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__) - return val; -#else - return __builtin_bswap32(val); -#endif -} - -static inline uint32_t be32toh(uint32_t val) { -#if (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__) - return val; -#else - return __builtin_bswap32(val); -#endif -} -#endif - -#ifdef __cplusplus -} -#endif - -#endif // CRSF_PROTOCOL_H \ No newline at end of file diff --git a/libs/serialIO/src/fport/fport.cpp b/libs/serialIO/src/fport/fport.cpp deleted file mode 100644 index dcbe24b..0000000 --- a/libs/serialIO/src/fport/fport.cpp +++ /dev/null @@ -1,52 +0,0 @@ -/*! - * @file fport.cpp - * @brief Source file for the F.Port implementations - * @author Witty-Wizard - */ - -#include "fport.h" - -fport::fport(Stream *rxPort, int rxPin, int txPin, bool inverted) - : SerialIO(rxPort, rxPin, txPin, inverted) {} - -void fport::begin() { - -// Initialize the serial port -#if defined(ARDUINO_ARCH_ESP32) - HardwareSerial *serialPort = (HardwareSerial *)_rxPort; - serialPort->begin(FPORT_BAUDRATE, SERIAL_8N1, _rxPin, _txPin, _inverted); -#elif defined(ARDUINO_ARCH_RP2040) - SerialUART *serialPort = (SerialUART *)_rxPort; - serialPort->setPinout(_txPin, _rxPin); - serialPort->setInvertRX(_inverted); - serialPort->setInvertTX(_inverted); - serialPort->begin(FPORT_BAUDRATE, SERIAL_8N1); -#else -#warning "Unsupported hardware platform." -#endif -} - -void fport::processIncoming() { - uint8_t size = FPORT_MAX_PACKET_SIZE; - while (_rxPort->available()) { - _rxData[FPORT_MAX_PACKET_SIZE - 1] = _rxPort->read(); - if (_rxData[FPORT_MAX_PACKET_SIZE - size - 4] == FPORT_END_BYTES && - _rxData[FPORT_MAX_PACKET_SIZE - 1] == FPORT_END_BYTES) { - if (_rxData[FPORT_MAX_PACKET_SIZE - size - 2] == - FPORT_FRAMETYPE_RC_CHANNELS_PACKED) { - memcpy(&_channelData, &_rxData[FPORT_MAX_PACKET_SIZE - size - 1], - sizeof(_channelData)); - } - } - if (_rxData[FPORT_MAX_PACKET_SIZE - 2] == FPORT_END_BYTES) { - size = _rxData[FPORT_MAX_PACKET_SIZE - 1]; - } - leftShift(_rxData, sizeof(_rxData)); - } -} - -void fport::getChannel(rc_channels_t *channelData) { - memcpy(channelData, &_channelData, sizeof(rc_channels_t)); -} - -void fport::crc() {} \ No newline at end of file diff --git a/libs/serialIO/src/fport/fport.h b/libs/serialIO/src/fport/fport.h deleted file mode 100644 index 57f3f70..0000000 --- a/libs/serialIO/src/fport/fport.h +++ /dev/null @@ -1,27 +0,0 @@ -/*! - * @file fport.h - * @brief Header file for the FPort Protocol definations - * @author Witty-Wizard - */ - -#pragma once -#ifndef FPORT_H -#define FPORT_H - -#include "../SerialIO.h" -#include "fport_protocol.h" - -class fport : public SerialIO { -private: - uint8_t _rxData[FPORT_MAX_PACKET_SIZE] = {0}; - fport_channels_t _channelData; - -public: - explicit fport(Stream *rxPort, int rxPin = -1, int txPin = -1, - bool inverted = true); - void begin() override; - void processIncoming() override; - void getChannel(rc_channels_t *channelData) override; - void crc(); -}; -#endif \ No newline at end of file diff --git a/libs/serialIO/src/fport/fport_protocol.h b/libs/serialIO/src/fport/fport_protocol.h deleted file mode 100644 index 55b0fa3..0000000 --- a/libs/serialIO/src/fport/fport_protocol.h +++ /dev/null @@ -1,55 +0,0 @@ -/*! - * @file fport_protocol.h - * @brief Header file for the F.Port protocol implementation. - */ -#pragma once - -#ifndef FPORT_PROTOCOL_H -#define FPORT_PROTOCOL_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include - -#define PACKED __attribute__((packed)) -#define FPORT_BAUDRATE 115200 ///< F.Port baudrate -#define FPORT_MAX_PACKET_SIZE 29 ///< F.Port maximum packet length -#define FPORT_END_BYTES 0x7E - -typedef enum { - FPORT_FRAMETYPE_RC_CHANNELS_PACKED = 0x00, - FPORT_FRAMETYPE_DOWNLINK = 0x01, - FPORT_FRAMETYPE_UPLINK = 0x81, -} fport_frame_type_e; - -typedef struct fport_channels_s { - unsigned channel1 : 11; - unsigned channel2 : 11; - unsigned channel3 : 11; - unsigned channel4 : 11; - unsigned channel5 : 11; - unsigned channel6 : 11; - unsigned channel7 : 11; - unsigned channel8 : 11; - unsigned channel9 : 11; - unsigned channel10 : 11; - unsigned channel11 : 11; - unsigned channel12 : 11; - unsigned channel13 : 11; - unsigned channel14 : 11; - unsigned channel15 : 11; - unsigned channel16 : 11; - unsigned dummy : 4; - unsigned failsafe : 1; - unsigned framelost : 1; - unsigned channel17 : 1; - unsigned channel18 : 1; -} PACKED fport_channels_t; - -#ifdef __cplusplus -} -#endif - -#endif \ No newline at end of file diff --git a/libs/serialIO/src/ibus/ibus.cpp b/libs/serialIO/src/ibus/ibus.cpp deleted file mode 100644 index 07a0dbf..0000000 --- a/libs/serialIO/src/ibus/ibus.cpp +++ /dev/null @@ -1,80 +0,0 @@ -#include "ibus.h" - -ibus::ibus(Stream *rxPort, int rxPin, int txPin, bool inverted) - : SerialIO(rxPort, rxPin, txPin, inverted) {} - -void ibus::begin() { - -// Initialize the serial port -#if defined(ARDUINO_ARCH_ESP32) - HardwareSerial *serialPort = (HardwareSerial *)_rxPort; - serialPort->begin(IBUS_BAUDRATE, SERIAL_8N1, _rxPin, _txPin, _inverted); -#elif defined(ARDUINO_ARCH_AVR) - HardwareSerial *serialPort = (HardwareSerial *)_rxPort; - serialPort->begin(IBUS_BAUDRATE); -#elif defined(ARDUINO_ARCH_RP2040) - SerialUART *serialPort = (SerialUART *)_rxPort; - serialPort->setPinout(_txPin, _rxPin); - serialPort->setInvertRX(_inverted); - serialPort->setInvertTX(_inverted); - serialPort->begin(IBUS_BAUDRATE, SERIAL_8N1); -#else -#warning "Unsupported hardware platform." -#endif -} - -void ibus::processIncoming() { - while (_rxPort->available()) { - _rxData[IBUS_MAX_PACKET_SIZE - 1] = _rxPort->read(); - if (_rxData[0] == IBUS_HEADER1 && _rxData[1] == IBUS_HEADER2) { - if (checkSum()) { - size_t len = sizeof(ibus_channels_s) / sizeof(uint16_t); - uint16_t *arr = (uint16_t *)&_channelData; - for (int i = 0; i < len; i++) { - arr[i] = (_rxData[i * sizeof(uint16_t) + 1] << 8) | - _rxData[i * sizeof(uint16_t)]; - } - } - } - leftShift(_rxData, sizeof(_rxData)); - } -} - -void ibus::getChannel(rc_channels_t *channelData) { - channelData->channel1 = _channelData.channel1; - channelData->channel2 = _channelData.channel2; - channelData->channel3 = _channelData.channel3; - channelData->channel4 = _channelData.channel4; - channelData->channel5 = _channelData.channel5; - channelData->channel6 = _channelData.channel6; - channelData->channel7 = _channelData.channel7; - channelData->channel8 = _channelData.channel8; - channelData->channel9 = _channelData.channel9; - channelData->channel10 = _channelData.channel10; - channelData->channel11 = _channelData.channel11; - channelData->channel12 = _channelData.channel12; - channelData->channel13 = _channelData.channel13; - channelData->channel14 = _channelData.channel14; -} - -void ibus::getChannel(ibus_channels_t *channelData) { - *channelData = _channelData; -} - -bool ibus::checkSum() { - // Sum all the elements of _rxData except the last two bytes - uint16_t sum = 0; - for (size_t i = 0; i < sizeof(_rxData) - 2; ++i) { - sum += _rxData[i]; - } - - // Transform the last two bytes into a little-endian uint16_t - uint16_t checkSum = - (_rxData[sizeof(_rxData) - 1] << 8) | _rxData[sizeof(_rxData) - 2]; - - // Add the last two bytes to the sum - sum += checkSum; - - // Check if the sum matches the expected CRC - return (sum == 0xFFFF); // Assuming IBUS CRC is 0xFFFF when correct -} \ No newline at end of file diff --git a/libs/serialIO/src/ibus/ibus.h b/libs/serialIO/src/ibus/ibus.h deleted file mode 100644 index d2cb2d4..0000000 --- a/libs/serialIO/src/ibus/ibus.h +++ /dev/null @@ -1,59 +0,0 @@ -/*! - * @file ibus.h - * @brief Header file for the Ibus protocol implementation. - */ - -#pragma once -#ifndef IBUS_H -#define IBUS_H - -#include "../SerialIO.h" // Include header file for the serial IO class -#include "ibus_protocol.h" - -/** - * @brief A class for handling IBUS protocol communication. - */ -class ibus : public SerialIO { -private: - ibus_channels_t _channelData; - uint8_t _rxData[IBUS_MAX_PACKET_SIZE]; ///< Buffer to store received IBUS data - bool checkSum(); - -public: - /** - * @brief Constructor for the IBUS class. - * @param rxPort Reference to the hardware serial port for RX communication. - * @param rxPin The RX pin number. - * @param txPin The TX pin number. - * @param inverted Whether the serial signal is inverted (true) or not - * (false). - */ - explicit ibus(Stream *rxPort, int rxPin = -1, int txPin = -1, - bool inverted = false); - - /** - * @brief Initializes the IBUS communication. - */ - void begin() override; - - /** - * @brief Processes incoming IBUS data. - */ - void processIncoming() override; - - /** - * @brief Gets the decoded RC channels from the IBUS data. - * @param channelData Pointer to a rc_channels_t struct where the decoded - * channel data will be stored. - */ - void getChannel(rc_channels_t *channelData) override; - - /** - * @brief Gets the decoded RC channels from the IBUS data. - * @param channelData Pointer to a ibus_channels_t struct where the decoded - * channel data will be stored. - */ - void getChannel(ibus_channels_t *channelData) override; -}; - -#endif // IBUS_H diff --git a/libs/serialIO/src/ibus/ibus_protocol.h b/libs/serialIO/src/ibus/ibus_protocol.h deleted file mode 100644 index e88103e..0000000 --- a/libs/serialIO/src/ibus/ibus_protocol.h +++ /dev/null @@ -1,45 +0,0 @@ -/*! - * @file ibus_protocol.h - * @brief Header file for the iBus protocol implementation. - */ -#pragma once - -#ifndef IBUS_PROTOCOL_H -#define IBUS_PROTOCOL_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include - -#define PACKED __attribute__((packed)) -#define IBUS_MAX_PACKET_SIZE 32 ///< Maximum packet size for the IBUS protocol -#define IBUS_BAUDRATE 115200 ///< Baud rate for IBUS communication -#define IBUS_HEADER1 0x20 -#define IBUS_HEADER2 0x40 - -typedef struct ibus_channels_s { - unsigned header : 16; - unsigned channel1 : 16; - unsigned channel2 : 16; - unsigned channel3 : 16; - unsigned channel4 : 16; - unsigned channel5 : 16; - unsigned channel6 : 16; - unsigned channel7 : 16; - unsigned channel8 : 16; - unsigned channel9 : 16; - unsigned channel10 : 16; - unsigned channel11 : 16; - unsigned channel12 : 16; - unsigned channel13 : 16; - unsigned channel14 : 16; - unsigned checksum : 16; -} PACKED ibus_channels_t; - -#ifdef __cplusplus -} -#endif - -#endif \ No newline at end of file diff --git a/libs/serialIO/src/sbus/sbus.cpp b/libs/serialIO/src/sbus/sbus.cpp deleted file mode 100644 index ce8d933..0000000 --- a/libs/serialIO/src/sbus/sbus.cpp +++ /dev/null @@ -1,68 +0,0 @@ -/*! - * @file sbus.cpp - * @brief Source file for the SBus implementations - * @author Witty-Wizard - */ -#include "sbus.h" - -sbus::sbus(Stream *rxPort, int rxPin, int txPin, bool inverted) - : SerialIO(rxPort, rxPin, txPin, inverted) {} - -void sbus::begin() { - -// Initialize the serial port -#if defined(ARDUINO_ARCH_ESP32) - HardwareSerial *serialPort = (HardwareSerial *)_rxPort; - serialPort->begin(SBUS_BAUDRATE, SERIAL_8E2, _rxPin, _txPin, _inverted); -#elif defined(ARDUINO_ARCH_RP2040) - SerialUART *serialPort = (SerialUART *)_rxPort; - serialPort->setPinout(_txPin, _rxPin); - serialPort->setInvertRX(_inverted); - serialPort->setInvertTX(_inverted); - serialPort->begin(SBUS_BAUDRATE, SERIAL_8E2); -#else -#warning "Unsupported hardware platform." -#endif -} - -void sbus::processIncoming() { - while (_rxPort->available()) { - _rxData[SBUS_MAX_PACKET_SIZE - 1] = _rxPort->read(); - if (_rxData[0] == HEADER_SBUS && - _rxData[SBUS_MAX_PACKET_SIZE - 1] == FOOTER_SBUS) { - memcpy(&_channelData, _rxData, sizeof(_channelData)); - } - leftShift(_rxData, sizeof(_rxData)); - - _lastPacketTime = millis(); - _connectionTimeout = false; - } - - if (millis() - _lastPacketTime > SBUS_TIMEOUT) { - _connectionTimeout = true; - } -} - -void sbus::getChannel(rc_channels_t *channelData) { - memcpy(channelData, (uint8_t *)&_channelData + 1, sizeof(rc_channels_t)); -} - -bool sbus::getFailsafe() { - return _channelData.failsafe; -} - -bool sbus::getFramelost() { - return _channelData.framelost; -} - -bool sbus::getChannel17() { - return _channelData.channel17; -} - -bool sbus::getChannel18() { - return _channelData.channel18; -} - -bool sbus::getSerialConnectionStatus() { - return !_connectionTimeout; -} \ No newline at end of file diff --git a/libs/serialIO/src/sbus/sbus.h b/libs/serialIO/src/sbus/sbus.h deleted file mode 100644 index 5535d71..0000000 --- a/libs/serialIO/src/sbus/sbus.h +++ /dev/null @@ -1,86 +0,0 @@ -/*! - * @file sbus.h - * @brief Header file for the SBUS protocol implementation. - */ - -#pragma once -#ifndef SBUS_H -#define SBUS_H - -#include "../SerialIO.h" // Include header file for the serial IO class -#include "sbus_protocol.h" - -/** - * @brief A class for handling SBUS protocol communication. - */ -class sbus : public SerialIO { -private: - sbus_channels_t _channelData; - uint8_t _rxData[SBUS_MAX_PACKET_SIZE]; - uint32_t _lastPacketTime = 0; - bool _connectionTimeout = false; - -public: - /** - * @brief Constructor for the SBUS class. - * @param rxPort Reference to the hardware serial port for RX communication. - * @param rxPin The RX pin number. - * @param txPin The TX pin number. - * @param inverted Whether the serial signal is inverted (true) or not - * (false). - */ - explicit sbus(Stream *rxPort, int rxPin = -1, int txPin = -1, - bool inverted = true); - - /** - * @brief Initializes the SBUS communication. - */ - void begin() override; - void processIncoming() override; - - /** - * @brief Gets the decoded RC channels from the SBUS data. - * @param channelData Pointer to a crsf_channels_t struct where the decoded - * channel data will be stored. - */ - void getChannel(rc_channels_t *channelData) override; - - /** - * @brief Gets the failsafe status from the SBUS data. - * @param failsafeData Pointer to a failsafe_t struct where the failsafe - * status will be stored. - */ - void getFailsafe(failsafe_t *failsafeData); - - /** - * @brief Gets the failsafe status from the SBUS data. - * @return True if failsafe is active, false otherwise. - */ - bool getFailsafe(); - - /** - * @brief Gets the frame lost status from the SBUS data. - * @return True if frame lost is active, false otherwise. - */ - bool getFramelost(); - - /** - * @brief Gets the channel 17 status from the SBUS data. - * @return True if channel 17 is active, false otherwise. - */ - bool getChannel17(); - - /** - * @brief Gets the channel 18 status from the SBUS data. - * @return True if channel 18 is active, false otherwise. - */ - bool getChannel18(); - - /** - * @brief Gets the serial connection status. - * @return True if the connection is active, false if it has timed out. - */ - bool getSerialConnectionStatus(); -}; - -#endif \ No newline at end of file diff --git a/libs/serialIO/src/sbus/sbus_protocol.h b/libs/serialIO/src/sbus/sbus_protocol.h deleted file mode 100644 index 1431d81..0000000 --- a/libs/serialIO/src/sbus/sbus_protocol.h +++ /dev/null @@ -1,52 +0,0 @@ -/*! - * @file sbus_protocol.h - * @brief Header file for the SBus protocol implementation. - */ -#pragma once - -#ifndef SBUS_PROTOCOL_H -#define SBUS_PROTOCOL_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include - -#define PACKED __attribute__((packed)) -#define HEADER_SBUS 0x0F ///< SBus Header Byte -#define FOOTER_SBUS 0x00 ///< SBus Footer Byte -#define SBUS_BAUDRATE 100000 ///< SBus baudrate -#define SBUS_MAX_PACKET_SIZE 25 ///< SBus packet length -#define SBUS_TIMEOUT 200 ///< SBus timeout in milliseconds - -typedef struct sbus_channels_s { - unsigned header : 8; - unsigned channel1 : 11; - unsigned channel2 : 11; - unsigned channel3 : 11; - unsigned channel4 : 11; - unsigned channel5 : 11; - unsigned channel6 : 11; - unsigned channel7 : 11; - unsigned channel8 : 11; - unsigned channel9 : 11; - unsigned channel10 : 11; - unsigned channel11 : 11; - unsigned channel12 : 11; - unsigned channel13 : 11; - unsigned channel14 : 11; - unsigned channel15 : 11; - unsigned channel16 : 11; - unsigned dummy : 4; - unsigned failsafe : 1; - unsigned framelost : 1; - unsigned channel17 : 1; - unsigned channel18 : 1; - unsigned footer : 8; -} PACKED sbus_channels_t; -#ifdef __cplusplus -} -#endif - -#endif \ No newline at end of file diff --git a/lightFunctions.cpp b/lightFunctions.cpp deleted file mode 100644 index add64c9..0000000 --- a/lightFunctions.cpp +++ /dev/null @@ -1,122 +0,0 @@ -/************************************ - * Copyright (C) 2020-2025 Marina Egner - * - * This program is free software: you can redistribute it and/or modify it - * under the terms of the GNU General Public License as published by the - * Free Software Foundation, either version 3 of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; - * without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License along with this program. - * If not, see . - ************************************/ - -#include "lightFunctions.h" -#include "tools.h" -#include // https://github.com/bhagman/SoftPWM - - -Blink flasher[3]; - -bool directlyToOutput(bool lightState) { - return lightState; -} - -bool highBeamFlash(bool lightState, bool lightFlashState, uint16_t flashFrequency) { - if(lightState) return true; - if(lightFlashState) return flasher[0].blink(flashFrequency); - // else then reset - flasher[0].resetBlink(); - return false; -} - -void setTurnIndicators(bool leftFlasherState, bool rightFlasherState, bool hazardState, bool* outLeftLight, bool* outRightLight, uint16_t flashFrequency) { - if(hazardState) { - bool blinkerState = flasher[1].blink(flashFrequency); - *outLeftLight = blinkerState; - *outRightLight = blinkerState; - } else if(leftFlasherState) { - *outLeftLight = flasher[1].blink(flashFrequency); - *outRightLight = false; - } else if(rightFlasherState) { - *outLeftLight = false; - *outRightLight = flasher[1].blink(flashFrequency); - } else if((*outLeftLight || *outRightLight) && !flasher[1].blink(flashFrequency)) { - *outLeftLight = false; - *outRightLight = false; - } else if (!*outLeftLight && !*outRightLight) { - flasher[1].resetBlink(); - } - -} - -void initLightOutput() { - SoftPWMBegin(); //Init Soft PWM Lib -} - -void setupLightOutput(uint8_t pin, uint16_t fadeOnTime, uint16_t fadeOffTime) { - SoftPWMSet(pin, SOFT_PWM_LOW); //Create and set pin to 0 - SoftPWMSetFadeTime(pin, fadeOnTime, fadeOffTime); //Set Fade on/off time for output -} - -void setBooleanLight(uint8_t pin, bool state, uint8_t highValue = SOFT_PWM_HIGH) { - if(state) SoftPWMSet(pin, highValue); - if(!state) SoftPWMSet(pin, SOFT_PWM_LOW); -} - -void setCombinedHeadlightAll(uint8_t pin, - uint8_t parkingState, - uint8_t lowBeamState, - uint8_t highBeamState, - uint8_t parkingOutValue, - uint8_t lowBeamOutValue, - uint8_t highBeamOutValue) { - if(highBeamState) { - SoftPWMSet(pin, highBeamOutValue); - } else if(lowBeamState) { - SoftPWMSet(pin, lowBeamOutValue); - } else if(parkingState) { - SoftPWMSet(pin, parkingOutValue); - } else { - SoftPWMSet(pin, SOFT_PWM_LOW); - } -} -void setCombinedHeadlightHighOnly(uint8_t pin, - uint8_t lowBeamState, - uint8_t highBeamState, - uint8_t lowBeamOutValue, - uint8_t highBeamOutValue) { - if(highBeamState) { - SoftPWMSet(pin, highBeamOutValue); - } else if(lowBeamState) { - SoftPWMSet(pin, lowBeamOutValue); - } else { - SoftPWMSet(pin, SOFT_PWM_LOW); - } -} - -void setCombinedHeadlightParkOnly(uint8_t pin, - uint8_t parkingState, - uint8_t lowBeamState, - uint8_t parkingOutValue, - uint8_t lowBeamOutValue) { - if(lowBeamState) { - SoftPWMSet(pin, lowBeamOutValue); - } else if(parkingState) { - SoftPWMSet(pin, parkingOutValue); - } else { - SoftPWMSet(pin, SOFT_PWM_LOW); - } -} - -void setBrakingWithPark(uint8_t pin, uint8_t parkState, uint8_t brakeState, uint8_t parkDimming, uint8_t highValue) { - if(brakeState) { - SoftPWMSet(pin, highValue); - } else if(parkState) { - SoftPWMSet(pin, parkDimming); - } else { - SoftPWMSet(pin, SOFT_PWM_LOW); - } -} diff --git a/lightFunctions.h b/lightFunctions.h deleted file mode 100644 index fed9ce1..0000000 --- a/lightFunctions.h +++ /dev/null @@ -1,52 +0,0 @@ -/************************************ - * Copyright (C) 2020-2025 Marina Egner - * - * This program is free software: you can redistribute it and/or modify it - * under the terms of the GNU General Public License as published by the - * Free Software Foundation, either version 3 of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; - * without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License along with this program. - * If not, see . - ************************************/ - -#ifndef _LIGHT_FUNCTIONS_H_ -#define _LIGHT_FUNCTIONS_H_ - -#include "Arduino.h" - -#define SOFT_PWM_HIGH 255 -#define SOFT_PWM_LOW 0 - -bool directlyToOutput(bool lightState); -bool highBeamFlash(bool lightState, bool lightFlashState, uint16_t flashFrequency); -void setTurnIndicators(bool leftFlasherState, bool rightFlasherState, bool hazardState, bool* outLeftLight, bool* outRightLight, uint16_t flashFrequency); -void initLightOutput(); -void setupLightOutput(uint8_t pin, uint16_t fadeOnTime, uint16_t fadeOffTime); -void setBooleanLight(uint8_t pin, bool state, uint8_t highValue = SOFT_PWM_HIGH); - -void setCombinedHeadlightAll(uint8_t pin, - uint8_t parkingState, - uint8_t lowBeamState, - uint8_t highBeamState, - uint8_t parkingOutValue, - uint8_t lowBeamOutValue, - uint8_t highBeamOutValue); -void setCombinedHeadlightHighOnly(uint8_t pin, - uint8_t lowBeamState, - uint8_t highBeamState, - uint8_t lowBeamOutValue, - uint8_t highBeamOutValue); - -void setCombinedHeadlightParkOnly(uint8_t pin, - uint8_t parkingState, - uint8_t lowBeamState, - uint8_t parkingOutValue, - uint8_t lowBeamOutValue); - -void setBrakingWithPark(uint8_t pin, uint8_t parkState, uint8_t brakeState, uint8_t parkDimming, uint8_t highValue = SOFT_PWM_HIGH); - -#endif \ No newline at end of file diff --git a/config/global-effects-config.h b/src/config/global-effects-config.h similarity index 100% rename from config/global-effects-config.h rename to src/config/global-effects-config.h diff --git a/config/input-config.h b/src/config/input-config.h similarity index 74% rename from config/input-config.h rename to src/config/input-config.h index 77607b4..f2f150f 100644 --- a/config/input-config.h +++ b/src/config/input-config.h @@ -17,7 +17,12 @@ struct InputConfig { uint32_t targetMaskMid; // Triggered if value >= thresholdLow AND <= thresholdHigh uint32_t targetMaskHigh; // Triggered if value > thresholdHigh - // The limits defining the 3 switch zones (typically around 1300 and 1700 µs) + // The limits defining the 3 switch zones + // Units depend on input type: + // For PWM: Raw value ranges 700-2300 (values ideally at 1300-1700) + // For PPM: Raw value ranges 1000-2000 (values ideally at 1300-1700) + // For SBus: Raw SBus units ranges from 0-2047 (values ideally at 900-1100) + uint16_t thresholdLow; uint16_t thresholdHigh; }; diff --git a/config/light-mode.h b/src/config/light-mode.h similarity index 100% rename from config/light-mode.h rename to src/config/light-mode.h diff --git a/config/local-output-config.h b/src/config/local-output-config.h similarity index 100% rename from config/local-output-config.h rename to src/config/local-output-config.h diff --git a/config/main-config.h b/src/config/main-config.h similarity index 100% rename from config/main-config.h rename to src/config/main-config.h diff --git a/src/input/esc-parser.cpp b/src/input/esc-parser.cpp new file mode 100644 index 0000000..9def93e --- /dev/null +++ b/src/input/esc-parser.cpp @@ -0,0 +1,33 @@ +#include "esc-parser.h" + +EscParser::EscParser() + : brakingActive(false), reverseActive(false), activeEscMask(0) {} + +void EscParser::begin() { + pinMode(activeMainConfig.lightInputs.brakeSignal, INPUT_PULLUP); + pinMode(activeMainConfig.lightInputs.reverseSignal, INPUT_PULLUP); +} + +void EscParser::update() { + // Da das Signal reversed reinkommt (Active Low): + // LOW (0V) -> Signal ist an (true) + // HIGH (3.3V) -> Signal ist aus (false) + brakingActive = (digitalRead(activeMainConfig.lightInputs.brakeSignal) == LOW); + reverseActive = (digitalRead(activeMainConfig.lightInputs.reverseSignal) == LOW); + + uint32_t newMask = 0; + + if (brakingActive) { + newMask |= BIT_BRAKE_LIGHT; + } + + if (reverseActive) { + newMask |= BIT_REVERSE_LIGHT; + } + + activeEscMask = newMask; +} + +uint32_t EscParser::getActiveMask() { + return activeEscMask; +} \ No newline at end of file diff --git a/src/input/esc-parser.h b/src/input/esc-parser.h new file mode 100644 index 0000000..a0f5890 --- /dev/null +++ b/src/input/esc-parser.h @@ -0,0 +1,25 @@ +#pragma once +#include +#include "../config/main-config.h" +#include "../config/light-mode.h" + +class EscParser { +private: + bool brakingActive; + bool reverseActive; + + uint32_t activeEscMask; + +public: + EscParser(); + + void begin(); + + // Liest die Hardware-Pins und berechnet die Maske basierend auf der Config + void update(); + + uint32_t getActiveMask(); + + bool isBraking() { return brakingActive; } + bool isReverse() { return reverseActive; } +}; \ No newline at end of file diff --git a/src/input/ppm-parser.cpp b/src/input/ppm-parser.cpp new file mode 100644 index 0000000..c491924 --- /dev/null +++ b/src/input/ppm-parser.cpp @@ -0,0 +1,96 @@ +#include "ppm-parser.h" + +const uint16_t SYNC_PULSE_MIN = 880; +const uint16_t SYNC_PULSE_MAX = 980; + +// Standardmäßig starten wir mit einem sicheren Modus +PpmParser::PpmParser(uint8_t pin) + : inputPin(pin), mode(PpmInputMode::SINGLE_PWM), lastRiseTime(0), currentChannelCount(0), activePpmMask(0) { + for(int i=0; i < NUM_PPM_CHANNELS; i++) rawValues[i] = 1500; +} + +void PpmParser::begin() { + pinMode(inputPin, INPUT_PULLUP); + attachInterruptArg(inputPin, PpmParser::handleInterrupt, this, CHANGE); +} + +void PpmParser::setMode(PpmInputMode newMode) { + mode = newMode; + // Optional: Reset der Kanaldaten bei Moduswechsel + currentChannelCount = 0; +} + +void IRAM_ATTR PpmParser::handleInterrupt(void* arg) { + PpmParser* instance = (PpmParser*)arg; + uint32_t now = micros(); + + if (digitalRead(instance->inputPin) == LOW) { + uint32_t duration = now - instance->lastRiseTime; + + // Die ISR nutzt immer den aktuell gesetzten Modus der Instanz + if (instance->mode == PpmInputMode::SINGLE_PWM) { + if (duration >= 800 && duration <= 2200) { + instance->rawValues[0] = (uint16_t)duration; + instance->lastValidPulseTime = millis(); + } + } + else { + if (duration >= SYNC_PULSE_MIN && duration <= SYNC_PULSE_MAX) { + instance->currentChannelCount = 0; + instance->lastValidPulseTime = millis(); + } + else if (duration >= 1000 && duration <= 2100) { + if (instance->currentChannelCount < NUM_PPM_CHANNELS) { + uint8_t mirroredIndex = (NUM_PPM_CHANNELS - 1) - instance->currentChannelCount; + instance->rawValues[mirroredIndex] = (uint16_t)duration; + instance->currentChannelCount++; + instance->lastValidPulseTime = millis(); + } + } + } + } else { + instance->lastRiseTime = now; + } +} + +void PpmParser::update(bool isLinkActive) { + if (!isLinkActive) { + activePpmMask = 0; + return; + } + + uint32_t newMask = 0; + uint8_t channelsToProcess = (mode == PpmInputMode::SINGLE_PWM) ? 1 : NUM_PPM_CHANNELS; + + for (uint8_t i = 0; i < channelsToProcess; i++) { + InputConfig& cfg = activeMainConfig.ppmInputs[i]; + uint16_t val = rawValues[i]; + + if (cfg.type == InputType::SWITCH_3POS) { + if (val < cfg.thresholdLow) { + newMask |= cfg.targetMaskLow; + } else if (val >= cfg.thresholdLow && val <= cfg.thresholdHigh) { + newMask |= cfg.targetMaskMid; + } else { + newMask |= cfg.targetMaskHigh; + } + } + } + activePpmMask = newMask; +} + +bool PpmParser::isPulsePresent() { + return (millis() - lastValidPulseTime < 250); +} + +uint32_t PpmParser::getActiveMask() { return activePpmMask; } +uint16_t PpmParser::getRawValue(uint8_t ch) { return rawValues[ch]; } + +uint16_t PpmParser::getNormalizedValue(uint8_t index) { + uint16_t raw = rawValues[index]; // Die us Werte (z.B. 930, 1500, 1977) + + // Mapping von Mikrosekunden auf unsere interne 0-2000 Skala + // 1000us -> 0 | 1500us -> 1000 | 2000us -> 2000 + int32_t normalized = map(raw, 1000, 2000, 0, 2000); + return (uint16_t)constrain(normalized, 0, 2000); +} \ No newline at end of file diff --git a/src/input/ppm-parser.h b/src/input/ppm-parser.h new file mode 100644 index 0000000..c7cacde --- /dev/null +++ b/src/input/ppm-parser.h @@ -0,0 +1,34 @@ +#pragma once +#include +#include "../config/main-config.h" + +class PpmParser { +private: + uint8_t inputPin; + PpmInputMode mode; // Wird jetzt dynamisch gesetzt + + volatile uint32_t lastRiseTime; + volatile uint16_t rawValues[NUM_PPM_CHANNELS]; + volatile uint8_t currentChannelCount; + volatile uint32_t lastValidPulseTime; + + uint32_t activePpmMask; + + static void IRAM_ATTR handleInterrupt(void* arg); + +public: + // Konstruktor nur noch mit dem Pin + PpmParser(uint8_t pin); + + void begin(); + + // Neue Funktion zum Setzen oder Ändern des Modus zur Laufzeit + void setMode(PpmInputMode newMode); + + void update(bool isLinkActive); + + uint32_t getActiveMask(); + bool isPulsePresent(); + uint16_t getRawValue(uint8_t channel); + uint16_t getNormalizedValue(uint8_t index); +}; \ No newline at end of file diff --git a/src/input/sbus-parser.cpp b/src/input/sbus-parser.cpp new file mode 100644 index 0000000..2a61b22 --- /dev/null +++ b/src/input/sbus-parser.cpp @@ -0,0 +1,80 @@ +#include "sbus-parser.h" + +SbusParser::SbusParser(HardwareSerial* serialPort, int8_t rxPin, int8_t txPin, bool invert) + : receiver(serialPort, rxPin, txPin, invert), activeSbusMask(0) {} + +void SbusParser::begin() { + receiver.begin(); +} + +void SbusParser::update(bool isLinkActive) { + receiver.processIncoming(); + + // The main loop has determined the link is dead. Force failsafe mask. + if (!isLinkActive) { + activeSbusMask = activeMainConfig.failsafeMask; + return; + } + + // Link is active, process normally + receiver.getChannel(&channelData); + uint32_t newMask = 0; + + for (uint8_t i = 0; i < NUM_SBUS_CHANNELS; i++) { + InputConfig& cfg = activeMainConfig.sbusInputs[i]; + + if (cfg.type == InputType::SWITCH_3POS) { + uint16_t val = getChannelValue(i); + + if (val < cfg.thresholdLow) { + newMask |= cfg.targetMaskLow; + } + else if (val >= cfg.thresholdLow && val <= cfg.thresholdHigh) { + newMask |= cfg.targetMaskMid; + } + else { + newMask |= cfg.targetMaskHigh; + } + } + } + + activeSbusMask = newMask; +} + +uint32_t SbusParser::getActiveMask() { + return activeSbusMask; +} + +bool SbusParser::isSerialConnected() { + return receiver.getSerialConnectionStatus(); +} + +bool SbusParser::isFailsafeActive() { + return receiver.getFailsafe(); +} + +bool SbusParser::isFrameLost() { + return receiver.getFramelost(); +} + +uint16_t SbusParser::getChannelValue(uint8_t index) { + switch (index) { + case 0: return channelData.channel1; + case 1: return channelData.channel2; + case 2: return channelData.channel3; + case 3: return channelData.channel4; + case 4: return channelData.channel5; + case 5: return channelData.channel6; + case 6: return channelData.channel7; + case 7: return channelData.channel8; + case 8: return channelData.channel9; + case 9: return channelData.channel10; + case 10: return channelData.channel11; + case 11: return channelData.channel12; + case 12: return channelData.channel13; + case 13: return channelData.channel14; + case 14: return channelData.channel15; + case 15: return channelData.channel16; + default: return 1500; + } +} \ No newline at end of file diff --git a/src/input/sbus-parser.h b/src/input/sbus-parser.h new file mode 100644 index 0000000..f5b1479 --- /dev/null +++ b/src/input/sbus-parser.h @@ -0,0 +1,28 @@ +#pragma once +#include +#include +#include "../config/main-config.h" + +class SbusParser { +private: + sbus receiver; + rc_channels_t channelData; + uint32_t activeSbusMask; + + uint16_t getChannelValue(uint8_t index); + +public: + SbusParser(HardwareSerial* serialPort, int8_t rxPin, int8_t txPin, bool invert); + + void begin(); + + // The main loop passes the combined connection status into the update function + void update(bool isLinkActive); + + uint32_t getActiveMask(); + + // Expose hardware status for the main loop to evaluate + bool isSerialConnected(); + bool isFailsafeActive(); + bool isFrameLost(); +}; \ No newline at end of file diff --git a/src/memory/memory-manager.cpp b/src/memory/memory-manager.cpp new file mode 100644 index 0000000..193f7a8 --- /dev/null +++ b/src/memory/memory-manager.cpp @@ -0,0 +1,52 @@ +#include "memory-manager.h" + +// Instantiate the actual memory blocks in RAM +MainConfig activeMainConfig; +GlobalEffectsConfig activeEffectsConfig; +MemoryManager memoryManager; + +void MemoryManager::begin() { + // Open the namespace in read/write mode (false) + prefs.begin(NVS_NAMESPACE, false); +} + +void MemoryManager::loadConfig() { + // --- 1. Load MainConfig --- + size_t mainSize = prefs.getBytesLength(KEY_MAIN_CFG); + if (mainSize == sizeof(MainConfig)) { + prefs.getBytes(KEY_MAIN_CFG, &activeMainConfig, sizeof(MainConfig)); + } else { + // Memory is empty or struct size changed. + // Initialize critical defaults here to prevent undefined behavior. + activeMainConfig.nodeId = 0; // 0 = Master Controller + activeMainConfig.ppmMode = PpmInputMode::MULTIPLEXED_8CH; + activeMainConfig.failsafeTimeoutMs = 500; + activeMainConfig.failsafeMask = BIT_HAZARD_LIGHT; // Or e.g., BIT_HAZARD_LIGHT + } + + // --- 2. Load GlobalEffectsConfig --- + size_t effectsSize = prefs.getBytesLength(KEY_EFFECTS_CFG); + if (effectsSize == sizeof(GlobalEffectsConfig)) { + prefs.getBytes(KEY_EFFECTS_CFG, &activeEffectsConfig, sizeof(GlobalEffectsConfig)); + } else { + // Apply safe defaults for the very first boot + activeEffectsConfig.turnSignalFreq = 500; + activeEffectsConfig.strobeFlashDuration = 40; + activeEffectsConfig.strobeShortPause = 60; + activeEffectsConfig.strobeLongPause = 400; + activeEffectsConfig.flashToPassFreq = 100; + activeEffectsConfig.beaconSpeed = 120; + activeEffectsConfig.beaconMaxLeds = 4; + activeEffectsConfig.starterDimFactor = 50; + } +} + +void MemoryManager::saveConfig() { + prefs.putBytes(KEY_MAIN_CFG, &activeMainConfig, sizeof(MainConfig)); + prefs.putBytes(KEY_EFFECTS_CFG, &activeEffectsConfig, sizeof(GlobalEffectsConfig)); +} + +void MemoryManager::factoryReset() { + prefs.clear(); // Deletes all keys in the current namespace + loadConfig(); // Reloads the safe defaults into RAM +} \ No newline at end of file diff --git a/src/memory/memory-manager.h b/src/memory/memory-manager.h new file mode 100644 index 0000000..e402e44 --- /dev/null +++ b/src/memory/memory-manager.h @@ -0,0 +1,38 @@ +#pragma once +#include +#include +#include "../config/light-mode.h" +#include "../config/main-config.h" // Contains your MainConfig struct +#include "../config/global-effects-config.h" // Contains your GlobalEffectsConfig struct + +// Declare the global instances so any file including this header can access them +extern MainConfig activeMainConfig; +extern GlobalEffectsConfig activeEffectsConfig; + +class MemoryManager { +private: + Preferences prefs; + + // NVS Namespace (Max 15 characters!) + const char* NVS_NAMESPACE = "rc_truck"; + + // Keys for our specific data blobs (Max 15 characters!) + const char* KEY_MAIN_CFG = "main_cfg"; + const char* KEY_EFFECTS_CFG = "effects_cfg"; + +public: + // Initializes the NVS partition + void begin(); + + // Loads data from flash into the active RAM structs, or sets defaults if empty + void loadConfig(); + + // Commits the current RAM structs to the flash memory + void saveConfig(); + + // Wipes the NVS namespace (useful for fresh setups or struct upgrades) + void factoryReset(); +}; + +// Declare the global manager instance +extern MemoryManager memoryManager; \ No newline at end of file diff --git a/tools.h b/tools.h index 484464a..5e89e94 100644 --- a/tools.h +++ b/tools.h @@ -17,7 +17,6 @@ #define _TOOLS_H_ //Definition #include "Arduino.h" -#include //https://github.com/bhagman/SoftPWM //Classes diff --git a/truck-multi-function-sbus.ino b/truck-multi-function-sbus.ino index 8a39707..cb400c0 100644 --- a/truck-multi-function-sbus.ino +++ b/truck-multi-function-sbus.ino @@ -16,476 +16,44 @@ * If not, see . ************************************/ -/************************************ - * Configuration Programm - ************************************/ -#include "config.h" // Configuration File -//#include "ioMapping.h" // IO Mapping File /************************************ * Include Module and Library Files ************************************/ +#include +#include "src/memory/memory-manager.h" +#include "src/input/sbus-parser.h" +#include "src/input/ppm-parser.h" +#include "src/input/esc-parser.h" -#include "readPPMdata.h" // read Data from Buffer -#include "lightFunctions.h" -#include "starterBrightnessAdjustment.h" -#include "debugging.h" // Handles debbuging info -#include "serialCommMaster.h" -#include - -struct MultiswitchChannel { - uint16_t channel[8]; -}; - -MultiswitchChannel multiswitch1; -MultiswitchChannel multiswitch2; - -struct Lights { - bool state; - bool out; - uint8_t brightness; -}; - -Lights parkLight; -Lights lowBeamLight; -Lights highBeamLight; -Lights highBeamLightFlash; -Lights leftIndicatorLight; -Lights rightIndicatorLight; -Lights fogLight; -Lights hazardLight; -Lights beaconLight; -Lights auxLight; -Lights brakeLight; -Lights reverseLight; - -SerialCommMaster truckSerial; -StarterAdjustedBrightness brightnessAdjust; - -uint8_t channel3Switch = 0; - -//Setup Serial and check if Board is UNO with one Serial or Leonardo/Micro with to Serials -#ifdef HAVE_HWSERIAL1 //if serial ports 1 exist then the arduino has more than one serial port - #ifndef SerialUSB //if not allready defined - #define SerialUSB SERIAL_PORT_MONITOR //then define monitor port - #endif -#else - #define DEBUGLEVEL 1 -#endif -#ifndef SerialHW //if not allready defined - #define SerialHW SERIAL_PORT_HARDWARE //then define hardware port -#endif - +// Initialize the parser using hardware Serial1, RX on pin 16, TX disabled (-1) +SbusParser sbusInput(&Serial1, D3, -1, false); +PpmParser ppmInput(D4); +EscParser escInput; void setup() { - // put your setup code here, to run once: - /************************************ - * Setup Inputs - ************************************/ - pinMode(vehicleConfig.ppmConfig.pinChannel1, INPUT_PULLUP); - pinMode(vehicleConfig.ppmConfig.pinChannel2, INPUT_PULLUP); - pinMode(vehicleConfig.ppmConfig.pinSoundChannel, INPUT); - pinMode(vehicleConfig.lightInputChannel.brakeSignal, INPUT_PULLUP); - pinMode(vehicleConfig.lightInputChannel.reverseSignal, INPUT_PULLUP); - /************************************ - * Setup Outputs - ************************************/ - initLightOutput(); - setupLightOutput( - vehicleConfig.parkingLight.outputPin, - vehicleConfig.parkingLight.fadeOnTime, - vehicleConfig.parkingLight.fadeOffTime - ); - setupLightOutput( - vehicleConfig.lowBeamLight.outputPin, - vehicleConfig.lowBeamLight.fadeOnTime, - vehicleConfig.lowBeamLight.fadeOffTime - ); - setupLightOutput( - vehicleConfig.highBeamLight.outputPin, - vehicleConfig.highBeamLight.fadeOnTime, - vehicleConfig.highBeamLight.fadeOffTime - ); - setupLightOutput( - vehicleConfig.fogLight.outputPin, - vehicleConfig.fogLight.fadeOnTime, - vehicleConfig.fogLight.fadeOffTime - ); - setupLightOutput( - vehicleConfig.frontLeftTurnLight.outputPin, - vehicleConfig.frontLeftTurnLight.fadeOnTime, - vehicleConfig.frontLeftTurnLight.fadeOffTime - ); - setupLightOutput( - vehicleConfig.frontRightTurnLight.outputPin, - vehicleConfig.frontRightTurnLight.fadeOnTime, - vehicleConfig.frontRightTurnLight.fadeOffTime - ); - setupLightOutput( - vehicleConfig.rearLeftTurnLight.outputPin, - vehicleConfig.rearLeftTurnLight.fadeOnTime, - vehicleConfig.rearLeftTurnLight.fadeOffTime - ); - setupLightOutput( - vehicleConfig.rearRightTurnLight.outputPin, - vehicleConfig.rearRightTurnLight.fadeOnTime, - vehicleConfig.rearRightTurnLight.fadeOffTime - ); - setupLightOutput( - vehicleConfig.reverseLight.outputPin, - vehicleConfig.reverseLight.fadeOnTime, - vehicleConfig.reverseLight.fadeOffTime - ); - setupLightOutput( - vehicleConfig.brakeLight.outputPin, - vehicleConfig.brakeLight.fadeOnTime, - vehicleConfig.brakeLight.fadeOffTime - ); - setupLightOutput( - vehicleConfig.auxLight.outputPin, - vehicleConfig.auxLight.fadeOnTime, - vehicleConfig.auxLight.fadeOffTime - ); - - // Initialize brightness adjustment - brightnessAdjust.setupAdjustmentParameters(vehicleConfig.generalLightConfig.starterDimmingFactor, vehicleConfig.generalLightConfig.starterDimmingMultiplier); - brightnessAdjust.configureBrightnessLevels(LightType::LOW_BEAM, LightModes::PRIMARY, vehicleConfig.lowBeamLight.primaryOnBrightness); - brightnessAdjust.configureBrightnessLevels(LightType::LOW_BEAM, LightModes::SECONDARY, vehicleConfig.lowBeamLight.secondaryOnBrightness); - brightnessAdjust.configureBrightnessLevels(LightType::LOW_BEAM, LightModes::TERTIARY, vehicleConfig.lowBeamLight.tertiaryOnBrightness); - brightnessAdjust.configureBrightnessLevels(LightType::HIGH_BEAM, LightModes::PRIMARY, vehicleConfig.highBeamLight.primaryOnBrightness); - brightnessAdjust.configureBrightnessLevels(LightType::PARKING, LightModes::PRIMARY, vehicleConfig.parkingLight.primaryOnBrightness); - brightnessAdjust.configureBrightnessLevels(LightType::BRAKE, LightModes::PRIMARY, vehicleConfig.brakeLight.primaryOnBrightness); - brightnessAdjust.configureBrightnessLevels(LightType::BRAKE, LightModes::SECONDARY, vehicleConfig.brakeLight.secondaryOnBrightness); - brightnessAdjust.configureBrightnessLevels(LightType::REAR_LEFT_TURN, LightModes::PRIMARY, vehicleConfig.rearLeftTurnLight.primaryOnBrightness); - brightnessAdjust.configureBrightnessLevels(LightType::REAR_LEFT_TURN, LightModes::SECONDARY, vehicleConfig.rearLeftTurnLight.secondaryOnBrightness); - brightnessAdjust.configureBrightnessLevels(LightType::REAR_RIGHT_TURN, LightModes::PRIMARY, vehicleConfig.rearRightTurnLight.primaryOnBrightness); - brightnessAdjust.configureBrightnessLevels(LightType::REAR_RIGHT_TURN, LightModes::SECONDARY, vehicleConfig.rearRightTurnLight.secondaryOnBrightness); - brightnessAdjust.configureBrightnessLevels(LightType::FRONT_LEFT_TURN, LightModes::PRIMARY, vehicleConfig.frontLeftTurnLight.primaryOnBrightness); - brightnessAdjust.configureBrightnessLevels(LightType::FRONT_RIGHT_TURN, LightModes::PRIMARY, vehicleConfig.frontRightTurnLight.primaryOnBrightness); - brightnessAdjust.configureBrightnessLevels(LightType::REVERSE, LightModes::PRIMARY, vehicleConfig.reverseLight.primaryOnBrightness); - brightnessAdjust.configureBrightnessLevels(LightType::FOG, LightModes::PRIMARY, vehicleConfig.fogLight.primaryOnBrightness); - brightnessAdjust.configureBrightnessLevels(LightType::AUX, LightModes::PRIMARY, vehicleConfig.auxLight.primaryOnBrightness); - - /************************************ - * Setup Functions - ************************************/ - initInterrupts(vehicleConfig.ppmConfig.pinChannel1, vehicleConfig.ppmConfig.pinChannel2, vehicleConfig.ppmConfig.pinSoundChannel); - if (DEBUGLEVEL >=1) { - debuggingInit(DEBUGLEVEL, vehicleConfig.generalConfig.statusLightPin); - } - - if (vehicleConfig.serialConfig.isEnabled) { - truckSerial.begin(&SerialHW, // Serial interface on arduino - vehicleConfig.serialConfig.baudRate, - vehicleConfig.serialConfig.byteFormat, - vehicleConfig.serialConfig.timeout, - vehicleConfig.serialConfig.pollingInterval, - vehicleConfig.serialConfig.outTxEnablePin, - vehicleConfig.serialConfig.protocolVersion - ); - } + Serial.begin(115200); + + // Initialize storage and load configs into RAM + memoryManager.begin(); + memoryManager.loadConfig(); + + ppmInput.setMode(activeMainConfig.ppmMode); + + sbusInput.begin(); + ppmInput.begin(); + escInput.begin(); + + Serial.println("System Booted. Configurations loaded successfully."); } -void loop() { // put your main code here, to run repeatedly: - bool errorFlag = false; - - /* - * Read Switches and Potis from Multiswitches - * Some switches are commented as they are not yet in use. - */ - multiswitch1.channel[0] = getChannel1Switch(0, DIRECTION_DOWN); - multiswitch1.channel[1] = getChannel1Switch(1, DIRECTION_MID); - multiswitch1.channel[2] = getChannel1Switch(2, DIRECTION_DOWN); - multiswitch1.channel[3] = getChannel1Switch(3, DIRECTION_UP); - multiswitch1.channel[4] = getChannel1Switch(4, DIRECTION_DOWN); - multiswitch1.channel[5] = getChannel1Switch(5, DIRECTION_MID); - multiswitch1.channel[6] = getChannel1Switch(6, DIRECTION_DOWN); - multiswitch1.channel[7] = getChannel1Switch(7, DIRECTION_DOWN); - - multiswitch2.channel[0] = getChannel2Poti(0, 1520); - multiswitch2.channel[1] = getChannel2Poti(1, 1520); - multiswitch2.channel[2] = getChannel2Switch(2, DIRECTION_MID); - multiswitch2.channel[3] = getChannel2Switch(3, DIRECTION_MID); - multiswitch2.channel[4] = getChannel2Switch(4, DIRECTION_MID); - multiswitch2.channel[5] = getChannel2Switch(5, DIRECTION_MID); - multiswitch2.channel[6] = getChannel2Switch(6, DIRECTION_MID); - multiswitch2.channel[7] = getChannel2Switch(7, DIRECTION_MID); - - channel3Switch = getChannel3Signal(); - - /* - * Map switches to Functions - */ - - parkLight.state = mapSwitchToFunction(multiswitch1.channel[0], false, true, true); // Function to map a Key [Down, Mid, Up] - lowBeamLight.state = mapSwitchToFunction(multiswitch1.channel[0], false, false, true); // Function to map a Key [Down, Mid, Up] - leftIndicatorLight.state = mapSwitchToFunction(multiswitch1.channel[1], true, false, false); // Function to map a Key [Down, Mid, Up] - rightIndicatorLight.state = mapSwitchToFunction(multiswitch1.channel[1], false, false, true); // Function to map a Key [Down, Mid, Up] - fogLight.state = mapSwitchToFunction(multiswitch1.channel[2], false, false, true); // Function to map a Key [Down, Mid, Up] - hazardLight.state = mapSwitchToFunction(multiswitch1.channel[3], false, false, true); // Function to map a Key [Down, Mid, Up] - beaconLight.state = mapSwitchToFunction(multiswitch1.channel[4], false, false, true); // Function to map a Key [Down, Mid, Up] - highBeamLight.state = mapSwitchToFunction(multiswitch1.channel[5], true, false, false); // Function to map a Key [Down, Mid, Up] - highBeamLightFlash.state = mapSwitchToFunction(multiswitch1.channel[5], false, false, true); // Function to map a Key [Down, Mid, Up] - auxLight.state = mapSwitchToFunction(multiswitch1.channel[6], false, false, true); // Function to map a Key [Down, Mid, Up] - reverseLight.state = !digitalRead(vehicleConfig.lightInputChannel.reverseSignal); // Function to read the Reverse Signal from the External Controller - brakeLight.state = !digitalRead(vehicleConfig.lightInputChannel.brakeSignal); - - /* - * Write Light function state to the output var - */ - parkLight.out = directlyToOutput(parkLight.state); - lowBeamLight.out = directlyToOutput(lowBeamLight.state); - highBeamLight.out = highBeamFlash(highBeamLight.state, highBeamLightFlash.state, vehicleConfig.highBeamConfig.flashFrequency); - fogLight.out = directlyToOutput(fogLight.state); - beaconLight.out = directlyToOutput(beaconLight.state); - auxLight.out = directlyToOutput(auxLight.state); - reverseLight.out = directlyToOutput(reverseLight.state); - brakeLight.out = directlyToOutput(brakeLight.state); - - setTurnIndicators( - leftIndicatorLight.state, - rightIndicatorLight.state, - hazardLight.state, - &leftIndicatorLight.out, - &rightIndicatorLight.out, - vehicleConfig.turnSignalConfig.flashFrequency - ); - - bool isStarterActive = false; - if(channel3Switch == DIRECTION_DOWN) isStarterActive = true; - brightnessAdjust.setStarterState(isStarterActive); - - /* - * Set Outputs - */ - - setBooleanLight( - vehicleConfig.parkingLight.outputPin, - parkLight.out, - brightnessAdjust.getBrightnessLevel(LightType::PARKING) - ); - - if (vehicleConfig.lowBeamConfig.isParkingLight && vehicleConfig.lowBeamConfig.isHighBeam) { - setCombinedHeadlightAll( - vehicleConfig.lowBeamLight.outputPin, - parkLight.out, - lowBeamLight.out, - highBeamLight.out, - brightnessAdjust.getBrightnessLevel(LightType::LOW_BEAM, LightModes::TERTIARY), - brightnessAdjust.getBrightnessLevel(LightType::LOW_BEAM, LightModes::SECONDARY), - brightnessAdjust.getBrightnessLevel(LightType::LOW_BEAM) - ); - } else if (vehicleConfig.lowBeamConfig.isHighBeam) { - setCombinedHeadlightHighOnly( - vehicleConfig.lowBeamLight.outputPin, - lowBeamLight.out, - highBeamLight.out, - brightnessAdjust.getBrightnessLevel(LightType::LOW_BEAM, LightModes::SECONDARY), - brightnessAdjust.getBrightnessLevel(LightType::LOW_BEAM) - ); - } else if (vehicleConfig.lowBeamConfig.isParkingLight) { - setCombinedHeadlightParkOnly( - vehicleConfig.lowBeamLight.outputPin, - parkLight.out, - lowBeamLight.out, - - brightnessAdjust.getBrightnessLevel(LightType::LOW_BEAM, LightModes::SECONDARY), - brightnessAdjust.getBrightnessLevel(LightType::LOW_BEAM) - ); - } else { - setBooleanLight( - vehicleConfig.lowBeamLight.outputPin, - lowBeamLight.out, - brightnessAdjust.getBrightnessLevel(LightType::LOW_BEAM) - ); - } - - setBooleanLight( - vehicleConfig.highBeamLight.outputPin, - highBeamLight.out, - brightnessAdjust.getBrightnessLevel(LightType::HIGH_BEAM) - ); - setBooleanLight( - vehicleConfig.fogLight.outputPin, - fogLight.out, - brightnessAdjust.getBrightnessLevel(LightType::FOG) - ); - setBooleanLight( - vehicleConfig.auxLight.outputPin, - auxLight.out, - brightnessAdjust.getBrightnessLevel(LightType::AUX) - ); - setBooleanLight( - vehicleConfig.frontLeftTurnLight.outputPin, - leftIndicatorLight.out, - brightnessAdjust.getBrightnessLevel(LightType::FRONT_LEFT_TURN) - ); - setBooleanLight( - vehicleConfig.frontRightTurnLight.outputPin, - rightIndicatorLight.out, - brightnessAdjust.getBrightnessLevel(LightType::FRONT_RIGHT_TURN) - ); - setBooleanLight( - vehicleConfig.reverseLight.outputPin, - reverseLight.out, - brightnessAdjust.getBrightnessLevel(LightType::REVERSE) - ); - - switch (vehicleConfig.generalConfig.countryOption) { - case CountryOption::EU: - setBooleanLight( - vehicleConfig.rearLeftTurnLight.outputPin, - leftIndicatorLight.out, - brightnessAdjust.getBrightnessLevel(LightType::REAR_LEFT_TURN) - ); - setBooleanLight( - vehicleConfig.rearRightTurnLight.outputPin, - rightIndicatorLight.out, - brightnessAdjust.getBrightnessLevel(LightType::REAR_RIGHT_TURN) - ); - setBooleanLight( - vehicleConfig.brakeLight.outputPin, - brakeLight.out, - brightnessAdjust.getBrightnessLevel(LightType::BRAKE) - ); - break; - - case CountryOption::US: - if (leftIndicatorLight.state || hazardLight.state) { - setBooleanLight( - vehicleConfig.rearLeftTurnLight.outputPin, - leftIndicatorLight.out, - brightnessAdjust.getBrightnessLevel(LightType::REAR_LEFT_TURN) - ); - } else if (leftIndicatorLight.out == false) { - setBrakingWithPark( - vehicleConfig.rearLeftTurnLight.outputPin, - parkLight.state, - brakeLight.state, - brightnessAdjust.getBrightnessLevel(LightType::REAR_LEFT_TURN, LightModes::SECONDARY), - brightnessAdjust.getBrightnessLevel(LightType::REAR_LEFT_TURN, LightModes::PRIMARY) - ); - } - - if (rightIndicatorLight.state || hazardLight.state) { - setBooleanLight( - vehicleConfig.rearRightTurnLight.outputPin, - rightIndicatorLight.out, - brightnessAdjust.getBrightnessLevel(LightType::REAR_RIGHT_TURN) - ); - } else if (rightIndicatorLight.out == false) { - setBrakingWithPark( - vehicleConfig.rearRightTurnLight.outputPin, - parkLight.state, - brakeLight.state, - brightnessAdjust.getBrightnessLevel(LightType::REAR_RIGHT_TURN, LightModes::SECONDARY), - brightnessAdjust.getBrightnessLevel(LightType::REAR_RIGHT_TURN, LightModes::PRIMARY) - ); - } - - setBrakingWithPark( - vehicleConfig.brakeLight.outputPin, - parkLight.state, - brakeLight.state, - brightnessAdjust.getBrightnessLevel(LightType::BRAKE, LightModes::SECONDARY), - brightnessAdjust.getBrightnessLevel(LightType::BRAKE, LightModes::PRIMARY) - ); - break; - } - - if (vehicleConfig.serialConfig.isEnabled == true) { - /* - * Setup serial communication - */ - truckSerial.setLightData(LightIdentifier::PARK_LIGHT, parkLight.out); - truckSerial.setLightData(LightIdentifier::BRAKE_LIGHT, brakeLight.out); - truckSerial.setLightData(LightIdentifier::REVERSE_LIGHT, reverseLight.out); - truckSerial.setLightData(LightIdentifier::RIGHT_BLINK, rightIndicatorLight.out); - truckSerial.setLightData(LightIdentifier::LEFT_BLINK, leftIndicatorLight.out); - truckSerial.setLightData(LightIdentifier::AUX_LIGHT, auxLight.out); - truckSerial.setLightData(LightIdentifier::BEACON_LIGHT, beaconLight.out); - truckSerial.setLightData(LightIdentifier::DIMM_LIGHTS, isStarterActive); - truckSerial.setAdditionalData(AdditionalDataIdentifier::LEFT_TURN_INDICATOR, leftIndicatorLight.state); - truckSerial.setAdditionalData(AdditionalDataIdentifier::RIGHT_TURN_INDICATOR, rightIndicatorLight.state); - truckSerial.setAdditionalData(AdditionalDataIdentifier::HAZARD_STATE, hazardLight.state); - //truckSerial.setAdditionalData(AdditionalDataIdentifier::SERVO_POSITION_DOWN, multiswitch2.channel[1] == DIRECTION_DOWN); - //truckSerial.setAdditionalData(AdditionalDataIdentifier::SERVO_POSITION_UP, multiswitch2.channel[1] == DIRECTION_UP); - truckSerial.setServoData(ServoDataIdentifier::SERVO_CHANNEL_1, multiswitch2.channel[0]); - truckSerial.setServoData(ServoDataIdentifier::SERVO_CHANNEL_2, multiswitch2.channel[1]); - truckSerial.update(); - } - - /* - * Setup Debugging - */ +void loop() { + bool systemConnected = (sbusInput.isSerialConnected() && ppmInput.isPulsePresent()); - if (DEBUGLEVEL >=1) { - controllerStatus(errorFlag, vehicleConfig.generalConfig.statusLightPin); - } + sbusInput.update(systemConnected); + ppmInput.update(systemConnected); + escInput.update(); - switch (DEBUGLEVEL) { - case DebugLevel::NONE: - // No debugging information - break; - case DebugLevel::STATUS_ONLY: - // Handled below - break; - case DebugLevel::PPM_CHANNEL1: - debugChannelEvaluation( - 1, - multiswitch1.channel[0], - multiswitch1.channel[1], - multiswitch1.channel[2], - multiswitch1.channel[3], - multiswitch1.channel[4], - multiswitch1.channel[5], - multiswitch1.channel[6], - multiswitch1.channel[7] - ); - break; - case DebugLevel::PPM_CHANNEL2: - debugChannelEvaluation( - 2, - multiswitch2.channel[0], - multiswitch2.channel[1], - multiswitch2.channel[2], - multiswitch2.channel[3], - multiswitch2.channel[4], - multiswitch2.channel[5], - multiswitch2.channel[6], - multiswitch2.channel[7] - ); - break; - case DebugLevel::FUNCTION_STATE: - debugFunctionState(parkLight.state, - lowBeamLight.state, - highBeamLight.state, - highBeamLightFlash.state, - fogLight.state, - beaconLight.state, - auxLight.state, - hazardLight.state, - leftIndicatorLight.state, - rightIndicatorLight.state, - reverseLight.state, - brakeLight.state); - break; - case DebugLevel::FUNCTION_OUT: - debugFunctionOut(parkLight.out, - lowBeamLight.out, - highBeamLight.out, - highBeamLightFlash.out, - fogLight.out, - beaconLight.out, - auxLight.out, - hazardLight.out, - leftIndicatorLight.out, - rightIndicatorLight.out, - reverseLight.state, - brakeLight.state); - break; - case DebugLevel::STARTER_DIMMING: - SerialUSB.println(isStarterActive); - SerialUSB.println(digitalRead(vehicleConfig.ppmConfig.pinSoundChannel)); - break; - } + uint32_t globalState = sbusInput.getActiveMask() | + ppmInput.getActiveMask() | + escInput.getActiveMask(); } \ No newline at end of file diff --git a/truckLightAndFunction.ino b/truckLightAndFunction.oldino similarity index 100% rename from truckLightAndFunction.ino rename to truckLightAndFunction.oldino From aef93d6a0b6590bed763d0956d8f7acc4dfaa832 Mon Sep 17 00:00:00 2001 From: magraina Date: Fri, 20 Mar 2026 00:38:26 +0100 Subject: [PATCH 04/33] feat: added output matrix and usb interface for configuration --- .vscode/c_cpp_properties.json | 1 + config.h | 174 ----------- ppmToSwitches.cpp | 78 ----- readPPMdata.cpp | 212 ------------- readPPMdata.h | 36 --- src/config-interface/effects.json | 9 + src/config-interface/json-interface.cpp | 78 +++++ src/config-interface/json-interface.h | 12 + src/config-interface/output.json | 106 +++++++ src/config-interface/sbus.json | 14 + src/config/global-effects-config.h | 16 +- src/config/input-config.h | 11 +- src/config/light-mode.h | 12 +- src/config/local-output-config.h | 7 +- src/config/main-config.h | 3 +- src/input/esc-parser.cpp | 13 +- src/input/esc-parser.h | 4 +- src/input/ppm-parser.cpp | 13 +- src/input/ppm-parser.h | 2 +- src/input/sbus-parser.cpp | 13 +- src/input/sbus-parser.h | 2 +- src/memory/memory-manager.cpp | 6 +- src/output/local-outputs.cpp | 278 ++++++++++++++++++ src/output/local-outputs.h | 28 ++ tools.cpp => src/state-machine/blink.cpp | 29 +- tools.h => src/state-machine/blink.h | 22 +- src/state-machine/edge-eval.cpp | 27 ++ .../state-machine/edge-eval.h | 22 +- src/state-machine/global-effects.cpp | 124 ++++++++ src/state-machine/global-effects.h | 31 ++ starterBrightnessAdjustment.cpp | 20 -- starterBrightnessAdjustment.h | 62 ---- truck-multi-function-sbus.ino | 35 ++- vehicleConfig.h | 203 ------------- 34 files changed, 817 insertions(+), 886 deletions(-) delete mode 100644 config.h delete mode 100644 ppmToSwitches.cpp delete mode 100644 readPPMdata.cpp delete mode 100644 readPPMdata.h create mode 100644 src/config-interface/effects.json create mode 100644 src/config-interface/json-interface.cpp create mode 100644 src/config-interface/json-interface.h create mode 100644 src/config-interface/output.json create mode 100644 src/config-interface/sbus.json create mode 100644 src/output/local-outputs.cpp create mode 100644 src/output/local-outputs.h rename tools.cpp => src/state-machine/blink.cpp (63%) rename tools.h => src/state-machine/blink.h (73%) create mode 100644 src/state-machine/edge-eval.cpp rename ppmToSwitches.h => src/state-machine/edge-eval.h (56%) create mode 100644 src/state-machine/global-effects.cpp create mode 100644 src/state-machine/global-effects.h delete mode 100644 starterBrightnessAdjustment.cpp delete mode 100644 starterBrightnessAdjustment.h delete mode 100644 vehicleConfig.h diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json index 823c74e..3b80835 100644 --- a/.vscode/c_cpp_properties.json +++ b/.vscode/c_cpp_properties.json @@ -39,6 +39,7 @@ "cppStandard": "c++11", "defines": [ "IRAM_ATTR=", + "digitalPinToGPIONumber(p)", "ESP32", "ARDUINO=10819", "ARDUINO_NANO_ESP32", diff --git a/config.h b/config.h deleted file mode 100644 index 6229f54..0000000 --- a/config.h +++ /dev/null @@ -1,174 +0,0 @@ -/************************************ - * Copyright (C) 2020-2026 Marina Egner - * - * This program is free software: you can redistribute it and/or modify it - * under the terms of the GNU General Public License as published by the - * Free Software Foundation, either version 3 of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; - * without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License along with this program. - * If not, see . - ************************************/ - -#ifndef _CONFIG_H_ -#define _CONFIG_H_ - -#include "vehicleConfig.h" - -/************************************ - * Configuration Programm - ************************************/ - -VehicleConfig vehicleConfig = { - .generalConfig = { - .countryOption = CountryOption::US, - .debugLevel = DebugLevel::STATUS_ONLY, - .statusLightPin = 13 - }, - .ppmConfig = { - .pinChannel1 = 2, - .pinChannel2 = 3, - .pinSoundChannel = 7 - }, - .generalLightConfig = { - .fadeOnTime = 200, - .fadeOffTime = 200, - .starterDimmingFactor = 5, - .starterDimmingMultiplier = 2 - }, - .serialConfig = { - .isEnabled = true, - .outTxEnablePin = 4, - .baudRate = 19200, - .byteFormat = SERIAL_8N1, - .timeout = 1000, - .pollingInterval = 20, - .protocolVersion = ProtocolVersion::V2 - }, - .lightInputChannel = { - .reverseSignal = A4, - .brakeSignal = A5 - }, - .rearLeftTurnLight = { - .outputPin = 5, - .primaryOnBrightness = 255, - // Parking when combined - .secondaryOnBrightness = 15, - .tertiaryOnBrightness = 0, - .offBrightness = 0, - .fadeOnTime = 200, - .fadeOffTime = 200, - }, - .rearRightTurnLight = { - .outputPin = 6, - .primaryOnBrightness = 255, - // Parking when combined - .secondaryOnBrightness = 15, - .tertiaryOnBrightness = 0, - .offBrightness = 0, - .fadeOnTime = 200, - .fadeOffTime = 200 - }, - .frontLeftTurnLight = { - .outputPin = 8, - .primaryOnBrightness = 255, - .secondaryOnBrightness = 0, - .tertiaryOnBrightness = 0, - .offBrightness = 0, - .fadeOnTime = 200, - .fadeOffTime = 200 - }, - .frontRightTurnLight = { - .outputPin = 9, - .primaryOnBrightness = 255, - .secondaryOnBrightness = 0, - .tertiaryOnBrightness = 0, - .offBrightness = 0, - .fadeOnTime = 200, - .fadeOffTime = 200 - }, - .lowBeamLight = { - .outputPin = 10, - // Low Beam or High beam when combined - .primaryOnBrightness = 255, - // Low Beam when combined with High Beam - .secondaryOnBrightness = 100, - // Parking when combined with Low Beam - .tertiaryOnBrightness = 5, - .offBrightness = 0, - .fadeOnTime = 200, - .fadeOffTime = 200 - }, - .highBeamLight = { - .outputPin = 11, - .primaryOnBrightness = 255, - .secondaryOnBrightness = 0, - .tertiaryOnBrightness = 0, - .offBrightness = 0, - .fadeOnTime = 200, - .fadeOffTime = 200 - }, - .parkingLight = { - .outputPin = A3, - .primaryOnBrightness = 255, - .secondaryOnBrightness = 0, - .tertiaryOnBrightness = 0, - .offBrightness = 0, - .fadeOnTime = 200, - .fadeOffTime = 200 - }, - .fogLight = { - .outputPin = A2, - .primaryOnBrightness = 255, - .secondaryOnBrightness = 0, - .tertiaryOnBrightness = 0, - .offBrightness = 0, - .fadeOnTime = 200, - .fadeOffTime = 200 - }, - .reverseLight = { - .outputPin = A1, - .primaryOnBrightness = 255, - .secondaryOnBrightness = 0, - .tertiaryOnBrightness = 0, - .offBrightness = 0, - .fadeOnTime = 200, - .fadeOffTime = 200 - }, - .brakeLight = { - .outputPin = 12, - .primaryOnBrightness = 255, - // Parking when combined - .secondaryOnBrightness = 15, - .tertiaryOnBrightness = 0, - .offBrightness = 0, - .fadeOnTime = 200, - .fadeOffTime = 200 - }, - .auxLight = { - .outputPin = A0, - .primaryOnBrightness = 255, - .secondaryOnBrightness = 0, - .tertiaryOnBrightness = 0, - .offBrightness = 0, - .fadeOnTime = 200, - .fadeOffTime = 200 - }, - .lowBeamConfig = { - .isParkingLight = true, - .isHighBeam = true - }, - .highBeamConfig = { - .flashFrequency = 800 - }, - .turnSignalConfig = { - .flashFrequency = 1000 - } -}; - -#define DEBUGLEVEL vehicleConfig.generalConfig.debugLevel - -#endif \ No newline at end of file diff --git a/ppmToSwitches.cpp b/ppmToSwitches.cpp deleted file mode 100644 index 7dd5602..0000000 --- a/ppmToSwitches.cpp +++ /dev/null @@ -1,78 +0,0 @@ -/************************************ - * Copyright (C) 2020-2025 Marina Egner - * - * This program is free software: you can redistribute it and/or modify it - * under the terms of the GNU General Public License as published by the - * Free Software Foundation, either version 3 of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; - * without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License along with this program. - * If not, see . - ************************************/ -#include "ppmToSwitches.h" - -/*************************************************** - * PPM Signal have a range from 1000ms to 2000ms - * So 3 stages should be 1000/1500/2000 => UP/MID/DOWN - * invertDirection is optional to turn the direction of UP and DOWN - ***************************************************/ -uint8_t ppmToSwitchStages(uint16_t signal, bool invertDirection) { - uint8_t dynDirectionUp; - uint8_t dynDirectionDown; - if(invertDirection) { //if switch output is inverted - dynDirectionUp = DIRECTION_DOWN; //then assign opposite direction - dynDirectionDown = DIRECTION_UP; - } else { - dynDirectionUp = DIRECTION_UP; //else assign same direction - dynDirectionDown = DIRECTION_DOWN; - } - if((signal >= 750) && (signal <= 1250)) { //if signal is at 1000ms ±250ms - return dynDirectionUp; //return 1 if signal is at lower end - } else if(signal <= 1750) { //else if signal is at 1500ms ±250ms - return DIRECTION_MID; //return 2 if signal is at middle - } else if(signal <= 2250) { //else if signal is at 2000ms ±250ms - return dynDirectionDown; //return 3 if signal is at upper end - } else { //else signal is <750 or >2250 - return 0; //return 0 cause signal is out of bound | error - } -} - -/*************************************************** - * PPM Signal have a range from 1000ms to 2000ms - * 3 Stages on 2 signals - * If first signal have ~1000 the switch is in up position - * If both signals have ~1700 the switch is in middle position - * If second signal have ~1000 the switch is in down position - ***************************************************/ -uint8_t ppm2ToSwitch3Stages(uint16_t signal1, uint16_t signal2) { - if((signal1 >= 750) && (signal1 <= 1250)) { //if signal is at 1000ms ±250ms - return DIRECTION_UP; //return 1 if signal is at lower end - } else if((signal2 >= 750) && (signal2 <= 1250)) { //else if signal is at 2000ms ±250ms - return DIRECTION_DOWN; //return 3 if signal is at upper end - } else if((signal1 >= 1500) && (signal2 >= 1500) && (signal1 <= 2000) && (signal2 <= 2000)) { //else if signal is at 1500ms ±250ms - return DIRECTION_MID; //return 2 if signal is at middle - } else { //else signal is <750 or >2250 - return 0; //return 0 cause signal is out of bound | error - } -} - -/*************************************************** - * PPM Signal have a range from 1000ms to 2000ms - * input Range of signal is defined by inMin (~1000) inMax (~2000) - * returns a value from outMin to outMax - * if calculation fails a zero returns - ***************************************************/ -uint32_t ppmServoToRange(uint32_t signal, uint32_t inMin, uint32_t inMax, uint32_t outMin, uint32_t outMax) { - uint32_t dynResult; - if(inMin != inMax) { //if Min and Max are equal abbort calculation cause of divide by zero - dynResult = (signal - inMin) * (outMax - outMin) / (inMax - inMin) + outMin; - if(signal > inMax) dynResult = outMax; - if(signal < inMin) dynResult = outMin; - return dynResult; - } else { - return 0; - } -} diff --git a/readPPMdata.cpp b/readPPMdata.cpp deleted file mode 100644 index dccfb04..0000000 --- a/readPPMdata.cpp +++ /dev/null @@ -1,212 +0,0 @@ -/************************************ - * Copyright (C) 2020-2025 Marina Egner - * - * This program is free software: you can redistribute it and/or modify it - * under the terms of the GNU General Public License as published by the - * Free Software Foundation, either version 3 of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; - * without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License along with this program. - * If not, see . - ************************************/ - -#include "readPPMdata.h" // Include own header file -#include "ppmToSwitches.h" // Library to evaluate switch position from ppm value -#include "tools.h" // Get filter class from there - -#define INTERRUPT_BUFFERSIZE 8 // Max Buffersize of ISR; Max is 255 -#define PPM_START_MIN 850 // Minimun for start impuls -#define PPM_START_MAX 980 // Maximum for start impuls -#define PPM_HIGH_MIN 700 // Minimun for High impuls -#define PPM_HIGH_MAX 2200 // Maximun for High impuls -#define MULTI1 0 // Array number of Multiswitch -#define MULTI2 1 // Array number of Multiswitch -#define MAX_TIME_SIGNAL 5000 // 2000ms Maximum time for signal to change - -// Variables -struct multiswitch { - volatile uint16_t buffer[INTERRUPT_BUFFERSIZE]; // Stores time difference of every channel - volatile uint8_t position = 8; // Current index for interrupt | Start with 8 to make sure to start with the first start impulse - volatile uint32_t lastMicros = 0; // Time since last interrupt - volatile uint32_t lastValidMillis = 0; // Time since last valid save in interrupt -}; - -multiswitch interrupt[2]; // Structure for ISR - -struct { - volatile uint16_t servoValue = 0; // Saves time difference of this channel - volatile uint32_t lastMicros = 0; // Time since last interrupt - volatile uint32_t lastValidMillis = 0; // Time since last valid save in interrupt -} interrupt3; - -// Classes -Filter filter[2]; // Filter Function for Potis - -/*************************************************** - * PPM Signal have a range from 1000ms to 2000ms - * So 3 stages should be 1000/1500/2000 => UP/MID/DOWN - * invertDirection is optional to turn the direction of UP and DOWN - ***************************************************/ - -void initInterrupts(uint8_t pinPPMChannel1, uint8_t pinPPMChannel2, uint8_t pinServoChannel) { - attachInterrupt(digitalPinToInterrupt(pinPPMChannel1), ppmMultiInterrupt1, CHANGE); //Setup Interrupt - attachInterrupt(digitalPinToInterrupt(pinPPMChannel2), ppmMultiInterrupt2, CHANGE); //Setup Interrupt - attachInterrupt(digitalPinToInterrupt(pinServoChannel), ppmServoInterrupt, CHANGE); //Setup Interrupt - filter[0].init(1520); - filter[1].init(1520); -} - -void ppmMultiInterrupt1(){ - volatile uint32_t nMicros = micros(); //Store current time - volatile uint32_t nDifference = (nMicros - interrupt[MULTI1].lastMicros); //Calc time since last Change - if((nDifference > (uint16_t)PPM_HIGH_MIN) && (nDifference < (uint16_t)PPM_HIGH_MAX)) { //Filter HIGH Impulse | HIGH if time is between 700 and 2200 - if((nDifference > (uint16_t)PPM_START_MIN) && (nDifference < (uint16_t)PPM_START_MAX)) { //if time is ~915 then this is the start impulse - interrupt[MULTI1].position = 0; //then set index to 0 - } else if(interrupt[MULTI1].position < INTERRUPT_BUFFERSIZE) { //if index is out of bound, then wait for next start impulse - interrupt[MULTI1].buffer[interrupt[MULTI1].position] = nDifference; //save current time difference to value - interrupt[MULTI1].position++; //increment index by one - interrupt[MULTI1].lastValidMillis = millis(); //save time of the last valid signal - } - } - interrupt[MULTI1].lastMicros = nMicros; //save time for next interrupt -} - -void ppmMultiInterrupt2(){ - volatile uint32_t nMicros = micros(); //Store current time - volatile uint32_t nDifference = (nMicros - interrupt[MULTI2].lastMicros); //Calc time since last Change - if((nDifference > (uint16_t)PPM_HIGH_MIN) && (nDifference < (uint16_t)PPM_HIGH_MAX)) { //Filter HIGH Impulse | HIGH if time is between 700 and 2200 else return - if((nDifference > (uint16_t)PPM_START_MIN) && (nDifference < (uint16_t)PPM_START_MAX)) { //if time is ~915 then this is the start impulse - interrupt[MULTI2].position = 0; //then set index to 0 - return; // And wait for the next impulse - } else if(interrupt[MULTI2].position < INTERRUPT_BUFFERSIZE) { //if index is out of bound, then wait for next start impulse - interrupt[MULTI2].buffer[interrupt[MULTI2].position] = nDifference; //save current time difference to value - interrupt[MULTI2].position++; //increment index by one - interrupt[MULTI2].lastValidMillis = millis(); //save time of the last valid signal - } - } - interrupt[MULTI2].lastMicros = nMicros; //save time for next interrupt -} - - -void ppmServoInterrupt(){ - volatile uint32_t nMicros = micros(); // Store current time - volatile uint32_t nDifference = (nMicros - interrupt3.lastMicros); //Calc time since last Change - if((nDifference > PPM_HIGH_MIN) && (nDifference < PPM_HIGH_MAX)) { // Filter HIGH Impulse | HIGH if time is between 700 and 2200 - interrupt3.servoValue = nDifference; // Store current time difference to value - interrupt3.lastValidMillis = millis(); //save time of the last valid signal - } - interrupt3.lastMicros = nMicros; //save time for next interrupt - return; -} - -bool checkChannelStatus(uint8_t multiSwitch) { - if((millis()-interrupt[multiSwitch].lastValidMillis) >= (uint16_t)MAX_TIME_SIGNAL) return false; - return true; -} - -uint8_t getChannel1Switch(uint8_t channel, uint8_t fallbackValue) { - if(!checkChannelStatus(MULTI1)) return fallbackValue; // return fallback if channel does not respond - switch (channel) { - case 0: - return ppmToSwitchStages(interrupt[MULTI1].buffer[0]); - break; - case 1: - return ppmToSwitchStages(interrupt[MULTI1].buffer[1]); - break; - case 2: - return ppmToSwitchStages(interrupt[MULTI1].buffer[2]); - break; - case 3: - return ppmToSwitchStages(interrupt[MULTI1].buffer[3]); - break; - case 4: - return ppmToSwitchStages(interrupt[MULTI1].buffer[4]); - break; - case 5: - return ppmToSwitchStages(interrupt[MULTI1].buffer[5]); - break; - case 6: - return ppmToSwitchStages(interrupt[MULTI1].buffer[6]); - break; - case 7: - return ppmToSwitchStages(interrupt[MULTI1].buffer[7]); - break; - } - // If something wrong return fallback - return fallbackValue; -} - -uint16_t getChannel2Poti(uint8_t channel, uint16_t fallbackValue) { - uint16_t actualValue = fallbackValue; - switch (channel) { - case 0: - if (checkChannelStatus(MULTI2)) actualValue = interrupt[MULTI2].buffer[0]; - - return filter[0].filterValue(actualValue, 10, 50); - break; - case 1: - if (checkChannelStatus(MULTI2)) actualValue = interrupt[MULTI2].buffer[1]; - - return filter[1].filterValue(actualValue, 10, 50); - break; - } - // If something wrong return fallback - return fallbackValue; -} - -uint8_t getChannel2Switch(uint8_t channel, uint8_t fallbackValue) { - if(!checkChannelStatus(MULTI2)) return fallbackValue; // return fallback if channel does not respond - switch (channel) { - case 0: - return ppmToSwitchStages(interrupt[MULTI2].buffer[0], PPM_INVERT); - break; - case 1: - return ppmToSwitchStages(interrupt[MULTI2].buffer[1], PPM_INVERT); - break; - case 2: - return ppmToSwitchStages(interrupt[MULTI2].buffer[2], PPM_INVERT); - break; - case 3: - return ppmToSwitchStages(interrupt[MULTI2].buffer[3], PPM_INVERT); - break; - case 4: - return ppmToSwitchStages(interrupt[MULTI2].buffer[4], PPM_INVERT); - break; - case 5: - return ppmToSwitchStages(interrupt[MULTI2].buffer[5], PPM_INVERT); - break; - case 6: - return ppmToSwitchStages(interrupt[MULTI2].buffer[6], PPM_INVERT); - break; - case 7: - return ppmToSwitchStages(interrupt[MULTI2].buffer[7], PPM_INVERT); - break; - } - // If something wrong return fallback - return fallbackValue; -} - -bool mapSwitchToFunction(uint8_t channel, uint8_t downValue, uint8_t midValue, uint8_t upValue) { - switch (channel) { - case DIRECTION_DOWN: - return downValue; - break; - case DIRECTION_MID: - return midValue; - break; - case DIRECTION_UP: - return upValue; - break; - default: - return false; - break; - } -} - -uint16_t getChannel3Signal() { - if((millis()-interrupt3.lastValidMillis) >= (uint16_t)MAX_TIME_SIGNAL) return 0; - return ppmToSwitchStages(interrupt3.servoValue); -} diff --git a/readPPMdata.h b/readPPMdata.h deleted file mode 100644 index 73b9141..0000000 --- a/readPPMdata.h +++ /dev/null @@ -1,36 +0,0 @@ -/************************************ - * Copyright (C) 2020-2025 Marina Egner - * - * This program is free software: you can redistribute it and/or modify it - * under the terms of the GNU General Public License as published by the - * Free Software Foundation, either version 3 of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; - * without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License along with this program. - * If not, see . - ************************************/ - -#ifndef _READ_PPM_DATA_H_ -#define _READ_PPM_DATA_H_ - -#include "Arduino.h" - -#define DIRECTION_UP 1 -#define DIRECTION_MID 2 -#define DIRECTION_DOWN 3 - -void initInterrupts(uint8_t pinPPMChannel1, uint8_t pinPPMChannel2, uint8_t pinServoChannel); // Function to attach all interrupt service routines (ISR) -void ppmMultiInterrupt1(); // ISR for interrupt of first PPM signal -void ppmMultiInterrupt2(); // ISR for interrupt of second PPM signal -void ppmServoInterrupt(); // ISR for interrupt of servo PPM signal -bool checkChannelStatus(uint8_t multiSwitch); // Function to check the Status of the Channel (If signal is lost) -uint8_t getChannel1Switch(uint8_t channel, uint8_t fallbackValue); // Function to get the value of the Switches from Channel 1 -uint16_t getChannel2Poti(uint8_t channel, uint16_t fallbackValue); // Function to get the value of the Potis from Channel 1 -uint8_t getChannel2Switch(uint8_t channel, uint8_t fallbackValue); // Function to get the value of the Switches from Channel 2 -bool mapSwitchToFunction(uint8_t channel, uint8_t downValue, uint8_t midValue, uint8_t upValue); // Function to map a Key to a boolean function value -uint16_t getChannel3Signal(); - -#endif \ No newline at end of file diff --git a/src/config-interface/effects.json b/src/config-interface/effects.json new file mode 100644 index 0000000..e97dafc --- /dev/null +++ b/src/config-interface/effects.json @@ -0,0 +1,9 @@ +{ + "effects": { + "turnFreq": 1000, + "stDim": 50, + "strFlash": 40, + "strShort": 80, + "strLong": 400 + } +} diff --git a/src/config-interface/json-interface.cpp b/src/config-interface/json-interface.cpp new file mode 100644 index 0000000..91a3d3e --- /dev/null +++ b/src/config-interface/json-interface.cpp @@ -0,0 +1,78 @@ +#include "json-interface.h" + +void JsonInterface::update(LocalOutputController& outputController) { + if (Serial.available() == 0) return; + + // 1024 bytes is enough for a chunky update block + StaticJsonDocument<1024> doc; + DeserializationError error = deserializeJson(doc, Serial); + + if (error) { + Serial.print("JSON Parse Failed: "); + Serial.println(error.c_str()); + while(Serial.available()) Serial.read(); // Clear buffer + return; + } + + bool configChanged = false; + + // --- 1. OUTPUTS --- + if (doc.containsKey("outputs")) { + JsonArray outputs = doc["outputs"].as(); + for (JsonObject outConfig : outputs) { + uint8_t targetPin = outConfig["pin"]; + for (int i = 0; i < NUM_LOCAL_OUTPUTS; i++) { + if (activeMainConfig.localOutputs[i].pin == targetPin || activeMainConfig.localOutputs[i].mode == OutputMode::NONE) { + activeMainConfig.localOutputs[i].pin = targetPin; + activeMainConfig.localOutputs[i].mode = static_cast(outConfig["mode"].as()); + activeMainConfig.localOutputs[i].triggerMask = outConfig["mask"].as(); + activeMainConfig.localOutputs[i].param1 = outConfig["p1"].as(); + activeMainConfig.localOutputs[i].param2 = outConfig["p2"].as(); + activeMainConfig.localOutputs[i].param3 = outConfig["p3"].as(); + activeMainConfig.localOutputs[i].fadeTime = outConfig["fade"].as(); + break; + } + } + } + Serial.println("Outputs updated!"); + outputController.begin(); // Re-init hardware pins + configChanged = true; + } + + // --- 2. SBUS INPUTS --- + if (doc.containsKey("sbus")) { + JsonArray sbusInputs = doc["sbus"].as(); + for (JsonObject inConfig : sbusInputs) { + uint8_t ch = inConfig["ch"]; + if (ch < 16) { + activeMainConfig.sbusInputs[ch].type = static_cast(inConfig["type"].as()); + activeMainConfig.sbusInputs[ch].targetMaskLow = inConfig["maskL"].as(); + activeMainConfig.sbusInputs[ch].targetMaskMid = inConfig["maskM"].as(); + activeMainConfig.sbusInputs[ch].targetMaskHigh = inConfig["maskH"].as(); + activeMainConfig.sbusInputs[ch].thresholdLow = inConfig["thL"].as(); + activeMainConfig.sbusInputs[ch].thresholdHigh = inConfig["thH"].as(); + activeMainConfig.sbusInputs[ch].targetServoIndex = inConfig["srv"].as(); + } + } + Serial.println("SBUS Inputs updated!"); + configChanged = true; + } + + // --- 3. GLOBAL EFFECTS --- + if (doc.containsKey("effects")) { + JsonObject effConfig = doc["effects"]; + + // Using | default_value to only update keys that are present in the JSON + activeEffectsConfig.turnSignalFreq = effConfig["turnFreq"] | activeEffectsConfig.turnSignalFreq; + activeEffectsConfig.starterDimFactor = effConfig["stDim"] | activeEffectsConfig.starterDimFactor; + activeEffectsConfig.strobeFlashDuration = effConfig["strFlash"] | activeEffectsConfig.strobeFlashDuration; + activeEffectsConfig.strobeShortPause = effConfig["strShort"] | activeEffectsConfig.strobeShortPause; + activeEffectsConfig.strobeLongPause = effConfig["strLong"] | activeEffectsConfig.strobeLongPause; + + Serial.println("Effects updated!"); + configChanged = true; + } + + // Optional: Trigger a save to NVS here if configChanged is true + // if (configChanged) { saveConfigToNVS(); } +} \ No newline at end of file diff --git a/src/config-interface/json-interface.h b/src/config-interface/json-interface.h new file mode 100644 index 0000000..91ed222 --- /dev/null +++ b/src/config-interface/json-interface.h @@ -0,0 +1,12 @@ +#pragma once +#include +#include +#include "../config/main-config.h" +#include "../config/global-effects-config.h" +#include "../output/local-outputs.h" + +class JsonInterface { +public: + // Pass the output controller so we can re-initialize pins if the config changes + void update(LocalOutputController& outputController); +}; \ No newline at end of file diff --git a/src/config-interface/output.json b/src/config-interface/output.json new file mode 100644 index 0000000..53bf228 --- /dev/null +++ b/src/config-interface/output.json @@ -0,0 +1,106 @@ +{ + "outputs": [ + { + "pin": 5, + "mode": 1, + "mask": 1, + "p1": 4095, + "p2": 0, + "p3": 0, + "fade": 300 + }, + { "pin": 6, "mode": 1, "mask": 2, "p1": 4095, "p2": 0, "p3": 0, "fade": 0 }, + { "pin": 7, "mode": 1, "mask": 4, "p1": 4095, "p2": 0, "p3": 0, "fade": 0 }, + { + "pin": 8, + "mode": 1, + "mask": 16, + "p1": 4095, + "p2": 0, + "p3": 0, + "fade": 0 + }, + { "pin": 9, "mode": 1, "mask": 8, "p1": 4095, "p2": 0, "p3": 0, "fade": 0 }, + { + "pin": 11, + "mode": 1, + "mask": 1, + "p1": 4095, + "p2": 0, + "p3": 0, + "fade": 0 + }, + { + "pin": 12, + "mode": 1, + "mask": 0, + "p1": 4095, + "p2": 0, + "p3": 0, + "fade": 0 + }, + { + "pin": 24, + "mode": 1, + "mask": 0, + "p1": 4095, + "p2": 0, + "p3": 0, + "fade": 0 + }, + { + "pin": 23, + "mode": 1, + "mask": 0, + "p1": 4095, + "p2": 0, + "p3": 0, + "fade": 0 + }, + { + "pin": 22, + "mode": 1, + "mask": 0, + "p1": 4095, + "p2": 0, + "p3": 0, + "fade": 0 + }, + { + "pin": 20, + "mode": 0, + "mask": 0, + "p1": 4095, + "p2": 0, + "p3": 0, + "fade": 0 + }, + { + "pin": 18, + "mode": 0, + "mask": 0, + "p1": 4095, + "p2": 0, + "p3": 0, + "fade": 0 + }, + { + "pin": 17, + "mode": 0, + "mask": 0, + "p1": 1, + "p2": 1000, + "p3": 2000, + "fade": 0 + }, + { + "pin": 10, + "mode": 1, + "mask": 32768, + "p1": 4095, + "p2": 0, + "p3": 0, + "fade": 0 + } + ] +} diff --git a/src/config-interface/sbus.json b/src/config-interface/sbus.json new file mode 100644 index 0000000..50f7abb --- /dev/null +++ b/src/config-interface/sbus.json @@ -0,0 +1,14 @@ +{ + "sbus": [ + { + "ch": 10, + "type": 1, + "maskL": 16, + "maskM": 1, + "maskH": 8, + "thL": 900, + "thH": 1100, + "srv": 255 + } + ] +} diff --git a/src/config/global-effects-config.h b/src/config/global-effects-config.h index 2b98675..47c304d 100644 --- a/src/config/global-effects-config.h +++ b/src/config/global-effects-config.h @@ -1,6 +1,12 @@ #pragma once #include +enum GlobalOutputEffects: uint16_t { + BIT_GLOBAL_TURN_L = (1U << 0), + BIT_GLOBAL_TURN_R = (1U << 1), + BIT_GLOBAL_STROBE = (1U << 2), +}; + struct GlobalEffectsConfig { // --- Timings in milliseconds --- @@ -17,9 +23,13 @@ struct GlobalEffectsConfig { uint16_t flashToPassFreq; // e.g., 100ms ON / 100ms OFF // Rotating beacon (Rundumleuchte) - uint16_t beaconSpeed; // Time between LED transition steps + uint16_t beacon1Speed; // Time between LED transition steps + uint16_t beacon2Speed; // Time between LED transition steps + uint8_t beacon1MaxLeds; // Amount of virtual LEDs in the beacon circle + uint8_t beacon2MaxLeds; // Amount of virtual LEDs in the beacon circle // --- Specific settings --- - uint8_t beaconMaxLeds; // Amount of virtual LEDs in the beacon circle uint8_t starterDimFactor; // Dimming percentage (e.g., 50%) during motor start -}; \ No newline at end of file +}; + +extern GlobalEffectsConfig activeEffectsConfig; \ No newline at end of file diff --git a/src/config/input-config.h b/src/config/input-config.h index f2f150f..280afb6 100644 --- a/src/config/input-config.h +++ b/src/config/input-config.h @@ -12,6 +12,7 @@ enum class InputType : uint8_t { struct InputConfig { InputType type; + // --- Used for SWITCH_3POS --- // The targets (bits) to trigger based on the switch position uint32_t targetMaskLow; // Triggered if value < thresholdLow uint32_t targetMaskMid; // Triggered if value >= thresholdLow AND <= thresholdHigh @@ -22,14 +23,10 @@ struct InputConfig { // For PWM: Raw value ranges 700-2300 (values ideally at 1300-1700) // For PPM: Raw value ranges 1000-2000 (values ideally at 1300-1700) // For SBus: Raw SBus units ranges from 0-2047 (values ideally at 900-1100) - uint16_t thresholdLow; uint16_t thresholdHigh; -}; -struct LightInputChannel { - // Pin for Reverse Signal from External Controller - uint8_t reverseSignal; - // Pin for Brake Signal from External Controller - uint8_t brakeSignal; + // --- Used for PROPORTIONAL --- + // Maps this input channel to an index in the global servo array (0 to 11) + uint8_t targetServoIndex; }; \ No newline at end of file diff --git a/src/config/light-mode.h b/src/config/light-mode.h index b87947d..a25dc01 100644 --- a/src/config/light-mode.h +++ b/src/config/light-mode.h @@ -32,7 +32,7 @@ enum LightBits : uint32_t { BIT_REVERSE_LIGHT = (1UL << 7), // Value: 128 // --- Special Functions --- - BIT_BEACON_LIGHT = (1UL << 8), // Value: 256 (Rotating beacon) + BIT_BEACON_LIGHT = (1UL << 8), // Value: 256 (Rotating beacon) BIT_AUX_1 = (1UL << 9), // Value: 512 (e.g., Work light) BIT_AUX_2 = (1UL << 10), // Value: 1024 (e.g., Fog light) BIT_AUX_3 = (1UL << 11), // Value: 2048 (e.g., Additional light) @@ -43,6 +43,14 @@ enum LightBits : uint32_t { BIT_STATIC_ON = (1UL << 14), // Value: 16384 (Virtual bit for always-on/marker lights) BIT_STROBE_LIGHT = (1UL << 15), // Value: 32768 (Warning strobes) BIT_FLASH_TO_PASS = (1UL << 16) // Value: 65536 (Lichthupe / Optical horn sequence) - // Available: Bits 17 to 31 (Over 2 billion possible combinations!) }; + +enum CombinedLightStates: uint32_t { + COMB_PARK_AND_FULL_BEAM = (BIT_PARKING_LIGHT | BIT_LOW_BEAM | BIT_HIGH_BEAM), + COMB_PARK_AND_LOW_BEAM = (BIT_PARKING_LIGHT | BIT_LOW_BEAM), + COMB_LOW_AND_HIGH_BEAM = (BIT_LOW_BEAM | BIT_HIGH_BEAM), + COMB_PARK_AND_BRAKE = (BIT_PARKING_LIGHT | BIT_BRAKE_LIGHT), + COMB_US_TAIL_L = (BIT_PARKING_LIGHT | BIT_LOW_BEAM | BIT_BRAKE_LIGHT | BIT_HAZARD_LIGHT | BIT_TURN_SIGNAL_L), + COMB_US_TAIL_R = (BIT_PARKING_LIGHT | BIT_LOW_BEAM | BIT_BRAKE_LIGHT | BIT_HAZARD_LIGHT | BIT_TURN_SIGNAL_R), +}; diff --git a/src/config/local-output-config.h b/src/config/local-output-config.h index fb57aa0..23cf13b 100644 --- a/src/config/local-output-config.h +++ b/src/config/local-output-config.h @@ -31,11 +31,12 @@ struct LocalOutputConfig { // Example for Beacon: // param1 = LED Index (e.g., 2nd LED in the circle) // param2 = Beacon Group ID (0 or 1, for independent beacons) + // param3 = Brightness // // Mode SERVO: - // - param1 = Minimum pulse width in microseconds (e.g., 1000) - // - param2 = Maximum pulse width in microseconds (e.g., 2000) - // - param3 = Center/Neutral pulse width in microseconds (e.g., 1500) + // - param1 = Servo position (0-11) + // - param2 = Minimum pulse width in microseconds (e.g., 1000) + // - param3 = Maximum pulse width in microseconds (e.g., 2000) uint16_t param1; uint16_t param2; uint16_t param3; diff --git a/src/config/main-config.h b/src/config/main-config.h index 66a3682..f77eb7d 100644 --- a/src/config/main-config.h +++ b/src/config/main-config.h @@ -22,10 +22,9 @@ struct MainConfig { PpmInputMode ppmMode; // Toggle between 8-channel PPM or single-channel PWM InputConfig ppmInputs[NUM_PPM_CHANNELS]; // If SINGLE_PWM, only ppmInputs[0] is evaluated - LightInputChannel lightInputs; // --- Routing: Outputs (ESP32 Pins) --- - LocalOutputConfig localOuts[NUM_LOCAL_OUTPUTS]; + LocalOutputConfig localOutputs[NUM_LOCAL_OUTPUTS]; // --- System Safety: Failsafe --- // Timeout in milliseconds without a valid PPM/PWM pulse before failsafe triggers diff --git a/src/input/esc-parser.cpp b/src/input/esc-parser.cpp index 9def93e..3fa2a72 100644 --- a/src/input/esc-parser.cpp +++ b/src/input/esc-parser.cpp @@ -1,19 +1,20 @@ #include "esc-parser.h" -EscParser::EscParser() - : brakingActive(false), reverseActive(false), activeEscMask(0) {} +EscParser::EscParser(uint8_t brakePin, uint8_t reversePin) + : _brakePin(brakePin), _reversePin(reversePin), + brakingActive(false), reverseActive(false), activeEscMask(0) {} void EscParser::begin() { - pinMode(activeMainConfig.lightInputs.brakeSignal, INPUT_PULLUP); - pinMode(activeMainConfig.lightInputs.reverseSignal, INPUT_PULLUP); + pinMode(_brakePin, INPUT_PULLUP); + pinMode(_reversePin, INPUT_PULLUP); } void EscParser::update() { // Da das Signal reversed reinkommt (Active Low): // LOW (0V) -> Signal ist an (true) // HIGH (3.3V) -> Signal ist aus (false) - brakingActive = (digitalRead(activeMainConfig.lightInputs.brakeSignal) == LOW); - reverseActive = (digitalRead(activeMainConfig.lightInputs.reverseSignal) == LOW); + brakingActive = (digitalRead(_brakePin) == LOW); + reverseActive = (digitalRead(_reversePin) == LOW); uint32_t newMask = 0; diff --git a/src/input/esc-parser.h b/src/input/esc-parser.h index a0f5890..4d02424 100644 --- a/src/input/esc-parser.h +++ b/src/input/esc-parser.h @@ -7,11 +7,13 @@ class EscParser { private: bool brakingActive; bool reverseActive; + uint8_t _brakePin; + uint8_t _reversePin; uint32_t activeEscMask; public: - EscParser(); + EscParser(uint8_t brakePin, uint8_t reversePin); void begin(); diff --git a/src/input/ppm-parser.cpp b/src/input/ppm-parser.cpp index c491924..009a7c6 100644 --- a/src/input/ppm-parser.cpp +++ b/src/input/ppm-parser.cpp @@ -53,7 +53,7 @@ void IRAM_ATTR PpmParser::handleInterrupt(void* arg) { } } -void PpmParser::update(bool isLinkActive) { +void PpmParser::update(bool isLinkActive, uint16_t* servoStateArray) { if (!isLinkActive) { activePpmMask = 0; return; @@ -64,7 +64,11 @@ void PpmParser::update(bool isLinkActive) { for (uint8_t i = 0; i < channelsToProcess; i++) { InputConfig& cfg = activeMainConfig.ppmInputs[i]; - uint16_t val = rawValues[i]; + uint16_t val = getNormalizedValue(i); + + if (cfg.type == InputType::NONE) { + continue; + } if (cfg.type == InputType::SWITCH_3POS) { if (val < cfg.thresholdLow) { @@ -75,6 +79,11 @@ void PpmParser::update(bool isLinkActive) { newMask |= cfg.targetMaskHigh; } } + else if (cfg.type == InputType::PROPORTIONAL) { + if (cfg.targetServoIndex < 12) { + servoStateArray[cfg.targetServoIndex] = val; + } + } } activePpmMask = newMask; } diff --git a/src/input/ppm-parser.h b/src/input/ppm-parser.h index c7cacde..89f08ca 100644 --- a/src/input/ppm-parser.h +++ b/src/input/ppm-parser.h @@ -25,7 +25,7 @@ class PpmParser { // Neue Funktion zum Setzen oder Ändern des Modus zur Laufzeit void setMode(PpmInputMode newMode); - void update(bool isLinkActive); + void update(bool isLinkActive, uint16_t* servoStateArray); uint32_t getActiveMask(); bool isPulsePresent(); diff --git a/src/input/sbus-parser.cpp b/src/input/sbus-parser.cpp index 2a61b22..2017f46 100644 --- a/src/input/sbus-parser.cpp +++ b/src/input/sbus-parser.cpp @@ -7,7 +7,7 @@ void SbusParser::begin() { receiver.begin(); } -void SbusParser::update(bool isLinkActive) { +void SbusParser::update(bool isLinkActive, uint16_t* servoStateArray) { receiver.processIncoming(); // The main loop has determined the link is dead. Force failsafe mask. @@ -23,8 +23,12 @@ void SbusParser::update(bool isLinkActive) { for (uint8_t i = 0; i < NUM_SBUS_CHANNELS; i++) { InputConfig& cfg = activeMainConfig.sbusInputs[i]; + if (cfg.type == InputType::NONE) { + continue; + } + + uint16_t val = getChannelValue(i); if (cfg.type == InputType::SWITCH_3POS) { - uint16_t val = getChannelValue(i); if (val < cfg.thresholdLow) { newMask |= cfg.targetMaskLow; @@ -36,6 +40,11 @@ void SbusParser::update(bool isLinkActive) { newMask |= cfg.targetMaskHigh; } } + else if (cfg.type == InputType::PROPORTIONAL) { + if (cfg.targetServoIndex < 12) { + servoStateArray[cfg.targetServoIndex] = val; + } + } } activeSbusMask = newMask; diff --git a/src/input/sbus-parser.h b/src/input/sbus-parser.h index f5b1479..8813c09 100644 --- a/src/input/sbus-parser.h +++ b/src/input/sbus-parser.h @@ -17,7 +17,7 @@ class SbusParser { void begin(); // The main loop passes the combined connection status into the update function - void update(bool isLinkActive); + void update(bool isLinkActive, uint16_t* servoStateArray); uint32_t getActiveMask(); diff --git a/src/memory/memory-manager.cpp b/src/memory/memory-manager.cpp index 193f7a8..51ece47 100644 --- a/src/memory/memory-manager.cpp +++ b/src/memory/memory-manager.cpp @@ -35,8 +35,10 @@ void MemoryManager::loadConfig() { activeEffectsConfig.strobeShortPause = 60; activeEffectsConfig.strobeLongPause = 400; activeEffectsConfig.flashToPassFreq = 100; - activeEffectsConfig.beaconSpeed = 120; - activeEffectsConfig.beaconMaxLeds = 4; + activeEffectsConfig.beacon1Speed = 2000; + activeEffectsConfig.beacon1MaxLeds = 4; + activeEffectsConfig.beacon2Speed = 2000; + activeEffectsConfig.beacon2MaxLeds = 4; activeEffectsConfig.starterDimFactor = 50; } } diff --git a/src/output/local-outputs.cpp b/src/output/local-outputs.cpp new file mode 100644 index 0000000..34b6c02 --- /dev/null +++ b/src/output/local-outputs.cpp @@ -0,0 +1,278 @@ +#include "local-outputs.h" + +LocalOutputController::LocalOutputController() {} + +void LocalOutputController::resetOutput(uint8_t pin, uint8_t channel) { + ledcDetachPin(pin); + servos[channel].detach(); +}; + +void LocalOutputController::begin() { + // Allocate all 4 hardware timers for the ESP32 PWM engine to use for servos. + // This prevents jitter and conflicts with standard LED PWM. + ESP32PWM::allocateTimer(0); + ESP32PWM::allocateTimer(1); + ESP32PWM::allocateTimer(2); + ESP32PWM::allocateTimer(3); + + for (int i = 0; i < NUM_LOCAL_OUTPUTS; i++) { + LocalOutputConfig& cfg = activeMainConfig.localOutputs[i]; + + switch (cfg.mode) { + case OutputMode::NONE: + resetOutput(cfg.pin, i); + pinMode(cfg.pin, INPUT); + break; + case OutputMode::DIGITAL: + resetOutput(cfg.pin, i); + pinMode(cfg.pin, OUTPUT); + digitalWrite(cfg.pin, LOW); // Safe default state + break; + + case OutputMode::PWM: + resetOutput(cfg.pin, i); + // 12-bit gives us 4096 steps of brightness for ultra-smooth fading + // Core 2.x requires a channel (0-15). We use 'i' as the channel. + // 1000 Hz is perfect for LEDs (no visible flicker, no camera banding) + ledcSetup(i, 1000, 12); + + // Route the hardware channel to the physical pin + ledcAttachPin(cfg.pin, i); + + // Turn it off by writing to the CHANNEL, not the pin + ledcWrite(i, 0); + break; + case OutputMode::SERVO: + resetOutput(cfg.pin, i); + // param2 = min pulse (e.g., 1000us) + // param3 = max pulse (e.g., 2000us) + servos[i].setPeriodHertz(50); // Standard RC servo frequency + uint8_t GPIOpin = digitalPinToGPIONumber(cfg.pin); + + // Attach the pin and apply the custom pulse width limits from the config + servos[i].attach(GPIOpin, cfg.param2, cfg.param3); + + // Optionally move to a safe center position immediately: + // servos[i].writeMicroseconds(1500); + break; + } + } +} + +void LocalOutputController::update(uint32_t inputState, uint32_t effectState, uint8_t beacon1Pos, uint8_t beacon2Pos, uint16_t* servoStateArray) { + for (int i = 0; i < NUM_LOCAL_OUTPUTS; i++) { + LocalOutputConfig& cfg = activeMainConfig.localOutputs[i]; + + if (cfg.mode == OutputMode::NONE) continue; + + if (cfg.mode == OutputMode::PWM) { + // 1. Brain: What is the base target brightness? + uint16_t target = calculateTargetPwm(cfg, inputState, effectState, beacon1Pos, beacon2Pos); + + // 1.5. Modifier: Apply Starter Dimming if active and configured for this pin + if ((inputState & BIT_STARTER_DIM) && (cfg.triggerMask & BIT_STARTER_DIM)) { + // Reduce target brightness by the dim factor (assuming factor is 0-100%) + // Cast to uint32_t prevents overflow during multiplication before division + target = (uint16_t)(((uint32_t)target * activeEffectsConfig.starterDimFactor) / 100); + } + + // 2. Muscle: Fade towards that target + processFading(i, cfg, target); + } + else if (cfg.mode == OutputMode::SERVO) { + if (cfg.param1 < 12) { + uint16_t normalizedValue = servoStateArray[cfg.param1]; + int32_t pulseWidth = map(normalizedValue, 0, 2000, cfg.param2, cfg.param3); + pulseWidth = constrain(pulseWidth, cfg.param2, cfg.param3); + servos[i].writeMicroseconds(pulseWidth); + } + } + else if (cfg.mode == OutputMode::DIGITAL) { + // Digital ignores fading, just snaps based on the target > 0 + uint16_t target = calculateTargetPwm(cfg, inputState, effectState, beacon1Pos, beacon2Pos); + digitalWrite(cfg.pin, target > 0 ? HIGH : LOW); + } + } +} + +uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, uint32_t inputState, uint32_t effectState, uint8_t beacon1Pos, uint8_t beacon2Pos) { + // Create a clean evaluation state that ignores the starter dim bit completely. + // This prevents the bit from accidentally triggering the fallback or early exit logic. + uint32_t evalState = inputState & ~BIT_STARTER_DIM; + + if (cfg.triggerMask & BIT_STATIC_OFF) return 0; + if (cfg.triggerMask & BIT_STATIC_ON) return cfg.param1; + + // --- COMBO: US-Style Tail Light LEFT --- + if (cfg.triggerMask == COMB_US_TAIL_L) { + // 1. Regular turn signal has highest priority (overrides brake on this side) + if (evalState & BIT_TURN_SIGNAL_L) { + return (effectState & BIT_GLOBAL_TURN_L) ? cfg.param2 : 0; + } + + // 2. Brake has second highest priority (overrides hazard) + if (evalState & BIT_BRAKE_LIGHT) { + return cfg.param2; + } + + // 3. Hazard lights (Priority 3: Only active if NOT braking) + if (evalState & BIT_HAZARD_LIGHT) { + return ((effectState & BIT_GLOBAL_TURN_L) && (effectState & BIT_GLOBAL_TURN_R)) ? cfg.param2 : 0; + } + + // 4. Parking / Low beam (Lowest priority) + if (evalState & BIT_PARKING_LIGHT) return cfg.param1; + if (evalState & BIT_LOW_BEAM) return cfg.param1; + + return 0; // Off + } + + // --- COMBO: US-Style Tail Light RIGHT --- + if (cfg.triggerMask == COMB_US_TAIL_R) { + // Same logic, just for the right side + if (evalState & BIT_TURN_SIGNAL_R) { + return (effectState & BIT_GLOBAL_TURN_R) ? cfg.param2 : 0; + } + if (evalState & BIT_BRAKE_LIGHT) return cfg.param2; + if (evalState & BIT_HAZARD_LIGHT) return ((effectState & BIT_GLOBAL_TURN_L) && (effectState & BIT_GLOBAL_TURN_R)) ? cfg.param2 : 0; + if (evalState & BIT_PARKING_LIGHT) return cfg.param1; + if (evalState & BIT_LOW_BEAM) return cfg.param1; + + return 0; + } + + // --- EFFECTS: Hazard Lights --- + if (cfg.triggerMask & BIT_HAZARD_LIGHT) { + if ((evalState & BIT_HAZARD_LIGHT) || ((effectState & BIT_GLOBAL_TURN_L) && (effectState & BIT_GLOBAL_TURN_R))) { + if((effectState & BIT_GLOBAL_TURN_L) && (effectState & BIT_GLOBAL_TURN_R)) { + return cfg.param1; + } else { + return 0; + } + } + } + + // --- EFFECTS: Turn Signal Left --- + if (cfg.triggerMask & BIT_TURN_SIGNAL_L) { + if ((evalState & BIT_TURN_SIGNAL_L) || (effectState & BIT_GLOBAL_TURN_L)) { + if(effectState & BIT_GLOBAL_TURN_L) { + return cfg.param1; + } else { + return 0; + } + } + } + + // --- EFFECTS: Turn Signal Right --- + if (cfg.triggerMask & BIT_TURN_SIGNAL_R) { + if ((evalState & BIT_TURN_SIGNAL_R) || (effectState & BIT_GLOBAL_TURN_R)) { + if(effectState & BIT_GLOBAL_TURN_R) { + return cfg.param1; + } else { + return 0; + } + } + } + + // ==================================================================== + // EARLY EXIT: If the state doesn't match the trigger mask AT ALL, target is 0 + if ((evalState & cfg.triggerMask) == 0) { + return 0; + } + // ==================================================================== + + // --- COMBO 1: Park & Brake Light --- + if (cfg.triggerMask == COMB_PARK_AND_BRAKE) { + if (evalState & BIT_BRAKE_LIGHT) return cfg.param2; + if (evalState & BIT_PARKING_LIGHT) return cfg.param1; + } + + // --- COMBO 2: Headlights (Parking / Low / High) --- + if (cfg.triggerMask == COMB_PARK_AND_FULL_BEAM) { + if (evalState & BIT_HIGH_BEAM) return cfg.param3; + if (evalState & BIT_LOW_BEAM) return cfg.param2; + if (evalState & BIT_PARKING_LIGHT) return cfg.param1; + } + + // --- COMBO 3: Headlights (Parking / Low) --- + if (cfg.triggerMask == COMB_PARK_AND_LOW_BEAM) { + if (evalState & BIT_LOW_BEAM) return cfg.param2; + if (evalState & BIT_PARKING_LIGHT) return cfg.param1; + } + + // --- COMBO 4: Headlights (Low / High) --- + if (cfg.triggerMask == COMB_LOW_AND_HIGH_BEAM) { + if (evalState & BIT_HIGH_BEAM) return cfg.param2; + if (evalState & BIT_LOW_BEAM) return cfg.param1; + } + + // --- EFFECTS: Strobe Light --- + if (cfg.triggerMask & BIT_STROBE_LIGHT) { + if (evalState & BIT_STROBE_LIGHT) { + if (effectState & BIT_GLOBAL_STROBE) { + return cfg.param1; + } else { + return 0; + } + } + } + + // --- EFFECTS: Beacon Light --- + if ((cfg.triggerMask & BIT_BEACON_LIGHT) && (evalState & BIT_BEACON_LIGHT)) { + if (cfg.param2 == 0 && cfg.param1 == beacon1Pos) { + return cfg.param3; + } else if (cfg.param2 == 1 && cfg.param1 == beacon2Pos) { + return cfg.param3; + } else { + return 0; + } + } + + // --- FALLBACK: Standard Output --- + return cfg.param1; +} + +void LocalOutputController::processFading(int index, const LocalOutputConfig& cfg, uint16_t targetPwm) { + uint32_t currentMillis = millis(); + + // If we are already at the target, do nothing + if (currentPwmValues[index] == targetPwm) { + lastFadeMillis[index] = currentMillis; + return; + } + + // If fadeTime is 0, snap instantly (good for strobes) + if (cfg.fadeTime == 0) { + currentPwmValues[index] = targetPwm; + ledcWrite(index, currentPwmValues[index]); // Using Core 2.x syntax (channel = index) + return; + } + + // Calculate how much time has passed since the last frame + uint32_t elapsed = currentMillis - lastFadeMillis[index]; + if (elapsed == 0) return; // Too fast, wait for next millisecond + + // Calculate step size. + // We want to cover 4095 steps (max 12-bit PWM) in 'fadeTime' milliseconds. + // step = (elapsedTime * MaxResolution) / TotalFadeTime + uint32_t step = (elapsed * 4095) / cfg.fadeTime; + if (step == 0) step = 1; // Ensure it always moves by at least 1 unit + + // Move current value towards target + if (currentPwmValues[index] < targetPwm) { + currentPwmValues[index] += step; + if (currentPwmValues[index] > targetPwm) currentPwmValues[index] = targetPwm; // Cap it + } else { + // Prevent underflow when subtracting + if (currentPwmValues[index] > step) { + currentPwmValues[index] -= step; + } else { + currentPwmValues[index] = 0; + } + if (currentPwmValues[index] < targetPwm) currentPwmValues[index] = targetPwm; // Cap it + } + + // Apply the new physical brightness + ledcWrite(index, currentPwmValues[index]); + lastFadeMillis[index] = currentMillis; +} \ No newline at end of file diff --git a/src/output/local-outputs.h b/src/output/local-outputs.h new file mode 100644 index 0000000..fdfbd60 --- /dev/null +++ b/src/output/local-outputs.h @@ -0,0 +1,28 @@ +#pragma once +#include +#include +#include "../config/main-config.h" +#include "../config/light-mode.h" +#include "../config/global-effects-config.h" + +class LocalOutputController { +private: + Servo servos[NUM_LOCAL_OUTPUTS]; + + // --- Fading Engine State --- + uint16_t currentPwmValues[NUM_LOCAL_OUTPUTS]; + uint32_t lastFadeMillis[NUM_LOCAL_OUTPUTS]; + + void resetOutput(uint8_t pin, uint8_t channel); + + // Helper: Calculates the exact target brightness based on priorities + uint16_t calculateTargetPwm(const LocalOutputConfig& cfg, uint32_t inputState, uint32_t effectState, uint8_t beacon1Pos, uint8_t beacon2Pos); + + // Helper: Moves the current value towards the target over time + void processFading(int index, const LocalOutputConfig& cfg, uint16_t targetPwm); + +public: + LocalOutputController(); + void begin(); + void update(uint32_t inputState, uint32_t effectState, uint8_t beacon1Pos, uint8_t beacon2Pos, uint16_t* servoStateArray); +}; \ No newline at end of file diff --git a/tools.cpp b/src/state-machine/blink.cpp similarity index 63% rename from tools.cpp rename to src/state-machine/blink.cpp index 1db9122..1fcda77 100644 --- a/tools.cpp +++ b/src/state-machine/blink.cpp @@ -13,34 +13,7 @@ * If not, see . ************************************/ -#include "tools.h" - -bool EdgeEvaluation::readEdge(bool input){ - if((input) && (!lastEdge)){ - lastEdge = true; - return true; - } else if((!input) && (lastEdge)){ - lastEdge = false; - return false; - } - return false; -} - -void Filter::init(int16_t initialValue) { - lastValue = initialValue; - doneFilter = false; -} - -int16_t Filter::filterValue(int16_t input, int16_t filterFactor, uint16_t filterTime){ - if((millis()%filterTime >= filterTime/2) && (doneFilter == false)) { - lastValue = (input - lastValue) / filterFactor + lastValue; - doneFilter = true; - } else if((millis()%filterTime < filterTime/2) && (doneFilter == true)) { - doneFilter = false; - } - - return lastValue; -} +#include "blink.h" uint8_t Blink::blink(uint16_t blinkTimeMillis) { if((blinkOnTime == 0) || (blinkOnTime > millis())){ //Reset blinkOnTime on startup and on overflow. diff --git a/tools.h b/src/state-machine/blink.h similarity index 73% rename from tools.h rename to src/state-machine/blink.h index 5e89e94..47c02d4 100644 --- a/tools.h +++ b/src/state-machine/blink.h @@ -13,27 +13,9 @@ * If not, see . ************************************/ -#ifndef _TOOLS_H_ -#define _TOOLS_H_ -//Definition +#pragma once #include "Arduino.h" - -//Classes -class EdgeEvaluation { - bool lastEdge; - public: - bool readEdge(bool input); -}; - -class Filter { - int16_t lastValue; - bool doneFilter; - public: - void init(int16_t initialValue); - int16_t filterValue(int16_t input, int16_t filterFactor = 20, uint16_t filterTime = 100); -}; - class Blink { private: uint32_t blinkOnTime = 0; @@ -41,5 +23,3 @@ class Blink { uint8_t blink(uint16_t blinkTimeMillis); void resetBlink(); // Reset Blink after usage for next usage }; - -#endif \ No newline at end of file diff --git a/src/state-machine/edge-eval.cpp b/src/state-machine/edge-eval.cpp new file mode 100644 index 0000000..34832b0 --- /dev/null +++ b/src/state-machine/edge-eval.cpp @@ -0,0 +1,27 @@ +/************************************ + * Copyright (C) 2020-2025 Marina Egner + * + * This program is free software: you can redistribute it and/or modify it + * under the terms of the GNU General Public License as published by the + * Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; + * without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License along with this program. + * If not, see . + ************************************/ + +#include "edge-eval.h" + +bool EdgeEvaluation::readEdge(bool input){ + if((input) && (!lastEdge)){ + lastEdge = true; + return true; + } else if((!input) && (lastEdge)){ + lastEdge = false; + return false; + } + return false; +} diff --git a/ppmToSwitches.h b/src/state-machine/edge-eval.h similarity index 56% rename from ppmToSwitches.h rename to src/state-machine/edge-eval.h index 918d455..92152e0 100644 --- a/ppmToSwitches.h +++ b/src/state-machine/edge-eval.h @@ -12,20 +12,14 @@ * You should have received a copy of the GNU General Public License along with this program. * If not, see . ************************************/ - -#ifndef _PPM_TO_SWITCHES_h_ -#define _PPM_TO_SWITCHES_h_ -//Definition -#include "Arduino.h" -#define DIRECTION_UP 1 -#define DIRECTION_MID 2 -#define DIRECTION_DOWN 3 -#define PPM_INVERT 1 +#pragma once +#include "Arduino.h" -//Functions -uint8_t ppmToSwitchStages(uint16_t signal, bool invertDirection = 0); // Function to evaluate the ppm signal of a switch -uint8_t ppm2ToSwitch3Stages(uint16_t signal1, uint16_t signal2); // Function to evaluate the ppm signal of a 3 stages switch with two signals -uint32_t ppmServoToRange(uint32_t signal, uint32_t inMin = 1020, uint32_t inMax = 2020, uint32_t outMin = 0, uint32_t outMax = 1023); // Function to evaluate the ppm signal from a servo -#endif \ No newline at end of file +//Classes +class EdgeEvaluation { + bool lastEdge; + public: + bool readEdge(bool input); +}; diff --git a/src/state-machine/global-effects.cpp b/src/state-machine/global-effects.cpp new file mode 100644 index 0000000..83b6454 --- /dev/null +++ b/src/state-machine/global-effects.cpp @@ -0,0 +1,124 @@ +#include "global-effects.h" + +GlobalEffects::GlobalEffects() + : leftTurnSignal(false), rightTurnSignal(false), blink(), + strobeSignal(false), strobeStartMillis(0), + beacon1position(0), beacon1previousMillis(0), + beacon2position(0), beacon2previousMillis(0) {} + +void GlobalEffects::updateTurnIndicators(uint32_t globalInputState) { + if(globalInputState & BIT_HAZARD_LIGHT) { + bool blinkerState = blink.blink(activeEffectsConfig.turnSignalFreq); + leftTurnSignal = blinkerState; + rightTurnSignal = blinkerState; + } else if(globalInputState & BIT_TURN_SIGNAL_L) { + leftTurnSignal = blink.blink(activeEffectsConfig.turnSignalFreq); + rightTurnSignal = false; + } else if(globalInputState & BIT_TURN_SIGNAL_R) { + leftTurnSignal = false; + rightTurnSignal = blink.blink(activeEffectsConfig.turnSignalFreq); + } else if((leftTurnSignal || rightTurnSignal) && !blink.blink(activeEffectsConfig.turnSignalFreq)) { + // Only turn lights off when they have made a full on cycle + leftTurnSignal = false; + rightTurnSignal = false; + } else if (!leftTurnSignal && !rightTurnSignal) { + blink.resetBlink(); + } +} + +void GlobalEffects::updateStrobe(uint32_t globalInputState) { + if(globalInputState & BIT_STROBE_LIGHT) { + uint32_t currentMillis = millis(); + if(strobeStartMillis == 0) { + strobeStartMillis = currentMillis; + } + + uint32_t diff = currentMillis - strobeStartMillis; + + if(diff < activeEffectsConfig.strobeFlashDuration) { + strobeSignal = true; + } else if(diff < ( + activeEffectsConfig.strobeFlashDuration + + activeEffectsConfig.strobeShortPause + )) { + strobeSignal = false; + } else if(diff < ( + activeEffectsConfig.strobeFlashDuration + + activeEffectsConfig.strobeShortPause + + activeEffectsConfig.strobeFlashDuration + )) { + strobeSignal = true; + } else if(diff < ( + activeEffectsConfig.strobeFlashDuration + + activeEffectsConfig.strobeShortPause + + activeEffectsConfig.strobeFlashDuration + + activeEffectsConfig.strobeLongPause + )) { + strobeSignal = false; + } else { + strobeStartMillis = currentMillis; + } + + } else { + strobeSignal = false; + strobeStartMillis = 0; + } +}; + +void GlobalEffects::updateSingleBeacon(uint16_t beaconSpeed, uint8_t beaconMaxLeds, uint32_t* beaconPreviousMillis, uint8_t* beaconPosition) { + uint32_t currentMillis = millis(); + uint32_t intervalPerLed = (uint32_t)beaconSpeed / (uint32_t)beaconMaxLeds; + + if(currentMillis - *beaconPreviousMillis >= intervalPerLed) { + *beaconPreviousMillis = currentMillis; + + *beaconPosition += 1; + if(*beaconPosition >= beaconMaxLeds) { + *beaconPosition = 0; + } + } +}; +void GlobalEffects::updateBeacon(uint32_t globalInputState) { + if(globalInputState & BIT_BEACON_LIGHT) { + updateSingleBeacon(activeEffectsConfig.beacon1Speed, activeEffectsConfig.beacon1MaxLeds, &beacon1previousMillis, &beacon1position); + } + + if(globalInputState & BIT_BEACON_LIGHT) { + updateSingleBeacon(activeEffectsConfig.beacon2Speed, activeEffectsConfig.beacon2MaxLeds, &beacon2previousMillis, &beacon2position); + } +}; + +void GlobalEffects::update(uint32_t globalInputState) { + updateTurnIndicators(globalInputState); + updateStrobe(globalInputState); + updateBeacon(globalInputState); +}; + +uint16_t GlobalEffects::getActiveEffectMask() { + uint16_t state = 0; + + if(leftTurnSignal) { + state |= BIT_GLOBAL_TURN_L; + } + + if(rightTurnSignal) { + state |= BIT_GLOBAL_TURN_R; + } + + if(strobeSignal) { + state |= BIT_GLOBAL_STROBE; + } + + return state; +}; + +uint8_t GlobalEffects::getBeaconPosition(uint8_t position) { + switch (position) { + case 1: + return beacon1position; + case 2: + return beacon2position; + default: + return 0; + } +} diff --git a/src/state-machine/global-effects.h b/src/state-machine/global-effects.h new file mode 100644 index 0000000..eb6cfed --- /dev/null +++ b/src/state-machine/global-effects.h @@ -0,0 +1,31 @@ +#pragma once +#include +#include "blink.h" +#include "../config/light-mode.h" +#include "../config/global-effects-config.h" + +class GlobalEffects { + private: + Blink blink; + bool leftTurnSignal; + bool rightTurnSignal; + + bool strobeSignal; + uint32_t strobeStartMillis; + + uint8_t beacon1position; + uint32_t beacon1previousMillis; + uint8_t beacon2position; + uint32_t beacon2previousMillis; + + void updateTurnIndicators(uint32_t globalInputState); + void updateStrobe(uint32_t globalInputState); + void updateSingleBeacon(uint16_t beaconSpeed, uint8_t beaconMaxLeds, uint32_t* beaconPreviousMillis, uint8_t* beaconPosition); + void updateBeacon(uint32_t globalInputState); + public: + GlobalEffects(); + + void update(uint32_t globalInputState); + uint16_t getActiveEffectMask(); + uint8_t getBeaconPosition(uint8_t position); +}; \ No newline at end of file diff --git a/starterBrightnessAdjustment.cpp b/starterBrightnessAdjustment.cpp deleted file mode 100644 index b002484..0000000 --- a/starterBrightnessAdjustment.cpp +++ /dev/null @@ -1,20 +0,0 @@ -#include "starterBrightnessAdjustment.h" - -void StarterAdjustedBrightness::setupAdjustmentParameters(uint8_t newDivisor, uint8_t newMultiplier) { - divisor = newDivisor; - multiplier = newMultiplier; -} - -void StarterAdjustedBrightness::setStarterState(bool active) { - isStarterActive = active; -} - -void StarterAdjustedBrightness::configureBrightnessLevels(LightType type, LightModes mode, uint8_t brightness) { - brightnessConfig[type][mode] = brightness; -} - -uint8_t StarterAdjustedBrightness::getBrightnessLevel(LightType type, LightModes mode) { - if(isStarterActive) return brightnessConfig[type][mode] / divisor * multiplier; - - return brightnessConfig[type][mode]; -} \ No newline at end of file diff --git a/starterBrightnessAdjustment.h b/starterBrightnessAdjustment.h deleted file mode 100644 index 4f4012a..0000000 --- a/starterBrightnessAdjustment.h +++ /dev/null @@ -1,62 +0,0 @@ -/************************************ - * Copyright (C) 2020-2025 Marina Egner - * - * This program is free software: you can redistribute it and/or modify it - * under the terms of the GNU General Public License as published by the - * Free Software Foundation, either version 3 of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; - * without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License along with this program. - * If not, see . - ************************************/ - -#ifndef _STARTER_BRIGHTNESS_ADJUSTMENT_H_ -#define _STARTER_BRIGHTNESS_ADJUSTMENT_H_ - -#include "Arduino.h" - -enum LightType { - PARKING, - BRAKE, - REAR_LEFT_TURN, - REAR_RIGHT_TURN, - FRONT_LEFT_TURN, - FRONT_RIGHT_TURN, - REVERSE, - FOG, - AUX, - LOW_BEAM, - HIGH_BEAM, - //---- - NUM_LIGHT_TYPES -}; - -enum LightModes { - PRIMARY, - SECONDARY, - TERTIARY, - NUM_LIGHT_MODES -}; - - - - - -//Classes -class StarterAdjustedBrightness { - private: - bool isStarterActive; - uint8_t divisor = 5; - uint8_t multiplier = 2; - uint8_t brightnessConfig[NUM_LIGHT_TYPES][NUM_LIGHT_MODES]; - public: - void setupAdjustmentParameters(uint8_t newDivisor, uint8_t newMultiplier); - void configureBrightnessLevels(LightType type, LightModes mode, uint8_t brightness); - void setStarterState(bool active); - uint8_t getBrightnessLevel(LightType type, LightModes mode = PRIMARY); -}; - -#endif \ No newline at end of file diff --git a/truck-multi-function-sbus.ino b/truck-multi-function-sbus.ino index cb400c0..8646176 100644 --- a/truck-multi-function-sbus.ino +++ b/truck-multi-function-sbus.ino @@ -24,11 +24,23 @@ #include "src/input/sbus-parser.h" #include "src/input/ppm-parser.h" #include "src/input/esc-parser.h" +#include "src/state-machine/global-effects.h" +#include "src/output/local-outputs.h" +#include "src/config-interface/json-interface.h" // Initialize the parser using hardware Serial1, RX on pin 16, TX disabled (-1) SbusParser sbusInput(&Serial1, D3, -1, false); PpmParser ppmInput(D4); -EscParser escInput; +EscParser escInput(A2, A4); +GlobalEffects globalEffects; +LocalOutputController localOutputController; +JsonInterface jsonUi; + +// In main.cpp +// Index 0-5: Local Master Board Servos +// Index 6-11: Remote RS485 Bus Servos +// Initialized to 1000 (which represents the 1500µs center position on our 0-2000 scale) +uint16_t globalServoState[12] = {1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000}; void setup() { Serial.begin(115200); @@ -42,18 +54,29 @@ void setup() { sbusInput.begin(); ppmInput.begin(); escInput.begin(); - - Serial.println("System Booted. Configurations loaded successfully."); + + localOutputController.begin(); } + void loop() { - bool systemConnected = (sbusInput.isSerialConnected() && ppmInput.isPulsePresent()); + jsonUi.update(localOutputController); + bool systemConnected = true; //(sbusInput.isSerialConnected() && ppmInput.isPulsePresent()); - sbusInput.update(systemConnected); - ppmInput.update(systemConnected); + sbusInput.update(systemConnected, globalServoState); + ppmInput.update(systemConnected, globalServoState); escInput.update(); uint32_t globalState = sbusInput.getActiveMask() | ppmInput.getActiveMask() | escInput.getActiveMask(); + + + globalEffects.update(globalState); + + uint16_t effectState = globalEffects.getActiveEffectMask(); + uint8_t beacon1pos = globalEffects.getBeaconPosition(1); + uint8_t beacon2pos = globalEffects.getBeaconPosition(2); + + localOutputController.update(globalState, effectState, beacon1pos, beacon2pos, globalServoState); } \ No newline at end of file diff --git a/vehicleConfig.h b/vehicleConfig.h deleted file mode 100644 index 7e3831a..0000000 --- a/vehicleConfig.h +++ /dev/null @@ -1,203 +0,0 @@ -/************************************ - * Copyright (C) 2020-2025 Marina Egner - * - * This program is free software: you can redistribute it and/or modify it - * under the terms of the GNU General Public License as published by the - * Free Software Foundation, either version 3 of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; - * without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License along with this program. - * If not, see . - ************************************/ - -#ifndef _VEHICLE_CONFIG_H_ -#define _VEHICLE_CONFIG_H_ - -#include "Arduino.h" - -enum CountryOption { - US, - EU -}; - -enum DebugLevel { - NONE, - STATUS_ONLY, - PPM_CHANNEL1, - PPM_CHANNEL2, - FUNCTION_STATE, - FUNCTION_OUT, - STARTER_DIMMING -}; - -enum ProtocolVersion { - V1 = 1, - V2 -}; - -enum OutputType : uint8_t { - TYPE_LIGHT = 0, - TYPE_SERVO = 1 -}; - -enum LightFunctions : uint32_t { - FUNC_NONE = 0, - FUNC_PARK = 1 << 0, - FUNC_DAYTIME = 1 << 1, - FUNC_LOW_BEAM = 1 << 2, - FUNC_HIGH_BEAM = 1 << 3, - FUNC_FOG = 1 << 4, - FUNC_LEFT_INDICATOR = 1 << 5, - FUNC_RIGHT_INDICATOR = 1 << 6, - FUNC_HAZARD = 1 << 7, - FUNC_REVERSE = 1 << 8, - FUNC_BRAKE = 1 << 9, - FUNC_BEACON = 1 << 10, - FUNC_AUX = 1 << 11, - FUNC_STARTER = 1 << 12, -}; - -struct LightTypeConfig { - LightFunctions lightFunctions; - // Brightness Level when light is OFF - uint8_t brightnessLevelOff; - // Brightness Level when light is in a function state with low brightness (like parking light) - uint8_t brightnessLevelLow; - // Brightness Level when light is in a function state with medium brightness (like low beam) - uint8_t brightnessLevelMedium; - // Brightness Level when light is in a function state with high brightness (like high beam, brake light, Turn signal) - uint8_t brightnessLevelHigh; -}; - -struct ServoTypeConfig { - // Minimum Pulse Width for Servo - uint16_t minPulseWidth; - // Maximum Pulse Width for Servo - uint16_t maxPulseWidth; - // Neutral Pulse Width for Servo - uint16_t neutralPulseWidth; - // Sweep Time for Servo - uint16_t sweepTime; -}; - -struct OutputConfig { - OutputType outputType; - uint8_t outputPin; - LightTypeConfig lightTypeConfig; - ServoTypeConfig servoTypeConfig; -}; - -struct GeneralConfig { - // Setup Region EU or US for Truck - Use `CountryOption` enum - CountryOption countryOption; - // Level for debugging - Use `DebugLevel` enum - DebugLevel debugLevel; - // Pin for status LED on the Arduino - uint8_t statusLightPin; -}; - -struct PPMConfig { - // First PPM Multiswitch Signal from Remote Control - uint8_t pinChannel1; - // Second PPM Multiswitch Signal from Remote Control - uint8_t pinChannel2; - // PPM Servo Signal from Sound Module - uint8_t pinSoundChannel; -}; - -struct GeneralLightConfig { - // Fade in time for all lights - uint16_t fadeOnTime; - // Fade out time for all lights - uint16_t fadeOffTime; - // Starter Brightness decrease factor - uint8_t starterDimmingFactor; - // Starter Brightness decrease multiplier - uint8_t starterDimmingMultiplier; -}; - -struct SerialConfig { - // Enable Serial Communication - bool isEnabled; - // Pin for TX Enable on MAX485 - uint8_t outTxEnablePin; - // Baud rate for Serial Communication (e.g. 19200) - uint32_t baudRate; - // e.g. SERIAL_8N1 | start bit, data bit, stop bit - uint8_t byteFormat; - // Time to wait for a response - long timeout; - // Time between polling requests - long pollingInterval; - // Protocol version - ProtocolVersion protocolVersion; -}; - -struct LightInputChannel { - // Pin for Reverse Signal from External Controller - uint8_t reverseSignal; - // Pin for Brake Signal from External Controller - uint8_t brakeSignal; -}; - -struct LightOutputChannel { - // Hardware Pin on the Arduino for the Light Output Channel - uint8_t outputPin; - // Brightness level for Primary Light Function - uint8_t primaryOnBrightness; - // Brightness level for Secondary Light Function - uint8_t secondaryOnBrightness; - // Brightness level for Tertiary Light Function - uint8_t tertiaryOnBrightness; - // Brightness level for Off Light Function - uint8_t offBrightness; - // Fade in time for all lights - uint16_t fadeOnTime; - // Fade out time for all lights - uint16_t fadeOffTime; -}; - -struct LowBeamConfig { - // Low Beam also functions as Parking Light (tertiary ) - bool isParkingLight; - // Low Beam also functions as High Beam (primary ) - bool isHighBeam; -}; - -struct HighBeamConfig { - // Frequency for High Beam Flashing functionality - uint16_t flashFrequency; -}; - -struct TurnSignalConfig { - // Frequency for Turn Signal - uint16_t flashFrequency; -}; - - -struct VehicleConfig { - GeneralConfig generalConfig; - PPMConfig ppmConfig; - GeneralLightConfig generalLightConfig; - SerialConfig serialConfig; - LightInputChannel lightInputChannel; - LightOutputChannel rearLeftTurnLight; - LightOutputChannel rearRightTurnLight; - LightOutputChannel frontLeftTurnLight; - LightOutputChannel frontRightTurnLight; - LightOutputChannel lowBeamLight; - LightOutputChannel highBeamLight; - LightOutputChannel parkingLight; - LightOutputChannel fogLight; - LightOutputChannel reverseLight; - LightOutputChannel brakeLight; - LightOutputChannel auxLight; - LowBeamConfig lowBeamConfig; - HighBeamConfig highBeamConfig; - TurnSignalConfig turnSignalConfig; -}; - -#endif \ No newline at end of file From b7ff3367adb7337049091474b737ea39c878dd69 Mon Sep 17 00:00:00 2001 From: magraina Date: Fri, 20 Mar 2026 01:18:27 +0100 Subject: [PATCH 05/33] chore: small adjustments --- src/config-interface/output.json | 14 +++++++------- src/config-interface/sbus.json | 10 ++++++++++ src/output/local-outputs.cpp | 6 ++---- 3 files changed, 19 insertions(+), 11 deletions(-) diff --git a/src/config-interface/output.json b/src/config-interface/output.json index 53bf228..bc7b6b0 100644 --- a/src/config-interface/output.json +++ b/src/config-interface/output.json @@ -13,12 +13,12 @@ { "pin": 7, "mode": 1, "mask": 4, "p1": 4095, "p2": 0, "p3": 0, "fade": 0 }, { "pin": 8, - "mode": 1, + "mode": 2, "mask": 16, "p1": 4095, "p2": 0, "p3": 0, - "fade": 0 + "fade": 200 }, { "pin": 9, "mode": 1, "mask": 8, "p1": 4095, "p2": 0, "p3": 0, "fade": 0 }, { @@ -77,16 +77,16 @@ }, { "pin": 18, - "mode": 0, + "mode": 3, "mask": 0, - "p1": 4095, - "p2": 0, - "p3": 0, + "p1": 1, + "p2": 1000, + "p3": 2000, "fade": 0 }, { "pin": 17, - "mode": 0, + "mode": 1, "mask": 0, "p1": 1, "p2": 1000, diff --git a/src/config-interface/sbus.json b/src/config-interface/sbus.json index 50f7abb..558d50c 100644 --- a/src/config-interface/sbus.json +++ b/src/config-interface/sbus.json @@ -9,6 +9,16 @@ "thL": 900, "thH": 1100, "srv": 255 + }, + { + "ch": 11, + "type": 2, + "maskL": 16, + "maskM": 1, + "maskH": 8, + "thL": 900, + "thH": 1100, + "srv": 1 } ] } diff --git a/src/output/local-outputs.cpp b/src/output/local-outputs.cpp index 34b6c02..6273ef2 100644 --- a/src/output/local-outputs.cpp +++ b/src/output/local-outputs.cpp @@ -18,19 +18,18 @@ void LocalOutputController::begin() { for (int i = 0; i < NUM_LOCAL_OUTPUTS; i++) { LocalOutputConfig& cfg = activeMainConfig.localOutputs[i]; + resetOutput(cfg.pin, i); + switch (cfg.mode) { case OutputMode::NONE: - resetOutput(cfg.pin, i); pinMode(cfg.pin, INPUT); break; case OutputMode::DIGITAL: - resetOutput(cfg.pin, i); pinMode(cfg.pin, OUTPUT); digitalWrite(cfg.pin, LOW); // Safe default state break; case OutputMode::PWM: - resetOutput(cfg.pin, i); // 12-bit gives us 4096 steps of brightness for ultra-smooth fading // Core 2.x requires a channel (0-15). We use 'i' as the channel. // 1000 Hz is perfect for LEDs (no visible flicker, no camera banding) @@ -43,7 +42,6 @@ void LocalOutputController::begin() { ledcWrite(i, 0); break; case OutputMode::SERVO: - resetOutput(cfg.pin, i); // param2 = min pulse (e.g., 1000us) // param3 = max pulse (e.g., 2000us) servos[i].setPeriodHertz(50); // Standard RC servo frequency From c037c072d3fd2601d92c868b895588f3e029ab70 Mon Sep 17 00:00:00 2001 From: magraina Date: Fri, 20 Mar 2026 01:24:24 +0100 Subject: [PATCH 06/33] refactor: changed deprecated methods --- src/config-interface/json-interface.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/config-interface/json-interface.cpp b/src/config-interface/json-interface.cpp index 91a3d3e..7806b97 100644 --- a/src/config-interface/json-interface.cpp +++ b/src/config-interface/json-interface.cpp @@ -4,7 +4,7 @@ void JsonInterface::update(LocalOutputController& outputController) { if (Serial.available() == 0) return; // 1024 bytes is enough for a chunky update block - StaticJsonDocument<1024> doc; + JsonDocument doc; DeserializationError error = deserializeJson(doc, Serial); if (error) { @@ -17,7 +17,7 @@ void JsonInterface::update(LocalOutputController& outputController) { bool configChanged = false; // --- 1. OUTPUTS --- - if (doc.containsKey("outputs")) { + if (doc["outputs"].is()) { JsonArray outputs = doc["outputs"].as(); for (JsonObject outConfig : outputs) { uint8_t targetPin = outConfig["pin"]; @@ -40,7 +40,7 @@ void JsonInterface::update(LocalOutputController& outputController) { } // --- 2. SBUS INPUTS --- - if (doc.containsKey("sbus")) { + if (doc["sbus"].is()) { JsonArray sbusInputs = doc["sbus"].as(); for (JsonObject inConfig : sbusInputs) { uint8_t ch = inConfig["ch"]; @@ -59,7 +59,7 @@ void JsonInterface::update(LocalOutputController& outputController) { } // --- 3. GLOBAL EFFECTS --- - if (doc.containsKey("effects")) { + if (doc["effects"].is()) { JsonObject effConfig = doc["effects"]; // Using | default_value to only update keys that are present in the JSON From ad9e87d4d4815b4005b9157451e816e6b5fa7ab6 Mon Sep 17 00:00:00 2001 From: magraina Date: Fri, 20 Mar 2026 01:44:37 +0100 Subject: [PATCH 07/33] feat: added save and restore functionality --- src/config-interface/json-interface.cpp | 23 ++++++++++++++++------- src/config-interface/json-interface.h | 3 ++- truck-multi-function-sbus.ino | 2 +- 3 files changed, 19 insertions(+), 9 deletions(-) diff --git a/src/config-interface/json-interface.cpp b/src/config-interface/json-interface.cpp index 7806b97..ac7bf8e 100644 --- a/src/config-interface/json-interface.cpp +++ b/src/config-interface/json-interface.cpp @@ -1,6 +1,6 @@ #include "json-interface.h" -void JsonInterface::update(LocalOutputController& outputController) { +void JsonInterface::update(LocalOutputController& outputController, MemoryManager& memoryManager) { if (Serial.available() == 0) return; // 1024 bytes is enough for a chunky update block @@ -14,8 +14,6 @@ void JsonInterface::update(LocalOutputController& outputController) { return; } - bool configChanged = false; - // --- 1. OUTPUTS --- if (doc["outputs"].is()) { JsonArray outputs = doc["outputs"].as(); @@ -36,7 +34,6 @@ void JsonInterface::update(LocalOutputController& outputController) { } Serial.println("Outputs updated!"); outputController.begin(); // Re-init hardware pins - configChanged = true; } // --- 2. SBUS INPUTS --- @@ -55,7 +52,6 @@ void JsonInterface::update(LocalOutputController& outputController) { } } Serial.println("SBUS Inputs updated!"); - configChanged = true; } // --- 3. GLOBAL EFFECTS --- @@ -70,9 +66,22 @@ void JsonInterface::update(LocalOutputController& outputController) { activeEffectsConfig.strobeLongPause = effConfig["strLong"] | activeEffectsConfig.strobeLongPause; Serial.println("Effects updated!"); - configChanged = true; } // Optional: Trigger a save to NVS here if configChanged is true - // if (configChanged) { saveConfigToNVS(); } + if (doc["save"].is()) { + JsonString save = doc["save"]; + if(save == "true") { + memoryManager.saveConfig(); + Serial.println("Config Saved!"); + } + } + + if (doc["factory"].is()) { + JsonString factory = doc["factory"]; + if(factory == "true") { + memoryManager.factoryReset(); + Serial.println("Factory Reset!"); + } + } } \ No newline at end of file diff --git a/src/config-interface/json-interface.h b/src/config-interface/json-interface.h index 91ed222..bce6017 100644 --- a/src/config-interface/json-interface.h +++ b/src/config-interface/json-interface.h @@ -4,9 +4,10 @@ #include "../config/main-config.h" #include "../config/global-effects-config.h" #include "../output/local-outputs.h" +#include "../memory/memory-manager.h" class JsonInterface { public: // Pass the output controller so we can re-initialize pins if the config changes - void update(LocalOutputController& outputController); + void update(LocalOutputController& outputController, MemoryManager& memoryManager); }; \ No newline at end of file diff --git a/truck-multi-function-sbus.ino b/truck-multi-function-sbus.ino index 8646176..1b2afcb 100644 --- a/truck-multi-function-sbus.ino +++ b/truck-multi-function-sbus.ino @@ -60,7 +60,7 @@ void setup() { void loop() { - jsonUi.update(localOutputController); + jsonUi.update(localOutputController, memoryManager); bool systemConnected = true; //(sbusInput.isSerialConnected() && ppmInput.isPulsePresent()); sbusInput.update(systemConnected, globalServoState); From da383b41f3eb583f088e48ca13d2e1515bf13e2b Mon Sep 17 00:00:00 2001 From: magraina Date: Fri, 20 Mar 2026 10:59:20 +0100 Subject: [PATCH 08/33] fix: sbus channel order from configuration --- src/config-interface/json-interface.cpp | 17 +++++++++-------- src/config-interface/sbus.json | 4 ++-- src/input/sbus-parser.cpp | 2 +- 3 files changed, 12 insertions(+), 11 deletions(-) diff --git a/src/config-interface/json-interface.cpp b/src/config-interface/json-interface.cpp index ac7bf8e..3b7d22d 100644 --- a/src/config-interface/json-interface.cpp +++ b/src/config-interface/json-interface.cpp @@ -41,14 +41,15 @@ void JsonInterface::update(LocalOutputController& outputController, MemoryManage JsonArray sbusInputs = doc["sbus"].as(); for (JsonObject inConfig : sbusInputs) { uint8_t ch = inConfig["ch"]; - if (ch < 16) { - activeMainConfig.sbusInputs[ch].type = static_cast(inConfig["type"].as()); - activeMainConfig.sbusInputs[ch].targetMaskLow = inConfig["maskL"].as(); - activeMainConfig.sbusInputs[ch].targetMaskMid = inConfig["maskM"].as(); - activeMainConfig.sbusInputs[ch].targetMaskHigh = inConfig["maskH"].as(); - activeMainConfig.sbusInputs[ch].thresholdLow = inConfig["thL"].as(); - activeMainConfig.sbusInputs[ch].thresholdHigh = inConfig["thH"].as(); - activeMainConfig.sbusInputs[ch].targetServoIndex = inConfig["srv"].as(); + uint8_t channel = ch - 1; + if (channel > 0 && channel < 16) { + activeMainConfig.sbusInputs[channel].type = static_cast(inConfig["type"].as()); + activeMainConfig.sbusInputs[channel].targetMaskLow = inConfig["maskL"].as(); + activeMainConfig.sbusInputs[channel].targetMaskMid = inConfig["maskM"].as(); + activeMainConfig.sbusInputs[channel].targetMaskHigh = inConfig["maskH"].as(); + activeMainConfig.sbusInputs[channel].thresholdLow = inConfig["thL"].as(); + activeMainConfig.sbusInputs[channel].thresholdHigh = inConfig["thH"].as(); + activeMainConfig.sbusInputs[channel].targetServoIndex = inConfig["srv"].as(); } } Serial.println("SBUS Inputs updated!"); diff --git a/src/config-interface/sbus.json b/src/config-interface/sbus.json index 558d50c..b2038a0 100644 --- a/src/config-interface/sbus.json +++ b/src/config-interface/sbus.json @@ -3,9 +3,9 @@ { "ch": 10, "type": 1, - "maskL": 16, + "maskL": 8, "maskM": 1, - "maskH": 8, + "maskH": 16, "thL": 900, "thH": 1100, "srv": 255 diff --git a/src/input/sbus-parser.cpp b/src/input/sbus-parser.cpp index 2017f46..bd0b148 100644 --- a/src/input/sbus-parser.cpp +++ b/src/input/sbus-parser.cpp @@ -84,6 +84,6 @@ uint16_t SbusParser::getChannelValue(uint8_t index) { case 13: return channelData.channel14; case 14: return channelData.channel15; case 15: return channelData.channel16; - default: return 1500; + default: return 1024; } } \ No newline at end of file From ab6f2012f7e7aee46750fd23cbb08a5994285f9b Mon Sep 17 00:00:00 2001 From: magraina Date: Mon, 23 Mar 2026 01:30:01 +0100 Subject: [PATCH 09/33] fix: fixed some bugs --- src/config-interface/effects.json | 9 -- src/config-interface/json-interface.cpp | 26 +++++- src/config-interface/output.json | 106 ------------------------ src/config-interface/sbus.json | 24 ------ src/input/ppm-parser.cpp | 2 +- src/output/local-outputs.cpp | 29 +++---- truck-multi-function-sbus.ino | 2 +- 7 files changed, 42 insertions(+), 156 deletions(-) delete mode 100644 src/config-interface/effects.json delete mode 100644 src/config-interface/output.json delete mode 100644 src/config-interface/sbus.json diff --git a/src/config-interface/effects.json b/src/config-interface/effects.json deleted file mode 100644 index e97dafc..0000000 --- a/src/config-interface/effects.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "effects": { - "turnFreq": 1000, - "stDim": 50, - "strFlash": 40, - "strShort": 80, - "strLong": 400 - } -} diff --git a/src/config-interface/json-interface.cpp b/src/config-interface/json-interface.cpp index 3b7d22d..3f52f7e 100644 --- a/src/config-interface/json-interface.cpp +++ b/src/config-interface/json-interface.cpp @@ -42,7 +42,7 @@ void JsonInterface::update(LocalOutputController& outputController, MemoryManage for (JsonObject inConfig : sbusInputs) { uint8_t ch = inConfig["ch"]; uint8_t channel = ch - 1; - if (channel > 0 && channel < 16) { + if (channel < 16) { activeMainConfig.sbusInputs[channel].type = static_cast(inConfig["type"].as()); activeMainConfig.sbusInputs[channel].targetMaskLow = inConfig["maskL"].as(); activeMainConfig.sbusInputs[channel].targetMaskMid = inConfig["maskM"].as(); @@ -55,6 +55,25 @@ void JsonInterface::update(LocalOutputController& outputController, MemoryManage Serial.println("SBUS Inputs updated!"); } + // --- 2.1. PPM INPUTS --- + if (doc["ppmIn"].is()) { + JsonArray ppmInputs = doc["ppmIn"].as(); + for (JsonObject inConfig : ppmInputs) { + uint8_t ch = inConfig["ch"]; + uint8_t channel = ch - 1; + if (channel < 8) { + activeMainConfig.ppmInputs[channel].type = static_cast(inConfig["type"].as()); + activeMainConfig.ppmInputs[channel].targetMaskLow = inConfig["maskL"].as(); + activeMainConfig.ppmInputs[channel].targetMaskMid = inConfig["maskM"].as(); + activeMainConfig.ppmInputs[channel].targetMaskHigh = inConfig["maskH"].as(); + activeMainConfig.ppmInputs[channel].thresholdLow = inConfig["thL"].as(); + activeMainConfig.ppmInputs[channel].thresholdHigh = inConfig["thH"].as(); + activeMainConfig.ppmInputs[channel].targetServoIndex = inConfig["srv"].as(); + } + } + Serial.println("PPM Inputs updated!"); + } + // --- 3. GLOBAL EFFECTS --- if (doc["effects"].is()) { JsonObject effConfig = doc["effects"]; @@ -65,6 +84,11 @@ void JsonInterface::update(LocalOutputController& outputController, MemoryManage activeEffectsConfig.strobeFlashDuration = effConfig["strFlash"] | activeEffectsConfig.strobeFlashDuration; activeEffectsConfig.strobeShortPause = effConfig["strShort"] | activeEffectsConfig.strobeShortPause; activeEffectsConfig.strobeLongPause = effConfig["strLong"] | activeEffectsConfig.strobeLongPause; + activeEffectsConfig.beacon1Speed = effConfig["bcn1Spd"] | activeEffectsConfig.beacon1Speed; + activeEffectsConfig.beacon2Speed = effConfig["bcn2Spd"] | activeEffectsConfig.beacon2Speed; + activeEffectsConfig.beacon1MaxLeds = effConfig["bcn1Max"] | activeEffectsConfig.beacon1MaxLeds; + activeEffectsConfig.beacon2MaxLeds = effConfig["bcn2Max"] | activeEffectsConfig.beacon2MaxLeds; + activeEffectsConfig.flashToPassFreq = effConfig["ftpFreq"] | activeEffectsConfig.flashToPassFreq; Serial.println("Effects updated!"); } diff --git a/src/config-interface/output.json b/src/config-interface/output.json deleted file mode 100644 index bc7b6b0..0000000 --- a/src/config-interface/output.json +++ /dev/null @@ -1,106 +0,0 @@ -{ - "outputs": [ - { - "pin": 5, - "mode": 1, - "mask": 1, - "p1": 4095, - "p2": 0, - "p3": 0, - "fade": 300 - }, - { "pin": 6, "mode": 1, "mask": 2, "p1": 4095, "p2": 0, "p3": 0, "fade": 0 }, - { "pin": 7, "mode": 1, "mask": 4, "p1": 4095, "p2": 0, "p3": 0, "fade": 0 }, - { - "pin": 8, - "mode": 2, - "mask": 16, - "p1": 4095, - "p2": 0, - "p3": 0, - "fade": 200 - }, - { "pin": 9, "mode": 1, "mask": 8, "p1": 4095, "p2": 0, "p3": 0, "fade": 0 }, - { - "pin": 11, - "mode": 1, - "mask": 1, - "p1": 4095, - "p2": 0, - "p3": 0, - "fade": 0 - }, - { - "pin": 12, - "mode": 1, - "mask": 0, - "p1": 4095, - "p2": 0, - "p3": 0, - "fade": 0 - }, - { - "pin": 24, - "mode": 1, - "mask": 0, - "p1": 4095, - "p2": 0, - "p3": 0, - "fade": 0 - }, - { - "pin": 23, - "mode": 1, - "mask": 0, - "p1": 4095, - "p2": 0, - "p3": 0, - "fade": 0 - }, - { - "pin": 22, - "mode": 1, - "mask": 0, - "p1": 4095, - "p2": 0, - "p3": 0, - "fade": 0 - }, - { - "pin": 20, - "mode": 0, - "mask": 0, - "p1": 4095, - "p2": 0, - "p3": 0, - "fade": 0 - }, - { - "pin": 18, - "mode": 3, - "mask": 0, - "p1": 1, - "p2": 1000, - "p3": 2000, - "fade": 0 - }, - { - "pin": 17, - "mode": 1, - "mask": 0, - "p1": 1, - "p2": 1000, - "p3": 2000, - "fade": 0 - }, - { - "pin": 10, - "mode": 1, - "mask": 32768, - "p1": 4095, - "p2": 0, - "p3": 0, - "fade": 0 - } - ] -} diff --git a/src/config-interface/sbus.json b/src/config-interface/sbus.json deleted file mode 100644 index b2038a0..0000000 --- a/src/config-interface/sbus.json +++ /dev/null @@ -1,24 +0,0 @@ -{ - "sbus": [ - { - "ch": 10, - "type": 1, - "maskL": 8, - "maskM": 1, - "maskH": 16, - "thL": 900, - "thH": 1100, - "srv": 255 - }, - { - "ch": 11, - "type": 2, - "maskL": 16, - "maskM": 1, - "maskH": 8, - "thL": 900, - "thH": 1100, - "srv": 1 - } - ] -} diff --git a/src/input/ppm-parser.cpp b/src/input/ppm-parser.cpp index 009a7c6..d763b3c 100644 --- a/src/input/ppm-parser.cpp +++ b/src/input/ppm-parser.cpp @@ -5,7 +5,7 @@ const uint16_t SYNC_PULSE_MAX = 980; // Standardmäßig starten wir mit einem sicheren Modus PpmParser::PpmParser(uint8_t pin) - : inputPin(pin), mode(PpmInputMode::SINGLE_PWM), lastRiseTime(0), currentChannelCount(0), activePpmMask(0) { + : inputPin(pin), mode(PpmInputMode::MULTIPLEXED_8CH), lastRiseTime(0), currentChannelCount(0), activePpmMask(0) { for(int i=0; i < NUM_PPM_CHANNELS; i++) rawValues[i] = 1500; } diff --git a/src/output/local-outputs.cpp b/src/output/local-outputs.cpp index 6273ef2..83216d3 100644 --- a/src/output/local-outputs.cpp +++ b/src/output/local-outputs.cpp @@ -97,12 +97,13 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, // Create a clean evaluation state that ignores the starter dim bit completely. // This prevents the bit from accidentally triggering the fallback or early exit logic. uint32_t evalState = inputState & ~BIT_STARTER_DIM; + uint32_t triggerMask = cfg.triggerMask & ~BIT_STARTER_DIM; // Also ignore the starter dim bit in the trigger mask for matching logic - if (cfg.triggerMask & BIT_STATIC_OFF) return 0; - if (cfg.triggerMask & BIT_STATIC_ON) return cfg.param1; + if (triggerMask & BIT_STATIC_OFF) return 0; + if (triggerMask & BIT_STATIC_ON) return cfg.param1; // --- COMBO: US-Style Tail Light LEFT --- - if (cfg.triggerMask == COMB_US_TAIL_L) { + if (triggerMask == COMB_US_TAIL_L) { // 1. Regular turn signal has highest priority (overrides brake on this side) if (evalState & BIT_TURN_SIGNAL_L) { return (effectState & BIT_GLOBAL_TURN_L) ? cfg.param2 : 0; @@ -126,7 +127,7 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, } // --- COMBO: US-Style Tail Light RIGHT --- - if (cfg.triggerMask == COMB_US_TAIL_R) { + if (triggerMask == COMB_US_TAIL_R) { // Same logic, just for the right side if (evalState & BIT_TURN_SIGNAL_R) { return (effectState & BIT_GLOBAL_TURN_R) ? cfg.param2 : 0; @@ -140,7 +141,7 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, } // --- EFFECTS: Hazard Lights --- - if (cfg.triggerMask & BIT_HAZARD_LIGHT) { + if (triggerMask & BIT_HAZARD_LIGHT) { if ((evalState & BIT_HAZARD_LIGHT) || ((effectState & BIT_GLOBAL_TURN_L) && (effectState & BIT_GLOBAL_TURN_R))) { if((effectState & BIT_GLOBAL_TURN_L) && (effectState & BIT_GLOBAL_TURN_R)) { return cfg.param1; @@ -151,7 +152,7 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, } // --- EFFECTS: Turn Signal Left --- - if (cfg.triggerMask & BIT_TURN_SIGNAL_L) { + if (triggerMask & BIT_TURN_SIGNAL_L) { if ((evalState & BIT_TURN_SIGNAL_L) || (effectState & BIT_GLOBAL_TURN_L)) { if(effectState & BIT_GLOBAL_TURN_L) { return cfg.param1; @@ -162,7 +163,7 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, } // --- EFFECTS: Turn Signal Right --- - if (cfg.triggerMask & BIT_TURN_SIGNAL_R) { + if (triggerMask & BIT_TURN_SIGNAL_R) { if ((evalState & BIT_TURN_SIGNAL_R) || (effectState & BIT_GLOBAL_TURN_R)) { if(effectState & BIT_GLOBAL_TURN_R) { return cfg.param1; @@ -174,38 +175,38 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, // ==================================================================== // EARLY EXIT: If the state doesn't match the trigger mask AT ALL, target is 0 - if ((evalState & cfg.triggerMask) == 0) { + if ((evalState & triggerMask) == 0) { return 0; } // ==================================================================== // --- COMBO 1: Park & Brake Light --- - if (cfg.triggerMask == COMB_PARK_AND_BRAKE) { + if (triggerMask == COMB_PARK_AND_BRAKE) { if (evalState & BIT_BRAKE_LIGHT) return cfg.param2; if (evalState & BIT_PARKING_LIGHT) return cfg.param1; } // --- COMBO 2: Headlights (Parking / Low / High) --- - if (cfg.triggerMask == COMB_PARK_AND_FULL_BEAM) { + if (triggerMask == COMB_PARK_AND_FULL_BEAM) { if (evalState & BIT_HIGH_BEAM) return cfg.param3; if (evalState & BIT_LOW_BEAM) return cfg.param2; if (evalState & BIT_PARKING_LIGHT) return cfg.param1; } // --- COMBO 3: Headlights (Parking / Low) --- - if (cfg.triggerMask == COMB_PARK_AND_LOW_BEAM) { + if (triggerMask == COMB_PARK_AND_LOW_BEAM) { if (evalState & BIT_LOW_BEAM) return cfg.param2; if (evalState & BIT_PARKING_LIGHT) return cfg.param1; } // --- COMBO 4: Headlights (Low / High) --- - if (cfg.triggerMask == COMB_LOW_AND_HIGH_BEAM) { + if (triggerMask == COMB_LOW_AND_HIGH_BEAM) { if (evalState & BIT_HIGH_BEAM) return cfg.param2; if (evalState & BIT_LOW_BEAM) return cfg.param1; } // --- EFFECTS: Strobe Light --- - if (cfg.triggerMask & BIT_STROBE_LIGHT) { + if (triggerMask & BIT_STROBE_LIGHT) { if (evalState & BIT_STROBE_LIGHT) { if (effectState & BIT_GLOBAL_STROBE) { return cfg.param1; @@ -216,7 +217,7 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, } // --- EFFECTS: Beacon Light --- - if ((cfg.triggerMask & BIT_BEACON_LIGHT) && (evalState & BIT_BEACON_LIGHT)) { + if ((triggerMask & BIT_BEACON_LIGHT) && (evalState & BIT_BEACON_LIGHT)) { if (cfg.param2 == 0 && cfg.param1 == beacon1Pos) { return cfg.param3; } else if (cfg.param2 == 1 && cfg.param1 == beacon2Pos) { diff --git a/truck-multi-function-sbus.ino b/truck-multi-function-sbus.ino index 1b2afcb..4effebc 100644 --- a/truck-multi-function-sbus.ino +++ b/truck-multi-function-sbus.ino @@ -61,7 +61,7 @@ void setup() { void loop() { jsonUi.update(localOutputController, memoryManager); - bool systemConnected = true; //(sbusInput.isSerialConnected() && ppmInput.isPulsePresent()); + bool systemConnected = (sbusInput.isSerialConnected() && !sbusInput.isFailsafeActive() && ppmInput.isPulsePresent()); sbusInput.update(systemConnected, globalServoState); ppmInput.update(systemConnected, globalServoState); From 2066ade8ae44810922dc95f1628951a74e29a436 Mon Sep 17 00:00:00 2001 From: magraina Date: Tue, 24 Mar 2026 12:23:21 +0100 Subject: [PATCH 10/33] feat: overall improvements, introduced software pwm and ledc channel strategy --- src/config-interface/json-interface.cpp | 4 +- src/config/input-config.h | 24 +++- src/config/light-mode.h | 6 +- src/input/ppm-parser.cpp | 11 +- src/input/sbus-parser.cpp | 11 +- src/memory/memory-manager.cpp | 2 +- src/output/local-outputs.cpp | 159 ++++++++++++++++++++---- src/output/local-outputs.h | 17 ++- 8 files changed, 187 insertions(+), 47 deletions(-) diff --git a/src/config-interface/json-interface.cpp b/src/config-interface/json-interface.cpp index 3f52f7e..249aca5 100644 --- a/src/config-interface/json-interface.cpp +++ b/src/config-interface/json-interface.cpp @@ -49,7 +49,7 @@ void JsonInterface::update(LocalOutputController& outputController, MemoryManage activeMainConfig.sbusInputs[channel].targetMaskHigh = inConfig["maskH"].as(); activeMainConfig.sbusInputs[channel].thresholdLow = inConfig["thL"].as(); activeMainConfig.sbusInputs[channel].thresholdHigh = inConfig["thH"].as(); - activeMainConfig.sbusInputs[channel].targetServoIndex = inConfig["srv"].as(); + activeMainConfig.sbusInputs[channel].targetServoIndex = inConfig["srv"].as(); } } Serial.println("SBUS Inputs updated!"); @@ -68,7 +68,7 @@ void JsonInterface::update(LocalOutputController& outputController, MemoryManage activeMainConfig.ppmInputs[channel].targetMaskHigh = inConfig["maskH"].as(); activeMainConfig.ppmInputs[channel].thresholdLow = inConfig["thL"].as(); activeMainConfig.ppmInputs[channel].thresholdHigh = inConfig["thH"].as(); - activeMainConfig.ppmInputs[channel].targetServoIndex = inConfig["srv"].as(); + activeMainConfig.ppmInputs[channel].targetServoIndex = inConfig["srv"].as(); } } Serial.println("PPM Inputs updated!"); diff --git a/src/config/input-config.h b/src/config/input-config.h index 280afb6..63ea08b 100644 --- a/src/config/input-config.h +++ b/src/config/input-config.h @@ -6,7 +6,25 @@ enum class InputType : uint8_t { NONE = 0, // Channel is disabled / ignored SWITCH_3POS = 1, // Evaluates Low, Mid, and High positions - PROPORTIONAL = 2 // Raw value passed through (e.g., for servos/ESC) +}; + +enum InputServoMapping : uint8_t { + NONE = 0, + // Local Master Board Servos + SRV_MASTER_1 = 1, + SRV_MASTER_2 = 2, + SRV_MASTER_3 = 3, + SRV_MASTER_4 = 4, + SRV_MASTER_5 = 5, + SRV_MASTER_6 = 6, + + // Remote RS485 Bus Servos + SRV_REMOTE_1 = 7, + SRV_REMOTE_2 = 8, + SRV_REMOTE_3 = 9, + SRV_REMOTE_4 = 10, + SRV_REMOTE_5 = 11, + SRV_REMOTE_6 = 12 }; struct InputConfig { @@ -27,6 +45,6 @@ struct InputConfig { uint16_t thresholdHigh; // --- Used for PROPORTIONAL --- - // Maps this input channel to an index in the global servo array (0 to 11) - uint8_t targetServoIndex; + // Maps this input channel to an index in the global servo array (0 to 12); while 0 means off + InputServoMapping targetServoIndex; }; \ No newline at end of file diff --git a/src/config/light-mode.h b/src/config/light-mode.h index a25dc01..a0fb27d 100644 --- a/src/config/light-mode.h +++ b/src/config/light-mode.h @@ -51,6 +51,8 @@ enum CombinedLightStates: uint32_t { COMB_PARK_AND_LOW_BEAM = (BIT_PARKING_LIGHT | BIT_LOW_BEAM), COMB_LOW_AND_HIGH_BEAM = (BIT_LOW_BEAM | BIT_HIGH_BEAM), COMB_PARK_AND_BRAKE = (BIT_PARKING_LIGHT | BIT_BRAKE_LIGHT), - COMB_US_TAIL_L = (BIT_PARKING_LIGHT | BIT_LOW_BEAM | BIT_BRAKE_LIGHT | BIT_HAZARD_LIGHT | BIT_TURN_SIGNAL_L), - COMB_US_TAIL_R = (BIT_PARKING_LIGHT | BIT_LOW_BEAM | BIT_BRAKE_LIGHT | BIT_HAZARD_LIGHT | BIT_TURN_SIGNAL_R), + COMB_US_TAIL_L = (BIT_PARKING_LIGHT | BIT_BRAKE_LIGHT | BIT_HAZARD_LIGHT | BIT_TURN_SIGNAL_L), + COMB_US_TAIL_R = (BIT_PARKING_LIGHT | BIT_BRAKE_LIGHT | BIT_HAZARD_LIGHT | BIT_TURN_SIGNAL_R), + COMB_PARK_TURN_L = (BIT_PARKING_LIGHT | BIT_HAZARD_LIGHT | BIT_TURN_SIGNAL_L), + COMB_PARK_TURN_R = (BIT_PARKING_LIGHT | BIT_HAZARD_LIGHT | BIT_TURN_SIGNAL_R), }; diff --git a/src/input/ppm-parser.cpp b/src/input/ppm-parser.cpp index d763b3c..2e77150 100644 --- a/src/input/ppm-parser.cpp +++ b/src/input/ppm-parser.cpp @@ -66,6 +66,10 @@ void PpmParser::update(bool isLinkActive, uint16_t* servoStateArray) { InputConfig& cfg = activeMainConfig.ppmInputs[i]; uint16_t val = getNormalizedValue(i); + if (cfg.targetServoIndex != InputServoMapping::NONE && cfg.targetServoIndex <= InputServoMapping::SRV_REMOTE_6) { + servoStateArray[cfg.targetServoIndex - 1] = val; + } + if (cfg.type == InputType::NONE) { continue; } @@ -79,17 +83,12 @@ void PpmParser::update(bool isLinkActive, uint16_t* servoStateArray) { newMask |= cfg.targetMaskHigh; } } - else if (cfg.type == InputType::PROPORTIONAL) { - if (cfg.targetServoIndex < 12) { - servoStateArray[cfg.targetServoIndex] = val; - } - } } activePpmMask = newMask; } bool PpmParser::isPulsePresent() { - return (millis() - lastValidPulseTime < 250); + return (millis() - lastValidPulseTime < activeMainConfig.failsafeTimeoutMs); } uint32_t PpmParser::getActiveMask() { return activePpmMask; } diff --git a/src/input/sbus-parser.cpp b/src/input/sbus-parser.cpp index bd0b148..b768763 100644 --- a/src/input/sbus-parser.cpp +++ b/src/input/sbus-parser.cpp @@ -22,12 +22,16 @@ void SbusParser::update(bool isLinkActive, uint16_t* servoStateArray) { for (uint8_t i = 0; i < NUM_SBUS_CHANNELS; i++) { InputConfig& cfg = activeMainConfig.sbusInputs[i]; + uint16_t val = getChannelValue(i); + + if (cfg.targetServoIndex != InputServoMapping::NONE && cfg.targetServoIndex <= InputServoMapping::SRV_REMOTE_6) { + servoStateArray[cfg.targetServoIndex - 1] = val; + } if (cfg.type == InputType::NONE) { continue; } - uint16_t val = getChannelValue(i); if (cfg.type == InputType::SWITCH_3POS) { if (val < cfg.thresholdLow) { @@ -40,11 +44,6 @@ void SbusParser::update(bool isLinkActive, uint16_t* servoStateArray) { newMask |= cfg.targetMaskHigh; } } - else if (cfg.type == InputType::PROPORTIONAL) { - if (cfg.targetServoIndex < 12) { - servoStateArray[cfg.targetServoIndex] = val; - } - } } activeSbusMask = newMask; diff --git a/src/memory/memory-manager.cpp b/src/memory/memory-manager.cpp index 51ece47..7f190e8 100644 --- a/src/memory/memory-manager.cpp +++ b/src/memory/memory-manager.cpp @@ -20,7 +20,7 @@ void MemoryManager::loadConfig() { // Initialize critical defaults here to prevent undefined behavior. activeMainConfig.nodeId = 0; // 0 = Master Controller activeMainConfig.ppmMode = PpmInputMode::MULTIPLEXED_8CH; - activeMainConfig.failsafeTimeoutMs = 500; + activeMainConfig.failsafeTimeoutMs = 2000; activeMainConfig.failsafeMask = BIT_HAZARD_LIGHT; // Or e.g., BIT_HAZARD_LIGHT } diff --git a/src/output/local-outputs.cpp b/src/output/local-outputs.cpp index 83216d3..71933c7 100644 --- a/src/output/local-outputs.cpp +++ b/src/output/local-outputs.cpp @@ -3,10 +3,20 @@ LocalOutputController::LocalOutputController() {} void LocalOutputController::resetOutput(uint8_t pin, uint8_t channel) { - ledcDetachPin(pin); + //uint8_t GPIOpin = digitalPinToGPIONumber(pin); + ledPWM[channel].detachPin(pin); servos[channel].detach(); }; +bool LocalOutputController::isSoftwarePWMOutput(uint8_t pin) { + for (int i = 0; i < NUM_LOCAL_OUTPUTS; i++) { + if (softwarePWMOutputs[i] == pin) { + return true; + } + } + return false; +} + void LocalOutputController::begin() { // Allocate all 4 hardware timers for the ESP32 PWM engine to use for servos. // This prevents jitter and conflicts with standard LED PWM. @@ -15,6 +25,45 @@ void LocalOutputController::begin() { ESP32PWM::allocateTimer(2); ESP32PWM::allocateTimer(3); + // Reset the list of outputs for re-evaluation + for (int i = 0; i < NUM_LOCAL_OUTPUTS; i++) { + softwarePWMOutputs[i] = 0; + } + + uint8_t numberOfServoOutputs = 0; + uint8_t numberOfHardwarePWMOutputs = 0; + + // Check how many Servos are in use + for (int i = 0; i < NUM_LOCAL_OUTPUTS; i++) { + LocalOutputConfig& cfg = activeMainConfig.localOutputs[i]; + if (cfg.mode == OutputMode::SERVO) { + numberOfServoOutputs++; + } + } + + // Reserve one extra channel as two channels share the same timer + if(numberOfServoOutputs % 2 != 0) { + numberOfServoOutputs++; + } + + // Define outputs that need to be Software PWM as Hardware PWM outputs are limited + for (int i = 0; i < NUM_LOCAL_OUTPUTS; i++) { + LocalOutputConfig& cfg = activeMainConfig.localOutputs[i]; + uint8_t currentUsedChannels = numberOfServoOutputs + numberOfHardwarePWMOutputs; + + if (cfg.mode == OutputMode::PWM && currentUsedChannels <= MAX_LEDC_CHANNELS) { + numberOfHardwarePWMOutputs++; + } else { + softwarePWMOutputs[i] = cfg.pin; + } + } + + for (int i = 0; i < NUM_LOCAL_OUTPUTS; i++) { + LocalOutputConfig& cfg = activeMainConfig.localOutputs[i]; + + resetOutput(cfg.pin, i); + } + for (int i = 0; i < NUM_LOCAL_OUTPUTS; i++) { LocalOutputConfig& cfg = activeMainConfig.localOutputs[i]; @@ -30,16 +79,18 @@ void LocalOutputController::begin() { break; case OutputMode::PWM: - // 12-bit gives us 4096 steps of brightness for ultra-smooth fading - // Core 2.x requires a channel (0-15). We use 'i' as the channel. - // 1000 Hz is perfect for LEDs (no visible flicker, no camera banding) - ledcSetup(i, 1000, 12); - - // Route the hardware channel to the physical pin - ledcAttachPin(cfg.pin, i); - - // Turn it off by writing to the CHANNEL, not the pin - ledcWrite(i, 0); + if(isSoftwarePWMOutput(cfg.pin)) { + pinMode(cfg.pin, OUTPUT); + digitalWrite(cfg.pin, LOW); // Safe default state + } else { + // 12-bit gives us 4096 steps of brightness for ultra-smooth fading + // Core 2.x requires a channel (0-15). We use 'i' as the channel. + // 1000 Hz is perfect for LEDs (no visible flicker, no camera banding) + int8_t GPIOpin = digitalPinToGPIONumber(cfg.pin); + ledPWM[i].attachPin(cfg.pin, 1000, 12); + // Turn it off by writing to the CHANNEL, not the pin + ledPWM[i].write(0); + } break; case OutputMode::SERVO: // param2 = min pulse (e.g., 1000us) @@ -75,12 +126,19 @@ void LocalOutputController::update(uint32_t inputState, uint32_t effectState, ui } // 2. Muscle: Fade towards that target - processFading(i, cfg, target); + uint16_t actualValue = processFading(i, cfg, target); + + if(isSoftwarePWMOutput(cfg.pin)) { + updatePWMMapping(i, actualValue); + writeSoftwarePWMOutput(i, cfg.pin); + } else { + writeHardwarePWMOutput(i, actualValue); + } } else if (cfg.mode == OutputMode::SERVO) { - if (cfg.param1 < 12) { - uint16_t normalizedValue = servoStateArray[cfg.param1]; - int32_t pulseWidth = map(normalizedValue, 0, 2000, cfg.param2, cfg.param3); + if (cfg.param1 != InputServoMapping::NONE && cfg.param1 <= InputServoMapping::SRV_REMOTE_6) { + uint16_t normalizedValue = servoStateArray[cfg.param1 - 1]; + uint16_t pulseWidth = map(normalizedValue, 0, 2000, cfg.param2, cfg.param3); pulseWidth = constrain(pulseWidth, cfg.param2, cfg.param3); servos[i].writeMicroseconds(pulseWidth); } @@ -119,9 +177,8 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, return ((effectState & BIT_GLOBAL_TURN_L) && (effectState & BIT_GLOBAL_TURN_R)) ? cfg.param2 : 0; } - // 4. Parking / Low beam (Lowest priority) + // 4. Parking (Lowest priority) if (evalState & BIT_PARKING_LIGHT) return cfg.param1; - if (evalState & BIT_LOW_BEAM) return cfg.param1; return 0; // Off } @@ -135,7 +192,37 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, if (evalState & BIT_BRAKE_LIGHT) return cfg.param2; if (evalState & BIT_HAZARD_LIGHT) return ((effectState & BIT_GLOBAL_TURN_L) && (effectState & BIT_GLOBAL_TURN_R)) ? cfg.param2 : 0; if (evalState & BIT_PARKING_LIGHT) return cfg.param1; - if (evalState & BIT_LOW_BEAM) return cfg.param1; + + return 0; + } + + // --- COMBO: US-Style Tail Light LEFT --- + if (triggerMask == COMB_PARK_TURN_L) { + // 1. Regular turn signal has highest priority (overrides brake on this side) + if (evalState & BIT_TURN_SIGNAL_L) { + return (effectState & BIT_GLOBAL_TURN_L) ? cfg.param2 : 0; + } + + + // 3. Hazard lights (Priority 2: Only active if NOT braking) + if (evalState & BIT_HAZARD_LIGHT) { + return ((effectState & BIT_GLOBAL_TURN_L) && (effectState & BIT_GLOBAL_TURN_R)) ? cfg.param2 : 0; + } + + // 4. Parking / Low beam (Lowest priority) + if (evalState & BIT_PARKING_LIGHT) return cfg.param1; + + return 0; // Off + } + + // --- COMBO: US-Style Tail Light RIGHT --- + if (triggerMask == COMB_PARK_TURN_R) { + // Same logic, just for the right side + if (evalState & BIT_TURN_SIGNAL_R) { + return (effectState & BIT_GLOBAL_TURN_R) ? cfg.param2 : 0; + } + if (evalState & BIT_HAZARD_LIGHT) return ((effectState & BIT_GLOBAL_TURN_L) && (effectState & BIT_GLOBAL_TURN_R)) ? cfg.param2 : 0; + if (evalState & BIT_PARKING_LIGHT) return cfg.param1; return 0; } @@ -199,7 +286,7 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, if (evalState & BIT_PARKING_LIGHT) return cfg.param1; } - // --- COMBO 4: Headlights (Low / High) --- + // --- COMBO 4: Headlights (Low / High) ---8_ if (triggerMask == COMB_LOW_AND_HIGH_BEAM) { if (evalState & BIT_HIGH_BEAM) return cfg.param2; if (evalState & BIT_LOW_BEAM) return cfg.param1; @@ -231,25 +318,25 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, return cfg.param1; } -void LocalOutputController::processFading(int index, const LocalOutputConfig& cfg, uint16_t targetPwm) { +uint16_t LocalOutputController::processFading(int index, const LocalOutputConfig& cfg, uint16_t targetPwm) { uint32_t currentMillis = millis(); // If we are already at the target, do nothing if (currentPwmValues[index] == targetPwm) { lastFadeMillis[index] = currentMillis; - return; + return currentPwmValues[index]; } // If fadeTime is 0, snap instantly (good for strobes) if (cfg.fadeTime == 0) { currentPwmValues[index] = targetPwm; - ledcWrite(index, currentPwmValues[index]); // Using Core 2.x syntax (channel = index) - return; + + return currentPwmValues[index]; } // Calculate how much time has passed since the last frame uint32_t elapsed = currentMillis - lastFadeMillis[index]; - if (elapsed == 0) return; // Too fast, wait for next millisecond + if (elapsed == 0) return currentPwmValues[index]; // Too fast, wait for next millisecond // Calculate step size. // We want to cover 4095 steps (max 12-bit PWM) in 'fadeTime' milliseconds. @@ -271,7 +358,27 @@ void LocalOutputController::processFading(int index, const LocalOutputConfig& cf if (currentPwmValues[index] < targetPwm) currentPwmValues[index] = targetPwm; // Cap it } - // Apply the new physical brightness - ledcWrite(index, currentPwmValues[index]); lastFadeMillis[index] = currentMillis; + + // Apply the new physical brightness + return currentPwmValues[index]; +} + +void LocalOutputController::writeHardwarePWMOutput(uint8_t pinIndex, uint16_t targetPwm) { + ledPWM[pinIndex].write(targetPwm); +} + +void LocalOutputController::updatePWMMapping(uint8_t pinIndex, uint16_t targetPwm) { + if(lastPwmValues[pinIndex] != targetPwm) { + lastPwmValues[pinIndex] = targetPwm; + mappedDuties[pinIndex] = map(targetPwm, 0, 4095, 0, SOFTWARE_PWM_PERIODE); + } +} + +void LocalOutputController::writeSoftwarePWMOutput(uint8_t pinIndex, uint8_t pin) { + if((micros() & SOFTWARE_PWM_MASK) < mappedDuties[pinIndex]) { + digitalWrite(pin, HIGH); + } else { + digitalWrite(pin, LOW); + } } \ No newline at end of file diff --git a/src/output/local-outputs.h b/src/output/local-outputs.h index fdfbd60..ddf6c5a 100644 --- a/src/output/local-outputs.h +++ b/src/output/local-outputs.h @@ -5,21 +5,36 @@ #include "../config/light-mode.h" #include "../config/global-effects-config.h" +#define MAX_LEDC_CHANNELS 8 +// ~244Hz +#define SOFTWARE_PWM_PERIODE 4096UL +// The bitmask is always the period minus 1 +#define SOFTWARE_PWM_MASK 4095UL + class LocalOutputController { private: Servo servos[NUM_LOCAL_OUTPUTS]; + ESP32PWM ledPWM[NUM_LOCAL_OUTPUTS]; // --- Fading Engine State --- uint16_t currentPwmValues[NUM_LOCAL_OUTPUTS]; uint32_t lastFadeMillis[NUM_LOCAL_OUTPUTS]; + uint8_t softwarePWMOutputs[NUM_LOCAL_OUTPUTS]; + uint16_t lastPwmValues[NUM_LOCAL_OUTPUTS]; + uint16_t mappedDuties[NUM_LOCAL_OUTPUTS]; void resetOutput(uint8_t pin, uint8_t channel); + bool isSoftwarePWMOutput(uint8_t pin); + // Helper: Calculates the exact target brightness based on priorities uint16_t calculateTargetPwm(const LocalOutputConfig& cfg, uint32_t inputState, uint32_t effectState, uint8_t beacon1Pos, uint8_t beacon2Pos); // Helper: Moves the current value towards the target over time - void processFading(int index, const LocalOutputConfig& cfg, uint16_t targetPwm); + uint16_t processFading(int index, const LocalOutputConfig& cfg, uint16_t targetPwm); + void writeHardwarePWMOutput(uint8_t pinIndex, uint16_t targetPwm); + void updatePWMMapping(uint8_t pinIndex, uint16_t targetPwm); + void writeSoftwarePWMOutput(uint8_t pinIndex, uint8_t pin); public: LocalOutputController(); From 59c6b54b43e836b63b2ab5219075aaf655c3ef22 Mon Sep 17 00:00:00 2001 From: magraina Date: Tue, 24 Mar 2026 12:32:40 +0100 Subject: [PATCH 11/33] refactor: removed unused value --- src/output/local-outputs.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/output/local-outputs.cpp b/src/output/local-outputs.cpp index 71933c7..f255c5a 100644 --- a/src/output/local-outputs.cpp +++ b/src/output/local-outputs.cpp @@ -3,7 +3,6 @@ LocalOutputController::LocalOutputController() {} void LocalOutputController::resetOutput(uint8_t pin, uint8_t channel) { - //uint8_t GPIOpin = digitalPinToGPIONumber(pin); ledPWM[channel].detachPin(pin); servos[channel].detach(); }; @@ -86,7 +85,6 @@ void LocalOutputController::begin() { // 12-bit gives us 4096 steps of brightness for ultra-smooth fading // Core 2.x requires a channel (0-15). We use 'i' as the channel. // 1000 Hz is perfect for LEDs (no visible flicker, no camera banding) - int8_t GPIOpin = digitalPinToGPIONumber(cfg.pin); ledPWM[i].attachPin(cfg.pin, 1000, 12); // Turn it off by writing to the CHANNEL, not the pin ledPWM[i].write(0); From 3ad42c67c4022b2536c393f613c07d695e99d379 Mon Sep 17 00:00:00 2001 From: magraina Date: Tue, 24 Mar 2026 20:31:30 +0100 Subject: [PATCH 12/33] feat: add cornering light and flash to pass --- src/config/global-effects-config.h | 6 +++ src/config/light-mode.h | 17 ++++--- src/input/ppm-parser.cpp | 66 +++++++++++++++---------- src/input/ppm-parser.h | 3 ++ src/memory/memory-manager.cpp | 1 + src/output/local-outputs.cpp | 34 +++++++++++++ src/state-machine/global-effects.cpp | 73 +++++++++++++++++++++++++++- src/state-machine/global-effects.h | 9 ++++ 8 files changed, 176 insertions(+), 33 deletions(-) diff --git a/src/config/global-effects-config.h b/src/config/global-effects-config.h index 47c304d..124673b 100644 --- a/src/config/global-effects-config.h +++ b/src/config/global-effects-config.h @@ -5,6 +5,9 @@ enum GlobalOutputEffects: uint16_t { BIT_GLOBAL_TURN_L = (1U << 0), BIT_GLOBAL_TURN_R = (1U << 1), BIT_GLOBAL_STROBE = (1U << 2), + BIT_GLOBAL_FLASH_TO_PASS = (1U << 3), + BIT_GLOBAL_CORNERING_L = (1U << 4), + BIT_GLOBAL_CORNERING_R = (1U << 5), }; struct GlobalEffectsConfig { @@ -30,6 +33,9 @@ struct GlobalEffectsConfig { // --- Specific settings --- uint8_t starterDimFactor; // Dimming percentage (e.g., 50%) during motor start + + // --- Cornering Lights --- + uint16_t corneringLightOffDelay; // Time to turn cornering light off }; extern GlobalEffectsConfig activeEffectsConfig; \ No newline at end of file diff --git a/src/config/light-mode.h b/src/config/light-mode.h index a0fb27d..1928801 100644 --- a/src/config/light-mode.h +++ b/src/config/light-mode.h @@ -33,17 +33,22 @@ enum LightBits : uint32_t { // --- Special Functions --- BIT_BEACON_LIGHT = (1UL << 8), // Value: 256 (Rotating beacon) - BIT_AUX_1 = (1UL << 9), // Value: 512 (e.g., Work light) - BIT_AUX_2 = (1UL << 10), // Value: 1024 (e.g., Fog light) - BIT_AUX_3 = (1UL << 11), // Value: 2048 (e.g., Additional light) + BIT_FOG_L = (1UL << 9), // Value: 512 (e.g., Fog light left) + BIT_FOG_R = (1UL << 10), // Value: 1024 (e.g., Fog light right) + BIT_FOG = (1UL << 11), // Value: 2048 (e.g., Fog light both sides) BIT_STARTER_DIM = (1UL << 12), // Value: 4096 (Starter dims lights) // --- System & Control Bits --- BIT_SHOWMODE = (1UL << 13), // Value: 8192 (Triggers show/sequence mode on slaves) - BIT_STATIC_ON = (1UL << 14), // Value: 16384 (Virtual bit for always-on/marker lights) + BIT_STATIC_ON = (1UL << 14), // Value: 16384 (Virtual bit for always-on/marker lights) BIT_STROBE_LIGHT = (1UL << 15), // Value: 32768 (Warning strobes) - BIT_FLASH_TO_PASS = (1UL << 16) // Value: 65536 (Lichthupe / Optical horn sequence) - // Available: Bits 17 to 31 (Over 2 billion possible combinations!) + BIT_FLASH_TO_PASS = (1UL << 16), // Value: 65536 (Lichthupe / Optical horn sequence) + BIT_STEERING_LEFT = (1UL << 17), // Value: 131072 (Steering Left Indicator) + BIT_STEERING_RIGHT = (1UL << 18), // Value: 262144 (Steering Right Indicator) + BIT_BI_XENON = (1UL << 19), // Value: 524288 (For special bi-xenon headlights with motorized shutter) + BIT_AUX1 = (1UL << 20), // Value: 1048576 (e.g., Working light) + BIT_AUX2 = (1UL << 21) // Value: 2097152 (Spare bit for future use) + // Available: Bits 22 to 31 (Over 2 billion possible combinations!) }; enum CombinedLightStates: uint32_t { diff --git a/src/input/ppm-parser.cpp b/src/input/ppm-parser.cpp index 2e77150..acfde5a 100644 --- a/src/input/ppm-parser.cpp +++ b/src/input/ppm-parser.cpp @@ -1,12 +1,12 @@ #include "ppm-parser.h" -const uint16_t SYNC_PULSE_MIN = 880; +const uint16_t SYNC_PULSE_MIN = 850; const uint16_t SYNC_PULSE_MAX = 980; // Standardmäßig starten wir mit einem sicheren Modus PpmParser::PpmParser(uint8_t pin) : inputPin(pin), mode(PpmInputMode::MULTIPLEXED_8CH), lastRiseTime(0), currentChannelCount(0), activePpmMask(0) { - for(int i=0; i < NUM_PPM_CHANNELS; i++) rawValues[i] = 1500; + for(int i=0; i < NUM_PPM_CHANNELS; i++) {rawValues[i] = 1500; smoothenValues[i]= 1500;} } void PpmParser::begin() { @@ -24,33 +24,30 @@ void IRAM_ATTR PpmParser::handleInterrupt(void* arg) { PpmParser* instance = (PpmParser*)arg; uint32_t now = micros(); - if (digitalRead(instance->inputPin) == LOW) { - uint32_t duration = now - instance->lastRiseTime; - - // Die ISR nutzt immer den aktuell gesetzten Modus der Instanz - if (instance->mode == PpmInputMode::SINGLE_PWM) { - if (duration >= 800 && duration <= 2200) { - instance->rawValues[0] = (uint16_t)duration; - instance->lastValidPulseTime = millis(); - } + uint32_t duration = now - instance->lastRiseTime; + + // Die ISR nutzt immer den aktuell gesetzten Modus der Instanz + if (instance->mode == PpmInputMode::SINGLE_PWM) { + if (duration >= 800 && duration <= 2200) { + instance->rawValues[0] = (uint16_t)duration; + instance->lastValidPulseTime = millis(); + } + } + else { + if (duration >= SYNC_PULSE_MIN && duration <= SYNC_PULSE_MAX) { + instance->currentChannelCount = 0; + instance->lastValidPulseTime = millis(); } - else { - if (duration >= SYNC_PULSE_MIN && duration <= SYNC_PULSE_MAX) { - instance->currentChannelCount = 0; + else if (duration >= 700 && duration <= 2200) { + if (instance->currentChannelCount < NUM_PPM_CHANNELS) { + uint8_t mirroredIndex = (NUM_PPM_CHANNELS - 1) - instance->currentChannelCount; + instance->rawValues[mirroredIndex] = (uint16_t)duration; + instance->currentChannelCount++; instance->lastValidPulseTime = millis(); - } - else if (duration >= 1000 && duration <= 2100) { - if (instance->currentChannelCount < NUM_PPM_CHANNELS) { - uint8_t mirroredIndex = (NUM_PPM_CHANNELS - 1) - instance->currentChannelCount; - instance->rawValues[mirroredIndex] = (uint16_t)duration; - instance->currentChannelCount++; - instance->lastValidPulseTime = millis(); - } } } - } else { - instance->lastRiseTime = now; } + instance->lastRiseTime = now; } void PpmParser::update(bool isLinkActive, uint16_t* servoStateArray) { @@ -64,9 +61,10 @@ void PpmParser::update(bool isLinkActive, uint16_t* servoStateArray) { for (uint8_t i = 0; i < channelsToProcess; i++) { InputConfig& cfg = activeMainConfig.ppmInputs[i]; - uint16_t val = getNormalizedValue(i); - + updateSmoothValue(i); + if (cfg.targetServoIndex != InputServoMapping::NONE && cfg.targetServoIndex <= InputServoMapping::SRV_REMOTE_6) { + uint16_t val = getNormalizedValue(i); servoStateArray[cfg.targetServoIndex - 1] = val; } @@ -75,6 +73,7 @@ void PpmParser::update(bool isLinkActive, uint16_t* servoStateArray) { } if (cfg.type == InputType::SWITCH_3POS) { + uint16_t val = getNormalizedSmoothValue(i); if (val < cfg.thresholdLow) { newMask |= cfg.targetMaskLow; } else if (val >= cfg.thresholdLow && val <= cfg.thresholdHigh) { @@ -101,4 +100,19 @@ uint16_t PpmParser::getNormalizedValue(uint8_t index) { // 1000us -> 0 | 1500us -> 1000 | 2000us -> 2000 int32_t normalized = map(raw, 1000, 2000, 0, 2000); return (uint16_t)constrain(normalized, 0, 2000); +} + +uint16_t PpmParser::getNormalizedSmoothValue(uint8_t index) { + uint16_t smoothValue = smoothenValues[index]; // Die us Werte (z.B. 930, 1500, 1977) + + // Mapping von Mikrosekunden auf unsere interne 0-2000 Skala + // 1000us -> 0 | 1500us -> 1000 | 2000us -> 2000 + int32_t normalized = map(smoothValue, 1000, 2000, 0, 2000); + return (uint16_t)constrain(normalized, 0, 2000); +} + +void PpmParser::updateSmoothValue(uint8_t index) { + if(smoothenValues[index] != rawValues[index]) { + smoothenValues[index] = (smoothenValues[index] * 3 + rawValues[index]) / 4; + } } \ No newline at end of file diff --git a/src/input/ppm-parser.h b/src/input/ppm-parser.h index 89f08ca..613a113 100644 --- a/src/input/ppm-parser.h +++ b/src/input/ppm-parser.h @@ -9,6 +9,7 @@ class PpmParser { volatile uint32_t lastRiseTime; volatile uint16_t rawValues[NUM_PPM_CHANNELS]; + volatile uint16_t smoothenValues[NUM_PPM_CHANNELS]; volatile uint8_t currentChannelCount; volatile uint32_t lastValidPulseTime; @@ -31,4 +32,6 @@ class PpmParser { bool isPulsePresent(); uint16_t getRawValue(uint8_t channel); uint16_t getNormalizedValue(uint8_t index); + uint16_t getNormalizedSmoothValue(uint8_t index); + void updateSmoothValue(uint8_t index); }; \ No newline at end of file diff --git a/src/memory/memory-manager.cpp b/src/memory/memory-manager.cpp index 7f190e8..f1dd428 100644 --- a/src/memory/memory-manager.cpp +++ b/src/memory/memory-manager.cpp @@ -40,6 +40,7 @@ void MemoryManager::loadConfig() { activeEffectsConfig.beacon2Speed = 2000; activeEffectsConfig.beacon2MaxLeds = 4; activeEffectsConfig.starterDimFactor = 50; + activeEffectsConfig.corneringLightOffDelay = 5000; } } diff --git a/src/output/local-outputs.cpp b/src/output/local-outputs.cpp index f255c5a..0fa5351 100644 --- a/src/output/local-outputs.cpp +++ b/src/output/local-outputs.cpp @@ -301,6 +301,40 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, } } + if (triggerMask & BIT_HIGH_BEAM) { + if (evalState & BIT_FLASH_TO_PASS) { + if (effectState & BIT_GLOBAL_FLASH_TO_PASS) { + return cfg.param1; + } else { + return 0; + } + } + } + + if (triggerMask & BIT_FOG_L) { + if (evalState & BIT_FOG) { + return cfg.param1; + } + + if (effectState & BIT_GLOBAL_CORNERING_L) { + return cfg.param1; + } else { + return 0; + } + } + + if (triggerMask & BIT_FOG_R) { + if (evalState & BIT_FOG) { + return cfg.param1; + } + + if (effectState & BIT_GLOBAL_CORNERING_R) { + return cfg.param1; + } else { + return 0; + } + } + // --- EFFECTS: Beacon Light --- if ((triggerMask & BIT_BEACON_LIGHT) && (evalState & BIT_BEACON_LIGHT)) { if (cfg.param2 == 0 && cfg.param1 == beacon1Pos) { diff --git a/src/state-machine/global-effects.cpp b/src/state-machine/global-effects.cpp index 83b6454..b9fc2fa 100644 --- a/src/state-machine/global-effects.cpp +++ b/src/state-machine/global-effects.cpp @@ -4,7 +4,10 @@ GlobalEffects::GlobalEffects() : leftTurnSignal(false), rightTurnSignal(false), blink(), strobeSignal(false), strobeStartMillis(0), beacon1position(0), beacon1previousMillis(0), - beacon2position(0), beacon2previousMillis(0) {} + beacon2position(0), beacon2previousMillis(0), + flashToPassSignal(false), + corneringLeftOffMillis(0), corneringRightOffMillis(0), + corneringLeftSignal(false), corneringRightSignal(false) {} void GlobalEffects::updateTurnIndicators(uint32_t globalInputState) { if(globalInputState & BIT_HAZARD_LIGHT) { @@ -88,10 +91,66 @@ void GlobalEffects::updateBeacon(uint32_t globalInputState) { } }; +void GlobalEffects::updateFlashToPass(uint32_t globalInputState) { + if(globalInputState & BIT_FLASH_TO_PASS) { + if (millis() % activeEffectsConfig.flashToPassFreq < activeEffectsConfig.flashToPassFreq / 2) { + flashToPassSignal = !flashToPassSignal; + } + } else { + flashToPassSignal = false; + } +} + +void GlobalEffects::updateCornering(uint32_t globalInputState) { + if(!(globalInputState & BIT_HAZARD_LIGHT)) { + if(globalInputState & (BIT_STEERING_LEFT | BIT_TURN_SIGNAL_L)) { + corneringLeftSignal = true; + corneringRightSignal = false; + corneringLeftOffMillis = 0; + } + + if(globalInputState & (BIT_STEERING_RIGHT | BIT_TURN_SIGNAL_R)) { + corneringRightSignal = true; + corneringLeftSignal = false; + corneringRightOffMillis = 0; + } + } + + if (corneringLeftSignal == true + && ( + (globalInputState & BIT_HAZARD_LIGHT) + || !(globalInputState & (BIT_STEERING_LEFT | BIT_TURN_SIGNAL_L)) + )) { + if(corneringLeftOffMillis == 0) { + corneringLeftOffMillis = millis(); + } + if (corneringLeftOffMillis > 0 && millis() - corneringLeftOffMillis >= activeEffectsConfig.corneringLightOffDelay) { + corneringLeftSignal = false; + corneringLeftOffMillis = 0; + } + } + + if (corneringRightSignal == true + && ( + (globalInputState & BIT_HAZARD_LIGHT) + || !(globalInputState & (BIT_STEERING_RIGHT | BIT_TURN_SIGNAL_R)) + )) { + if(corneringRightOffMillis == 0) { + corneringRightOffMillis = millis(); + } + if (corneringRightOffMillis > 0 && millis() - corneringRightOffMillis >= activeEffectsConfig.corneringLightOffDelay) { + corneringRightSignal = false; + corneringRightOffMillis = 0; + } + } +} + void GlobalEffects::update(uint32_t globalInputState) { updateTurnIndicators(globalInputState); updateStrobe(globalInputState); updateBeacon(globalInputState); + updateFlashToPass(globalInputState); + updateCornering(globalInputState); }; uint16_t GlobalEffects::getActiveEffectMask() { @@ -109,6 +168,18 @@ uint16_t GlobalEffects::getActiveEffectMask() { state |= BIT_GLOBAL_STROBE; } + if(flashToPassSignal) { + state |= BIT_GLOBAL_FLASH_TO_PASS; + } + + if(corneringLeftSignal) { + state |= BIT_GLOBAL_CORNERING_L; + } + + if(corneringRightSignal) { + state |= BIT_GLOBAL_CORNERING_R; + } + return state; }; diff --git a/src/state-machine/global-effects.h b/src/state-machine/global-effects.h index eb6cfed..915d6ae 100644 --- a/src/state-machine/global-effects.h +++ b/src/state-machine/global-effects.h @@ -13,6 +13,13 @@ class GlobalEffects { bool strobeSignal; uint32_t strobeStartMillis; + bool flashToPassSignal; + + bool corneringLeftSignal; + bool corneringRightSignal; + uint32_t corneringLeftOffMillis; + uint32_t corneringRightOffMillis; + uint8_t beacon1position; uint32_t beacon1previousMillis; uint8_t beacon2position; @@ -22,6 +29,8 @@ class GlobalEffects { void updateStrobe(uint32_t globalInputState); void updateSingleBeacon(uint16_t beaconSpeed, uint8_t beaconMaxLeds, uint32_t* beaconPreviousMillis, uint8_t* beaconPosition); void updateBeacon(uint32_t globalInputState); + void updateFlashToPass(uint32_t globalInputState); + void updateCornering(uint32_t globalInputState); public: GlobalEffects(); From 3b9518716ef09436e9a30e78f1dd165881cc9eeb Mon Sep 17 00:00:00 2001 From: magraina Date: Wed, 25 Mar 2026 02:15:39 +0100 Subject: [PATCH 13/33] fix: pull direction on PPM and resolved compiler warnings --- src/input/esc-parser.cpp | 4 ++-- src/input/ppm-parser.cpp | 2 +- src/state-machine/global-effects.cpp | 8 ++++---- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/input/esc-parser.cpp b/src/input/esc-parser.cpp index 3fa2a72..716d537 100644 --- a/src/input/esc-parser.cpp +++ b/src/input/esc-parser.cpp @@ -1,8 +1,8 @@ #include "esc-parser.h" EscParser::EscParser(uint8_t brakePin, uint8_t reversePin) - : _brakePin(brakePin), _reversePin(reversePin), - brakingActive(false), reverseActive(false), activeEscMask(0) {} + : brakingActive(false), reverseActive(false), + _brakePin(brakePin), _reversePin(reversePin), activeEscMask(0) {} void EscParser::begin() { pinMode(_brakePin, INPUT_PULLUP); diff --git a/src/input/ppm-parser.cpp b/src/input/ppm-parser.cpp index acfde5a..7e8d5bc 100644 --- a/src/input/ppm-parser.cpp +++ b/src/input/ppm-parser.cpp @@ -10,7 +10,7 @@ PpmParser::PpmParser(uint8_t pin) } void PpmParser::begin() { - pinMode(inputPin, INPUT_PULLUP); + pinMode(inputPin, INPUT_PULLDOWN); attachInterruptArg(inputPin, PpmParser::handleInterrupt, this, CHANGE); } diff --git a/src/state-machine/global-effects.cpp b/src/state-machine/global-effects.cpp index b9fc2fa..313f728 100644 --- a/src/state-machine/global-effects.cpp +++ b/src/state-machine/global-effects.cpp @@ -1,13 +1,13 @@ #include "global-effects.h" GlobalEffects::GlobalEffects() - : leftTurnSignal(false), rightTurnSignal(false), blink(), + : blink(), leftTurnSignal(false), rightTurnSignal(false), strobeSignal(false), strobeStartMillis(0), - beacon1position(0), beacon1previousMillis(0), - beacon2position(0), beacon2previousMillis(0), flashToPassSignal(false), + corneringLeftSignal(false), corneringRightSignal(false), corneringLeftOffMillis(0), corneringRightOffMillis(0), - corneringLeftSignal(false), corneringRightSignal(false) {} + beacon1position(0), beacon1previousMillis(0), + beacon2position(0), beacon2previousMillis(0) {} void GlobalEffects::updateTurnIndicators(uint32_t globalInputState) { if(globalInputState & BIT_HAZARD_LIGHT) { From e0a680345d900dfbe3a072fa589c8c873955c664 Mon Sep 17 00:00:00 2001 From: magraina Date: Wed, 25 Mar 2026 11:54:59 +0100 Subject: [PATCH 14/33] fix: cornering lights --- src/config-interface/json-interface.cpp | 1 + src/output/local-outputs.cpp | 48 ++++++++++++------------- src/state-machine/global-effects.cpp | 42 +++++++++++++--------- 3 files changed, 51 insertions(+), 40 deletions(-) diff --git a/src/config-interface/json-interface.cpp b/src/config-interface/json-interface.cpp index 249aca5..bdf4068 100644 --- a/src/config-interface/json-interface.cpp +++ b/src/config-interface/json-interface.cpp @@ -89,6 +89,7 @@ void JsonInterface::update(LocalOutputController& outputController, MemoryManage activeEffectsConfig.beacon1MaxLeds = effConfig["bcn1Max"] | activeEffectsConfig.beacon1MaxLeds; activeEffectsConfig.beacon2MaxLeds = effConfig["bcn2Max"] | activeEffectsConfig.beacon2MaxLeds; activeEffectsConfig.flashToPassFreq = effConfig["ftpFreq"] | activeEffectsConfig.flashToPassFreq; + activeEffectsConfig.corneringLightOffDelay = effConfig["cornerOff"] | activeEffectsConfig.corneringLightOffDelay; Serial.println("Effects updated!"); } diff --git a/src/output/local-outputs.cpp b/src/output/local-outputs.cpp index 0fa5351..5222b0b 100644 --- a/src/output/local-outputs.cpp +++ b/src/output/local-outputs.cpp @@ -258,6 +258,30 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, } } + if (triggerMask & BIT_FOG_L) { + if (evalState & BIT_FOG) { + return cfg.param1; + } + + if (effectState & BIT_GLOBAL_CORNERING_L) { + return cfg.param1; + } else { + return 0; + } + } + + if (triggerMask & BIT_FOG_R) { + if (evalState & BIT_FOG) { + return cfg.param1; + } + + if (effectState & BIT_GLOBAL_CORNERING_R) { + return cfg.param1; + } else { + return 0; + } + } + // ==================================================================== // EARLY EXIT: If the state doesn't match the trigger mask AT ALL, target is 0 if ((evalState & triggerMask) == 0) { @@ -311,30 +335,6 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, } } - if (triggerMask & BIT_FOG_L) { - if (evalState & BIT_FOG) { - return cfg.param1; - } - - if (effectState & BIT_GLOBAL_CORNERING_L) { - return cfg.param1; - } else { - return 0; - } - } - - if (triggerMask & BIT_FOG_R) { - if (evalState & BIT_FOG) { - return cfg.param1; - } - - if (effectState & BIT_GLOBAL_CORNERING_R) { - return cfg.param1; - } else { - return 0; - } - } - // --- EFFECTS: Beacon Light --- if ((triggerMask & BIT_BEACON_LIGHT) && (evalState & BIT_BEACON_LIGHT)) { if (cfg.param2 == 0 && cfg.param1 == beacon1Pos) { diff --git a/src/state-machine/global-effects.cpp b/src/state-machine/global-effects.cpp index 313f728..fb1c8ac 100644 --- a/src/state-machine/global-effects.cpp +++ b/src/state-machine/global-effects.cpp @@ -102,43 +102,53 @@ void GlobalEffects::updateFlashToPass(uint32_t globalInputState) { } void GlobalEffects::updateCornering(uint32_t globalInputState) { + uint32_t now = millis(); + if(!(globalInputState & BIT_HAZARD_LIGHT)) { - if(globalInputState & (BIT_STEERING_LEFT | BIT_TURN_SIGNAL_L)) { + if(globalInputState & BIT_TURN_SIGNAL_L) { corneringLeftSignal = true; corneringRightSignal = false; - corneringLeftOffMillis = 0; + corneringRightOffMillis = 0; } - if(globalInputState & (BIT_STEERING_RIGHT | BIT_TURN_SIGNAL_R)) { + if(globalInputState & BIT_TURN_SIGNAL_R) { corneringRightSignal = true; corneringLeftSignal = false; - corneringRightOffMillis = 0; + corneringLeftOffMillis = 0;; } } + if(globalInputState & BIT_STEERING_LEFT) { + corneringLeftSignal = true; + corneringRightSignal = false; + corneringRightOffMillis = 0; + } + + if(globalInputState & BIT_STEERING_RIGHT) { + corneringRightSignal = true; + corneringLeftSignal = false; + corneringLeftOffMillis = 0; + } + if (corneringLeftSignal == true - && ( - (globalInputState & BIT_HAZARD_LIGHT) - || !(globalInputState & (BIT_STEERING_LEFT | BIT_TURN_SIGNAL_L)) - )) { + && !(globalInputState & (BIT_STEERING_LEFT | BIT_TURN_SIGNAL_L)) + ) { if(corneringLeftOffMillis == 0) { - corneringLeftOffMillis = millis(); + corneringLeftOffMillis = now; } - if (corneringLeftOffMillis > 0 && millis() - corneringLeftOffMillis >= activeEffectsConfig.corneringLightOffDelay) { + if (corneringLeftOffMillis > 0 && now - corneringLeftOffMillis >= activeEffectsConfig.corneringLightOffDelay) { corneringLeftSignal = false; corneringLeftOffMillis = 0; } } if (corneringRightSignal == true - && ( - (globalInputState & BIT_HAZARD_LIGHT) - || !(globalInputState & (BIT_STEERING_RIGHT | BIT_TURN_SIGNAL_R)) - )) { + && !(globalInputState & (BIT_STEERING_RIGHT | BIT_TURN_SIGNAL_R)) + ) { if(corneringRightOffMillis == 0) { - corneringRightOffMillis = millis(); + corneringRightOffMillis = now; } - if (corneringRightOffMillis > 0 && millis() - corneringRightOffMillis >= activeEffectsConfig.corneringLightOffDelay) { + if (corneringRightOffMillis > 0 && now - corneringRightOffMillis >= activeEffectsConfig.corneringLightOffDelay) { corneringRightSignal = false; corneringRightOffMillis = 0; } From ca62fd4ca5b15b77cad504536b8700580ab90517 Mon Sep 17 00:00:00 2001 From: magraina Date: Wed, 25 Mar 2026 13:16:45 +0100 Subject: [PATCH 15/33] feat: add bi-xenon lights --- src/output/local-outputs.cpp | 64 ++++++++++++++++++++++++++++++++++-- src/output/local-outputs.h | 4 +++ 2 files changed, 66 insertions(+), 2 deletions(-) diff --git a/src/output/local-outputs.cpp b/src/output/local-outputs.cpp index 5222b0b..4012556 100644 --- a/src/output/local-outputs.cpp +++ b/src/output/local-outputs.cpp @@ -114,7 +114,13 @@ void LocalOutputController::update(uint32_t inputState, uint32_t effectState, ui if (cfg.mode == OutputMode::PWM) { // 1. Brain: What is the base target brightness? - uint16_t target = calculateTargetPwm(cfg, inputState, effectState, beacon1Pos, beacon2Pos); + uint16_t target = 0; + + if (cfg.triggerMask == BIT_BI_XENON) { + target = biXenonTargetPwm(i, cfg, inputState, effectState); + } else { + target = calculateTargetPwm(cfg, inputState, effectState, beacon1Pos, beacon2Pos); + } // 1.5. Modifier: Apply Starter Dimming if active and configured for this pin if ((inputState & BIT_STARTER_DIM) && (cfg.triggerMask & BIT_STARTER_DIM)) { @@ -122,9 +128,13 @@ void LocalOutputController::update(uint32_t inputState, uint32_t effectState, ui // Cast to uint32_t prevents overflow during multiplication before division target = (uint16_t)(((uint32_t)target * activeEffectsConfig.starterDimFactor) / 100); } + + uint16_t actualValue = target; // 2. Muscle: Fade towards that target - uint16_t actualValue = processFading(i, cfg, target); + if (cfg.triggerMask != BIT_BI_XENON) { + actualValue = processFading(i, cfg, target); + } if(isSoftwarePWMOutput(cfg.pin)) { updatePWMMapping(i, actualValue); @@ -350,6 +360,56 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, return cfg.param1; } +uint16_t LocalOutputController::biXenonTargetPwm(int index, const LocalOutputConfig& cfg, uint32_t inputState, uint32_t effectState) { + uint32_t currentMillis = millis(); + uint16_t targetPwm = 0; + + if(inputState & BIT_LOW_BEAM) { + targetPwm = cfg.param1; // Base brightness for low beam + } + + if((inputState & BIT_HIGH_BEAM) || (effectState & BIT_FLASH_TO_PASS)) { + targetPwm = cfg.param2; // Brighter setting for high beam + } + + if(targetPwm == 0) { + xenonCurrentPwmValues[index] = 0; // Snap to 0 immediately when off, no fading needed + return processFading(index, cfg, 0); + } + + if(targetPwm != 0 && xenonCurrentPwmValues[index] == 0) { + xenonStartMillis[index] = currentMillis; // Reset fade timer on target change + } + + // Calculate how much time has passed since the last frame + uint32_t elapsed = currentMillis - xenonStartMillis[index]; + uint32_t flashDuration = 30; // Flash for the first 30 milliseconds + uint32_t fadeDuration = 8000; // Total fade duration after the flash + + if (elapsed <= flashDuration) { + // Flash for 30 milliseconds at max brightness for that "popping" effect + xenonCurrentPwmValues[index] = cfg.param2; // Max brightness + } else if (elapsed <= fadeDuration) { + // After 30ms, snap to half of the low beam target brightness and then fade up to the full target over the next 8s + uint32_t startPwm = 50; // Start at half brightness + uint32_t endPwm = targetPwm; // End at the calculated target brightness + uint32_t fadeElapsed = elapsed - flashDuration; // Time since the initial flash + + // Linear fade calculation + if (fadeElapsed < fadeDuration) { + uint32_t step = (fadeElapsed * (endPwm - startPwm)) / fadeDuration; + xenonCurrentPwmValues[index] = (uint16_t)(startPwm + step); + } else { + xenonCurrentPwmValues[index] = (uint16_t)endPwm; // Ensure it reaches full target after fade duration + + } + } else { + xenonCurrentPwmValues[index] = processFading(index, cfg, targetPwm);; // Maintain the target brightness after fade + } + + return xenonCurrentPwmValues[index]; +} + uint16_t LocalOutputController::processFading(int index, const LocalOutputConfig& cfg, uint16_t targetPwm) { uint32_t currentMillis = millis(); diff --git a/src/output/local-outputs.h b/src/output/local-outputs.h index ddf6c5a..a5e7d2e 100644 --- a/src/output/local-outputs.h +++ b/src/output/local-outputs.h @@ -23,12 +23,16 @@ class LocalOutputController { uint16_t lastPwmValues[NUM_LOCAL_OUTPUTS]; uint16_t mappedDuties[NUM_LOCAL_OUTPUTS]; + uint16_t xenonCurrentPwmValues[NUM_LOCAL_OUTPUTS]; + uint32_t xenonStartMillis[NUM_LOCAL_OUTPUTS]; + void resetOutput(uint8_t pin, uint8_t channel); bool isSoftwarePWMOutput(uint8_t pin); // Helper: Calculates the exact target brightness based on priorities uint16_t calculateTargetPwm(const LocalOutputConfig& cfg, uint32_t inputState, uint32_t effectState, uint8_t beacon1Pos, uint8_t beacon2Pos); + uint16_t biXenonTargetPwm(int index, const LocalOutputConfig& cfg, uint32_t inputState, uint32_t effectState); // Helper: Moves the current value towards the target over time uint16_t processFading(int index, const LocalOutputConfig& cfg, uint16_t targetPwm); From d583352c63ce4d0a91c1b4c40efce8412acecb98 Mon Sep 17 00:00:00 2001 From: magraina Date: Wed, 25 Mar 2026 13:56:51 +0100 Subject: [PATCH 16/33] fix: output is not correctly updated --- src/config-interface/json-interface.cpp | 22 ++++++++++------------ 1 file changed, 10 insertions(+), 12 deletions(-) diff --git a/src/config-interface/json-interface.cpp b/src/config-interface/json-interface.cpp index bdf4068..792857a 100644 --- a/src/config-interface/json-interface.cpp +++ b/src/config-interface/json-interface.cpp @@ -17,20 +17,18 @@ void JsonInterface::update(LocalOutputController& outputController, MemoryManage // --- 1. OUTPUTS --- if (doc["outputs"].is()) { JsonArray outputs = doc["outputs"].as(); + size_t index = 0; for (JsonObject outConfig : outputs) { - uint8_t targetPin = outConfig["pin"]; - for (int i = 0; i < NUM_LOCAL_OUTPUTS; i++) { - if (activeMainConfig.localOutputs[i].pin == targetPin || activeMainConfig.localOutputs[i].mode == OutputMode::NONE) { - activeMainConfig.localOutputs[i].pin = targetPin; - activeMainConfig.localOutputs[i].mode = static_cast(outConfig["mode"].as()); - activeMainConfig.localOutputs[i].triggerMask = outConfig["mask"].as(); - activeMainConfig.localOutputs[i].param1 = outConfig["p1"].as(); - activeMainConfig.localOutputs[i].param2 = outConfig["p2"].as(); - activeMainConfig.localOutputs[i].param3 = outConfig["p3"].as(); - activeMainConfig.localOutputs[i].fadeTime = outConfig["fade"].as(); - break; - } + if(index < NUM_LOCAL_OUTPUTS && index < outputs.size()) { + activeMainConfig.localOutputs[index].pin = outConfig["pin"].as(); + activeMainConfig.localOutputs[index].mode = static_cast(outConfig["mode"].as()); + activeMainConfig.localOutputs[index].triggerMask = outConfig["mask"].as(); + activeMainConfig.localOutputs[index].param1 = outConfig["p1"].as(); + activeMainConfig.localOutputs[index].param2 = outConfig["p2"].as(); + activeMainConfig.localOutputs[index].param3 = outConfig["p3"].as(); + activeMainConfig.localOutputs[index].fadeTime = outConfig["fade"].as(); } + index++; } Serial.println("Outputs updated!"); outputController.begin(); // Re-init hardware pins From 23f579c499fb2cc69d9b4227cda30455e01c13a6 Mon Sep 17 00:00:00 2001 From: magraina Date: Wed, 25 Mar 2026 14:15:04 +0100 Subject: [PATCH 17/33] feat: add new config options --- src/config-interface/json-interface.cpp | 12 ++++++++++++ src/config/global-effects-config.h | 5 +++++ src/memory/memory-manager.cpp | 5 ++++- src/output/local-outputs.cpp | 8 ++++---- 4 files changed, 25 insertions(+), 5 deletions(-) diff --git a/src/config-interface/json-interface.cpp b/src/config-interface/json-interface.cpp index 792857a..3d6a445 100644 --- a/src/config-interface/json-interface.cpp +++ b/src/config-interface/json-interface.cpp @@ -14,6 +14,15 @@ void JsonInterface::update(LocalOutputController& outputController, MemoryManage return; } + // --- Main Config --- + if(doc["main"].is()) { + JsonObject genConfig = doc["main"]; + activeMainConfig.failsafeMask = genConfig["fsMask"].as() | activeMainConfig.failsafeMask; + activeMainConfig.failsafeTimeoutMs = genConfig["fsTimeout"].as() | activeMainConfig.failsafeTimeoutMs; + activeMainConfig.ppmMode = static_cast(genConfig["ppmMode"].as() | static_cast(activeMainConfig.ppmMode)); + Serial.println("Main config updated!"); + } + // --- 1. OUTPUTS --- if (doc["outputs"].is()) { JsonArray outputs = doc["outputs"].as(); @@ -88,6 +97,9 @@ void JsonInterface::update(LocalOutputController& outputController, MemoryManage activeEffectsConfig.beacon2MaxLeds = effConfig["bcn2Max"] | activeEffectsConfig.beacon2MaxLeds; activeEffectsConfig.flashToPassFreq = effConfig["ftpFreq"] | activeEffectsConfig.flashToPassFreq; activeEffectsConfig.corneringLightOffDelay = effConfig["cornerOff"] | activeEffectsConfig.corneringLightOffDelay; + activeEffectsConfig.xenonFlashDuration = effConfig["xenFlash"] | activeEffectsConfig.xenonFlashDuration; + activeEffectsConfig.xenonFadeDuration = effConfig["xenFade"] | activeEffectsConfig.xenonFadeDuration; + activeEffectsConfig.xenonLowBeamStartPwm = effConfig["xenLowPwm"] | activeEffectsConfig.xenonLowBeamStartPwm; Serial.println("Effects updated!"); } diff --git a/src/config/global-effects-config.h b/src/config/global-effects-config.h index 124673b..eeaaa4e 100644 --- a/src/config/global-effects-config.h +++ b/src/config/global-effects-config.h @@ -36,6 +36,11 @@ struct GlobalEffectsConfig { // --- Cornering Lights --- uint16_t corneringLightOffDelay; // Time to turn cornering light off + + // -- Bi-Xenon Headlight Effect --- + uint16_t xenonFlashDuration; // Duration of the initial flash when turning on the headlights + uint16_t xenonFadeDuration; // Duration of the fade from low beam to high beam after the initial flash + uint32_t xenonLowBeamStartPwm; // Starting PWM value for low beam when fading up to high beam }; extern GlobalEffectsConfig activeEffectsConfig; \ No newline at end of file diff --git a/src/memory/memory-manager.cpp b/src/memory/memory-manager.cpp index f1dd428..2f90a28 100644 --- a/src/memory/memory-manager.cpp +++ b/src/memory/memory-manager.cpp @@ -30,7 +30,7 @@ void MemoryManager::loadConfig() { prefs.getBytes(KEY_EFFECTS_CFG, &activeEffectsConfig, sizeof(GlobalEffectsConfig)); } else { // Apply safe defaults for the very first boot - activeEffectsConfig.turnSignalFreq = 500; + activeEffectsConfig.turnSignalFreq = 1000; activeEffectsConfig.strobeFlashDuration = 40; activeEffectsConfig.strobeShortPause = 60; activeEffectsConfig.strobeLongPause = 400; @@ -41,6 +41,9 @@ void MemoryManager::loadConfig() { activeEffectsConfig.beacon2MaxLeds = 4; activeEffectsConfig.starterDimFactor = 50; activeEffectsConfig.corneringLightOffDelay = 5000; + activeEffectsConfig.xenonFlashDuration = 30; + activeEffectsConfig.xenonFadeDuration = 8000; + activeEffectsConfig.xenonLowBeamStartPwm = 50; } } diff --git a/src/output/local-outputs.cpp b/src/output/local-outputs.cpp index 4012556..74c86f8 100644 --- a/src/output/local-outputs.cpp +++ b/src/output/local-outputs.cpp @@ -383,16 +383,16 @@ uint16_t LocalOutputController::biXenonTargetPwm(int index, const LocalOutputCon // Calculate how much time has passed since the last frame uint32_t elapsed = currentMillis - xenonStartMillis[index]; - uint32_t flashDuration = 30; // Flash for the first 30 milliseconds - uint32_t fadeDuration = 8000; // Total fade duration after the flash + uint16_t flashDuration = activeEffectsConfig.xenonFlashDuration; // e.g., 30 milliseconds for the initial flash + uint16_t fadeDuration = activeEffectsConfig.xenonFadeDuration; // Total fade duration after the flash if (elapsed <= flashDuration) { // Flash for 30 milliseconds at max brightness for that "popping" effect xenonCurrentPwmValues[index] = cfg.param2; // Max brightness } else if (elapsed <= fadeDuration) { // After 30ms, snap to half of the low beam target brightness and then fade up to the full target over the next 8s - uint32_t startPwm = 50; // Start at half brightness - uint32_t endPwm = targetPwm; // End at the calculated target brightness + uint16_t startPwm = activeEffectsConfig.xenonLowBeamStartPwm; // Start at half brightness + uint16_t endPwm = targetPwm; // End at the calculated target brightness uint32_t fadeElapsed = elapsed - flashDuration; // Time since the initial flash // Linear fade calculation From f1201794b8894f813201b2faac7f38c091081c02 Mon Sep 17 00:00:00 2001 From: magraina Date: Wed, 25 Mar 2026 14:56:04 +0100 Subject: [PATCH 18/33] fix: flash to pass is too fast --- src/output/local-outputs.cpp | 30 ++++++++++++++-------------- src/state-machine/global-effects.cpp | 4 +++- 2 files changed, 18 insertions(+), 16 deletions(-) diff --git a/src/output/local-outputs.cpp b/src/output/local-outputs.cpp index 74c86f8..9e777c7 100644 --- a/src/output/local-outputs.cpp +++ b/src/output/local-outputs.cpp @@ -292,6 +292,16 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, } } + if (triggerMask & BIT_HIGH_BEAM) { + if (evalState & BIT_FLASH_TO_PASS) { + if (effectState & BIT_GLOBAL_FLASH_TO_PASS) { + return cfg.param1; + } else { + return 0; + } + } + } + // ==================================================================== // EARLY EXIT: If the state doesn't match the trigger mask AT ALL, target is 0 if ((evalState & triggerMask) == 0) { @@ -335,16 +345,6 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, } } - if (triggerMask & BIT_HIGH_BEAM) { - if (evalState & BIT_FLASH_TO_PASS) { - if (effectState & BIT_GLOBAL_FLASH_TO_PASS) { - return cfg.param1; - } else { - return 0; - } - } - } - // --- EFFECTS: Beacon Light --- if ((triggerMask & BIT_BEACON_LIGHT) && (evalState & BIT_BEACON_LIGHT)) { if (cfg.param2 == 0 && cfg.param1 == beacon1Pos) { @@ -368,7 +368,7 @@ uint16_t LocalOutputController::biXenonTargetPwm(int index, const LocalOutputCon targetPwm = cfg.param1; // Base brightness for low beam } - if((inputState & BIT_HIGH_BEAM) || (effectState & BIT_FLASH_TO_PASS)) { + if(inputState & BIT_HIGH_BEAM) { targetPwm = cfg.param2; // Brighter setting for high beam } @@ -383,16 +383,16 @@ uint16_t LocalOutputController::biXenonTargetPwm(int index, const LocalOutputCon // Calculate how much time has passed since the last frame uint32_t elapsed = currentMillis - xenonStartMillis[index]; - uint16_t flashDuration = activeEffectsConfig.xenonFlashDuration; // e.g., 30 milliseconds for the initial flash - uint16_t fadeDuration = activeEffectsConfig.xenonFadeDuration; // Total fade duration after the flash + uint32_t flashDuration = (uint32_t)activeEffectsConfig.xenonFlashDuration; // e.g., 30 milliseconds for the initial flash + uint32_t fadeDuration = (uint32_t)activeEffectsConfig.xenonFadeDuration; // Total fade duration after the flash if (elapsed <= flashDuration) { // Flash for 30 milliseconds at max brightness for that "popping" effect xenonCurrentPwmValues[index] = cfg.param2; // Max brightness } else if (elapsed <= fadeDuration) { // After 30ms, snap to half of the low beam target brightness and then fade up to the full target over the next 8s - uint16_t startPwm = activeEffectsConfig.xenonLowBeamStartPwm; // Start at half brightness - uint16_t endPwm = targetPwm; // End at the calculated target brightness + uint32_t startPwm = (uint32_t)activeEffectsConfig.xenonLowBeamStartPwm; // Start at half brightness + uint32_t endPwm = targetPwm; // End at the calculated target brightness uint32_t fadeElapsed = elapsed - flashDuration; // Time since the initial flash // Linear fade calculation diff --git a/src/state-machine/global-effects.cpp b/src/state-machine/global-effects.cpp index fb1c8ac..38f86fd 100644 --- a/src/state-machine/global-effects.cpp +++ b/src/state-machine/global-effects.cpp @@ -94,7 +94,9 @@ void GlobalEffects::updateBeacon(uint32_t globalInputState) { void GlobalEffects::updateFlashToPass(uint32_t globalInputState) { if(globalInputState & BIT_FLASH_TO_PASS) { if (millis() % activeEffectsConfig.flashToPassFreq < activeEffectsConfig.flashToPassFreq / 2) { - flashToPassSignal = !flashToPassSignal; + flashToPassSignal = true; + } else { + flashToPassSignal = false; } } else { flashToPassSignal = false; From e7f94a383fb6030db63554b23cb2d17359efc833 Mon Sep 17 00:00:00 2001 From: magraina Date: Thu, 26 Mar 2026 14:25:00 +0100 Subject: [PATCH 19/33] feat: setup new communication --- .../communication/serialCommMaster.cpp | 97 +++++-------------- .../communication/serialCommMaster.h | 58 ++--------- truck-multi-function-sbus.ino | 7 +- 3 files changed, 42 insertions(+), 120 deletions(-) rename serialCommMaster.cpp => src/communication/serialCommMaster.cpp (57%) rename serialCommMaster.h => src/communication/serialCommMaster.h (59%) diff --git a/serialCommMaster.cpp b/src/communication/serialCommMaster.cpp similarity index 57% rename from serialCommMaster.cpp rename to src/communication/serialCommMaster.cpp index c89d6ac..b45f801 100644 --- a/serialCommMaster.cpp +++ b/src/communication/serialCommMaster.cpp @@ -20,17 +20,15 @@ void SerialCommMaster::begin( HardwareSerial* serialPort, uint32_t baud, - uint8_t byteFormat, + SerialConfig byteFormat, long timeout, long polling, - uint8_t txEnablePin, - uint8_t protocolVersion + uint8_t txEnablePin ) { _serialPort = serialPort; _timeout = timeout; _polling = polling; _txEnablePin = txEnablePin; - _protocolVersion = protocolVersion; (*_serialPort).begin(baud, byteFormat); pinMode(_txEnablePin, OUTPUT); @@ -40,16 +38,12 @@ void SerialCommMaster::begin( _state = WAITING_FOR_TURNAROUND; _frameDelay = 10; _delayStart = 0; - _lightDataFromSerial = 0; - _additionalDataFromSerial = 0; - _servoMicrosFromSerial[0] = 0; - _servoMicrosFromSerial[1] = 0; } -uint16_t SerialCommMaster::update() { +uint16_t SerialCommMaster::update(uint32_t inputState, uint32_t effectState, uint16_t* servoStateArray) { switch (_state) { case IDLE: - idle(); + constructPacket(inputState, effectState, servoStateArray); break; case WAITING_FOR_TURNAROUND: waitingForTurnaround(); @@ -58,45 +52,30 @@ uint16_t SerialCommMaster::update() { return _errorCount; } -void SerialCommMaster::idle() { - switch (_protocolVersion) { - case FUNC_LIGHT_DATA: - constructPacket(FUNC_LIGHT_DATA, _lightDataFromSerial); - break; - case FUNC_LIGHT_SERVO: - constructPacket(FUNC_LIGHT_SERVO, _lightDataFromSerial, _additionalDataFromSerial, _servoMicrosFromSerial[0], - _servoMicrosFromSerial[1]); - break; - } -} - void SerialCommMaster::constructPacket( - uint8_t function, - uint16_t lightData, - uint16_t additionalData, - uint16_t servoData1, - uint16_t servoData2 + uint32_t inputState, uint32_t effectState, uint16_t* servoStateArray ) { - _frame[0] = function; - uint8_t frameSize; - switch (function) { - case FUNC_LIGHT_DATA: - frameSize = 4; // 1 byte function + 1 byte lightData + 2 bytes CRC - _frame[1] = lightData & 0x00FF; - break; - case FUNC_LIGHT_SERVO: - frameSize = 9; // 1 byte function + 1 byte lightData + 1 byte additionalData + 2 bytes servo1 + 2 bytes - // servo2 + 2 bytes CRC - _frame[1] = lightData & 0x00FF; - _frame[2] = additionalData & 0x00FF; - _frame[3] = servoData1 >> 8; - _frame[4] = servoData1 & 0xFF; - _frame[5] = servoData2 >> 8; - _frame[6] = servoData2 & 0xFF; - break; - default: - return; // Invalid function, do not send anything - } + // 1 byte function + 4 byte lightState + 2 byte effectState + + // 9 byte ServoData (12bit) + 2 bytes CRC => 18 bytes total + uint8_t frameSize = 18; + _frame[0] = FUNC_LIGHT_DATA; + + _frame[1] = inputState & 0x00FF; + _frame[2] = (inputState >> 8) & 0x00FF; + _frame[3] = (inputState >> 16) & 0x00FF; + _frame[4] = (inputState >> 24) & 0x00FF; + + _frame[5] = effectState & 0x00FF; + _frame[6] = (effectState >> 8) & 0x00FF; + _frame[7] = (servoStateArray[SRV_REMOTE_1] >> 4) & 0xFF; // First 8 bits of servo 1 + _frame[8] = ((servoStateArray[SRV_REMOTE_1] & 0x0F) << 4) | ((servoStateArray[SRV_REMOTE_2] >> 8) & 0x0F); // Last 4 bits of servo 1 and first 4 bits of servo 2 + _frame[9] = servoStateArray[SRV_REMOTE_2] & 0xFF; // Last 8 bits of servo 2 + _frame[10] = servoStateArray[SRV_REMOTE_3] >> 4; // First 8 bits of servo 3 + _frame[11] = ((servoStateArray[SRV_REMOTE_3] & 0x0F) << 4) | ((servoStateArray[SRV_REMOTE_4] >> 8) & 0x0F); // Last 4 bits of servo 3 and first 4 bits of servo 4 + _frame[12] = servoStateArray[SRV_REMOTE_4] & 0xFF; // Last 8 bits of servo 4 + _frame[13] = servoStateArray[SRV_REMOTE_5] >> 4; // First 8 bits of servo 5 + _frame[14] = ((servoStateArray[SRV_REMOTE_5] & 0x0F) << 4) | ((servoStateArray[SRV_REMOTE_6] >> 8) & 0x0F); // Last 4 bits of servo 5 and first 4 bits of servo 6 + _frame[15] = servoStateArray[SRV_REMOTE_6] & 0xFF; // Last 8 bits of servo 6 uint16_t crc16 = calculateCRC(frameSize - 2); _frame[frameSize - 2] = crc16 >> 8; // Split crc into two bytes @@ -140,28 +119,4 @@ void SerialCommMaster::sendPacket(uint8_t bufferSize) { digitalWrite(_txEnablePin, LOW); _delayStart = millis(); // start the timeout delay -} - -void SerialCommMaster::setLightData(LightIdentifier lightOption, bool lightState) { - if (lightState) { - uint8_t bitmask = 0x1 << lightOption; - _lightDataFromSerial |= bitmask; - } else { - uint8_t bitmask = ~(0x1 << lightOption); - _lightDataFromSerial &= bitmask; - } -} - -void SerialCommMaster::setAdditionalData(AdditionalDataIdentifier additionalOption, bool additionalState) { - if (additionalState) { - uint8_t bitmask = 0x1 << additionalOption; - _additionalDataFromSerial |= bitmask; - } else { - uint8_t bitmask = ~(0x1 << additionalOption); - _additionalDataFromSerial &= bitmask; - } -} - -void SerialCommMaster::setServoData(ServoDataIdentifier servoOption, uint16_t servoValue) { - _servoMicrosFromSerial[servoOption] = servoValue; } \ No newline at end of file diff --git a/serialCommMaster.h b/src/communication/serialCommMaster.h similarity index 59% rename from serialCommMaster.h rename to src/communication/serialCommMaster.h index cf3cffc..accc0a0 100644 --- a/serialCommMaster.h +++ b/src/communication/serialCommMaster.h @@ -16,45 +16,19 @@ * If not, see . ************************************/ -#ifndef _SERIAL_COMM_MASTER_H_ -#define _SERIAL_COMM_MASTER_H_ - -#include "Arduino.h" -#include "HardwareSerial.h" - -enum LightIdentifier { - PARK_LIGHT = 0, - BRAKE_LIGHT = 1, - REVERSE_LIGHT = 2, - RIGHT_BLINK = 3, - LEFT_BLINK = 4, - AUX_LIGHT = 5, - BEACON_LIGHT = 6, - DIMM_LIGHTS = 7 -}; - -enum AdditionalDataIdentifier { - LEFT_TURN_INDICATOR = 0, - RIGHT_TURN_INDICATOR = 1, - HAZARD_STATE = 2, - SERVO_POSITION_DOWN = 3, - SERVO_POSITION_UP = 4 -}; - -enum ServoDataIdentifier { - SERVO_CHANNEL_1 = 0, - SERVO_CHANNEL_2 = 1 -}; +#pragma once +#include +#include +#include "../config/main-config.h" +#include "../config/light-mode.h" +#include "../config/global-effects-config.h" class SerialCommMaster { public: - void begin(HardwareSerial* serialPort, uint32_t baud, uint8_t byteFormat, long timeout, long polling, - uint8_t txEnablePin, uint8_t protocolVersion = 1); + void begin(HardwareSerial* serialPort, uint32_t baud, SerialConfig byteFormat, long timeout, long polling, uint8_t txEnablePin); - uint16_t update(); - void setLightData(LightIdentifier lightOption, bool lightState); - void setAdditionalData(AdditionalDataIdentifier additionalOption, bool additionalState); - void setServoData(ServoDataIdentifier servoOption, uint16_t servoValue); + uint16_t update(uint32_t inputState, uint32_t effectState, uint16_t* servoStateArray); + private: // Constants @@ -74,7 +48,6 @@ class SerialCommMaster { HardwareSerial* _serialPort; uint8_t _txEnablePin; uint16_t _errorCount; - uint8_t _protocolVersion; uint32_t _timeout; uint32_t _polling; uint16_t _frameDelay; @@ -83,21 +56,10 @@ class SerialCommMaster { uint8_t _frame[BUFFER_SIZE]; State _state; - uint8_t _lightDataFromSerial; - uint8_t _additionalDataFromSerial; - uint16_t _servoMicrosFromSerial[2]; - // Private methods void idle(); void waitingForTurnaround(); - void constructPacket( - uint8_t function, - uint16_t lightData, - uint16_t additionalData = 0, - uint16_t servoData1 = 0, - uint16_t servoData2 = 0); + void constructPacket(uint32_t inputState, uint32_t effectState, uint16_t* servoStateArray); uint16_t calculateCRC(uint8_t bufferSize); void sendPacket(uint8_t bufferSize); }; - -#endif \ No newline at end of file diff --git a/truck-multi-function-sbus.ino b/truck-multi-function-sbus.ino index 4effebc..6925378 100644 --- a/truck-multi-function-sbus.ino +++ b/truck-multi-function-sbus.ino @@ -27,6 +27,7 @@ #include "src/state-machine/global-effects.h" #include "src/output/local-outputs.h" #include "src/config-interface/json-interface.h" +#include "src/communication/serialCommMaster.h" // Initialize the parser using hardware Serial1, RX on pin 16, TX disabled (-1) SbusParser sbusInput(&Serial1, D3, -1, false); @@ -35,7 +36,7 @@ EscParser escInput(A2, A4); GlobalEffects globalEffects; LocalOutputController localOutputController; JsonInterface jsonUi; - +SerialCommMaster serialCommMaster; // In main.cpp // Index 0-5: Local Master Board Servos // Index 6-11: Remote RS485 Bus Servos @@ -56,6 +57,8 @@ void setup() { escInput.begin(); localOutputController.begin(); + + serialCommMaster.begin(&Serial0, 19200, SERIAL_8N1, 1000, 50, D2); } @@ -79,4 +82,6 @@ void loop() { uint8_t beacon2pos = globalEffects.getBeaconPosition(2); localOutputController.update(globalState, effectState, beacon1pos, beacon2pos, globalServoState); + + serialCommMaster.update(globalState, effectState, globalServoState); } \ No newline at end of file From 9ad9c641a54ec27363978b58f87559aa187fef1b Mon Sep 17 00:00:00 2001 From: magraina Date: Fri, 27 Mar 2026 00:03:44 +0100 Subject: [PATCH 20/33] feat: optimzed input filtering --- src/input/ppm-parser.cpp | 54 ++++-- src/input/ppm-parser.h | 10 +- src/input/sbus-parser.cpp | 54 +++++- src/input/sbus-parser.h | 10 +- src/input/serialIO/SerialIO.cpp | 31 ++++ src/input/serialIO/SerialIO.h | 117 +++++++++++++ src/input/serialIO/crsf/crsf.cpp | 67 ++++++++ src/input/serialIO/crsf/crsf.h | 56 +++++++ src/input/serialIO/crsf/crsf_protocol.h | 194 ++++++++++++++++++++++ src/input/serialIO/fport/fport.cpp | 52 ++++++ src/input/serialIO/fport/fport.h | 27 +++ src/input/serialIO/fport/fport_protocol.h | 55 ++++++ src/input/serialIO/ibus/ibus.cpp | 80 +++++++++ src/input/serialIO/ibus/ibus.h | 59 +++++++ src/input/serialIO/ibus/ibus_protocol.h | 45 +++++ src/input/serialIO/sbus/sbus.cpp | 73 ++++++++ src/input/serialIO/sbus/sbus.h | 80 +++++++++ src/input/serialIO/sbus/sbus_protocol.h | 52 ++++++ truck-multi-function-sbus.ino | 2 +- 19 files changed, 1100 insertions(+), 18 deletions(-) create mode 100644 src/input/serialIO/SerialIO.cpp create mode 100644 src/input/serialIO/SerialIO.h create mode 100644 src/input/serialIO/crsf/crsf.cpp create mode 100644 src/input/serialIO/crsf/crsf.h create mode 100644 src/input/serialIO/crsf/crsf_protocol.h create mode 100644 src/input/serialIO/fport/fport.cpp create mode 100644 src/input/serialIO/fport/fport.h create mode 100644 src/input/serialIO/fport/fport_protocol.h create mode 100644 src/input/serialIO/ibus/ibus.cpp create mode 100644 src/input/serialIO/ibus/ibus.h create mode 100644 src/input/serialIO/ibus/ibus_protocol.h create mode 100644 src/input/serialIO/sbus/sbus.cpp create mode 100644 src/input/serialIO/sbus/sbus.h create mode 100644 src/input/serialIO/sbus/sbus_protocol.h diff --git a/src/input/ppm-parser.cpp b/src/input/ppm-parser.cpp index 7e8d5bc..f233fa3 100644 --- a/src/input/ppm-parser.cpp +++ b/src/input/ppm-parser.cpp @@ -6,7 +6,15 @@ const uint16_t SYNC_PULSE_MAX = 980; // Standardmäßig starten wir mit einem sicheren Modus PpmParser::PpmParser(uint8_t pin) : inputPin(pin), mode(PpmInputMode::MULTIPLEXED_8CH), lastRiseTime(0), currentChannelCount(0), activePpmMask(0) { - for(int i=0; i < NUM_PPM_CHANNELS; i++) {rawValues[i] = 1500; smoothenValues[i]= 1500;} + // Initialize smoothenValues array with 1500 for all channels + for (uint8_t i = 0; i < NUM_PPM_CHANNELS; i++) { + smoothenValues[i] = 1500; + // Initialize historyChannels array with 1500 for all history entries + for (uint8_t j = 0; j < HISTORY_SIZE; j++) { + historyChannels[i][j] = 1500; + } + } + historyIndex = 0; } void PpmParser::begin() { @@ -23,6 +31,7 @@ void PpmParser::setMode(PpmInputMode newMode) { void IRAM_ATTR PpmParser::handleInterrupt(void* arg) { PpmParser* instance = (PpmParser*)arg; uint32_t now = micros(); + uint32_t nowMillis = millis(); uint32_t duration = now - instance->lastRiseTime; @@ -30,20 +39,22 @@ void IRAM_ATTR PpmParser::handleInterrupt(void* arg) { if (instance->mode == PpmInputMode::SINGLE_PWM) { if (duration >= 800 && duration <= 2200) { instance->rawValues[0] = (uint16_t)duration; - instance->lastValidPulseTime = millis(); + instance->lastValidPulseTime = nowMillis; + instance->lastValidPulseStart = nowMillis; } } else { if (duration >= SYNC_PULSE_MIN && duration <= SYNC_PULSE_MAX) { instance->currentChannelCount = 0; - instance->lastValidPulseTime = millis(); + instance->lastValidPulseTime = nowMillis; + instance->lastValidPulseStart = nowMillis; } else if (duration >= 700 && duration <= 2200) { if (instance->currentChannelCount < NUM_PPM_CHANNELS) { uint8_t mirroredIndex = (NUM_PPM_CHANNELS - 1) - instance->currentChannelCount; instance->rawValues[mirroredIndex] = (uint16_t)duration; instance->currentChannelCount++; - instance->lastValidPulseTime = millis(); + instance->lastValidPulseTime = nowMillis; } } } @@ -58,13 +69,13 @@ void PpmParser::update(bool isLinkActive, uint16_t* servoStateArray) { uint32_t newMask = 0; uint8_t channelsToProcess = (mode == PpmInputMode::SINGLE_PWM) ? 1 : NUM_PPM_CHANNELS; + updateSmoothValue(); for (uint8_t i = 0; i < channelsToProcess; i++) { InputConfig& cfg = activeMainConfig.ppmInputs[i]; - updateSmoothValue(i); + uint16_t val = getNormalizedSmoothValue(i); if (cfg.targetServoIndex != InputServoMapping::NONE && cfg.targetServoIndex <= InputServoMapping::SRV_REMOTE_6) { - uint16_t val = getNormalizedValue(i); servoStateArray[cfg.targetServoIndex - 1] = val; } @@ -73,7 +84,6 @@ void PpmParser::update(bool isLinkActive, uint16_t* servoStateArray) { } if (cfg.type == InputType::SWITCH_3POS) { - uint16_t val = getNormalizedSmoothValue(i); if (val < cfg.thresholdLow) { newMask |= cfg.targetMaskLow; } else if (val >= cfg.thresholdLow && val <= cfg.thresholdHigh) { @@ -111,8 +121,32 @@ uint16_t PpmParser::getNormalizedSmoothValue(uint8_t index) { return (uint16_t)constrain(normalized, 0, 2000); } -void PpmParser::updateSmoothValue(uint8_t index) { - if(smoothenValues[index] != rawValues[index]) { - smoothenValues[index] = (smoothenValues[index] * 3 + rawValues[index]) / 4; +void PpmParser::updateSmoothValue() { + if(lastValidPulseStart != lastValidPacketTime) { + lastValidPacketTime = lastValidPulseStart; + // New packet received, reset history + for(uint8_t i = 0; i < NUM_PPM_CHANNELS; i++) { + historyChannels[i][historyIndex] = rawValues[i]; + + smoothenValues[i] = calculateMedian(i); + } + + historyIndex = (historyIndex + 1) % HISTORY_SIZE; + } +} + +uint16_t PpmParser::calculateMedian(uint8_t index) { + uint16_t sorted[HISTORY_SIZE]; + memcpy(sorted, historyChannels[index], sizeof(uint16_t) * HISTORY_SIZE); + // Simple insertion sort + for (uint8_t i = 1; i < HISTORY_SIZE; i++) { + uint16_t key = sorted[i]; + int8_t j = i - 1; + while (j >= 0 && sorted[j] > key) { + sorted[j + 1] = sorted[j]; + j--; + } + sorted[j + 1] = key; } + return sorted[HISTORY_SIZE / 2]; // Return median } \ No newline at end of file diff --git a/src/input/ppm-parser.h b/src/input/ppm-parser.h index 613a113..499ea4f 100644 --- a/src/input/ppm-parser.h +++ b/src/input/ppm-parser.h @@ -2,6 +2,7 @@ #include #include "../config/main-config.h" +#define HISTORY_SIZE 3 class PpmParser { private: uint8_t inputPin; @@ -9,9 +10,13 @@ class PpmParser { volatile uint32_t lastRiseTime; volatile uint16_t rawValues[NUM_PPM_CHANNELS]; - volatile uint16_t smoothenValues[NUM_PPM_CHANNELS]; volatile uint8_t currentChannelCount; volatile uint32_t lastValidPulseTime; + volatile uint32_t lastValidPulseStart; + uint16_t smoothenValues[NUM_PPM_CHANNELS]; + uint16_t historyChannels[NUM_PPM_CHANNELS][HISTORY_SIZE]; + uint8_t historyIndex; + uint32_t lastValidPacketTime; uint32_t activePpmMask; @@ -33,5 +38,6 @@ class PpmParser { uint16_t getRawValue(uint8_t channel); uint16_t getNormalizedValue(uint8_t index); uint16_t getNormalizedSmoothValue(uint8_t index); - void updateSmoothValue(uint8_t index); + void updateSmoothValue(); + uint16_t calculateMedian(uint8_t index); }; \ No newline at end of file diff --git a/src/input/sbus-parser.cpp b/src/input/sbus-parser.cpp index b768763..d021a3c 100644 --- a/src/input/sbus-parser.cpp +++ b/src/input/sbus-parser.cpp @@ -1,7 +1,17 @@ #include "sbus-parser.h" SbusParser::SbusParser(HardwareSerial* serialPort, int8_t rxPin, int8_t txPin, bool invert) - : receiver(serialPort, rxPin, txPin, invert), activeSbusMask(0) {} + : receiver(serialPort, rxPin, txPin, invert), activeSbusMask(0) { + // Initialize smoothenValues array with 1024 for all channels + for (uint8_t i = 0; i < NUM_SBUS_CHANNELS; i++) { + smoothenValues[i] = 1024; + // Initialize historyChannels array with 1024 for all history entries + for (uint8_t j = 0; j < HISTORY_SIZE; j++) { + historyChannels[i][j] = 1024; + } + } + historyIndex = 0; +} void SbusParser::begin() { receiver.begin(); @@ -18,12 +28,13 @@ void SbusParser::update(bool isLinkActive, uint16_t* servoStateArray) { // Link is active, process normally receiver.getChannel(&channelData); + updateSmoothValue(); uint32_t newMask = 0; for (uint8_t i = 0; i < NUM_SBUS_CHANNELS; i++) { InputConfig& cfg = activeMainConfig.sbusInputs[i]; - uint16_t val = getChannelValue(i); - + uint16_t val = getSmoothValue(i); + if (cfg.targetServoIndex != InputServoMapping::NONE && cfg.targetServoIndex <= InputServoMapping::SRV_REMOTE_6) { servoStateArray[cfg.targetServoIndex - 1] = val; } @@ -33,7 +44,6 @@ void SbusParser::update(bool isLinkActive, uint16_t* servoStateArray) { } if (cfg.type == InputType::SWITCH_3POS) { - if (val < cfg.thresholdLow) { newMask |= cfg.targetMaskLow; } @@ -85,4 +95,40 @@ uint16_t SbusParser::getChannelValue(uint8_t index) { case 15: return channelData.channel16; default: return 1024; } +} + +uint16_t SbusParser::getSmoothValue(uint8_t index) { + + return smoothenValues[index]; +} + +void SbusParser::updateSmoothValue() { + uint32_t currentLastPacketTime = receiver.getLastValidPacketTime(); + if(currentLastPacketTime != lastValidPacketTime) { + lastValidPacketTime = currentLastPacketTime; + // New packet received, reset history + for(uint8_t i = 0; i < NUM_SBUS_CHANNELS; i++) { + historyChannels[i][historyIndex] = getChannelValue(i); + + smoothenValues[i] = calculateMedian(i); + } + + historyIndex = (historyIndex + 1) % HISTORY_SIZE; + } +} + +uint16_t SbusParser::calculateMedian(uint8_t index) { + uint16_t sorted[HISTORY_SIZE]; + memcpy(sorted, historyChannels[index], sizeof(uint16_t) * HISTORY_SIZE); + // Simple insertion sort + for (uint8_t i = 1; i < HISTORY_SIZE; i++) { + uint16_t key = sorted[i]; + int8_t j = i - 1; + while (j >= 0 && sorted[j] > key) { + sorted[j + 1] = sorted[j]; + j--; + } + sorted[j + 1] = key; + } + return sorted[HISTORY_SIZE / 2]; // Return median } \ No newline at end of file diff --git a/src/input/sbus-parser.h b/src/input/sbus-parser.h index 8813c09..84c6013 100644 --- a/src/input/sbus-parser.h +++ b/src/input/sbus-parser.h @@ -1,13 +1,18 @@ #pragma once #include -#include +#include "./serialIO/SerialIO.h" #include "../config/main-config.h" +#define HISTORY_SIZE 5 class SbusParser { private: sbus receiver; rc_channels_t channelData; uint32_t activeSbusMask; + uint16_t smoothenValues[NUM_SBUS_CHANNELS]; + uint16_t historyChannels[NUM_SBUS_CHANNELS][HISTORY_SIZE]; + uint8_t historyIndex; + uint32_t lastValidPacketTime; uint16_t getChannelValue(uint8_t index); @@ -25,4 +30,7 @@ class SbusParser { bool isSerialConnected(); bool isFailsafeActive(); bool isFrameLost(); + uint16_t getSmoothValue(uint8_t index); + void updateSmoothValue(); + uint16_t calculateMedian(uint8_t index); }; \ No newline at end of file diff --git a/src/input/serialIO/SerialIO.cpp b/src/input/serialIO/SerialIO.cpp new file mode 100644 index 0000000..7722494 --- /dev/null +++ b/src/input/serialIO/SerialIO.cpp @@ -0,0 +1,31 @@ +#include "SerialIO.h" + +SerialIO::SerialIO(Stream *rxPort, int rxPin, int txPin, bool inverted) + : _rxPort(rxPort), _rxPin(rxPin), _txPin(txPin), _inverted(inverted) { + // Constructor implementation +} + +SerialIO::~SerialIO() { +// End serial communication +#if defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_AVR) + HardwareSerial *serialPort = (HardwareSerial *)_rxPort; + serialPort->end(); +#elif defined(ARDUINO_ARCH_RP2040) + SerialUART *serialPort = (SerialUART *)_rxPort; + serialPort->end(); +#else +#warning "Unsupported hardware platform." +#endif +} + +void SerialIO::leftShift(uint8_t arr[], size_t size) { + memmove(arr, arr + 1, (size - 1)); + arr[size - 1] = 0xFF; +} + +void SerialIO::rightShift(uint8_t arr[], size_t size) { + memmove(arr + 1, arr, size - 1); + arr[0] = 0xFF; +} + +void SerialIO::getChannel(ibus_channels_t *channelData) {} \ No newline at end of file diff --git a/src/input/serialIO/SerialIO.h b/src/input/serialIO/SerialIO.h new file mode 100644 index 0000000..ecab5a8 --- /dev/null +++ b/src/input/serialIO/SerialIO.h @@ -0,0 +1,117 @@ +/** + * @file SerialIO.h + * @brief Header file for SerialIO class, providing serial input/output (IO) functionality. + * + * @author WittyWizard + */ + +#pragma once +#ifndef SerialIO_H +#define SerialIO_H + +#include +#include "ibus/ibus_protocol.h" + +#define PACKED __attribute__((packed)) + +/** + * @brief Structure representing 16 RC channels using 11-bit values. + */ +typedef struct rc_channels_s +{ + unsigned channel1 : 11; + unsigned channel2 : 11; + unsigned channel3 : 11; + unsigned channel4 : 11; + unsigned channel5 : 11; + unsigned channel6 : 11; + unsigned channel7 : 11; + unsigned channel8 : 11; + unsigned channel9 : 11; + unsigned channel10 : 11; + unsigned channel11 : 11; + unsigned channel12 : 11; + unsigned channel13 : 11; + unsigned channel14 : 11; + unsigned channel15 : 11; + unsigned channel16 : 11; +} PACKED rc_channels_t; + +/** + * @brief Class providing methods for initializing and decoding RC protocols. + */ +class SerialIO +{ +public: + /** + * @brief Constructor to initialize the SerialIO class. + * + * @param rxPort Pointer to the hardware serial port to use. + * @param rxPin RX pin number. + * @param txPin TX pin number. + * @param inverted Set to true if the serial signal is inverted. + */ + SerialIO(Stream *rxPort, int rxPin, int txPin, bool inverted); + + /** + * @brief Virtual destructor. + */ + virtual ~SerialIO(); + + /** + * @brief Initialize pins and set up the serial port. + */ + virtual void begin() = 0; + + /** + * @brief Process incoming serial data and decode it. + */ + virtual void processIncoming() = 0; + + /** + * @brief Retrieve the current channel data. + * + * @param[out] channelData Pointer to an rc_channels_t structure to store the retrieved channel data. + * + * @note The structure contains 16 channels, each represented as an 11-bit unsigned integer with a maximum value of 2047. + */ + virtual void getChannel(rc_channels_t *channelData) = 0; + + /** + * @brief Retrieve the current channel data using ibus_channels_t. + * + * @param[out] channelData Pointer to an ibus_channels_t structure to store the channel data. + */ + virtual void getChannel(ibus_channels_t *channelData); + +protected: + Stream *_rxPort; ///< Pointer to the hardware serial port used for communication. + bool _inverted; ///< Indicates whether the serial signal is inverted. + int _rxPin; ///< RX pin number. + int _txPin; ///< TX pin number. + uint32_t _lastPacketTime = 0; ///< Timestamp of the last received packet. + bool _connectionTimeout = false; ///< Indicates whether the connection has timed out. + + /** + * @brief Perform a left shift operation on the given byte array. + * + * @param arr Pointer to the byte array. + * @param size Size of the array. + */ + void leftShift(uint8_t arr[], size_t size); + + /** + * @brief Perform a right shift operation on the given byte array. + * + * @param arr Pointer to the byte array. + * @param size Size of the array. + */ + void rightShift(uint8_t arr[], size_t size); +}; + +#include "crsf/crsf.h" +#include "fport/fport.h" +#include "ibus/ibus.h" +#include "sbus/sbus.h" + +#endif // SerialIO_H diff --git a/src/input/serialIO/crsf/crsf.cpp b/src/input/serialIO/crsf/crsf.cpp new file mode 100644 index 0000000..9a5ed2f --- /dev/null +++ b/src/input/serialIO/crsf/crsf.cpp @@ -0,0 +1,67 @@ +#include "crsf.h" + +crsf::crsf(Stream *rxPort, int rxPin, int txPin, bool inverted) + : SerialIO(rxPort, rxPin, txPin, inverted){}; + +void crsf::begin() { + +// Initialize the serial port +#if defined(ARDUINO_ARCH_ESP32) + HardwareSerial *serialPort = (HardwareSerial *)_rxPort; + serialPort->begin(CRSF_BAUDRATE, SERIAL_8N1, _rxPin, _txPin, _inverted); +#elif defined(ARDUINO_ARCH_RP2040) + SerialUART *serialPort = (SerialUART *)_rxPort; + serialPort->setPinout(_txPin, _rxPin); + serialPort->setInvertRX(_inverted); + serialPort->setInvertTX(_inverted); + serialPort->begin(CRSF_BAUDRATE, SERIAL_8N1); +#else +#warning "Unsupported hardware platform." +#endif +} + +void crsf::processIncoming() { + uint8_t size = CRSF_MAX_PACKET_SIZE; + while (_rxPort->available()) { + _rxData[CRSF_MAX_PACKET_SIZE - 1] = _rxPort->read(); + if (crc8(&_rxData[CRSF_MAX_PACKET_SIZE - size], + _rxData[CRSF_MAX_PACKET_SIZE - size - 1]) == 0) { + if ((_rxData[CRSF_MAX_PACKET_SIZE - size - 2] == + CRSF_ADDRESS_FLIGHT_CONTROLLER) || + (_rxData[CRSF_MAX_PACKET_SIZE - size - 2] == + CRSF_ADDRESS_CRSF_TRANSMITTER)) { + if (_rxData[CRSF_MAX_PACKET_SIZE - size] == + CRSF_FRAMETYPE_RC_CHANNELS_PACKED) { + memcpy(&_channelData, &_rxData[CRSF_MAX_PACKET_SIZE - size + 1], + sizeof(_channelData)); + } + } + } + if (_rxData[CRSF_MAX_PACKET_SIZE - 2] == + CRSF_ADDRESS_CRSF_TRANSMITTER || + _rxData[CRSF_MAX_PACKET_SIZE - 2] == + CRSF_ADDRESS_FLIGHT_CONTROLLER) { + size = _rxData[CRSF_MAX_PACKET_SIZE - 1]; + } + leftShift(_rxData, sizeof(_rxData)); + } +} + +void crsf::getChannel(rc_channels_t *channelData) { + memcpy(channelData, &_channelData, sizeof(rc_channels_t)); +} + +uint8_t crsf::crc8(uint8_t *data, uint8_t len) { + uint8_t crc = 0; + for (uint8_t i = 0; i < len; i++) { + crc ^= data[i]; + for (uint8_t j = 0; j < 8; j++) { + if (crc & 0x80) { + crc = (crc << 1) ^ CRC8_POLY_D5; + } else { + crc <<= 1; + } + } + } + return crc; +} \ No newline at end of file diff --git a/src/input/serialIO/crsf/crsf.h b/src/input/serialIO/crsf/crsf.h new file mode 100644 index 0000000..6485468 --- /dev/null +++ b/src/input/serialIO/crsf/crsf.h @@ -0,0 +1,56 @@ +/*! + * @file crsf.h + * @brief Header file for the CRSF protocol implementation. + * @author Witty-Wizard + */ + +#pragma once +#ifndef CRSF_H +#define CRSF_H +#include "crsf_protocol.h" +#include "../SerialIO.h" // Include header file for the serial IO class +#include "crsf_protocol.h" + +#define CRC8_POLY_D5 0xD5 + +/** + * @brief A class for handling CRSF protocol communication. + */ +class crsf : public SerialIO { +private: + crsf_channels_t _channelData; + uint8_t _rxData[CRSF_MAX_PACKET_SIZE]={0}; + bool _headerDetected; // Flag indicating whether a header has been detected in + // the incoming data. + uint8_t _rxIndex; // Index for the receive_buffer. + uint8_t _buffer; + +public: + /** + * @brief Constructor for the CRSF class. + * @param rxPort Reference to the hardware serial port for RX communication. + * @param rxPin The RX pin number. + * @param txPin The TX pin number. + * @param inverted Whether the serial signal is inverted (true) or not + * (false). + */ + explicit crsf(Stream *rxPort, int rxPin = -1, int txPin = -1, + bool inverted = false); + + /** + * @brief Initializes the CRSF communication. + */ + void begin() override; + void processIncoming() override; + + /** + * @brief Retrieves the decoded RC channels from the received CRSF data. + * @param channelData Pointer to a crsf_channels_t struct where the decoded + * channel data will be stored. + */ + void getChannel(rc_channels_t *channelData) override; + + uint8_t crc8(uint8_t *data, uint8_t len); +}; + +#endif \ No newline at end of file diff --git a/src/input/serialIO/crsf/crsf_protocol.h b/src/input/serialIO/crsf/crsf_protocol.h new file mode 100644 index 0000000..06dcca3 --- /dev/null +++ b/src/input/serialIO/crsf/crsf_protocol.h @@ -0,0 +1,194 @@ +#pragma once + +#ifndef CRSF_PROTOCOL_H +#define CRSF_PROTOCOL_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#define PACKED __attribute__((packed)) + +#define CRSF_BAUDRATE 420000 ///< CRSF default baud rate +#define CRSF_NUM_CHANNELS 16 ///< CRSF number of channels +#define CRSF_CHANNEL_VALUE_MIN \ + 172 ///< 987us - actual CRSF min is 0 with E.Limits on +#define CRSF_CHANNEL_VALUE_1000 191 +#define CRSF_CHANNEL_VALUE_MID 992 +#define CRSF_CHANNEL_VALUE_2000 1792 +#define CRSF_CHANNEL_VALUE_MAX \ + 1811 ///< 2012us - actual CRSF max is 1984 with E.Limits on +#define CRSF_CHANNEL_VALUE_SPAN \ + (CRSF_CHANNEL_VALUE_MAX - CRSF_CHANNEL_VALUE_MIN) +#define CRSF_MAX_PACKET_SIZE \ + 64 ///< max declared len is 62+DEST+LEN on top of that = 64 +#define CRSF_MAX_PAYLOAD_LEN \ + (CRSF_MAX_PACKET_SIZE - \ + 4) ///< Max size of payload in [dest] [len] [type] [payload] [crc8] + +/** Length of different CRSF frame */ +enum { + CRSF_FRAME_LENGTH_ADDRESS = 1, // length of ADDRESS field + CRSF_FRAME_LENGTH_FRAMELENGTH = 1, // length of FRAMELENGTH field + CRSF_FRAME_LENGTH_TYPE = 1, // length of TYPE field + CRSF_FRAME_LENGTH_CRC = 1, // length of CRC field + CRSF_FRAME_LENGTH_TYPE_CRC = 2, // length of TYPE and CRC fields combined + CRSF_FRAME_LENGTH_EXT_TYPE_CRC = + 4, // length of Extended Dest/Origin, TYPE and CRC fields combined + CRSF_FRAME_LENGTH_NON_PAYLOAD = + 4, // combined length of all fields except payload +}; + +/** Length of CRSF frames */ +enum { + CRSF_FRAME_GPS_PAYLOAD_SIZE = 15, + CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8, + CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10, + CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = + 22, // 11 bits per channel * 16 channels = 22 bytes. + CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6, +}; + +/** CRSF Sensor frame type */ +typedef enum { + CRSF_FRAMETYPE_GPS = 0x02, + CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08, + CRSF_FRAMETYPE_LINK_STATISTICS = 0x14, + CRSF_FRAMETYPE_OPENTX_SYNC = 0x10, + CRSF_FRAMETYPE_RADIO_ID = 0x3A, + CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16, + CRSF_FRAMETYPE_ATTITUDE = 0x1E, + CRSF_FRAMETYPE_FLIGHT_MODE = 0x21, + // Extended Header Frames, range: 0x28 to 0x96 + CRSF_FRAMETYPE_DEVICE_PING = 0x28, + CRSF_FRAMETYPE_DEVICE_INFO = 0x29, + CRSF_FRAMETYPE_PARAMETER_SETTINGS_ENTRY = 0x2B, + CRSF_FRAMETYPE_PARAMETER_READ = 0x2C, + CRSF_FRAMETYPE_PARAMETER_WRITE = 0x2D, + CRSF_FRAMETYPE_COMMAND = 0x32, + // MSP commands + CRSF_FRAMETYPE_MSP_REQ = + 0x7A, // response request using msp sequence as command + CRSF_FRAMETYPE_MSP_RESP = 0x7B, // reply with 58 byte chunked binary + CRSF_FRAMETYPE_MSP_WRITE = 0x7C, // write with 8 byte chunked binary (OpenTX + // outbound telemetry_buffer limit) +} crsf_frame_type_e; + +/** CRSF sensor address */ +typedef enum { + CRSF_ADDRESS_BROADCAST = 0x00, + CRSF_ADDRESS_USB = 0x10, + CRSF_ADDRESS_TBS_CORE_PNP_PRO = 0x80, + CRSF_ADDRESS_RESERVED1 = 0x8A, + CRSF_ADDRESS_CURRENT_SENSOR = 0xC0, + CRSF_ADDRESS_GPS = 0xC2, + CRSF_ADDRESS_TBS_BLACKBOX = 0xC4, + CRSF_ADDRESS_FLIGHT_CONTROLLER = 0xC8, + CRSF_ADDRESS_RESERVED2 = 0xCA, + CRSF_ADDRESS_RACE_TAG = 0xCC, + CRSF_ADDRESS_RADIO_TRANSMITTER = 0xEA, + CRSF_ADDRESS_CRSF_RECEIVER = 0xEC, + CRSF_ADDRESS_CRSF_TRANSMITTER = 0xEE, +} crsf_addr_e; + +/** Heder of CRSF Packet*/ +typedef struct crsf_header_s { + uint8_t device_addr; // from crsf_addr_e + uint8_t frame_size; // counts size after this byte, so it must be the payload + // size + 2 (type and crc) + uint8_t type; // from crsf_frame_type_e +} PACKED crsf_header_t; + +/** RC Packet Frame */ +typedef struct crsf_channels_s { + unsigned channel1 : 11; + unsigned channel2 : 11; + unsigned channel3 : 11; + unsigned channel4 : 11; + unsigned channel5 : 11; + unsigned channel6 : 11; + unsigned channel7 : 11; + unsigned channel8 : 11; + unsigned channel9 : 11; + unsigned channel10 : 11; + unsigned channel11 : 11; + unsigned channel12 : 11; + unsigned channel13 : 11; + unsigned channel14 : 11; + unsigned channel15 : 11; + unsigned channel16 : 11; +} PACKED crsf_channels_t; + +/** Payload Statics */ +typedef struct crsfPayloadLinkstatistics_s { + uint8_t uplink_RSSI_1; + uint8_t uplink_RSSI_2; + uint8_t uplink_Link_quality; + int8_t uplink_SNR; + uint8_t active_antenna; + uint8_t rf_Mode; + uint8_t uplink_TX_Power; + uint8_t downlink_RSSI; + uint8_t downlink_Link_quality; + int8_t downlink_SNR; +} crsfLinkStatistics_t; + +/** Battery Voltage parameters */ +typedef struct crsf_sensor_battery_s { + uint32_t voltage : 16; // V * 10 big endian + uint32_t current : 16; // A * 10 big endian + uint32_t capacity : 24; // mah big endian + uint32_t remaining : 8; // % +} PACKED crsf_sensor_battery_t; + +/** GPS parameters */ +typedef struct crsf_sensor_gps_s { + int32_t latitude; // degree / 10,000,000 big endian + int32_t longitude; // degree / 10,000,000 big endian + uint16_t groundspeed; // km/h / 10 big endian + uint16_t heading; // GPS heading, degree/100 big endian + uint16_t altitude; // meters, +1000m big endian + uint8_t satellites; // satellites +} PACKED crsf_sensor_gps_t; + +#if !defined(__linux__) +static inline uint16_t htobe16(uint16_t val) { +#if (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__) + return val; +#else + return __builtin_bswap16(val); +#endif +} + +static inline uint16_t be16toh(uint16_t val) { +#if (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__) + return val; +#else + return __builtin_bswap16(val); +#endif +} + +static inline uint32_t htobe32(uint32_t val) { +#if (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__) + return val; +#else + return __builtin_bswap32(val); +#endif +} + +static inline uint32_t be32toh(uint32_t val) { +#if (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__) + return val; +#else + return __builtin_bswap32(val); +#endif +} +#endif + +#ifdef __cplusplus +} +#endif + +#endif // CRSF_PROTOCOL_H \ No newline at end of file diff --git a/src/input/serialIO/fport/fport.cpp b/src/input/serialIO/fport/fport.cpp new file mode 100644 index 0000000..dcbe24b --- /dev/null +++ b/src/input/serialIO/fport/fport.cpp @@ -0,0 +1,52 @@ +/*! + * @file fport.cpp + * @brief Source file for the F.Port implementations + * @author Witty-Wizard + */ + +#include "fport.h" + +fport::fport(Stream *rxPort, int rxPin, int txPin, bool inverted) + : SerialIO(rxPort, rxPin, txPin, inverted) {} + +void fport::begin() { + +// Initialize the serial port +#if defined(ARDUINO_ARCH_ESP32) + HardwareSerial *serialPort = (HardwareSerial *)_rxPort; + serialPort->begin(FPORT_BAUDRATE, SERIAL_8N1, _rxPin, _txPin, _inverted); +#elif defined(ARDUINO_ARCH_RP2040) + SerialUART *serialPort = (SerialUART *)_rxPort; + serialPort->setPinout(_txPin, _rxPin); + serialPort->setInvertRX(_inverted); + serialPort->setInvertTX(_inverted); + serialPort->begin(FPORT_BAUDRATE, SERIAL_8N1); +#else +#warning "Unsupported hardware platform." +#endif +} + +void fport::processIncoming() { + uint8_t size = FPORT_MAX_PACKET_SIZE; + while (_rxPort->available()) { + _rxData[FPORT_MAX_PACKET_SIZE - 1] = _rxPort->read(); + if (_rxData[FPORT_MAX_PACKET_SIZE - size - 4] == FPORT_END_BYTES && + _rxData[FPORT_MAX_PACKET_SIZE - 1] == FPORT_END_BYTES) { + if (_rxData[FPORT_MAX_PACKET_SIZE - size - 2] == + FPORT_FRAMETYPE_RC_CHANNELS_PACKED) { + memcpy(&_channelData, &_rxData[FPORT_MAX_PACKET_SIZE - size - 1], + sizeof(_channelData)); + } + } + if (_rxData[FPORT_MAX_PACKET_SIZE - 2] == FPORT_END_BYTES) { + size = _rxData[FPORT_MAX_PACKET_SIZE - 1]; + } + leftShift(_rxData, sizeof(_rxData)); + } +} + +void fport::getChannel(rc_channels_t *channelData) { + memcpy(channelData, &_channelData, sizeof(rc_channels_t)); +} + +void fport::crc() {} \ No newline at end of file diff --git a/src/input/serialIO/fport/fport.h b/src/input/serialIO/fport/fport.h new file mode 100644 index 0000000..57f3f70 --- /dev/null +++ b/src/input/serialIO/fport/fport.h @@ -0,0 +1,27 @@ +/*! + * @file fport.h + * @brief Header file for the FPort Protocol definations + * @author Witty-Wizard + */ + +#pragma once +#ifndef FPORT_H +#define FPORT_H + +#include "../SerialIO.h" +#include "fport_protocol.h" + +class fport : public SerialIO { +private: + uint8_t _rxData[FPORT_MAX_PACKET_SIZE] = {0}; + fport_channels_t _channelData; + +public: + explicit fport(Stream *rxPort, int rxPin = -1, int txPin = -1, + bool inverted = true); + void begin() override; + void processIncoming() override; + void getChannel(rc_channels_t *channelData) override; + void crc(); +}; +#endif \ No newline at end of file diff --git a/src/input/serialIO/fport/fport_protocol.h b/src/input/serialIO/fport/fport_protocol.h new file mode 100644 index 0000000..55b0fa3 --- /dev/null +++ b/src/input/serialIO/fport/fport_protocol.h @@ -0,0 +1,55 @@ +/*! + * @file fport_protocol.h + * @brief Header file for the F.Port protocol implementation. + */ +#pragma once + +#ifndef FPORT_PROTOCOL_H +#define FPORT_PROTOCOL_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#define PACKED __attribute__((packed)) +#define FPORT_BAUDRATE 115200 ///< F.Port baudrate +#define FPORT_MAX_PACKET_SIZE 29 ///< F.Port maximum packet length +#define FPORT_END_BYTES 0x7E + +typedef enum { + FPORT_FRAMETYPE_RC_CHANNELS_PACKED = 0x00, + FPORT_FRAMETYPE_DOWNLINK = 0x01, + FPORT_FRAMETYPE_UPLINK = 0x81, +} fport_frame_type_e; + +typedef struct fport_channels_s { + unsigned channel1 : 11; + unsigned channel2 : 11; + unsigned channel3 : 11; + unsigned channel4 : 11; + unsigned channel5 : 11; + unsigned channel6 : 11; + unsigned channel7 : 11; + unsigned channel8 : 11; + unsigned channel9 : 11; + unsigned channel10 : 11; + unsigned channel11 : 11; + unsigned channel12 : 11; + unsigned channel13 : 11; + unsigned channel14 : 11; + unsigned channel15 : 11; + unsigned channel16 : 11; + unsigned dummy : 4; + unsigned failsafe : 1; + unsigned framelost : 1; + unsigned channel17 : 1; + unsigned channel18 : 1; +} PACKED fport_channels_t; + +#ifdef __cplusplus +} +#endif + +#endif \ No newline at end of file diff --git a/src/input/serialIO/ibus/ibus.cpp b/src/input/serialIO/ibus/ibus.cpp new file mode 100644 index 0000000..07a0dbf --- /dev/null +++ b/src/input/serialIO/ibus/ibus.cpp @@ -0,0 +1,80 @@ +#include "ibus.h" + +ibus::ibus(Stream *rxPort, int rxPin, int txPin, bool inverted) + : SerialIO(rxPort, rxPin, txPin, inverted) {} + +void ibus::begin() { + +// Initialize the serial port +#if defined(ARDUINO_ARCH_ESP32) + HardwareSerial *serialPort = (HardwareSerial *)_rxPort; + serialPort->begin(IBUS_BAUDRATE, SERIAL_8N1, _rxPin, _txPin, _inverted); +#elif defined(ARDUINO_ARCH_AVR) + HardwareSerial *serialPort = (HardwareSerial *)_rxPort; + serialPort->begin(IBUS_BAUDRATE); +#elif defined(ARDUINO_ARCH_RP2040) + SerialUART *serialPort = (SerialUART *)_rxPort; + serialPort->setPinout(_txPin, _rxPin); + serialPort->setInvertRX(_inverted); + serialPort->setInvertTX(_inverted); + serialPort->begin(IBUS_BAUDRATE, SERIAL_8N1); +#else +#warning "Unsupported hardware platform." +#endif +} + +void ibus::processIncoming() { + while (_rxPort->available()) { + _rxData[IBUS_MAX_PACKET_SIZE - 1] = _rxPort->read(); + if (_rxData[0] == IBUS_HEADER1 && _rxData[1] == IBUS_HEADER2) { + if (checkSum()) { + size_t len = sizeof(ibus_channels_s) / sizeof(uint16_t); + uint16_t *arr = (uint16_t *)&_channelData; + for (int i = 0; i < len; i++) { + arr[i] = (_rxData[i * sizeof(uint16_t) + 1] << 8) | + _rxData[i * sizeof(uint16_t)]; + } + } + } + leftShift(_rxData, sizeof(_rxData)); + } +} + +void ibus::getChannel(rc_channels_t *channelData) { + channelData->channel1 = _channelData.channel1; + channelData->channel2 = _channelData.channel2; + channelData->channel3 = _channelData.channel3; + channelData->channel4 = _channelData.channel4; + channelData->channel5 = _channelData.channel5; + channelData->channel6 = _channelData.channel6; + channelData->channel7 = _channelData.channel7; + channelData->channel8 = _channelData.channel8; + channelData->channel9 = _channelData.channel9; + channelData->channel10 = _channelData.channel10; + channelData->channel11 = _channelData.channel11; + channelData->channel12 = _channelData.channel12; + channelData->channel13 = _channelData.channel13; + channelData->channel14 = _channelData.channel14; +} + +void ibus::getChannel(ibus_channels_t *channelData) { + *channelData = _channelData; +} + +bool ibus::checkSum() { + // Sum all the elements of _rxData except the last two bytes + uint16_t sum = 0; + for (size_t i = 0; i < sizeof(_rxData) - 2; ++i) { + sum += _rxData[i]; + } + + // Transform the last two bytes into a little-endian uint16_t + uint16_t checkSum = + (_rxData[sizeof(_rxData) - 1] << 8) | _rxData[sizeof(_rxData) - 2]; + + // Add the last two bytes to the sum + sum += checkSum; + + // Check if the sum matches the expected CRC + return (sum == 0xFFFF); // Assuming IBUS CRC is 0xFFFF when correct +} \ No newline at end of file diff --git a/src/input/serialIO/ibus/ibus.h b/src/input/serialIO/ibus/ibus.h new file mode 100644 index 0000000..d2cb2d4 --- /dev/null +++ b/src/input/serialIO/ibus/ibus.h @@ -0,0 +1,59 @@ +/*! + * @file ibus.h + * @brief Header file for the Ibus protocol implementation. + */ + +#pragma once +#ifndef IBUS_H +#define IBUS_H + +#include "../SerialIO.h" // Include header file for the serial IO class +#include "ibus_protocol.h" + +/** + * @brief A class for handling IBUS protocol communication. + */ +class ibus : public SerialIO { +private: + ibus_channels_t _channelData; + uint8_t _rxData[IBUS_MAX_PACKET_SIZE]; ///< Buffer to store received IBUS data + bool checkSum(); + +public: + /** + * @brief Constructor for the IBUS class. + * @param rxPort Reference to the hardware serial port for RX communication. + * @param rxPin The RX pin number. + * @param txPin The TX pin number. + * @param inverted Whether the serial signal is inverted (true) or not + * (false). + */ + explicit ibus(Stream *rxPort, int rxPin = -1, int txPin = -1, + bool inverted = false); + + /** + * @brief Initializes the IBUS communication. + */ + void begin() override; + + /** + * @brief Processes incoming IBUS data. + */ + void processIncoming() override; + + /** + * @brief Gets the decoded RC channels from the IBUS data. + * @param channelData Pointer to a rc_channels_t struct where the decoded + * channel data will be stored. + */ + void getChannel(rc_channels_t *channelData) override; + + /** + * @brief Gets the decoded RC channels from the IBUS data. + * @param channelData Pointer to a ibus_channels_t struct where the decoded + * channel data will be stored. + */ + void getChannel(ibus_channels_t *channelData) override; +}; + +#endif // IBUS_H diff --git a/src/input/serialIO/ibus/ibus_protocol.h b/src/input/serialIO/ibus/ibus_protocol.h new file mode 100644 index 0000000..e88103e --- /dev/null +++ b/src/input/serialIO/ibus/ibus_protocol.h @@ -0,0 +1,45 @@ +/*! + * @file ibus_protocol.h + * @brief Header file for the iBus protocol implementation. + */ +#pragma once + +#ifndef IBUS_PROTOCOL_H +#define IBUS_PROTOCOL_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#define PACKED __attribute__((packed)) +#define IBUS_MAX_PACKET_SIZE 32 ///< Maximum packet size for the IBUS protocol +#define IBUS_BAUDRATE 115200 ///< Baud rate for IBUS communication +#define IBUS_HEADER1 0x20 +#define IBUS_HEADER2 0x40 + +typedef struct ibus_channels_s { + unsigned header : 16; + unsigned channel1 : 16; + unsigned channel2 : 16; + unsigned channel3 : 16; + unsigned channel4 : 16; + unsigned channel5 : 16; + unsigned channel6 : 16; + unsigned channel7 : 16; + unsigned channel8 : 16; + unsigned channel9 : 16; + unsigned channel10 : 16; + unsigned channel11 : 16; + unsigned channel12 : 16; + unsigned channel13 : 16; + unsigned channel14 : 16; + unsigned checksum : 16; +} PACKED ibus_channels_t; + +#ifdef __cplusplus +} +#endif + +#endif \ No newline at end of file diff --git a/src/input/serialIO/sbus/sbus.cpp b/src/input/serialIO/sbus/sbus.cpp new file mode 100644 index 0000000..21bc04f --- /dev/null +++ b/src/input/serialIO/sbus/sbus.cpp @@ -0,0 +1,73 @@ +/*! + * @file sbus.cpp + * @brief Source file for the SBus implementations + * @author Witty-Wizard + */ +#include "sbus.h" + +sbus::sbus(Stream *rxPort, int rxPin, int txPin, bool inverted) + : SerialIO(rxPort, rxPin, txPin, inverted) {} + +void sbus::begin() { + +// Initialize the serial port +#if defined(ARDUINO_ARCH_ESP32) + HardwareSerial *serialPort = (HardwareSerial *)_rxPort; + serialPort->begin(SBUS_BAUDRATE, SERIAL_8E2, _rxPin, _txPin, _inverted); +#elif defined(ARDUINO_ARCH_RP2040) + SerialUART *serialPort = (SerialUART *)_rxPort; + serialPort->setPinout(_txPin, _rxPin); + serialPort->setInvertRX(_inverted); + serialPort->setInvertTX(_inverted); + serialPort->begin(SBUS_BAUDRATE, SERIAL_8E2); +#else +#warning "Unsupported hardware platform." +#endif +} + +void sbus::processIncoming() { + while (_rxPort->available()) { + _rxData[SBUS_MAX_PACKET_SIZE - 1] = _rxPort->read(); + if (_rxData[0] == HEADER_SBUS && + _rxData[SBUS_MAX_PACKET_SIZE - 1] == FOOTER_SBUS) { + memcpy(&_channelData, _rxData, sizeof(_channelData)); + _lastValidPacketTime = millis(); + } + leftShift(_rxData, sizeof(_rxData)); + + _lastPacketTime = millis(); + _connectionTimeout = false; + } + + if (millis() - _lastPacketTime > SBUS_TIMEOUT) { + _connectionTimeout = true; + } +} + +void sbus::getChannel(rc_channels_t *channelData) { + memcpy(channelData, (uint8_t *)&_channelData + 1, sizeof(rc_channels_t)); +} + +bool sbus::getFailsafe() { + return _channelData.failsafe; +} + +bool sbus::getFramelost() { + return _channelData.framelost; +} + +bool sbus::getChannel17() { + return _channelData.channel17; +} + +bool sbus::getChannel18() { + return _channelData.channel18; +} + +bool sbus::getSerialConnectionStatus() { + return !_connectionTimeout; +} + +uint32_t sbus::getLastValidPacketTime() { + return _lastValidPacketTime; + } \ No newline at end of file diff --git a/src/input/serialIO/sbus/sbus.h b/src/input/serialIO/sbus/sbus.h new file mode 100644 index 0000000..027ad71 --- /dev/null +++ b/src/input/serialIO/sbus/sbus.h @@ -0,0 +1,80 @@ +/*! + * @file sbus.h + * @brief Header file for the SBUS protocol implementation. + */ + +#pragma once +#ifndef SBUS_H +#define SBUS_H + +#include "../SerialIO.h" // Include header file for the serial IO class +#include "sbus_protocol.h" + +/** + * @brief A class for handling SBUS protocol communication. + */ +class sbus : public SerialIO { +private: + sbus_channels_t _channelData; + uint8_t _rxData[SBUS_MAX_PACKET_SIZE]; + uint32_t _lastValidPacketTime; + +public: + /** + * @brief Constructor for the SBUS class. + * @param rxPort Reference to the hardware serial port for RX communication. + * @param rxPin The RX pin number. + * @param txPin The TX pin number. + * @param inverted Whether the serial signal is inverted (true) or not + * (false). + */ + explicit sbus(Stream *rxPort, int rxPin = -1, int txPin = -1, + bool inverted = true); + + /** + * @brief Initializes the SBUS communication. + */ + void begin() override; + void processIncoming() override; + + /** + * @brief Gets the decoded RC channels from the SBUS data. + * @param channelData Pointer to a crsf_channels_t struct where the decoded + * channel data will be stored. + */ + void getChannel(rc_channels_t *channelData) override; + + /** + * @brief Gets the failsafe status from the SBUS data. + * @return True if failsafe is active, false otherwise. + */ + bool getFailsafe(); + + /** + * @brief Gets the frame lost status from the SBUS data. + * @return True if frame lost is active, false otherwise. + */ + bool getFramelost(); + + /** + * @brief Gets the channel 17 status from the SBUS data. + * @return True if channel 17 is active, false otherwise. + */ + bool getChannel17(); + + /** + * @brief Gets the channel 18 status from the SBUS data. + * @return True if channel 18 is active, false otherwise. + */ + bool getChannel18(); + + /** + * @brief Gets the serial connection status. + * @return True if the connection is active, false if it has timed out. + */ + bool getSerialConnectionStatus(); + + uint32_t getLastValidPacketTime(); +}; + +#endif \ No newline at end of file diff --git a/src/input/serialIO/sbus/sbus_protocol.h b/src/input/serialIO/sbus/sbus_protocol.h new file mode 100644 index 0000000..1431d81 --- /dev/null +++ b/src/input/serialIO/sbus/sbus_protocol.h @@ -0,0 +1,52 @@ +/*! + * @file sbus_protocol.h + * @brief Header file for the SBus protocol implementation. + */ +#pragma once + +#ifndef SBUS_PROTOCOL_H +#define SBUS_PROTOCOL_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#define PACKED __attribute__((packed)) +#define HEADER_SBUS 0x0F ///< SBus Header Byte +#define FOOTER_SBUS 0x00 ///< SBus Footer Byte +#define SBUS_BAUDRATE 100000 ///< SBus baudrate +#define SBUS_MAX_PACKET_SIZE 25 ///< SBus packet length +#define SBUS_TIMEOUT 200 ///< SBus timeout in milliseconds + +typedef struct sbus_channels_s { + unsigned header : 8; + unsigned channel1 : 11; + unsigned channel2 : 11; + unsigned channel3 : 11; + unsigned channel4 : 11; + unsigned channel5 : 11; + unsigned channel6 : 11; + unsigned channel7 : 11; + unsigned channel8 : 11; + unsigned channel9 : 11; + unsigned channel10 : 11; + unsigned channel11 : 11; + unsigned channel12 : 11; + unsigned channel13 : 11; + unsigned channel14 : 11; + unsigned channel15 : 11; + unsigned channel16 : 11; + unsigned dummy : 4; + unsigned failsafe : 1; + unsigned framelost : 1; + unsigned channel17 : 1; + unsigned channel18 : 1; + unsigned footer : 8; +} PACKED sbus_channels_t; +#ifdef __cplusplus +} +#endif + +#endif \ No newline at end of file diff --git a/truck-multi-function-sbus.ino b/truck-multi-function-sbus.ino index 6925378..c1ebbb2 100644 --- a/truck-multi-function-sbus.ino +++ b/truck-multi-function-sbus.ino @@ -58,7 +58,7 @@ void setup() { localOutputController.begin(); - serialCommMaster.begin(&Serial0, 19200, SERIAL_8N1, 1000, 50, D2); + serialCommMaster.begin(&Serial0, 19200, SERIAL_8N1, 1000, 30, D2); } From 6ecb4119fabe14d764b092b4590694f3d82bf1bc Mon Sep 17 00:00:00 2001 From: magraina Date: Mon, 30 Mar 2026 23:44:44 +0200 Subject: [PATCH 21/33] feat: optimize sbus sync --- src/input/serialIO/SerialIO.h | 2 +- src/input/serialIO/sbus/sbus.cpp | 34 +++++++++++++++++++++++--------- src/input/serialIO/sbus/sbus.h | 4 +++- 3 files changed, 29 insertions(+), 11 deletions(-) diff --git a/src/input/serialIO/SerialIO.h b/src/input/serialIO/SerialIO.h index ecab5a8..0652710 100644 --- a/src/input/serialIO/SerialIO.h +++ b/src/input/serialIO/SerialIO.h @@ -89,7 +89,7 @@ class SerialIO bool _inverted; ///< Indicates whether the serial signal is inverted. int _rxPin; ///< RX pin number. int _txPin; ///< TX pin number. - uint32_t _lastPacketTime = 0; ///< Timestamp of the last received packet. + uint32_t _lastValidPacketTime = 0; ///< Timestamp of the last received packet. bool _connectionTimeout = false; ///< Indicates whether the connection has timed out. /** diff --git a/src/input/serialIO/sbus/sbus.cpp b/src/input/serialIO/sbus/sbus.cpp index 21bc04f..6ffcf82 100644 --- a/src/input/serialIO/sbus/sbus.cpp +++ b/src/input/serialIO/sbus/sbus.cpp @@ -27,19 +27,35 @@ void sbus::begin() { void sbus::processIncoming() { while (_rxPort->available()) { - _rxData[SBUS_MAX_PACKET_SIZE - 1] = _rxPort->read(); - if (_rxData[0] == HEADER_SBUS && - _rxData[SBUS_MAX_PACKET_SIZE - 1] == FOOTER_SBUS) { - memcpy(&_channelData, _rxData, sizeof(_channelData)); - _lastValidPacketTime = millis(); + uint32_t now = micros(); + uint8_t incomingByte = _rxPort->read(); + + // If there was a gap, we MUST be at the start of a frame + if (now - lastByteMicros > SBUS_GAP_THRESHOLD) { + bufferIdx = 0; + } + lastByteMicros = now; + + if (bufferIdx < 25) { + _rxData[bufferIdx++] = incomingByte; } - leftShift(_rxData, sizeof(_rxData)); - _lastPacketTime = millis(); - _connectionTimeout = false; + if (bufferIdx == 25) { + if (_rxData[0] == HEADER_SBUS && + _rxData[SBUS_MAX_PACKET_SIZE - 1] == FOOTER_SBUS) { + + memcpy(&_channelData, _rxData, sizeof(_channelData)); + + _lastValidPacketTime = millis(); + _connectionTimeout = false; + } else { + // Potential "False Sync" - discard and wait for next gap + bufferIdx = 0; + } + } } - if (millis() - _lastPacketTime > SBUS_TIMEOUT) { + if (millis() - _lastValidPacketTime > SBUS_TIMEOUT) { _connectionTimeout = true; } } diff --git a/src/input/serialIO/sbus/sbus.h b/src/input/serialIO/sbus/sbus.h index 027ad71..61a481f 100644 --- a/src/input/serialIO/sbus/sbus.h +++ b/src/input/serialIO/sbus/sbus.h @@ -17,7 +17,9 @@ class sbus : public SerialIO { private: sbus_channels_t _channelData; uint8_t _rxData[SBUS_MAX_PACKET_SIZE]; - uint32_t _lastValidPacketTime; + const uint32_t SBUS_GAP_THRESHOLD = 2000; // 2ms in microseconds + uint32_t lastByteMicros = 0; + uint8_t bufferIdx = 0; public: /** From ed5960daf0f95dc9907f9cef5f9269a93a8fd88d Mon Sep 17 00:00:00 2001 From: magraina Date: Mon, 30 Mar 2026 23:45:50 +0200 Subject: [PATCH 22/33] feat: optimize truck bus speed --- truck-multi-function-sbus.ino | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/truck-multi-function-sbus.ino b/truck-multi-function-sbus.ino index c1ebbb2..4acb53e 100644 --- a/truck-multi-function-sbus.ino +++ b/truck-multi-function-sbus.ino @@ -58,7 +58,7 @@ void setup() { localOutputController.begin(); - serialCommMaster.begin(&Serial0, 19200, SERIAL_8N1, 1000, 30, D2); + serialCommMaster.begin(&Serial0, 19200, SERIAL_8N1, 1000, 10, D2); } @@ -81,7 +81,7 @@ void loop() { uint8_t beacon1pos = globalEffects.getBeaconPosition(1); uint8_t beacon2pos = globalEffects.getBeaconPosition(2); - localOutputController.update(globalState, effectState, beacon1pos, beacon2pos, globalServoState); - serialCommMaster.update(globalState, effectState, globalServoState); + + localOutputController.update(globalState, effectState, beacon1pos, beacon2pos, globalServoState); } \ No newline at end of file From 72eb4a343365ce0c14bbc8e8305d3ee4065f4447 Mon Sep 17 00:00:00 2001 From: magraina Date: Mon, 30 Mar 2026 23:52:54 +0200 Subject: [PATCH 23/33] fix: cornering light is on when light is off (close #31) --- src/state-machine/global-effects.cpp | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/src/state-machine/global-effects.cpp b/src/state-machine/global-effects.cpp index 38f86fd..4e6d9ee 100644 --- a/src/state-machine/global-effects.cpp +++ b/src/state-machine/global-effects.cpp @@ -106,6 +106,16 @@ void GlobalEffects::updateFlashToPass(uint32_t globalInputState) { void GlobalEffects::updateCornering(uint32_t globalInputState) { uint32_t now = millis(); + // Parking light or low beam must be on for cornering lights to work. + if(!(globalInputState & (BIT_PARKING_LIGHT | BIT_LOW_BEAM))) { + corneringLeftSignal = false; + corneringRightSignal = false; + corneringLeftOffMillis = 0; + corneringRightOffMillis = 0; + return; + } + + // If hazards are on, cornering lights should not be triggered by turn signals, but only by steering input if(!(globalInputState & BIT_HAZARD_LIGHT)) { if(globalInputState & BIT_TURN_SIGNAL_L) { corneringLeftSignal = true; @@ -120,6 +130,7 @@ void GlobalEffects::updateCornering(uint32_t globalInputState) { } } + // Steering input should override turn signals for cornering lights if(globalInputState & BIT_STEERING_LEFT) { corneringLeftSignal = true; corneringRightSignal = false; From 02fa4ef5f61f8cc4f7c0afdadb3bb370bba212c0 Mon Sep 17 00:00:00 2001 From: magraina Date: Tue, 31 Mar 2026 00:07:48 +0200 Subject: [PATCH 24/33] feat: add daytime running lights --- src/output/local-outputs.cpp | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/src/output/local-outputs.cpp b/src/output/local-outputs.cpp index 9e777c7..b752717 100644 --- a/src/output/local-outputs.cpp +++ b/src/output/local-outputs.cpp @@ -292,6 +292,7 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, } } + // --- EFFECTS: Flash to Pass on High beam output --- if (triggerMask & BIT_HIGH_BEAM) { if (evalState & BIT_FLASH_TO_PASS) { if (effectState & BIT_GLOBAL_FLASH_TO_PASS) { @@ -302,6 +303,15 @@ uint16_t LocalOutputController::calculateTargetPwm(const LocalOutputConfig& cfg, } } + // DRL is active when no regular lights are on + if (triggerMask & BIT_DRL) { + if (evalState & (BIT_PARKING_LIGHT | BIT_LOW_BEAM | BIT_HIGH_BEAM)) { + return 0; + } else { + return cfg.param1; + } + } + // ==================================================================== // EARLY EXIT: If the state doesn't match the trigger mask AT ALL, target is 0 if ((evalState & triggerMask) == 0) { @@ -404,6 +414,11 @@ uint16_t LocalOutputController::biXenonTargetPwm(int index, const LocalOutputCon } } else { + // Flash to Pass overrides both when active but only if low or high beam is on (makes no sense to trigger it if headlights are off) + if ((inputState & BIT_FLASH_TO_PASS) && (effectState & BIT_GLOBAL_FLASH_TO_PASS)) { + targetPwm = cfg.param2; + } + xenonCurrentPwmValues[index] = processFading(index, cfg, targetPwm);; // Maintain the target brightness after fade } From e134e0cbaa81af6ad6974489ce87ba1133ead477 Mon Sep 17 00:00:00 2001 From: magraina Date: Tue, 31 Mar 2026 00:09:38 +0200 Subject: [PATCH 25/33] feat: add daytime running lights --- src/config/light-mode.h | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/config/light-mode.h b/src/config/light-mode.h index 1928801..1181a59 100644 --- a/src/config/light-mode.h +++ b/src/config/light-mode.h @@ -46,9 +46,10 @@ enum LightBits : uint32_t { BIT_STEERING_LEFT = (1UL << 17), // Value: 131072 (Steering Left Indicator) BIT_STEERING_RIGHT = (1UL << 18), // Value: 262144 (Steering Right Indicator) BIT_BI_XENON = (1UL << 19), // Value: 524288 (For special bi-xenon headlights with motorized shutter) - BIT_AUX1 = (1UL << 20), // Value: 1048576 (e.g., Working light) - BIT_AUX2 = (1UL << 21) // Value: 2097152 (Spare bit for future use) - // Available: Bits 22 to 31 (Over 2 billion possible combinations!) + BIT_AUX1 = (1UL << 20), // Value: 1048576 (e.g., Working light) + BIT_AUX2 = (1UL << 21), // Value: 2097152 (Spare bit for future use) + BIT_DRL = (1UL << 22), // Value: 4194304 (Daytime Running Light - Virtual bit for daytime mode) + // Available: Bits 23 to 31 (Over 2 billion possible combinations!) }; enum CombinedLightStates: uint32_t { From 63d86f6a47dd9c591fb493499fb7985ef38e85e2 Mon Sep 17 00:00:00 2001 From: magraina Date: Tue, 31 Mar 2026 00:13:26 +0200 Subject: [PATCH 26/33] fix: duplicate definition in global space --- src/input/ppm-parser.cpp | 12 ++++++------ src/input/ppm-parser.h | 4 ++-- src/input/sbus-parser.cpp | 12 ++++++------ src/input/sbus-parser.h | 4 ++-- 4 files changed, 16 insertions(+), 16 deletions(-) diff --git a/src/input/ppm-parser.cpp b/src/input/ppm-parser.cpp index f233fa3..e849c23 100644 --- a/src/input/ppm-parser.cpp +++ b/src/input/ppm-parser.cpp @@ -10,7 +10,7 @@ PpmParser::PpmParser(uint8_t pin) for (uint8_t i = 0; i < NUM_PPM_CHANNELS; i++) { smoothenValues[i] = 1500; // Initialize historyChannels array with 1500 for all history entries - for (uint8_t j = 0; j < HISTORY_SIZE; j++) { + for (uint8_t j = 0; j < PPM_HISTORY_SIZE; j++) { historyChannels[i][j] = 1500; } } @@ -131,15 +131,15 @@ void PpmParser::updateSmoothValue() { smoothenValues[i] = calculateMedian(i); } - historyIndex = (historyIndex + 1) % HISTORY_SIZE; + historyIndex = (historyIndex + 1) % PPM_HISTORY_SIZE; } } uint16_t PpmParser::calculateMedian(uint8_t index) { - uint16_t sorted[HISTORY_SIZE]; - memcpy(sorted, historyChannels[index], sizeof(uint16_t) * HISTORY_SIZE); + uint16_t sorted[PPM_HISTORY_SIZE]; + memcpy(sorted, historyChannels[index], sizeof(uint16_t) * PPM_HISTORY_SIZE); // Simple insertion sort - for (uint8_t i = 1; i < HISTORY_SIZE; i++) { + for (uint8_t i = 1; i < PPM_HISTORY_SIZE; i++) { uint16_t key = sorted[i]; int8_t j = i - 1; while (j >= 0 && sorted[j] > key) { @@ -148,5 +148,5 @@ uint16_t PpmParser::calculateMedian(uint8_t index) { } sorted[j + 1] = key; } - return sorted[HISTORY_SIZE / 2]; // Return median + return sorted[PPM_HISTORY_SIZE / 2]; // Return median } \ No newline at end of file diff --git a/src/input/ppm-parser.h b/src/input/ppm-parser.h index 499ea4f..3f85dda 100644 --- a/src/input/ppm-parser.h +++ b/src/input/ppm-parser.h @@ -2,7 +2,7 @@ #include #include "../config/main-config.h" -#define HISTORY_SIZE 3 +#define PPM_HISTORY_SIZE 3 class PpmParser { private: uint8_t inputPin; @@ -14,7 +14,7 @@ class PpmParser { volatile uint32_t lastValidPulseTime; volatile uint32_t lastValidPulseStart; uint16_t smoothenValues[NUM_PPM_CHANNELS]; - uint16_t historyChannels[NUM_PPM_CHANNELS][HISTORY_SIZE]; + uint16_t historyChannels[NUM_PPM_CHANNELS][PPM_HISTORY_SIZE]; uint8_t historyIndex; uint32_t lastValidPacketTime; diff --git a/src/input/sbus-parser.cpp b/src/input/sbus-parser.cpp index d021a3c..a578a38 100644 --- a/src/input/sbus-parser.cpp +++ b/src/input/sbus-parser.cpp @@ -6,7 +6,7 @@ SbusParser::SbusParser(HardwareSerial* serialPort, int8_t rxPin, int8_t txPin, b for (uint8_t i = 0; i < NUM_SBUS_CHANNELS; i++) { smoothenValues[i] = 1024; // Initialize historyChannels array with 1024 for all history entries - for (uint8_t j = 0; j < HISTORY_SIZE; j++) { + for (uint8_t j = 0; j < SBUS_HISTORY_SIZE; j++) { historyChannels[i][j] = 1024; } } @@ -113,15 +113,15 @@ void SbusParser::updateSmoothValue() { smoothenValues[i] = calculateMedian(i); } - historyIndex = (historyIndex + 1) % HISTORY_SIZE; + historyIndex = (historyIndex + 1) % SBUS_HISTORY_SIZE; } } uint16_t SbusParser::calculateMedian(uint8_t index) { - uint16_t sorted[HISTORY_SIZE]; - memcpy(sorted, historyChannels[index], sizeof(uint16_t) * HISTORY_SIZE); + uint16_t sorted[SBUS_HISTORY_SIZE]; + memcpy(sorted, historyChannels[index], sizeof(uint16_t) * SBUS_HISTORY_SIZE); // Simple insertion sort - for (uint8_t i = 1; i < HISTORY_SIZE; i++) { + for (uint8_t i = 1; i < SBUS_HISTORY_SIZE; i++) { uint16_t key = sorted[i]; int8_t j = i - 1; while (j >= 0 && sorted[j] > key) { @@ -130,5 +130,5 @@ uint16_t SbusParser::calculateMedian(uint8_t index) { } sorted[j + 1] = key; } - return sorted[HISTORY_SIZE / 2]; // Return median + return sorted[SBUS_HISTORY_SIZE / 2]; // Return median } \ No newline at end of file diff --git a/src/input/sbus-parser.h b/src/input/sbus-parser.h index 84c6013..00078b6 100644 --- a/src/input/sbus-parser.h +++ b/src/input/sbus-parser.h @@ -3,14 +3,14 @@ #include "./serialIO/SerialIO.h" #include "../config/main-config.h" -#define HISTORY_SIZE 5 +#define SBUS_HISTORY_SIZE 5 class SbusParser { private: sbus receiver; rc_channels_t channelData; uint32_t activeSbusMask; uint16_t smoothenValues[NUM_SBUS_CHANNELS]; - uint16_t historyChannels[NUM_SBUS_CHANNELS][HISTORY_SIZE]; + uint16_t historyChannels[NUM_SBUS_CHANNELS][SBUS_HISTORY_SIZE]; uint8_t historyIndex; uint32_t lastValidPacketTime; From 775578369420d8f4d92a1d49b613822181e17f30 Mon Sep 17 00:00:00 2001 From: magraina Date: Tue, 31 Mar 2026 01:06:48 +0200 Subject: [PATCH 27/33] fix: reduce timeout between cycles --- src/communication/serialCommMaster.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/communication/serialCommMaster.cpp b/src/communication/serialCommMaster.cpp index b45f801..f829cb4 100644 --- a/src/communication/serialCommMaster.cpp +++ b/src/communication/serialCommMaster.cpp @@ -36,7 +36,6 @@ void SerialCommMaster::begin( _errorCount = 0; _state = WAITING_FOR_TURNAROUND; - _frameDelay = 10; _delayStart = 0; } @@ -114,8 +113,6 @@ void SerialCommMaster::sendPacket(uint8_t bufferSize) { } (*_serialPort).flush(); - delayMicroseconds(_frameDelay); - digitalWrite(_txEnablePin, LOW); _delayStart = millis(); // start the timeout delay From 50f9ede4394552a6e38784a6ac1813148f8c5585 Mon Sep 17 00:00:00 2001 From: magraina Date: Tue, 31 Mar 2026 01:07:34 +0200 Subject: [PATCH 28/33] feat: initialize sbus data on startup --- truck-multi-function-sbus.ino | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/truck-multi-function-sbus.ino b/truck-multi-function-sbus.ino index 4acb53e..ae919ed 100644 --- a/truck-multi-function-sbus.ino +++ b/truck-multi-function-sbus.ino @@ -58,7 +58,12 @@ void setup() { localOutputController.begin(); - serialCommMaster.begin(&Serial0, 19200, SERIAL_8N1, 1000, 10, D2); + serialCommMaster.begin(&Serial0, 19200, SERIAL_8N1, 1000, 30, D2); + + uint32_t initialProccessingTime = millis(); + while (millis() - initialProccessingTime < 1000) { + sbusInput.update(false, globalServoState); + } } From 8977a327b798aee6e1940992d51f886440889e6e Mon Sep 17 00:00:00 2001 From: magraina Date: Tue, 31 Mar 2026 01:08:03 +0200 Subject: [PATCH 29/33] fix: starter dimming not working on bi-xenon --- src/output/local-outputs.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/output/local-outputs.cpp b/src/output/local-outputs.cpp index b752717..42b60c0 100644 --- a/src/output/local-outputs.cpp +++ b/src/output/local-outputs.cpp @@ -116,7 +116,9 @@ void LocalOutputController::update(uint32_t inputState, uint32_t effectState, ui // 1. Brain: What is the base target brightness? uint16_t target = 0; - if (cfg.triggerMask == BIT_BI_XENON) { + // Ignore Starter for direct check + uint32_t triggerMask = cfg.triggerMask & ~BIT_STARTER_DIM; + if (triggerMask == BIT_BI_XENON) { target = biXenonTargetPwm(i, cfg, inputState, effectState); } else { target = calculateTargetPwm(cfg, inputState, effectState, beacon1Pos, beacon2Pos); @@ -132,7 +134,7 @@ void LocalOutputController::update(uint32_t inputState, uint32_t effectState, ui uint16_t actualValue = target; // 2. Muscle: Fade towards that target - if (cfg.triggerMask != BIT_BI_XENON) { + if (!(cfg.triggerMask & BIT_BI_XENON)) { actualValue = processFading(i, cfg, target); } @@ -418,7 +420,7 @@ uint16_t LocalOutputController::biXenonTargetPwm(int index, const LocalOutputCon if ((inputState & BIT_FLASH_TO_PASS) && (effectState & BIT_GLOBAL_FLASH_TO_PASS)) { targetPwm = cfg.param2; } - + xenonCurrentPwmValues[index] = processFading(index, cfg, targetPwm);; // Maintain the target brightness after fade } From 5989b6f1a33c5f2b8e9a900c3ba7d1b17cd6c59b Mon Sep 17 00:00:00 2001 From: magraina Date: Tue, 31 Mar 2026 13:24:45 +0200 Subject: [PATCH 30/33] chore: fix paths --- .vscode/c_cpp_properties.json | 29 +++++++++++++---------------- 1 file changed, 13 insertions(+), 16 deletions(-) diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json index 3b80835..d3ba902 100644 --- a/.vscode/c_cpp_properties.json +++ b/.vscode/c_cpp_properties.json @@ -2,8 +2,8 @@ "version": 4, "configurations": [ { - "name": "Arduino", - "compilerPath": "/home/magraina/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++", + "name": "Arduino Nano ESP32", + "compilerPath": "/home/magraina/.arduino15/packages/esp32/tools/s3-gcc/2021r2-p5/bin/xtensa-esp32s3-elf-g++", "compilerArgs": [ "-w", "-std=gnu++11", @@ -17,29 +17,27 @@ "intelliSenseMode": "gcc-x64", "includePath": [ "${workspaceFolder}/**", - "/home/magraina/.arduino15/packages/arduino/hardware/avr/1.8.7/cores/arduino", - "/home/magraina/.arduino15/packages/arduino/hardware/avr/1.8.7/variants/micro", - // ESP32 Paths + // 1. Core & Variant (Basis Arduino ESP32) "/home/magraina/.arduino15/packages/arduino/hardware/esp32/2.0.18-arduino.5/cores/esp32", "/home/magraina/.arduino15/packages/arduino/hardware/esp32/2.0.18-arduino.5/variants/arduino_nano_nora", + + // 2. Die magische sdkconfig.h für das Nano ESP32 Board + "/home/magraina/.arduino15/packages/arduino/hardware/esp32/2.0.18-arduino.5/tools/sdk/esp32s3/qio_opi/include", + + // 3. ESP-IDF Framework Includes (Hier liegt die hal.h und alle esp_... Dateien) + "/home/magraina/.arduino15/packages/arduino/hardware/esp32/2.0.18-arduino.5/tools/sdk/esp32s3/include/**", + + // 4. Eigene & System-Bibliotheken (ESP32Servo, ArduinoJson, Preferences etc.) "/home/magraina/.arduino15/packages/arduino/hardware/esp32/2.0.18-arduino.5/libraries/**", - "/home/magraina/Arduino/libraries/**", - "/home/magraina/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/lib/gcc/avr/7.3.0/include", - "/home/magraina/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/lib/gcc/avr/7.3.0/include-fixed", - "/home/magraina/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/avr/include", - "/home/magraina/.arduino15/packages/esp32/tools/**", - "/home/magraina/.arduino15/packages/arduino/tools/**" + "/home/magraina/Arduino/libraries/**" ], "forcedInclude": [ - "/home/magraina/.arduino15/packages/arduino/hardware/avr/1.8.7/cores/arduino/Arduino.h", - "/home/magraina/.arduino15/packages/arduino/hardware/esp32/2.0.18-arduino.5/cores/esp32/Arduino.h", - "/home/magraina/.arduino15/packages/arduino/hardware/esp32/2.0.18-arduino.5/cores/esp32/HardwareSerial.h" + "/home/magraina/.arduino15/packages/arduino/hardware/esp32/2.0.18-arduino.5/cores/esp32/Arduino.h" ], "cStandard": "c11", "cppStandard": "c++11", "defines": [ "IRAM_ATTR=", - "digitalPinToGPIONumber(p)", "ESP32", "ARDUINO=10819", "ARDUINO_NANO_ESP32", @@ -47,7 +45,6 @@ "ARDUINO_USB_MODE=1", "ARDUINO_USB_CDC_ON_BOOT=1", "USBCON", - "attachInterruptArg(p,f,a,m)=", "F_CPU=240000000L" ] } From d18a74478b718f97f43caca867ff4c352ebdca0f Mon Sep 17 00:00:00 2001 From: magraina Date: Tue, 31 Mar 2026 13:26:30 +0200 Subject: [PATCH 31/33] fix: soft pwm jitter by using hw timer --- src/input/serialIO/sbus/sbus.cpp | 1 + src/output/hardware-soft-pwm.cpp | 89 ++++++++++++++++++++++++++++++++ src/output/hardware-soft-pwm.h | 30 +++++++++++ src/output/local-outputs.cpp | 26 ++-------- src/output/local-outputs.h | 3 +- truck-multi-function-sbus.ino | 5 +- 6 files changed, 130 insertions(+), 24 deletions(-) create mode 100644 src/output/hardware-soft-pwm.cpp create mode 100644 src/output/hardware-soft-pwm.h diff --git a/src/input/serialIO/sbus/sbus.cpp b/src/input/serialIO/sbus/sbus.cpp index 6ffcf82..9b25fae 100644 --- a/src/input/serialIO/sbus/sbus.cpp +++ b/src/input/serialIO/sbus/sbus.cpp @@ -30,6 +30,7 @@ void sbus::processIncoming() { uint32_t now = micros(); uint8_t incomingByte = _rxPort->read(); + // Preventing false sync by checking the start of a new frame after a gap in the data stream // If there was a gap, we MUST be at the start of a frame if (now - lastByteMicros > SBUS_GAP_THRESHOLD) { bufferIdx = 0; diff --git a/src/output/hardware-soft-pwm.cpp b/src/output/hardware-soft-pwm.cpp new file mode 100644 index 0000000..f71a9bd --- /dev/null +++ b/src/output/hardware-soft-pwm.cpp @@ -0,0 +1,89 @@ +#include "hardware-soft-pwm.h" + +// --- Static Member Initialization --- +uint8_t HardwareSoftPWM::activePins[HardwareSoftPWM::MAX_PINS]; +volatile uint8_t HardwareSoftPWM::dutyCycles[HardwareSoftPWM::MAX_PINS]; +uint8_t HardwareSoftPWM::pinCount = 0; +volatile uint8_t HardwareSoftPWM::currentStep = 0; +hw_timer_t* HardwareSoftPWM::timer = nullptr; + +// --- Interrupt Service Routine --- +void IRAM_ATTR HardwareSoftPWM::onTimer() { + currentStep++; + if (currentStep >= PWM_RESOLUTION) { + currentStep = 0; + } + + // Toggle all registered pins based on their target duty cycle + for (uint8_t i = 0; i < pinCount; i++) { + if (dutyCycles[i] > currentStep) { + digitalWrite(activePins[i], HIGH); + } else { + digitalWrite(activePins[i], LOW); + } + } +} + +// --- Public Methods --- +void HardwareSoftPWM::begin() { + if (timer == nullptr) { + // Use Timer 0, prescaler 80 (80MHz / 80 = 1MHz -> 1 tick = 1 microsecond) + timer = timerBegin(0, 80, true); + + // Attach the static ISR function + timerAttachInterrupt(timer, &HardwareSoftPWM::onTimer, true); + + // Set alarm to trigger every 10 microseconds (100 steps * 10us = 1000Hz) + timerAlarmWrite(timer, 10, true); + + // Start the timer + timerAlarmEnable(timer); + } +} + +bool HardwareSoftPWM::attach(uint8_t pin) { + if (pinCount < MAX_PINS) { + // Register the pin + activePins[pinCount] = pin; + dutyCycles[pinCount] = 0; // Default to OFF + + // Configure hardware pin + pinMode(pin, OUTPUT); + digitalWrite(pin, LOW); + + pinCount++; + return true; // Successfully attached + } + return false; // Array is full +} + +void HardwareSoftPWM::update(uint8_t pin, uint8_t duty) { + // Constrain input to avoid buffer overflows or logical errors + if (duty > PWM_RESOLUTION) { + duty = PWM_RESOLUTION; + } + + // Search for the pin and update its duty cycle + for (uint8_t i = 0; i < pinCount; i++) { + if (activePins[i] == pin) { + dutyCycles[i] = duty; + break; + } + } +} + +void HardwareSoftPWM::reset() { + // 1. Safely turn off all currently active pins to prevent stuck states + for (uint8_t i = 0; i < pinCount; i++) { + digitalWrite(activePins[i], LOW); + + // Optional but clean: clear the arrays + activePins[i] = 0; + dutyCycles[i] = 0; + } + + // 2. Reset the counters. + // The ISR will now skip its execution loop since pinCount is 0. + pinCount = 0; + currentStep = 0; +} \ No newline at end of file diff --git a/src/output/hardware-soft-pwm.h b/src/output/hardware-soft-pwm.h new file mode 100644 index 0000000..82efa48 --- /dev/null +++ b/src/output/hardware-soft-pwm.h @@ -0,0 +1,30 @@ +#pragma once +#include + +class HardwareSoftPWM { +private: + static const uint8_t MAX_PINS = 14; + static const uint8_t PWM_RESOLUTION = 100; // 0-100 steps + + static uint8_t activePins[MAX_PINS]; + static volatile uint8_t dutyCycles[MAX_PINS]; + static uint8_t pinCount; + + static volatile uint8_t currentStep; + static hw_timer_t* timer; + + // The Interrupt Service Routine (ISR) MUST be static and loaded into IRAM + static void IRAM_ATTR onTimer(); + +public: + // Initializes the hardware timer + static void begin(); + + // Configures a pin for software PWM and adds it to the ISR loop + static bool attach(uint8_t pin); + + // Updates the duty cycle (0 to 100) for a specific pin + static void update(uint8_t pin, uint8_t duty); + // Detaches all pins and safely turns them off + static void reset(); +}; \ No newline at end of file diff --git a/src/output/local-outputs.cpp b/src/output/local-outputs.cpp index 42b60c0..8bc5ae2 100644 --- a/src/output/local-outputs.cpp +++ b/src/output/local-outputs.cpp @@ -5,6 +5,7 @@ LocalOutputController::LocalOutputController() {} void LocalOutputController::resetOutput(uint8_t pin, uint8_t channel) { ledPWM[channel].detachPin(pin); servos[channel].detach(); + HardwareSoftPWM::reset(); }; bool LocalOutputController::isSoftwarePWMOutput(uint8_t pin) { @@ -66,8 +67,6 @@ void LocalOutputController::begin() { for (int i = 0; i < NUM_LOCAL_OUTPUTS; i++) { LocalOutputConfig& cfg = activeMainConfig.localOutputs[i]; - resetOutput(cfg.pin, i); - switch (cfg.mode) { case OutputMode::NONE: pinMode(cfg.pin, INPUT); @@ -79,8 +78,7 @@ void LocalOutputController::begin() { case OutputMode::PWM: if(isSoftwarePWMOutput(cfg.pin)) { - pinMode(cfg.pin, OUTPUT); - digitalWrite(cfg.pin, LOW); // Safe default state + HardwareSoftPWM::attach(cfg.pin); } else { // 12-bit gives us 4096 steps of brightness for ultra-smooth fading // Core 2.x requires a channel (0-15). We use 'i' as the channel. @@ -139,8 +137,9 @@ void LocalOutputController::update(uint32_t inputState, uint32_t effectState, ui } if(isSoftwarePWMOutput(cfg.pin)) { - updatePWMMapping(i, actualValue); - writeSoftwarePWMOutput(i, cfg.pin); + HardwareSoftPWM::update(cfg.pin, (uint8_t)map(actualValue, 0, 4095, 0, 100)); // Map 12-bit brightness to 0-100% duty cycle + // updatePWMMapping(i, actualValue); + // writeSoftwarePWMOutput(i, cfg.pin); } else { writeHardwarePWMOutput(i, actualValue); } @@ -475,19 +474,4 @@ uint16_t LocalOutputController::processFading(int index, const LocalOutputConfig void LocalOutputController::writeHardwarePWMOutput(uint8_t pinIndex, uint16_t targetPwm) { ledPWM[pinIndex].write(targetPwm); -} - -void LocalOutputController::updatePWMMapping(uint8_t pinIndex, uint16_t targetPwm) { - if(lastPwmValues[pinIndex] != targetPwm) { - lastPwmValues[pinIndex] = targetPwm; - mappedDuties[pinIndex] = map(targetPwm, 0, 4095, 0, SOFTWARE_PWM_PERIODE); - } -} - -void LocalOutputController::writeSoftwarePWMOutput(uint8_t pinIndex, uint8_t pin) { - if((micros() & SOFTWARE_PWM_MASK) < mappedDuties[pinIndex]) { - digitalWrite(pin, HIGH); - } else { - digitalWrite(pin, LOW); - } } \ No newline at end of file diff --git a/src/output/local-outputs.h b/src/output/local-outputs.h index a5e7d2e..3bd39d4 100644 --- a/src/output/local-outputs.h +++ b/src/output/local-outputs.h @@ -4,6 +4,7 @@ #include "../config/main-config.h" #include "../config/light-mode.h" #include "../config/global-effects-config.h" +#include "hardware-soft-pwm.h" #define MAX_LEDC_CHANNELS 8 // ~244Hz @@ -20,8 +21,6 @@ class LocalOutputController { uint16_t currentPwmValues[NUM_LOCAL_OUTPUTS]; uint32_t lastFadeMillis[NUM_LOCAL_OUTPUTS]; uint8_t softwarePWMOutputs[NUM_LOCAL_OUTPUTS]; - uint16_t lastPwmValues[NUM_LOCAL_OUTPUTS]; - uint16_t mappedDuties[NUM_LOCAL_OUTPUTS]; uint16_t xenonCurrentPwmValues[NUM_LOCAL_OUTPUTS]; uint32_t xenonStartMillis[NUM_LOCAL_OUTPUTS]; diff --git a/truck-multi-function-sbus.ino b/truck-multi-function-sbus.ino index ae919ed..a2a348e 100644 --- a/truck-multi-function-sbus.ino +++ b/truck-multi-function-sbus.ino @@ -1,6 +1,6 @@ /************************************ * truck-multi-function-sbus v2.0.0 - * Date: 20.08.2025 + * Date: 31.03.2026 * * Copyright (C) 2020-2026 Marina Egner * @@ -28,6 +28,7 @@ #include "src/output/local-outputs.h" #include "src/config-interface/json-interface.h" #include "src/communication/serialCommMaster.h" +#include "src/output/hardware-soft-pwm.h" // Initialize the parser using hardware Serial1, RX on pin 16, TX disabled (-1) SbusParser sbusInput(&Serial1, D3, -1, false); @@ -56,6 +57,8 @@ void setup() { ppmInput.begin(); escInput.begin(); + HardwareSoftPWM::begin(); + localOutputController.begin(); serialCommMaster.begin(&Serial0, 19200, SERIAL_8N1, 1000, 30, D2); From e18c66dac70587eef9291cd565aa93725ddca6ef Mon Sep 17 00:00:00 2001 From: magraina Date: Tue, 31 Mar 2026 13:28:31 +0200 Subject: [PATCH 32/33] refactor: remove old declaration --- src/output/local-outputs.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/output/local-outputs.h b/src/output/local-outputs.h index 3bd39d4..f512287 100644 --- a/src/output/local-outputs.h +++ b/src/output/local-outputs.h @@ -36,8 +36,6 @@ class LocalOutputController { // Helper: Moves the current value towards the target over time uint16_t processFading(int index, const LocalOutputConfig& cfg, uint16_t targetPwm); void writeHardwarePWMOutput(uint8_t pinIndex, uint16_t targetPwm); - void updatePWMMapping(uint8_t pinIndex, uint16_t targetPwm); - void writeSoftwarePWMOutput(uint8_t pinIndex, uint8_t pin); public: LocalOutputController(); From 7a11e852cd8619d673fafd5197cfe62372e86b9e Mon Sep 17 00:00:00 2001 From: magraina Date: Wed, 1 Apr 2026 00:12:23 +0200 Subject: [PATCH 33/33] feat: added json based responses for the interface --- src/config-interface/json-interface.cpp | 18 +++++++++++------- 1 file changed, 11 insertions(+), 7 deletions(-) diff --git a/src/config-interface/json-interface.cpp b/src/config-interface/json-interface.cpp index 3d6a445..da97625 100644 --- a/src/config-interface/json-interface.cpp +++ b/src/config-interface/json-interface.cpp @@ -20,7 +20,7 @@ void JsonInterface::update(LocalOutputController& outputController, MemoryManage activeMainConfig.failsafeMask = genConfig["fsMask"].as() | activeMainConfig.failsafeMask; activeMainConfig.failsafeTimeoutMs = genConfig["fsTimeout"].as() | activeMainConfig.failsafeTimeoutMs; activeMainConfig.ppmMode = static_cast(genConfig["ppmMode"].as() | static_cast(activeMainConfig.ppmMode)); - Serial.println("Main config updated!"); + Serial.println("{ \"status\": \"Main config updated\" }"); } // --- 1. OUTPUTS --- @@ -39,7 +39,7 @@ void JsonInterface::update(LocalOutputController& outputController, MemoryManage } index++; } - Serial.println("Outputs updated!"); + Serial.println("{ \"status\": \"Outputs updated\" }"); outputController.begin(); // Re-init hardware pins } @@ -59,7 +59,7 @@ void JsonInterface::update(LocalOutputController& outputController, MemoryManage activeMainConfig.sbusInputs[channel].targetServoIndex = inConfig["srv"].as(); } } - Serial.println("SBUS Inputs updated!"); + Serial.println("{ \"status\": \"SBUS Inputs updated\" }"); } // --- 2.1. PPM INPUTS --- @@ -78,7 +78,7 @@ void JsonInterface::update(LocalOutputController& outputController, MemoryManage activeMainConfig.ppmInputs[channel].targetServoIndex = inConfig["srv"].as(); } } - Serial.println("PPM Inputs updated!"); + Serial.println("{ \"status\": \"PPM Inputs updated\" }"); } // --- 3. GLOBAL EFFECTS --- @@ -101,7 +101,7 @@ void JsonInterface::update(LocalOutputController& outputController, MemoryManage activeEffectsConfig.xenonFadeDuration = effConfig["xenFade"] | activeEffectsConfig.xenonFadeDuration; activeEffectsConfig.xenonLowBeamStartPwm = effConfig["xenLowPwm"] | activeEffectsConfig.xenonLowBeamStartPwm; - Serial.println("Effects updated!"); + Serial.println("{ \"status\": \"effects updated\" }"); } // Optional: Trigger a save to NVS here if configChanged is true @@ -109,7 +109,7 @@ void JsonInterface::update(LocalOutputController& outputController, MemoryManage JsonString save = doc["save"]; if(save == "true") { memoryManager.saveConfig(); - Serial.println("Config Saved!"); + Serial.println("{ \"status\": \"config saved\" }"); } } @@ -117,7 +117,11 @@ void JsonInterface::update(LocalOutputController& outputController, MemoryManage JsonString factory = doc["factory"]; if(factory == "true") { memoryManager.factoryReset(); - Serial.println("Factory Reset!"); + Serial.println("{ \"status\": \"factory reset\" }"); } } + + if (doc["status"].is()) { + Serial.println("{ \"status\": \"ok\", \"version\": \"2.0.0\", \"model\": \"MainESP32\" }"); + } } \ No newline at end of file