develop v0.2.1

.github/workflows/cmake_format.yml

@@ -7,7 +7,7 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
     - uses: DoozyX/clang-format-lint-action@v0.18
       with:
         source: '.'
@@ -18,9 +18,9 @@ jobs:
   cmake-format-check:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
     - name: Set up Python
-      uses: actions/setup-python@v5
+      uses: actions/setup-python@v6
       with:
         python-version: '3.9'
     - run: |

.github/workflows/deploy.yml

@@ -18,7 +18,7 @@ jobs:
         name: Build and deploy
         container: ghcr.io/arendjan/pico_docker_image:main
         steps:
-          - uses: actions/checkout@main
+          - uses: actions/checkout@v6
             with:
               submodules: true
           - name: build
@@ -29,26 +29,26 @@ jobs:
             run: |
               cp ./build2/Telemetrix4RpiPico.uf2 ./
               cp ./build2/Telemetrix4RpiPico.elf ./
-          - name: install nodejs
-            run: |
-                apt update
-                apt install curl unzip -y
-                curl -fsSL https://deb.nodesource.com/setup_20.x -o nodesource_setup.sh
-                chmod +x nodesource_setup.sh
-                ./nodesource_setup.sh
-                apt-get install -y nodejs
-                node -v
+          # - name: install nodejs
+          #   run: |
+          #       apt update
+          #       apt install curl unzip -y
+          #       curl -fsSL https://deb.nodesource.com/setup_20.x -o nodesource_setup.sh
+          #       chmod +x nodesource_setup.sh
+          #       ./nodesource_setup.sh
+          #       apt-get install -y nodejs
+          #       node -v
           - name: Put environment variable into the env context
             run: echo "app_name=$APP_NAME" >> $GITHUB_ENV
           - name: Archive production artifacts
-            uses: actions/upload-artifact@v4
+            uses: actions/upload-artifact@v7
             with:
               name: dist
               path: |
                 Telemetrix4RpiPico.uf2
                 Telemetrix4RpiPico.elf
           - name: Push to release
-            uses: softprops/action-gh-release@v2
+            uses: softprops/action-gh-release@v3
             if: startsWith(github.ref, 'refs/tags/')
             with:
                 files: |
@@ -58,7 +58,7 @@ jobs:
           - name: Check if mirte-sd-image-tools has release with same tag
             id: check_release
             if: startsWith(github.ref, 'refs/tags/')
-            uses: actions/github-script@v8
+            uses: actions/github-script@v9
             with:
               script: |
                 const tag = process.env.GITHUB_REF.replace('refs/tags/', '');
@@ -81,7 +81,7 @@ jobs:
               result-encoding: string
           - name: Push artifacts to sd-image-tools release if it exists
             if: startsWith(github.ref, 'refs/tags/') && steps.check_release.outputs.result == 'true' 
-            uses: softprops/action-gh-release@v2
+            uses: softprops/action-gh-release@v3
             with:
               repository: ${{ github.repository_owner }}/mirte-sd-image-tools
               files: |

.gitmodules

@@ -4,3 +4,6 @@
 [submodule "rp2040-serial-bootloader"]
 	path = rp2040-serial-bootloader
 	url = https://github.com/arendjan/rp2040-serial-bootloader.git
+[submodule "libs/MIRTE_Adafruit_BNO055"]
+	path = libs/MIRTE_Adafruit_BNO055
+	url = https://github.com/ArendJan/MIRTE_Adafruit_BNO055.git

CMakeLists.txt

@@ -38,6 +38,7 @@ set(PICO_USE_FASTEST_SUPPORTED_CLOCK 100)
 add_executable(
   Telemetrix4RpiPico
   src/Telemetrix4RpiPico.cpp
+  src/mirte_master.cpp
   src/i2c_helpers.cpp
   src/uart.cpp
   src/serialization.cpp
@@ -49,17 +50,21 @@ add_executable(
   src/drivers/INA226v2.cpp
   src/drivers/VL53L0.cpp
   src/drivers/neopixel.cpp
+  src/drivers/MPU6050.cpp
   src/module/Hiwonder_Servo.cpp
   src/module/PCA9685_Module.cpp
+  src/sensors/MPU6050_sensor.cpp
   src/module/module.cpp
   src/module/tmx_ssd1306_Module.cpp
+  src/module/Shutdown_Module.cpp
   src/sensors/adxl345_sensor.cpp
   src/sensors/gps_sensor.cpp
   src/sensors/hmc5883l_sensor.cpp
   src/sensors/hx711_sensor.cpp
   src/sensors/as5600_sensor.cpp
   src/sensors/ina226_sensor.cpp
   src/sensors/mpu9250_sensor.cpp
+  src/sensors/bno055_sensor.cpp
   src/sensors/sensor.cpp
   src/sensors/sonar.cpp
   src/sensors/veml6040_sensor.cpp
@@ -85,7 +90,7 @@ pico_enable_stdio_uart(Telemetrix4RpiPico 1) # TODO: For master version this
                                              # must be disabled
 pico_add_extra_outputs(Telemetrix4RpiPico)
 add_subdirectory(pico-ssd1306)
-
+add_subdirectory(libs/MIRTE_Adafruit_BNO055)
 target_link_libraries(
   Telemetrix4RpiPico
   pico_stdlib
@@ -101,7 +106,8 @@ target_link_libraries(
   hardware_flash
   pico_sync
   pico_multicore
-  pico_ssd1306)
+  pico_ssd1306
+  Adafruit_BNO055)
 
 set(SKIP_BOOTLOADER_ENTRY_PIN 1)
 add_subdirectory(rp2040-serial-bootloader)

include/Telemetrix4RpiPico.hpp

@@ -183,21 +183,7 @@ void readSensors();
 extern std::vector<Sensor *> sensors;
 void reportBytes(std::vector<uint8_t>);
 extern uint8_t command_buffer[MAX_COMMAND_LENGTH];
-// class Shutdown_Relay : public Module {
-// public:
-//   Shutdown_Relay(std::vector<uint8_t> &data);
-//   void readModule();
-//   void writeModule(std::vector<uint8_t> &data);
-//   void resetModule(){};
-
-// private:
-//   int pin = 0;
-//   bool enabled = false;
-//   bool enable_on = true;
-//   int wait_time = 10;
-//   decltype(time_us_32()) start_time = 0;
-// };
-
+extern int packet_size;
 extern std::vector<Module *> modules;
 void module_new();
 void module_data();

include/drivers/MPU6050.hpp

@@ -0,0 +1,18 @@
+#pragma once
+
+#include <hardware/i2c.h>
+#include <stdint.h>
+// driver for MPU6050, 6-axis IMU
+#include <stdint.h>
+class MPU6050 {
+public:
+  MPU6050(i2c_inst_t *i2c_port, uint8_t addr);
+  void read(int16_t accel[3], int16_t gyro[3], int16_t *temp);
+  void reset();
+  bool ok = true; // tracks whether the device is responding correctly, if not
+                  // we skip reads to avoid blocking
+
+private:
+  i2c_inst_t *i2c_port;
+  uint8_t addr;
+};

include/message_types.hpp

@@ -266,6 +266,7 @@ const uint DHT_MAX_TIMINGS = 85;
 #define ENCODER_TYPE 1
 #define ENCODER_PIN_A 2
 #define ENCODER_PIN_B 3
+#define ENCODER_PULLS 4
 
 // Max encoder devices
 #define MAX_ENCODERS 4

include/mirte_master.hpp

@@ -0,0 +1,8 @@
+#pragma once
+
+#define ENABLE_MIRTE_MASTER 1
+
+extern bool is_mm;
+void mm_detect();
+
+void mm_loop();

include/module/Shutdown_Module.hpp

@@ -0,0 +1,23 @@
+#pragma once
+#include "hardware/clocks.h"
+#include "hardware/gpio.h"
+#include "hardware/timer.h"
+#include "module.hpp"
+#include "watchdog.hpp"
+#include <vector>
+
+class Shutdown_Relay : public Module {
+public:
+  Shutdown_Relay(std::vector<uint8_t> &data);
+  void readModule();
+  void writeModule(std::vector<uint8_t> &data);
+  void resetModule() {};
+  void core1_update() {};
+
+private:
+  int pin = 0;
+  bool enabled = false;
+  bool enable_on = true;
+  int wait_time = 10;
+  decltype(time_us_32()) start_time = 0;
+};

include/sensors/MPU6050_sensor.hpp

@@ -0,0 +1,14 @@
+#pragma once
+#include "drivers/MPU6050.hpp"
+#include "sensor.hpp"
+#include <stdlib.h>
+#include <vector>
+class MPU6050_Module : public Sensor {
+public:
+  MPU6050_Module(uint8_t settings[SENSORS_MAX_SETTINGS_A]);
+  void readSensor();
+  void resetSensor();
+
+private:
+  MPU6050 *mpu;
+};

include/sensors/bno055_sensor.hpp

@@ -0,0 +1,14 @@
+#pragma once
+#include "Adafruit_BNO055.h"
+#include "sensor.hpp"
+#include <stdlib.h>
+#include <vector>
+class BNO055_Sensor : public Sensor {
+public:
+  BNO055_Sensor(uint8_t settings[SENSORS_MAX_SETTINGS_A]);
+  void readSensor();
+  void resetSensor() {};
+
+private:
+  Adafruit_BNO055 *bno;
+};

include/sensors/sensor.hpp

@@ -17,6 +17,8 @@ enum SENSOR_TYPES : uint8_t { // Max 255 sensors, but will always fit in a
   INA226a = 6,
   HMC5883l = 7,
   AS5600_t = 8,
+  MPU6050_t = 9,
+  BNO055_t = 10,
   MAX_SENSORS
 };
 

include/serialization.hpp

@@ -17,7 +17,7 @@ std::vector<uint8_t> encode_i16(const int16_t &value);
 std::vector<uint8_t> encode_i32(const int32_t &value);
 std::vector<uint8_t> encode_i64(const int64_t &value);
 
-// std::vector<uint8_t> encode_float(const float &value);
+std::vector<uint8_t> encode_float(const float &value);
 
 // Decode
 uint16_t decode_u16(const std::span<const uint8_t, 2> &data);

include/watchdog.hpp

@@ -0,0 +1,10 @@
+#pragma once
+#include <stdint.h>
+typedef unsigned int uint;
+
+void enable_watchdog();
+void disable_watchdog();
+extern bool watchdog_triggered;
+void led_debug(int, uint);
+extern bool watchdog_enable_shutdown; // if false, then don't do anything with
+                                      // the watchdog and just wait for shutdown