Christopher Van HooseandClaude Fable 5
fcc146f57a
A two-axis magnetic heading assumes the device is level. At this latitude the
field dips ~60 degrees, so the vertical component is 1.6x the horizontal one
and tipping the device leaks it into the pair the heading is made from: about
1.5 degrees of heading per degree of tilt. That is what "it drifts" was once
the calibration was sound -- it was the hand holding it.
Driver: variants/thinknode_m9/M9Imu.{h,cpp}, QMI8658 at 0x6B on the peripheral
bus, accelerometer only (the gyro is most of the power budget and nothing here
needs it): +/-2 g at 62.5 Hz with the low-pass on, soft reset with a 160 ms
wait that covers both die variants, and the same idle-suspend as the compass so
it costs nothing when unused. CTRL1's ADDR_AI bit is set and read back -- with
it clear the burst read silently returns six copies of one byte, which looks
like a working sensor reporting nonsense. HAS_M9_IMU -> CAP_IMU ->
wada.sys.accel(), caps().accel.
Axes MEASURED, not guessed, by holding three attitudes and logging:
flat, screen up z = -1.02 -> +Z into the screen (down)
on bottom edge, top up x = +0.97 -> +X at the top edge (forward)
on left edge, right up y = +1.08 -> +Y at the right edge
So the IMU is already in the aerospace body frame, and it agrees with the
magnetometer's independently measured +Z-into-screen. (Meshtastic's M9 driver
passes both sensors through untransformed and mirrors the heading on the sign
of accel Z, so its compass flips when the device is turned over. Not copied.)
Heading now rotates the field back into the horizontal plane using gravity
(NXP AN4248 / ST AN3192) before taking the angle, and reports the tilt angle;
past 55 degrees it says "too steep to read" rather than lying. Calibration
returns to a 3D fit because tilt compensation needs the vertical offset too --
but the instruction is now "turn it every way ON ONE SPOT", and the
accelerometer VERIFIES it: coverage is measured by how far gravity swung, so a
flat spin is refused by name ("turn it nose over tail") instead of silently
fitting a degenerate sphere. Simulated in the harness against a modelled M9 in
a known attitude: offsets recovered exactly, and the heading holds within 3
degrees through 20 degrees of roll and pitch.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
wadamesh.com infrastructure
Distribution stack for wadamesh: a VPS nginx origin behind Cloudflare.
tiles.wadamesh.com →CF (HTTP, edge-cached) → nginx → OpenStreetMap / OpenTopoMap
firmware.wadamesh.com →CF (cache bins) → nginx → /srv/wadamesh/firmware
flasher.wadamesh.com →CF (HTTPS) → web flasher (TODO — see below)
wadamesh.com →CF (HTTPS) → landing page (later)
Map tile styles. The default /{z}/{x}/{y}.jpg route serves OpenStreetMap
(the firmware default). An opt-in OpenTopoMap topographic style is served from
/opentopo/{z}/{x}/{y}.jpg (explicit OSM alias at /osm/...); the device requests
it only when the user enables Map → Options → Topographic map. Legal: OpenTopoMap
map tiles are © OpenTopoMap (CC-BY-SA) over © OpenStreetMap contributors
(ODbL) + SRTM — the touch UI shows that attribution when topo is active, and the
14-day disk cache keeps each tile hitting OpenTopoMap at most once per fortnight
(their tile-usage policy asks for a contactable UA + caching, both of which the
transcode service provides). Deploying the topo routes = update
tiles.wadamesh.com.conf + tile-transcode.py, then
systemctl restart wadamesh-tile-transcode && nginx -t && systemctl reload nginx
and purge the Cloudflare cache for tiles.wadamesh.com/opentopo/*.
The firmware fetches tiles + the update-check over plain HTTP (on-device HTTPS isn't viable — mbedTLS needs ~30 KB heap, only ~5 KB is free post-Wi-Fi), so the tile + firmware hosts must stay reachable over HTTP. Cloudflare provides the edge cache, HTTPS for the flasher, and hides the origin IP (so no IP lives in this repo or the firmware).
1. VPS (origin)
sudo apt install nginx
sudo mkdir -p /srv/wadamesh/firmware/releases/TOUCH /var/cache/nginx/wadamesh-tiles
sudo cp deploy/nginx/tiles.wadamesh.com.conf /etc/nginx/sites-available/
sudo cp deploy/nginx/firmware.wadamesh.com.conf /etc/nginx/sites-available/
sudo ln -s /etc/nginx/sites-available/tiles.wadamesh.com.conf /etc/nginx/sites-enabled/
sudo ln -s /etc/nginx/sites-available/firmware.wadamesh.com.conf /etc/nginx/sites-enabled/
sudo nginx -t && sudo systemctl reload nginx
2. Cloudflare
- DNS:
A/AAAArecords fortiles,firmware,flasher,@→ the VPS IP, all Proxied (orange cloud). - SSL/TLS: mode Flexible (CF↔origin HTTP) is enough since the origin is
HTTP-only. Do NOT enable "Always Use HTTPS" on
tiles.orfirmware.— the firmware needs plain HTTP there. - Cache Rules:
tiles.wadamesh.com/*→ Eligible for cache, Edge TTL ~14d.firmware.wadamesh.com/releases/*/*.bin→ cache, Edge TTL ~1d.firmware.wadamesh.com/releases/TOUCH(the listing) → short TTL (~60s) or Bypass, so new releases appear promptly.
3. Publishing a release
From a wadamesh checkout (builds both boards, refreshes the listing, rsyncs up):
WADAMESH_VPS=user@your-vps scripts/release.sh beta_2
The on-device check GETs http://firmware.wadamesh.com/releases/TOUCH, finds the
highest beta_<N>, and (once OTA-over-Wi-Fi is re-enabled) pulls
…/releases/TOUCH/beta_<N>/<board>.bin.
Done
- Web flasher ✅ at
flasher.wadamesh.com—deploy/flasher/(esp-web-tools / Web Serial, board picker, manifests pointing at the rolling/latest/merged bins;release.shrefreshes/latest/each publish). - Apex
wadamesh.com301-redirects to the flasher — activate by pointing thewadamesh.comA record at the VPS in Cloudflare (it's still on the parking IP).
TODO before public launch
- Re-enable OTA-over-Wi-Fi in the firmware (currently it version-checks then defers to manual flashing).
- Flip
wadameshrepo public = launch. - Decide tile-proxy sharing: dedicated
tiles.wadamesh.com(this config) vs reusing the meshcomod proxy.
Never commit the VPS IP, SSH keys, or
WADAMESH_VPS. Cloudflare fronts the origin; the deploy target is supplied via the environment at publish time.