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peripherals & power: GPS fixes, poweroff/pwrmgt, upstream SensorManager telemetry

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- gps: servers honour gps_enabled at boot (was lost on reboot; zc.gps_set
  upgrades older prefs to on once); sleep lock only while acquiring;
  gps off works on boards without a power line (UART sleep); UI toggles
  and fixes handled on the main thread; configure only after a good init;
  observer parks its GPS; one interval clamp (clampGpsInterval); one
  nav-mode knob (room servers on Air530Z now stationary); GNSS UARTE from DT
- gps: split into ZephyrGPSManager / gps_power / gps_module_cfg
  (+gps_internal.h); dead driver branches, gps_get_diag, sats_* removed
- clock: ZephyrRTCClock writes the hardware RTC itself (clkreboot now
  resets it); MESH_EVENT_RTC_SAVE gone
- power: one power-off path (zephcore_power_off, ZephyrBoard::powerOff),
  poweroff/shutdown CLI, get pwrmgt.*, crash record kept across reboot,
  battery reading cached 10 s, fuel gauge on the current API
- telemetry: upstream SensorManager + CayenneLPP (rounded to nearest),
  one builder for all roles; per-sensor channels, MCU temp always,
  guest gating and inverse mask on servers; sensor list/get/set work;
  BME280/BMP280 also probed at 0x77
- CLI: gps in upstream's form, get gps detail, gps sync
This commit is contained in:
liquidraver
2026-09-25 17:56:34 +02:00
parent e6d6ecef80
commit d5bd805710
59 changed files with 3090 additions and 3077 deletions
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zephcore/app/CompanionMesh.cpp
+20 -144
View File
@@ -13,13 +13,12 @@
#include <zephyr/logging/log.h>
#include <zephyr/sys/reboot.h>
#include <ZephyrSensorManager.h>
#include <adapters/sensors/SimpleLPP.h>
#include <math.h>
#if IS_ENABLED(CONFIG_BT)
#include <adapters/ble/ZephyrBLE.h>
#endif
#include <adapters/gps/ZephyrGPSManager.h>
#include <helpers/time_sync.h>
#include <adapters/clock/ZephyrRTCDiscover.h>
#if IS_ENABLED(CONFIG_ZEPHCORE_UI_DESIGN_BUTTON) || IS_ENABLED(CONFIG_ZEPHCORE_UI_DESIGN_JOYSTICK)
#include <ui_task.h>
#define ZEPHCORE_HAS_UI_TASK 1
@@ -1175,148 +1174,29 @@ void CompanionMesh::onChannelDataRecv(const mesh::GroupChannel &channel, mesh::P
pushMsgWaiting();
}
/* Upstream's telemetry (MyMesh::onContactRequest): the battery on the node's
* own channel, the sensors (sensors.querySensors: GPS, then a channel each),
* the MCU temperature on the node's channel. */
int CompanionMesh::appendSelfTelemetry(uint8_t *reply, uint8_t permissions)
{
int i = 0;
const uint8_t CH_SELF = 1;
CayenneLPP telemetry(MAX_PACKET_PAYLOAD - 4);
// Battery voltage: [channel][LPP_VOLTAGE=116][2-byte 0.01V big-endian]
uint16_t batt_mv = _batt_cb ? _batt_cb() : 0;
reply[i++] = CH_SELF;
reply[i++] = 116; // LPP_VOLTAGE
uint16_t batt_scaled = batt_mv / 10;
reply[i++] = (batt_scaled >> 8) & 0xFF;
reply[i++] = batt_scaled & 0xFF;
telemetry.addVoltage(TELEM_CHANNEL_SELF, (float)(_batt_cb ? _batt_cb() : 0) / 1000.0f);
sensors.querySensors(permissions, telemetry);
// GPS position if authorized and available
if (permissions & TELEM_PERM_LOCATION) {
struct gps_position pos;
if (gps_is_available() && gps_get_last_known_position(&pos)) {
reply[i++] = CH_SELF;
reply[i++] = 136; // LPP_GPS
int32_t lat = (int32_t)(pos.latitude_ndeg / 100000);
int32_t lon = (int32_t)(pos.longitude_ndeg / 100000);
int32_t alt = pos.altitude_mm / 10;
reply[i++] = (lat >> 16) & 0xFF;
reply[i++] = (lat >> 8) & 0xFF;
reply[i++] = lat & 0xFF;
reply[i++] = (lon >> 16) & 0xFF;
reply[i++] = (lon >> 8) & 0xFF;
reply[i++] = lon & 0xFF;
reply[i++] = (alt >> 16) & 0xFF;
reply[i++] = (alt >> 8) & 0xFF;
reply[i++] = alt & 0xFF;
} else if (prefs.node_lat != 0 || prefs.node_lon != 0) {
// Use configured position
reply[i++] = CH_SELF;
reply[i++] = 136; // LPP_GPS
int32_t lat = (int32_t)(prefs.node_lat * 10000);
int32_t lon = (int32_t)(prefs.node_lon * 10000);
int32_t alt = 0;
reply[i++] = (lat >> 16) & 0xFF;
reply[i++] = (lat >> 8) & 0xFF;
reply[i++] = lat & 0xFF;
reply[i++] = (lon >> 16) & 0xFF;
reply[i++] = (lon >> 8) & 0xFF;
reply[i++] = lon & 0xFF;
reply[i++] = (alt >> 16) & 0xFF;
reply[i++] = (alt >> 8) & 0xFF;
reply[i++] = alt & 0xFF;
}
float temperature = _board ? _board->getMCUTemperature() : NAN;
if (!isnan(temperature)) {
telemetry.addTemperature(TELEM_CHANNEL_SELF, temperature);
}
/* Sensors are read once here. External temp/humidity/pressure require
* TELEM_PERM_ENVIRONMENT, but the MCU die temperature is reported under
* base permission — matching Arduino MeshCore (15e259c5) and ZephCore's
* own repeater/room-server telemetry, neither of which gates it. */
struct env_data env;
bool env_ok = (env_sensors_read(&env) == 0);
bool temp_reported = false;
if (permissions & TELEM_PERM_ENVIRONMENT) {
if (env_ok) {
if (env.has_temperature) {
temp_reported = true;
reply[i++] = CH_SELF;
reply[i++] = LPP_TEMPERATURE;
int16_t temp = (int16_t)(env.temperature_c * 10);
reply[i++] = (temp >> 8) & 0xFF;
reply[i++] = temp & 0xFF;
}
if (env.has_humidity) {
reply[i++] = CH_SELF;
reply[i++] = LPP_RELATIVE_HUMIDITY;
reply[i++] = (uint8_t)(env.humidity_pct * 2);
}
if (env.has_pressure) {
reply[i++] = CH_SELF;
reply[i++] = LPP_BAROMETRIC_PRESSURE;
uint16_t press = (uint16_t)(env.pressure_hpa * 10);
reply[i++] = (press >> 8) & 0xFF;
reply[i++] = press & 0xFF;
}
if (env.has_luminosity) {
reply[i++] = CH_SELF;
reply[i++] = LPP_LUMINOSITY;
float lum = env.luminosity;
if (lum < 0.0f) lum = 0.0f;
if (lum > 65535.0f) lum = 65535.0f;
uint16_t lux = (uint16_t)lum;
reply[i++] = (lux >> 8) & 0xFF;
reply[i++] = lux & 0xFF;
}
}
// Power monitor telemetry (INA219/INA3221/ina2xx)
if (power_sensors_available()) {
struct power_data pwr;
if (power_sensors_read(&pwr) == 0) {
uint8_t ch = CH_SELF + 1;
for (int j = 0; j < pwr.num_channels; j++) {
if (pwr.channels[j].valid) {
// Voltage: [ch][LPP_VOLTAGE=116][2-byte 0.01V signed]
reply[i++] = ch;
reply[i++] = 116;
int16_t v = (int16_t)(pwr.channels[j].voltage_v * 100);
reply[i++] = (v >> 8) & 0xFF;
reply[i++] = v & 0xFF;
// Current: [ch][LPP_CURRENT=117][2-byte 0.001A signed]
// Signed: a bidirectional monitor (INA219) reports discharge
// as negative, and an unsigned cast saturates it to 0.
reply[i++] = ch;
reply[i++] = 117;
int16_t c = (int16_t)(pwr.channels[j].current_a * 1000);
reply[i++] = (c >> 8) & 0xFF;
reply[i++] = c & 0xFF;
// Power: [ch][LPP_POWER=128][2-byte 1W]
reply[i++] = ch;
reply[i++] = 128;
uint16_t p = (uint16_t)(pwr.channels[j].power_w);
reply[i++] = (p >> 8) & 0xFF;
reply[i++] = p & 0xFF;
ch++;
}
}
}
}
}
/* MCU die temperature — reported under base permission, but only when no
* external sensor already supplied a CH_SELF temperature (never emit two). */
if (!temp_reported && env_ok && env.has_mcu_temperature) {
reply[i++] = CH_SELF;
reply[i++] = LPP_TEMPERATURE;
int16_t temp = (int16_t)(env.mcu_temperature_c * 10);
reply[i++] = (temp >> 8) & 0xFF;
reply[i++] = temp & 0xFF;
}
// Trigger GPS wake for fresh fix on next request
if (gps_is_available() && gps_is_enabled()) {
/* ZEPHCORE: wake the GPS so the next request has a fresher fix. */
if ((permissions & TELEM_PERM_LOCATION) && gps_is_enabled()) {
gps_request_fresh_fix();
}
return i;
uint8_t tlen = telemetry.getSize();
memcpy(reply, telemetry.getBuffer(), tlen);
return tlen;
}
uint8_t CompanionMesh::onContactRequest(const ContactInfo &contact, uint32_t sender_timestamp,
@@ -2310,7 +2190,6 @@ bool CompanionMesh::handleCmdSetDeviceTime(const uint8_t *data, size_t len)
if (secs >= curr) {
getRTCClock()->setCurrentTime(secs);
time_sync_report(TIME_SYNC_APP);
zephcore_rtc_save(secs); /* persist to hardware RTC */
_timesync.noteManualSync((uint32_t)(k_uptime_get() / 1000));
writeOKFrame();
/* App just gave us wall time — activate the deferred
@@ -2951,11 +2830,8 @@ bool CompanionMesh::handleCmdSendTelemetryReq(const uint8_t *data, size_t len)
// Self-telemetry request: return battery, GPS, and environment data
// Format: Cayenne LPP: [channel][type][data...]
// Response: [PUSH_CODE_TELEMETRY_RESPONSE][reserved][6-byte pubkey][telemetry_data]
// Worst-case size tracks POWER_MAX_CHANNELS so a future bump can't
// silently overflow this stack buffer. With current value 4:
// header(8) + batt(4) + gps(11) + env(temp4+hum3+press4+lum4=15)
// + power(POWER_MAX_CHANNELS * 12 = 48) + 8 byte safety pad = 94.
uint8_t rsp[8 + 4 + 11 + 15 + (12 * POWER_MAX_CHANNELS) + 8];
// header(8) + at most MAX_PACKET_PAYLOAD - 4 of telemetry.
uint8_t rsp[8 + MAX_PACKET_PAYLOAD - 4];
int i = 0;
rsp[i++] = PUSH_CODE_TELEMETRY_RESPONSE;
rsp[i++] = 0; // reserved
@@ -3308,9 +3184,9 @@ bool CompanionMesh::handleCmdSetCustomVar(const uint8_t *data, size_t len)
} else if (strcmp(key, "gps_interval") == 0) {
uint32_t interval = (uint32_t)atoi(val);
if (interval > 0 && interval <= 86400) {
gps_set_poll_interval_sec(interval);
/* Persist GPS interval across reboots */
prefs.gps_interval = interval;
/* Stored as the GPS will run it (5 s is 10 s). */
prefs.gps_interval = clampGpsInterval(interval);
gps_set_poll_interval_sec(prefs.gps_interval);
_store->savePrefs(prefs);
writeOKFrame();
} else {