Show compass on waypoint frame; clear when waypoint deleted (#4116)

* Clear expired or deleted waypoint frame

* Return 0 to CallbackObserver

* Add a missing comment

* Draw compass for waypoint frame

* Display our own waypoints

.github/ISSUE_TEMPLATE/feature.yml

@@ -16,6 +16,9 @@ body:
       options:
         - NRF52
         - ESP32
+        - RP2040
+        - Linux Native
+        - other
     validations:
       required: true
   - type: textarea

.github/actions/setup-base/action.yml

@@ -5,37 +5,25 @@ runs:
   using: "composite"
   steps:
     - name: Checkout code
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
         submodules: "recursive"
         ref: ${{github.event.pull_request.head.ref}}
         repository: ${{github.event.pull_request.head.repo.full_name}}
 
-    - name: Install cppcheck
+    - name: Install dependencies 
       shell: bash
       run: |
-        sudo apt-get install -y cppcheck
-
-    - name: Install libbluetooth
-      shell: bash
-      run: |
-        sudo apt-get install -y libbluetooth-dev
-    - name: Install libgpiod
-      shell: bash
-      run: |
-        sudo apt-get install -y libgpiod-dev
-    - name: Install libyaml-cpp
-      shell: bash
-      run: |
-        sudo apt-get install -y libyaml-cpp-dev
+        sudo apt-get -y update 
+        sudo apt-get install -y cppcheck libbluetooth-dev libgpiod-dev libyaml-cpp-dev
 
     - name: Setup Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: 3.x
 
     - name: Cache python libs
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       id: cache-pip # needed in if test
       with:
         path: ~/.cache/pip

.github/workflows/build_esp32.yml

@@ -11,13 +11,13 @@ jobs:
   build-esp32:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Build base
         id: base
         uses: ./.github/actions/setup-base
 
       - name: Pull web ui
-        uses: dsaltares/fetch-gh-release-asset@a40c8b4a0471f9ab81bdf73a010f74cc51476ad4
+        uses: dsaltares/fetch-gh-release-asset@master
         with:
           repo: meshtastic/web
           file: build.tar
@@ -41,7 +41,7 @@ jobs:
         run: bin/build-esp32.sh ${{ inputs.board }}
 
       - name: Pull OTA Firmware
-        uses: dsaltares/fetch-gh-release-asset@a40c8b4a0471f9ab81bdf73a010f74cc51476ad4
+        uses: dsaltares/fetch-gh-release-asset@master
         with:
           repo: meshtastic/firmware-ota
           file: firmware.bin
@@ -54,9 +54,10 @@ jobs:
         id: version
 
       - name: Store binaries as an artifact
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: firmware-${{ inputs.board }}-${{ steps.version.outputs.version }}.zip
+          overwrite: true
           path: |
             release/*.bin
             release/*.elf

.github/workflows/build_esp32_c3.yml

@@ -13,13 +13,13 @@ jobs:
   build-esp32-c3:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Build base
         id: base
         uses: ./.github/actions/setup-base
 
       - name: Pull web ui
-        uses: dsaltares/fetch-gh-release-asset@a40c8b4a0471f9ab81bdf73a010f74cc51476ad4
+        uses: dsaltares/fetch-gh-release-asset@master
         with:
           repo: meshtastic/web
           file: build.tar
@@ -41,7 +41,7 @@ jobs:
         run: bin/build-esp32.sh ${{ inputs.board }}
 
       - name: Pull OTA Firmware
-        uses: dsaltares/fetch-gh-release-asset@a40c8b4a0471f9ab81bdf73a010f74cc51476ad4
+        uses: dsaltares/fetch-gh-release-asset@master
         with:
           repo: meshtastic/firmware-ota
           file: firmware-c3.bin
@@ -54,9 +54,10 @@ jobs:
         id: version
 
       - name: Store binaries as an artifact
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: firmware-${{ inputs.board }}-${{ steps.version.outputs.version }}.zip
+          overwrite: true
           path: |
             release/*.bin
             release/*.elf

.github/workflows/build_esp32_s3.yml

@@ -11,13 +11,13 @@ jobs:
   build-esp32-s3:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Build base
         id: base
         uses: ./.github/actions/setup-base
 
       - name: Pull web ui
-        uses: dsaltares/fetch-gh-release-asset@a40c8b4a0471f9ab81bdf73a010f74cc51476ad4
+        uses: dsaltares/fetch-gh-release-asset@master
         with:
           repo: meshtastic/web
           file: build.tar
@@ -39,7 +39,7 @@ jobs:
         run: bin/build-esp32.sh ${{ inputs.board }}
 
       - name: Pull OTA Firmware
-        uses: dsaltares/fetch-gh-release-asset@a40c8b4a0471f9ab81bdf73a010f74cc51476ad4
+        uses: dsaltares/fetch-gh-release-asset@master
         with:
           repo: meshtastic/firmware-ota
           file: firmware-s3.bin
@@ -52,9 +52,10 @@ jobs:
         id: version
 
       - name: Store binaries as an artifact
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: firmware-${{ inputs.board }}-${{ steps.version.outputs.version }}.zip
+          overwrite: true
           path: |
             release/*.bin
             release/*.elf

.github/workflows/build_native.yml

@@ -0,0 +1,85 @@
+name: Build Native
+
+on: workflow_call
+
+permissions:
+  contents: write
+  packages: write
+
+jobs:
+  build-native:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Install libbluetooth
+        shell: bash
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y libbluetooth-dev libgpiod-dev libyaml-cpp-dev openssl libssl-dev libulfius-dev liborcania-dev
+
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+          ref: ${{github.event.pull_request.head.ref}}
+          repository: ${{github.event.pull_request.head.repo.full_name}}
+
+      - name: Upgrade python tools
+        shell: bash
+        run: |
+          python -m pip install --upgrade pip
+          pip install -U platformio adafruit-nrfutil
+          pip install -U meshtastic --pre
+
+      - name: Upgrade platformio
+        shell: bash
+        run: |
+          pio upgrade
+
+      - name: Build Native
+        run: bin/build-native.sh
+
+      - name: Get release version string
+        run: echo "version=$(./bin/buildinfo.py long)" >> $GITHUB_OUTPUT
+        id: version
+
+      - name: Store binaries as an artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: firmware-native-${{ steps.version.outputs.version }}.zip
+          overwrite: true
+          path: |
+            release/meshtasticd_linux_x86_64
+            bin/config-dist.yaml
+
+      - name: Docker login
+        if: ${{ github.event_name != 'pull_request_target' && github.event_name != 'pull_request' }}
+        uses: docker/login-action@v3
+        continue-on-error: true # FIXME: Failing docker login auth
+        with:
+          username: meshtastic
+          password: ${{ secrets.DOCKER_FIRMWARE_TOKEN }}
+
+      - name: Docker setup
+        if: ${{ github.event_name != 'pull_request_target' && github.event_name != 'pull_request' }}
+        continue-on-error: true # FIXME: Failing docker login auth
+        uses: docker/setup-buildx-action@v3
+
+      - name: Docker build and push tagged versions
+        if: ${{ github.event_name == 'workflow_dispatch' }}
+        continue-on-error: true # FIXME: Failing docker login auth
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: ./Dockerfile
+          push: true
+          tags: meshtastic/device-simulator:${{ steps.version.outputs.version }}
+
+      - name: Docker build and push
+        if: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request_target' && github.event_name != 'pull_request' }}
+        continue-on-error: true # FIXME: Failing docker login auth
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: ./Dockerfile
+          push: true
+          tags: meshtastic/device-simulator:latest

.github/workflows/build_nrf52.yml

@@ -11,7 +11,7 @@ jobs:
   build-nrf52:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Build base
         id: base
         uses: ./.github/actions/setup-base
@@ -24,9 +24,10 @@ jobs:
         id: version
 
       - name: Store binaries as an artifact
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: firmware-${{ inputs.board }}-${{ steps.version.outputs.version }}.zip
+          overwrite: true
           path: |
             release/*.uf2
             release/*.elf

.github/workflows/build_raspbian.yml

@@ -10,8 +10,13 @@ jobs:
   build-raspbian:
     runs-on: [self-hosted, linux, ARM64]
     steps:
+      - name: Install libbluetooth
+        shell: bash
+        run: |
+          apt-get install -y libbluetooth-dev libgpiod-dev libyaml-cpp-dev openssl libssl-dev libulfius-dev liborcania-dev
+
       - name: Checkout code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           submodules: recursive
           ref: ${{github.event.pull_request.head.ref}}
@@ -37,9 +42,10 @@ jobs:
         id: version
 
       - name: Store binaries as an artifact
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: firmware-raspbian-${{ steps.version.outputs.version }}.zip
+          overwrite: true
           path: |
             release/meshtasticd_linux_aarch64
             bin/config-dist.yaml

.github/workflows/build_raspbian_armv7l.yml

@@ -0,0 +1,51 @@
+name: Build Raspbian Arm
+
+on: workflow_call
+
+permissions:
+  contents: write
+  packages: write
+
+jobs:
+  build-raspbian-armv7l:
+    runs-on: [self-hosted, linux, ARM]
+    steps:
+      - name: Install libbluetooth
+        shell: bash
+        run: |
+          apt-get install -y libbluetooth-dev libgpiod-dev libyaml-cpp-dev openssl libssl-dev libulfius-dev liborcania-dev
+
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+          ref: ${{github.event.pull_request.head.ref}}
+          repository: ${{github.event.pull_request.head.repo.full_name}}
+
+      - name: Upgrade python tools
+        shell: bash
+        run: |
+          python -m pip install --upgrade pip
+          pip install -U platformio adafruit-nrfutil
+          pip install -U meshtastic --pre
+
+      - name: Upgrade platformio
+        shell: bash
+        run: |
+          pio upgrade
+
+      - name: Build Raspbian
+        run: bin/build-native.sh
+
+      - name: Get release version string
+        run: echo "version=$(./bin/buildinfo.py long)" >> $GITHUB_OUTPUT
+        id: version
+
+      - name: Store binaries as an artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: firmware-raspbian-armv7l-${{ steps.version.outputs.version }}.zip
+          overwrite: true
+          path: |
+            release/meshtasticd_linux_armv7l
+            bin/config-dist.yaml

.github/workflows/build_rpi2040.yml

@@ -11,7 +11,7 @@ jobs:
   build-rpi2040:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Build base
         id: base
         uses: ./.github/actions/setup-base
@@ -24,9 +24,10 @@ jobs:
         id: version
 
       - name: Store binaries as an artifact
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: firmware-${{ inputs.board }}-${{ steps.version.outputs.version }}.zip
+          overwrite: true
           path: |
             release/*.uf2
             release/*.elf

.github/workflows/main_matrix.yml

@@ -8,7 +8,7 @@ on:
     branches: [master, develop]
     paths-ignore:
       - "**.md"
-      - "version.properties"
+      - version.properties
 
   # Note: This is different from "pull_request". Need to specify ref when doing checkouts.
   pull_request_target:
@@ -20,208 +20,104 @@ on:
   workflow_dispatch:
 
 jobs:
-  check:
+  setup:
     strategy:
       fail-fast: false
       matrix:
-        include:
-          - board: rak11200
-          - board: tlora-v2-1-1_6
-          - board: tbeam
-          - board: heltec-v2_1
-          - board: meshtastic-diy-v1
-          - board: rak4631
-          - board: t-echo
-          - board: station-g2
-          - board: m5stack-coreink
-          - board: tbeam-s3-core
-          - board: tlora-t3s3-v1
-          - board: t-watch-s3
-          - board: t-deck
-          #- board: rak11310
+        arch: [esp32, esp32s3, esp32c3, nrf52840, rp2040, check]
+    runs-on: ubuntu-latest
+    steps:
+      - id: checkout
+        uses: actions/checkout@v4
+        name: Checkout base
+      - id: jsonStep
+        run: |
+          TARGETS=$(./bin/generate_ci_matrix.py ${{matrix.arch}})
+          echo "$TARGETS"
+          echo "${{matrix.arch}}=$(jq -cn --argjson environments "$TARGETS" '{board: $environments}')" >> $GITHUB_OUTPUT
+    outputs:
+      esp32: ${{ steps.jsonStep.outputs.esp32 }}
+      esp32s3: ${{ steps.jsonStep.outputs.esp32s3 }}
+      esp32c3: ${{ steps.jsonStep.outputs.esp32c3 }}
+      nrf52840: ${{ steps.jsonStep.outputs.nrf52840 }}
+      rp2040: ${{ steps.jsonStep.outputs.rp2040 }}
+      check: ${{ steps.jsonStep.outputs.check }}
+
+  check:
+    needs: setup
+    strategy:
+      fail-fast: false
+      matrix: ${{ fromJson(needs.setup.outputs.check) }}
 
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Build base
         id: base
         uses: ./.github/actions/setup-base
-
-      - name: Trunk Check
-        if: ${{ github.event_name != 'workflow_dispatch' }}
-        uses: trunk-io/trunk-action@782e83f803ca6e369f035d64c6ba2768174ba61b
-
       - name: Check ${{ matrix.board }}
         run: bin/check-all.sh ${{ matrix.board }}
 
   build-esp32:
+    needs: setup
     strategy:
       fail-fast: false
-      matrix:
-        include:
-          - board: rak11200
-          - board: tlora-v2
-          - board: tlora-v1
-          - board: tlora_v1_3
-          - board: tlora-v2-1-1_6
-          - board: tlora-v2-1-1_6-tcxo
-          - board: tlora-v2-1-1_8
-          - board: tbeam
-          - board: heltec-v2_0
-          - board: heltec-v2_1
-          - board: tbeam0_7
-          - board: meshtastic-diy-v1
-          - board: hydra
-          - board: meshtastic-dr-dev
-          - board: nano-g1
-          - board: station-g1
-          - board: m5stack-core
-          - board: m5stack-coreink
-          - board: nano-g1-explorer
-          - board: chatter2
+      matrix: ${{ fromJson(needs.setup.outputs.esp32) }}
     uses: ./.github/workflows/build_esp32.yml
     with:
       board: ${{ matrix.board }}
 
   build-esp32-s3:
+    needs: setup
     strategy:
       fail-fast: false
-      matrix:
-        include:
-          - board: heltec-v3
-          - board: heltec-wsl-v3
-          - board: heltec-wireless-tracker
-          - board: heltec-wireless-tracker-V1-0
-          - board: heltec-wireless-paper-v1_0
-          - board: heltec-wireless-paper #v1.1
-          - board: tbeam-s3-core
-          - board: tlora-t3s3-v1
-          - board: t-watch-s3
-          - board: t-deck
-          - board: picomputer-s3
-          - board: station-g2
+      matrix: ${{ fromJson(needs.setup.outputs.esp32s3) }}
     uses: ./.github/workflows/build_esp32_s3.yml
     with:
       board: ${{ matrix.board }}
 
   build-esp32-c3:
+    needs: setup
     strategy:
       fail-fast: false
-      matrix:
-        include:
-          - board: heltec-ht62-esp32c3-sx1262
+      matrix: ${{ fromJson(needs.setup.outputs.esp32c3) }}
     uses: ./.github/workflows/build_esp32_c3.yml
     with:
       board: ${{ matrix.board }}
 
   build-nrf52:
+    needs: setup
     strategy:
       fail-fast: false
-      matrix:
-        include:
-          - board: rak4631
-          - board: rak4631_eink
-          - board: monteops_hw1
-          - board: t-echo
-          - board: canaryone
-          - board: pca10059_diy_eink
-          - board: feather_diy
-          - board: nano-g2-ultra
+      matrix: ${{ fromJson(needs.setup.outputs.nrf52840) }}
     uses: ./.github/workflows/build_nrf52.yml
     with:
       board: ${{ matrix.board }}
 
   build-rpi2040:
+    needs: setup
     strategy:
       fail-fast: false
-      matrix:
-        include:
-          - board: pico
-          - board: picow
-          - board: rak11310
-          - board: senselora_rp2040
-          - board: rp2040-lora
+      matrix: ${{ fromJson(needs.setup.outputs.rp2040) }}
     uses: ./.github/workflows/build_rpi2040.yml
     with:
       board: ${{ matrix.board }}
 
-  build-raspbian:
-    strategy:
-      fail-fast: false
-      max-parallel: 1
-    uses: ./.github/workflows/build_raspbian.yml
-
   package-raspbian:
     uses: ./.github/workflows/package_raspbian.yml
 
-  build-native:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v3
-      - name: Build base
-        id: base
-        uses: ./.github/actions/setup-base
+  package-raspbian-armv7l:
+    uses: ./.github/workflows/package_raspbian_armv7l.yml
 
-      # We now run integration test before other build steps (to quickly see runtime failures)
-      #- name: Build for native
-      #  run: platformio run -e native
-      #- name: Integration test
-      # run: |
-      #.pio/build/native/program
-      #& sleep 20 # 5 seconds was not enough
-      #echo "Simulator started, launching python test..."
-      #python3 -c 'from meshtastic.test import testSimulator; testSimulator()'
-
-      - name: Build Native
-        run: bin/build-native.sh
-
-      - name: Get release version string
-        run: echo "version=$(./bin/buildinfo.py long)" >> $GITHUB_OUTPUT
-        id: version
-
-      - name: Store binaries as an artifact
-        uses: actions/upload-artifact@v3
-        with:
-          name: firmware-native-${{ steps.version.outputs.version }}.zip
-          path: |
-            release/device-*.sh
-            release/device-*.bat
-
-      - name: Docker login
-        if: ${{ github.event_name != 'pull_request_target' && github.event_name != 'pull_request' }}
-        uses: docker/login-action@v2
-        with:
-          username: meshtastic
-          password: ${{ secrets.DOCKER_TOKEN }}
-
-      - name: Docker setup
-        if: ${{ github.event_name != 'pull_request_target' && github.event_name != 'pull_request' }}
-        uses: docker/setup-buildx-action@v2
-
-      - name: Docker build and push tagged versions
-        if: ${{ github.event_name == 'workflow_dispatch' }}
-        uses: docker/build-push-action@v3
-        with:
-          context: .
-          file: ./Dockerfile
-          push: true
-          tags: meshtastic/device-simulator:${{ steps.version.outputs.version }}
-
-      - name: Docker build and push
-        if: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request_target' && github.event_name != 'pull_request' }}
-        uses: docker/build-push-action@v3
-        with:
-          context: .
-          file: ./Dockerfile
-          push: true
-          tags: meshtastic/device-simulator:latest
+  package-native:
+    uses: ./.github/workflows/package_amd64.yml
 
   after-checks:
     runs-on: ubuntu-latest
     needs: [check]
     steps:
       - name: Checkout code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: ${{github.event.pull_request.head.ref}}
           repository: ${{github.event.pull_request.head.repo.full_name}}
@@ -237,21 +133,22 @@ jobs:
         build-esp32-s3,
         build-esp32-c3,
         build-nrf52,
-        build-raspbian,
-        build-native,
         build-rpi2040,
         package-raspbian,
+        package-raspbian-armv7l,
+        package-native
       ]
     steps:
       - name: Checkout code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: ${{github.event.pull_request.head.ref}}
           repository: ${{github.event.pull_request.head.repo.full_name}}
 
-      - uses: actions/download-artifact@v3
+      - uses: actions/download-artifact@v4
         with:
           path: ./
+          merge-multiple: true
 
       - name: Display structure of downloaded files
         run: ls -R
@@ -261,25 +158,30 @@ jobs:
         id: version
 
       - name: Move files up
-        run: mv -b -t ./ ./*tbeam-2*/littlefs*.bin ./*tbeam-2*/bleota.bin ./*tbeam-s3*/bleota-s3.bin ./*esp32c3*/bleota-c3.bin ./**/firmware*.bin ./*t-echo*/Meshtastic_nRF52_factory_erase_v2.uf2 ./**/firmware-*.uf2 ./**/firmware-*-ota.zip ./**/*.elf ./*native*/*device-*.sh ./*native*/*device-*.bat ./firmware-raspbian-*/release/meshtasticd_linux_aarch64 ./firmware-raspbian-*/bin/config-dist.yaml
+        run: mv -b -t ./ ./release/meshtasticd_linux_* ./bin/config-dist.yaml ./bin/device-*.sh ./bin/device-*.bat
 
       - name: Repackage in single firmware zip
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: firmware-${{ steps.version.outputs.version }}
+          overwrite: true
           path: |
-            ./*.bin
-            ./*.uf2
+            ./firmware-*.bin
+            ./firmware-*.uf2
             ./firmware-*-ota.zip
             ./device-*.sh
             ./device-*.bat
-            ./meshtasticd_linux_arm64
+            ./meshtasticd_linux_*
             ./config-dist.yaml
+            ./littlefs-*.bin
+            ./bleota*bin
+            ./Meshtastic_nRF52_factory_erase*.uf2
           retention-days: 90
 
-      - uses: actions/download-artifact@v3
+      - uses: actions/download-artifact@v4
         with:
           name: firmware-${{ steps.version.outputs.version }}
+          merge-multiple: true
           path: ./output
 
       # For diagnostics
@@ -295,9 +197,10 @@ jobs:
         run: zip -j -9 -r ./firmware-${{ steps.version.outputs.version }}.zip ./output
 
       - name: Repackage in single elfs zip
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: debug-elfs-${{ steps.version.outputs.version }}.zip
+          overwrite: true
           path: ./*.elf
           retention-days: 30
 
@@ -319,10 +222,10 @@ jobs:
     needs: [gather-artifacts, after-checks]
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Setup Python
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: 3.x
 
@@ -330,14 +233,17 @@ jobs:
         run: echo "version=$(./bin/buildinfo.py long)" >> $GITHUB_OUTPUT
         id: version
 
-      - uses: actions/download-artifact@v3
+      - uses: actions/download-artifact@v4
         with:
           name: firmware-${{ steps.version.outputs.version }}
+          merge-multiple: true
           path: ./output
 
-      - uses: actions/download-artifact@v3
+      - uses: actions/download-artifact@v4
         with:
-          name: artifact-deb
+          pattern: meshtasticd_${{ steps.version.outputs.version }}_*.deb
+          merge-multiple: true
+          path: ./output
 
       - name: Display structure of downloaded files
         run: ls -R
@@ -348,11 +254,12 @@ jobs:
           chmod +x ./output/device-update.sh
 
       - name: Zip firmware
-        run: zip -j -9 -r ./firmware-${{ steps.version.outputs.version }}.zip ./output
+        run: zip -j -9 -r ./firmware-${{ steps.version.outputs.version }}.zip ./output -x *.deb
 
-      - uses: actions/download-artifact@v3
+      - uses: actions/download-artifact@v4
         with:
           name: debug-elfs-${{ steps.version.outputs.version }}.zip
+          merge-multiple: true
           path: ./elfs
 
       - name: Zip Elfs
@@ -395,22 +302,42 @@ jobs:
           asset_name: debug-elfs-${{ steps.version.outputs.version }}.zip
           asset_content_type: application/zip
 
-      - name: Add raspbian .deb
+      - name: Add raspbian aarch64 .deb
         uses: actions/upload-release-asset@v1
         env:
           GITHUB_TOKEN: ${{ github.token }}
         with:
           upload_url: ${{ steps.create_release.outputs.upload_url }}
-          asset_path: ./meshtasticd_${{ steps.version.outputs.version }}_arm64.deb
+          asset_path: ./output/meshtasticd_${{ steps.version.outputs.version }}_arm64.deb
           asset_name: meshtasticd_${{ steps.version.outputs.version }}_arm64.deb
           asset_content_type: application/vnd.debian.binary-package
 
+      - name: Add raspbian armv7l .deb
+        uses: actions/upload-release-asset@v1
+        env:
+          GITHUB_TOKEN: ${{ github.token }}
+        with:
+          upload_url: ${{ steps.create_release.outputs.upload_url }}
+          asset_path: ./output/meshtasticd_${{ steps.version.outputs.version }}_armhf.deb
+          asset_name: meshtasticd_${{ steps.version.outputs.version }}_armhf.deb
+          asset_content_type: application/vnd.debian.binary-package
+
+      - name: Add raspbian amd64 .deb
+        uses: actions/upload-release-asset@v1
+        env:
+          GITHUB_TOKEN: ${{ github.token }}
+        with:
+          upload_url: ${{ steps.create_release.outputs.upload_url }}
+          asset_path: ./output/meshtasticd_${{ steps.version.outputs.version }}_amd64.deb
+          asset_name: meshtasticd_${{ steps.version.outputs.version }}_amd64.deb
+          asset_content_type: application/vnd.debian.binary-package
+
       - name: Bump version.properties
         run: >-
           bin/bump_version.py
 
       - name: Create version.properties pull request
-        uses: peter-evans/create-pull-request@v3
+        uses: peter-evans/create-pull-request@v6
         with:
           add-paths: |
             version.properties

.github/workflows/nightly.yml

@@ -11,7 +11,7 @@ jobs:
 
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Trunk Check
         uses: trunk-io/trunk-action@782e83f803ca6e369f035d64c6ba2768174ba61b

.github/workflows/package_amd64.yml

@@ -0,0 +1,78 @@
+name: Package Native
+
+on:
+  workflow_call:
+  workflow_dispatch:
+
+permissions:
+  contents: write
+  packages: write
+
+jobs:
+  build-native:
+    uses: ./.github/workflows/build_native.yml
+
+  package-native:
+    runs-on: ubuntu-latest
+    needs: build-native
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+          ref: ${{github.event.pull_request.head.ref}}
+          repository: ${{github.event.pull_request.head.repo.full_name}}
+
+      - name: Pull web ui
+        uses: dsaltares/fetch-gh-release-asset@master
+        with:
+          repo: meshtastic/web
+          file: build.tar
+          target: build.tar
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Get release version string
+        run: echo "version=$(./bin/buildinfo.py long)" >> $GITHUB_OUTPUT
+        id: version
+
+      - name: Download artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: firmware-native-${{ steps.version.outputs.version }}.zip
+          merge-multiple: true
+
+      - name: Display structure of downloaded files
+        run: ls -R
+
+      - name: build .debpkg
+        run: |
+          mkdir -p .debpkg/DEBIAN
+          mkdir -p .debpkg/usr/share/doc/meshtasticd/web
+          mkdir -p .debpkg/usr/sbin
+          mkdir -p .debpkg/etc/meshtasticd
+          mkdir -p .debpkg/usr/lib/systemd/system/
+          tar -xf build.tar -C .debpkg/usr/share/doc/meshtasticd/web
+          gunzip .debpkg/usr/share/doc/meshtasticd/web/*.gz
+          cp release/meshtasticd_linux_x86_64 .debpkg/usr/sbin/meshtasticd
+          cp bin/config-dist.yaml .debpkg/etc/meshtasticd/config.yaml
+          chmod +x .debpkg/usr/sbin/meshtasticd
+          cp bin/meshtasticd.service .debpkg/usr/lib/systemd/system/meshtasticd.service
+          echo "/etc/meshtasticd/config.yaml" > .debpkg/DEBIAN/conffiles
+          chmod +x .debpkg/DEBIAN/conffiles
+
+      - uses: jiro4989/build-deb-action@v3
+        with:
+          package: meshtasticd
+          package_root: .debpkg
+          maintainer: Jonathan Bennett
+          version: ${{ steps.version.outputs.version }} # refs/tags/v*.*.*
+          arch: amd64
+          depends: libyaml-cpp0.7, openssl, libulfius2.7
+          desc: Native Linux Meshtastic binary.
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: meshtasticd_${{ steps.version.outputs.version }}_amd64.deb
+          overwrite: true
+          path: |
+            ./*.deb

.github/workflows/package_raspbian.yml

@@ -17,14 +17,14 @@ jobs:
     needs: build-raspbian
     steps:
       - name: Checkout code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           submodules: recursive
           ref: ${{github.event.pull_request.head.ref}}
           repository: ${{github.event.pull_request.head.repo.full_name}}
 
       - name: Pull web ui
-        uses: dsaltares/fetch-gh-release-asset@a40c8b4a0471f9ab81bdf73a010f74cc51476ad4
+        uses: dsaltares/fetch-gh-release-asset@master
         with:
           repo: meshtastic/web
           file: build.tar
@@ -36,15 +36,17 @@ jobs:
         id: version
 
       - name: Download artifacts
-        uses: actions/download-artifact@v3
+        uses: actions/download-artifact@v4
         with:
           name: firmware-raspbian-${{ steps.version.outputs.version }}.zip
+          merge-multiple: true
 
       - name: Display structure of downloaded files
         run: ls -R
 
       - name: build .debpkg
         run: |
+          mkdir -p .debpkg/DEBIAN
           mkdir -p .debpkg/usr/share/doc/meshtasticd/web
           mkdir -p .debpkg/usr/sbin
           mkdir -p .debpkg/etc/meshtasticd
@@ -55,6 +57,8 @@ jobs:
           cp bin/config-dist.yaml .debpkg/etc/meshtasticd/config.yaml
           chmod +x .debpkg/usr/sbin/meshtasticd
           cp bin/meshtasticd.service .debpkg/usr/lib/systemd/system/meshtasticd.service
+          echo "/etc/meshtasticd/config.yaml" > .debpkg/DEBIAN/conffiles
+          chmod +x .debpkg/DEBIAN/conffiles
 
       - uses: jiro4989/build-deb-action@v3
         with:
@@ -63,11 +67,12 @@ jobs:
           maintainer: Jonathan Bennett
           version: ${{ steps.version.outputs.version }} # refs/tags/v*.*.*
           arch: arm64
-          depends: libyaml-cpp0.7, openssl
+          depends: libyaml-cpp0.7, openssl, libulfius2.7
           desc: Native Linux Meshtastic binary.
 
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         with:
-          name: artifact-deb
+          name: meshtasticd_${{ steps.version.outputs.version }}_arm64.deb
+          overwrite: true
           path: |
             ./*.deb

.github/workflows/package_raspbian_armv7l.yml

@@ -0,0 +1,78 @@
+name: Package Raspbian
+
+on:
+  workflow_call:
+  workflow_dispatch:
+
+permissions:
+  contents: write
+  packages: write
+
+jobs:
+  build-raspbian_armv7l:
+    uses: ./.github/workflows/build_raspbian_armv7l.yml
+
+  package-raspbian_armv7l:
+    runs-on: ubuntu-latest
+    needs: build-raspbian_armv7l
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+          ref: ${{github.event.pull_request.head.ref}}
+          repository: ${{github.event.pull_request.head.repo.full_name}}
+
+      - name: Pull web ui
+        uses: dsaltares/fetch-gh-release-asset@master
+        with:
+          repo: meshtastic/web
+          file: build.tar
+          target: build.tar
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Get release version string
+        run: echo "version=$(./bin/buildinfo.py long)" >> $GITHUB_OUTPUT
+        id: version
+
+      - name: Download artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: firmware-raspbian-armv7l-${{ steps.version.outputs.version }}.zip
+          merge-multiple: true
+
+      - name: Display structure of downloaded files
+        run: ls -R
+
+      - name: build .debpkg
+        run: |
+          mkdir -p .debpkg/DEBIAN
+          mkdir -p .debpkg/usr/share/doc/meshtasticd/web
+          mkdir -p .debpkg/usr/sbin
+          mkdir -p .debpkg/etc/meshtasticd
+          mkdir -p .debpkg/usr/lib/systemd/system/
+          tar -xf build.tar -C .debpkg/usr/share/doc/meshtasticd/web
+          gunzip .debpkg/usr/share/doc/meshtasticd/web/*.gz
+          cp release/meshtasticd_linux_armv7l .debpkg/usr/sbin/meshtasticd
+          cp bin/config-dist.yaml .debpkg/etc/meshtasticd/config.yaml
+          chmod +x .debpkg/usr/sbin/meshtasticd
+          cp bin/meshtasticd.service .debpkg/usr/lib/systemd/system/meshtasticd.service
+          echo "/etc/meshtasticd/config.yaml" > .debpkg/DEBIAN/conffiles
+          chmod +x .debpkg/DEBIAN/conffiles
+
+      - uses: jiro4989/build-deb-action@v3
+        with:
+          package: meshtasticd
+          package_root: .debpkg
+          maintainer: Jonathan Bennett
+          version: ${{ steps.version.outputs.version }} # refs/tags/v*.*.*
+          arch: armhf
+          depends: libyaml-cpp0.7, openssl, libulfius2.7
+          desc: Native Linux Meshtastic binary.
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: meshtasticd_${{ steps.version.outputs.version }}_armhf.deb
+          overwrite: true
+          path: |
+            ./*.deb

.github/workflows/sec_sast_flawfinder.yml

@@ -16,7 +16,7 @@ jobs:
     steps:
       # step 1
       - name: clone application source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       # step 2
       - name: flawfinder_scan
@@ -27,14 +27,15 @@ jobs:
 
       # step 3
       - name: save report as pipeline artifact
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: flawfinder_report.sarif
+          overwrite: true
           path: flawfinder_report.sarif
 
       # step 4
       - name: publish code scanning alerts
-        uses: github/codeql-action/upload-sarif@v2
+        uses: github/codeql-action/upload-sarif@v3
         with:
           sarif_file: flawfinder_report.sarif
           category: flawfinder

.github/workflows/sec_sast_semgrep_cron.yml

@@ -17,7 +17,7 @@ jobs:
     steps:
       # step 1
       - name: clone application source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       # step 2
       - name: full scan
@@ -29,14 +29,15 @@ jobs:
 
       # step 3
       - name: save report as pipeline artifact
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: report.sarif
+          overwrite: true
           path: report.sarif
 
       # step 4
       - name: publish code scanning alerts
-        uses: github/codeql-action/upload-sarif@v2
+        uses: github/codeql-action/upload-sarif@v3
         with:
           sarif_file: report.sarif
           category: semgrep

.github/workflows/sec_sast_semgrep_pull.yml

@@ -11,7 +11,7 @@ jobs:
     steps:
       # step 1
       - name: clone application source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
 

.github/workflows/trunk-check.yml

@@ -16,7 +16,7 @@ jobs:
 
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Trunk Check
         uses: trunk-io/trunk-action@v1

.github/workflows/update_protobufs.yml

@@ -7,7 +7,7 @@ jobs:
 
     steps:
       - name: Checkout code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           submodules: true
 
@@ -17,16 +17,16 @@ jobs:
 
       - name: Download nanopb
         run: |
-          wget https://jpa.kapsi.fi/nanopb/download/nanopb-0.4.7-linux-x86.tar.gz
-          tar xvzf nanopb-0.4.7-linux-x86.tar.gz
-          mv nanopb-0.4.7-linux-x86 nanopb-0.4.7
+          wget https://jpa.kapsi.fi/nanopb/download/nanopb-0.4.8-linux-x86.tar.gz
+          tar xvzf nanopb-0.4.8-linux-x86.tar.gz
+          mv nanopb-0.4.8-linux-x86 nanopb-0.4.8
 
       - name: Re-generate protocol buffers
         run: |
           ./bin/regen-protos.sh
 
       - name: Create pull request
-        uses: peter-evans/create-pull-request@v3
+        uses: peter-evans/create-pull-request@v6
         with:
           add-paths: |
             protobufs

.trunk/configs/.bandit

@@ -0,0 +1,2 @@
+[bandit]
+skips = B101

.trunk/trunk.yaml

@@ -1,32 +1,32 @@
 version: 0.1
 cli:
-  version: 1.20.1
+  version: 1.22.1
 plugins:
   sources:
     - id: trunk
-      ref: v1.4.4
+      ref: v1.5.0
       uri: https://github.com/trunk-io/plugins
 lint:
   enabled:
-    - trufflehog@3.68.5
+    - trufflehog@3.76.3
     - yamllint@1.35.1
-    - bandit@1.7.7
-    - checkov@3.2.32
+    - bandit@1.7.8
+    - checkov@3.2.95
     - terrascan@1.19.1
-    - trivy@0.49.1
+    - trivy@0.51.1
     #- trufflehog@3.63.2-rc0
     - taplo@0.8.1
-    - ruff@0.3.1
+    - ruff@0.4.4
     - isort@5.13.2
-    - markdownlint@0.39.0
-    - oxipng@9.0.0
-    - svgo@3.2.0
-    - actionlint@1.6.27
+    - markdownlint@0.40.0
+    - oxipng@9.1.1
+    - svgo@3.3.2
+    - actionlint@1.7.0
     - flake8@7.0.0
     - hadolint@2.12.0
     - shfmt@3.6.0
-    - shellcheck@0.9.0
-    - black@24.2.0
+    - shellcheck@0.10.0
+    - black@24.4.2
     - git-diff-check
     - gitleaks@8.18.2
     - clang-format@16.0.3

.vscode/extensions.json

@@ -2,7 +2,7 @@
     // See http://go.microsoft.com/fwlink/?LinkId=827846
     // for the documentation about the extensions.json format
     "recommendations": [
-        "ms-vscode.cpptools",
+		"ms-vscode.cpptools",
         "platformio.platformio-ide",
         "trunk.io"
     ],

.vscode/settings.json

@@ -3,5 +3,6 @@
   "editor.defaultFormatter": "trunk.io",
   "trunk.enableWindows": true,
   "files.insertFinalNewline": false,
-  "files.trimFinalNewlines": false
+  "files.trimFinalNewlines": false,
+  "cmake.configureOnOpen": false
 }

Dockerfile

@@ -1,4 +1,4 @@
-FROM debian:bullseye-slim AS builder
+FROM debian:bookworm-slim AS builder
 
 ENV DEBIAN_FRONTEND=noninteractive
 ENV TZ=Etc/UTC
@@ -11,31 +11,46 @@ SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 # Install build deps
 USER root
-RUN apt-get update && \
-	apt-get -y install wget python3 g++ zip python3-venv git vim ca-certificates libgpiod-dev libyaml-cpp-dev libbluetooth-dev
 
-# create a non-priveleged user & group
+# trunk-ignore(terrascan/AC_DOCKER_0002): Known terrascan issue
+# trunk-ignore(hadolint/DL3008): Use latest version of packages for buildchain
+RUN apt-get update && apt-get install --no-install-recommends -y wget python3 python3-pip python3-wheel python3-venv g++ zip git \
+                           ca-certificates libgpiod-dev libyaml-cpp-dev libbluetooth-dev \
+                           libulfius-dev liborcania-dev libssl-dev pkg-config && \
+    apt-get clean && rm -rf /var/lib/apt/lists/* && mkdir /tmp/firmware
+
+RUN groupadd -g 1000 mesh && useradd -ml -u 1000 -g 1000 mesh && chown mesh:mesh /tmp/firmware
+USER mesh
+
+WORKDIR /tmp/firmware
+RUN python3 -m venv /tmp/firmware 
+RUN source ./bin/activate && pip3 install --no-cache-dir -U platformio==6.1.14
+# trunk-ignore(terrascan/AC_DOCKER_00024): We would actually like these files to be owned by mesh tyvm
+COPY --chown=mesh:mesh . /tmp/firmware
+RUN source ./bin/activate && chmod +x /tmp/firmware/bin/build-native.sh && ./bin/build-native.sh
+RUN cp "/tmp/firmware/release/meshtasticd_linux_$(uname -m)" "/tmp/firmware/release/meshtasticd"
+
+
+##### PRODUCTION BUILD #############
+
+FROM debian:bookworm-slim
+ENV DEBIAN_FRONTEND=noninteractive
+ENV TZ=Etc/UTC
+
+# trunk-ignore(terrascan/AC_DOCKER_0002): Known terrascan issue
+# trunk-ignore(hadolint/DL3008): Use latest version of packages for buildchain
+RUN apt-get update && apt-get --no-install-recommends -y install libc-bin libc6 libgpiod2 libyaml-cpp0.7 libulfius2.7 liborcania2.3 libssl3 && \
+    apt-get clean && rm -rf /var/lib/apt/lists/*
+
 RUN groupadd -g 1000 mesh && useradd -ml -u 1000 -g 1000 mesh
-
 USER mesh
-RUN wget https://raw.githubusercontent.com/platformio/platformio-core-installer/master/get-platformio.py -qO /tmp/get-platformio.py && \
-	chmod +x /tmp/get-platformio.py && \
-	python3 /tmp/get-platformio.py && \
-	git clone https://github.com/meshtastic/firmware --recurse-submodules /tmp/firmware && \
-	cd /tmp/firmware && \
-	chmod +x /tmp/firmware/bin/build-native.sh && \
-	source ~/.platformio/penv/bin/activate && \
-	./bin/build-native.sh
 
-FROM frolvlad/alpine-glibc:glibc-2.31
-
-RUN apk --update add --no-cache g++ shadow && \
-	groupadd -g 1000 mesh && useradd -ml -u 1000 -g 1000 mesh
-
-COPY --from=builder /tmp/firmware/release/meshtasticd_linux_x86_64 /home/mesh/
-
-USER mesh
 WORKDIR /home/mesh
-CMD sh -cx "./meshtasticd_linux_x86_64 --hwid '${HWID:-$RANDOM}'"
+COPY --from=builder /tmp/firmware/release/meshtasticd /home/mesh/
 
-HEALTHCHECK NONE
+RUN mkdir data
+VOLUME /home/mesh/data
+
+CMD [ "sh",  "-cx", "./meshtasticd -d /home/mesh/data --hwid=${HWID:-$RANDOM}" ]
+
+HEALTHCHECK NONE

arch/esp32/esp32.ini

@@ -1,7 +1,8 @@
 ; Common settings for ESP targes, mixin with extends = esp32_base
 [esp32_base]
 extends = arduino_base
-platform = platformio/espressif32@6.3.2 # This is a temporary fix to the S3-based devices bluetooth issues until we can determine what within ESP-IDF changed and can develop a suitable patch. 
+custom_esp32_kind = esp32
+platform = platformio/espressif32@6.7.0
 
 build_src_filter = 
   ${arduino_base.build_src_filter} -<platform/nrf52/> -<platform/stm32wl> -<platform/rp2040> -<mesh/eth/> -<mesh/raspihttp>
@@ -15,8 +16,10 @@ board_build.filesystem = littlefs
 # Remove -DMYNEWT_VAL_BLE_HS_LOG_LVL=LOG_LEVEL_CRITICAL for low level BLE logging.
 # See library directory for BLE logging possible values: .pio/libdeps/tbeam/NimBLE-Arduino/src/log_common/log_common.h
 # This overrides the BLE logging default of LOG_LEVEL_INFO (1) from: .pio/libdeps/tbeam/NimBLE-Arduino/src/esp_nimble_cfg.h
+build_unflags = -fno-lto
 build_flags =
   ${arduino_base.build_flags}
+  -flto
   -Wall
   -Wextra
   -Isrc/platform/esp32
@@ -41,7 +44,7 @@ lib_deps =
   ${networking_base.lib_deps}
   ${environmental_base.lib_deps}
   https://github.com/meshtastic/esp32_https_server.git#23665b3adc080a311dcbb586ed5941b5f94d6ea2
-  h2zero/NimBLE-Arduino@^1.4.1
+  h2zero/NimBLE-Arduino@^1.4.2
   https://github.com/dbSuS/libpax.git#7bcd3fcab75037505be9b122ab2b24cc5176b587
   https://github.com/lewisxhe/XPowersLib.git#84b7373faea3118b6c37954d52f98b8a337148d6
   https://github.com/meshtastic/ESP32_Codec2.git#633326c78ac251c059ab3a8c430fcdf25b41672f

arch/esp32/esp32c3.ini

@@ -1,5 +1,6 @@
 [esp32c3_base]
 extends = esp32_base
+custom_esp32_kind = esp32c3
 
 monitor_speed = 115200
 monitor_filters = esp32_c3_exception_decoder

arch/esp32/esp32s2.ini

@@ -1,15 +1,19 @@
 [esp32s2_base]
 extends = esp32_base
+custom_esp32_kind = esp32s2
 
 build_src_filter = 
-  ${esp32_base.build_src_filter} -<nimble/> -<mesh/raspihttp>
+ ${esp32_base.build_src_filter} - <libpax/> -<nimble/> -<mesh/raspihttp>
 
 monitor_speed = 115200
 
 build_flags =
   ${esp32_base.build_flags} 
   -DHAS_BLUETOOTH=0
+  -DMESHTASTIC_EXCLUDE_PAXCOUNTER
+  -DMESHTASTIC_EXCLUDE_BLUETOOTH
   
 lib_ignore = 
   ${esp32_base.lib_ignore} 
-  NimBLE-Arduino
+  NimBLE-Arduino
+  libpax

arch/esp32/esp32s3.ini

@@ -1,5 +1,6 @@
 [esp32s3_base]
 extends = esp32_base
+custom_esp32_kind = esp32s3
 
 monitor_speed = 115200
 

arch/nrf52/nrf52.ini

@@ -1,14 +1,15 @@
 [nrf52_base]
 ; Instead of the standard nordicnrf52 platform, we use our fork which has our added variant files
-platform = platformio/nordicnrf52@^10.4.0
+platform = platformio/nordicnrf52@^10.5.0
 extends = arduino_base
 
-build_type = debug ; I'm debugging with ICE a lot now
+build_type = debug
 build_flags = 
   ${arduino_base.build_flags}
   -DSERIAL_BUFFER_SIZE=1024
   -Wno-unused-variable
   -Isrc/platform/nrf52
+  -DLFS_NO_ASSERT                      ; Disable LFS assertions , see https://github.com/meshtastic/firmware/pull/3818
 
 build_src_filter = 
   ${arduino_base.build_src_filter} -<platform/esp32/> -<platform/stm32wl> -<nimble/> -<mesh/wifi/> -<mesh/api/> -<mesh/http/> -<modules/esp32> -<platform/rp2040> -<mesh/eth/> -<mesh/raspihttp>

arch/portduino/portduino.ini

@@ -1,6 +1,6 @@
 ; The Portduino based sim environment on top of any host OS, all hardware will be simulated
 [portduino_base]
-platform = https://github.com/meshtastic/platform-native.git#1b8a32c60ab7495026033858d53c737f7d1cb34a
+platform = https://github.com/meshtastic/platform-native.git#ad8112adf82ce1f5b917092cf32be07a077801a0
 framework = arduino
 
 build_src_filter = 
@@ -24,7 +24,7 @@ lib_deps =
   ${env.lib_deps}
   ${networking_base.lib_deps}
   rweather/Crypto@^0.4.0
-  lovyan03/LovyanGFX@^1.1.12
+  https://github.com/lovyan03/LovyanGFX.git#5a39989aa2c9492572255b22f033843ec8900233
 
 build_flags =
   ${arduino_base.build_flags}
@@ -34,4 +34,4 @@ build_flags =
   -DPORTDUINO_LINUX_HARDWARE
   -lbluetooth
   -lgpiod
-  -lyaml-cpp
+  -lyaml-cpp

bin/build-native.sh

@@ -2,6 +2,17 @@
 
 set -e
 
+platformioFailed() {
+	[[ $VIRTUAL_ENV != "" ]] && exit 1 # don't hint at virtualenv if it's already in use
+	echo -e "\nThere were issues running platformio and you are not using a virtual environment." \
+		"\nYou may try setting up virtualenv and downloading the latest platformio from pip:" \
+		"\n\tvirtualenv venv" \
+		"\n\tsource venv/bin/activate" \
+		"\n\tpip install platformio" \
+		"\n\t./bin/build-native.sh # retry building"
+	exit 1
+}
+
 VERSION=$(bin/buildinfo.py long)
 SHORT_VERSION=$(bin/buildinfo.py short)
 
@@ -13,8 +24,8 @@ mkdir -p $OUTDIR/
 rm -r $OUTDIR/* || true
 
 # Important to pull latest version of libs into all device flavors, otherwise some devices might be stale
-platformio pkg update
-pio run --environment native
-cp .pio/build/native/program "$OUTDIR/meshtasticd_linux_$(arch)"
+platformio pkg update --environment native || platformioFailed
+pio run --environment native || platformioFailed
+cp .pio/build/native/program "$OUTDIR/meshtasticd_linux_$(uname -m)"
 cp bin/device-install.* $OUTDIR
 cp bin/device-update.* $OUTDIR

bin/buildinfo.py

@@ -1,9 +1,8 @@
 #!/usr/bin/env python3
-import configparser
 import sys
+
 from readprops import readProps
 
-
-verObj = readProps('version.properties')
+verObj = readProps("version.properties")
 propName = sys.argv[1]
 print(f"{verObj[propName]}")

bin/config-dist.yaml

@@ -1,5 +1,6 @@
 ### Define your devices here using Broadcom pin numbering
 ### Uncomment the block that corresponds to your hardware
+### Including the "Module:" line!
 ---
 Lora:
 #  Module: sx1262  # Waveshare SX126X XXXM
@@ -37,11 +38,22 @@ Lora:
 #  Busy: 20
 #  Reset: 18
 
+#  Module: sx1268  # SX1268-based modules, tested with Ebyte E22 400M33S
+#  CS: 21
+#  IRQ: 16
+#  Busy: 20
+#  Reset: 18
+#  TXen: 6
+#  RXen: 12
+#  DIO3_TCXO_VOLTAGE: true
+
 #  DIO3_TCXO_VOLTAGE: true  # the Waveshare Core1262 and others are known to need this setting
 
 #  TXen: x  # TX and RX enable pins
 #  RXen: x
 
+#  ch341_quirk: true # Uncomment this to use the chunked SPI transfer that seems to fix the ch341
+
 ### Set gpio chip to use in /dev/. Defaults to 0.
 ### Notably the Raspberry Pi 5 puts the GPIO header on gpiochip4
 #  gpiochip: 4
@@ -95,23 +107,29 @@ Display:
 #  Panel: ILI9341
 #  CS: 8
 #  DC: 25
-#  Backlight: 2
-#  Width: 320
-#  Height: 240
+#  Width: 240
+#  Height: 320
+#  Rotate: true
 
 Touchscreen:
-#  Module: STMPE610
+### Note, at least for now, the touchscreen must have a CS pin defined, even if you let Linux manage the CS switching.
+
+#  Module: STMPE610 # Option 1 for Adafruit PiTFT 2.8
 #  CS: 7
 #  IRQ: 24
 
-#  Module: XPT2046
+#  Module: FT5x06 # Option 2 for Adafruit PiTFT 2.8
+#  IRQ: 24
+#  I2CAddr: 0x38
+
+#  Module: XPT2046 # Waveshare 2.8inch
 #  CS: 7
 #  IRQ: 17
 
 ### Configure device for direct keyboard input
 
 Input:
-#  KeyboardDevice: /dev/input/event0
+#  KeyboardDevice: /dev/input/by-id/usb-_Raspberry_Pi_Internal_Keyboard-event-kbd
 
 ###
 

bin/device-install.bat

@@ -32,7 +32,7 @@ IF EXIST %FILENAME% IF x%FILENAME:update=%==x%FILENAME% (
 	%PYTHON% -m esptool --baud 115200 write_flash 0x00 %FILENAME%
     
     @REM Account for S3 and C3 board's different OTA partition
-    IF x%FILENAME:s3=%==x%FILENAME% IF x%FILENAME:v3=%==x%FILENAME% IF x%FILENAME:t-deck=%==x%FILENAME% IF x%FILENAME:wireless-paper=%==x%FILENAME% IF x%FILENAME:wireless-tracker=%==x%FILENAME% (
+    IF x%FILENAME:s3=%==x%FILENAME% IF x%FILENAME:v3=%==x%FILENAME% IF x%FILENAME:t-deck=%==x%FILENAME% IF x%FILENAME:wireless-paper=%==x%FILENAME% IF x%FILENAME:wireless-tracker=%==x%FILENAME% IF x%FILENAME:station-g2=%==x%FILENAME% IF x%FILENAME:unphone=%==x%FILENAME% (
         IF x%FILENAME:esp32c3=%==x%FILENAME% (
             %PYTHON% -m esptool --baud 115200 write_flash 0x260000 bleota.bin
         ) else (

bin/device-install.sh

@@ -52,7 +52,7 @@ if [ -f "${FILENAME}" ] && [ -n "${FILENAME##*"update"*}" ]; then
 	"$PYTHON" -m esptool erase_flash
 	"$PYTHON" -m esptool write_flash 0x00 ${FILENAME}
 	# Account for S3 board's different OTA partition
-	if [ -n "${FILENAME##*"s3"*}" ] && [ -n "${FILENAME##*"-v3"*}" ] && [ -n "${FILENAME##*"t-deck"*}" ] && [ -n "${FILENAME##*"wireless-paper"*}" ] && [ -n "${FILENAME##*"wireless-tracker"*}" ]; then
+	if [ -n "${FILENAME##*"s3"*}" ] && [ -n "${FILENAME##*"-v3"*}" ] && [ -n "${FILENAME##*"t-deck"*}" ] && [ -n "${FILENAME##*"wireless-paper"*}" ] && [ -n "${FILENAME##*"wireless-tracker"*}" ] && [ -n "${FILENAME##*"station-g2"*}" ] && [ -n "${FILENAME##*"unphone"*}" ]; then
 		if [ -n "${FILENAME##*"esp32c3"*}" ]; then
 			"$PYTHON" -m esptool write_flash 0x260000 bleota.bin
 		else

bin/generate_ci_matrix.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-"""Generate the CI matrix"""
+"""Generate the CI matrix."""
 
 import configparser
 import json
@@ -34,5 +34,10 @@ for subdir, dirs, files in os.walk(rootdir):
                                     outlist.append(section)
                             else:
                                 outlist.append(section)
+                    if "board_check" in config[config[c].name]:
+                        if (config[config[c].name]["board_check"] == "true") & (
+                            "check" in options
+                        ):
+                            outlist.append(section)
 
 print(json.dumps(outlist))

bin/native-install.sh

@@ -1,6 +1,6 @@
 #!/usr/bin/env bash
 
-cp "release/meshtasticd_linux_$(arch)" /usr/sbin/meshtasticd
+cp "release/meshtasticd_linux_$(uname -m)" /usr/sbin/meshtasticd
 mkdir /etc/meshtasticd
 if [[ -f "/etc/meshtasticd/config.yaml" ]]; then
 	cp bin/config-dist.yaml /etc/meshtasticd/config-upgrade.yaml

bin/platformio-custom.py

@@ -1,13 +1,14 @@
-import subprocess
-import configparser
-import traceback
+# trunk-ignore-all(ruff/F821)
+# trunk-ignore-all(flake8/F821): For SConstruct imports
 import sys
 from os.path import join
+
 from readprops import readProps
 
 Import("env")
 platform = env.PioPlatform()
 
+
 def esp32_create_combined_bin(source, target, env):
     # this sub is borrowed from ESPEasy build toolchain. It's licensed under GPL V3
     # https://github.com/letscontrolit/ESPEasy/blob/mega/tools/pio/post_esp32.py
@@ -20,8 +21,8 @@ def esp32_create_combined_bin(source, target, env):
     firmware_name = env.subst("$BUILD_DIR/${PROGNAME}.bin")
     chip = env.get("BOARD_MCU")
     flash_size = env.BoardConfig().get("upload.flash_size")
-    flash_freq = env.BoardConfig().get("build.f_flash", '40m')
-    flash_freq = flash_freq.replace('000000L', 'm')
+    flash_freq = env.BoardConfig().get("build.f_flash", "40m")
+    flash_freq = flash_freq.replace("000000L", "m")
     flash_mode = env.BoardConfig().get("build.flash_mode", "dio")
     memory_type = env.BoardConfig().get("build.arduino.memory_type", "qio_qspi")
     if flash_mode == "qio" or flash_mode == "qout":
@@ -51,23 +52,42 @@ def esp32_create_combined_bin(source, target, env):
     print(f" - {hex(app_offset)} | {firmware_name}")
     cmd += [hex(app_offset), firmware_name]
 
-    print('Using esptool.py arguments: %s' % ' '.join(cmd))
+    print("Using esptool.py arguments: %s" % " ".join(cmd))
 
     esptool.main(cmd)
 
-if (platform.name == "espressif32"):
+
+if platform.name == "espressif32":
     sys.path.append(join(platform.get_package_dir("tool-esptoolpy")))
     import esptool
-    env.AddPostAction("$BUILD_DIR/${PROGNAME}.bin", esp32_create_combined_bin)    
+
+    env.AddPostAction("$BUILD_DIR/${PROGNAME}.bin", esp32_create_combined_bin)
+
+    esp32_kind = env.GetProjectOption("custom_esp32_kind")
+    if esp32_kind == "esp32":
+        # Free up some IRAM by removing auxiliary SPI flash chip drivers.
+        # Wrapped stub symbols are defined in src/platform/esp32/iram-quirk.c.
+        env.Append(
+            LINKFLAGS=[
+                "-Wl,--wrap=esp_flash_chip_gd",
+                "-Wl,--wrap=esp_flash_chip_issi",
+                "-Wl,--wrap=esp_flash_chip_winbond",
+            ]
+        )
+    else:
+        # For newer ESP32 targets, using newlib nano works better.
+        env.Append(LINKFLAGS=["--specs=nano.specs", "-u", "_printf_float"])
 
 Import("projenv")
 
 prefsLoc = projenv["PROJECT_DIR"] + "/version.properties"
 verObj = readProps(prefsLoc)
-print("Using meshtastic platformio-custom.py, firmware version " + verObj['long'])
+print("Using meshtastic platformio-custom.py, firmware version " + verObj["long"])
 
 # General options that are passed to the C and C++ compilers
-projenv.Append(CCFLAGS=[
-    "-DAPP_VERSION=" + verObj['long'],
-    "-DAPP_VERSION_SHORT=" + verObj['short']    
-])
+projenv.Append(
+    CCFLAGS=[
+        "-DAPP_VERSION=" + verObj["long"],
+        "-DAPP_VERSION_SHORT=" + verObj["short"],
+    ]
+)

bin/regen-protos.bat

@@ -1 +1 @@
-cd protobufs && ..\nanopb-0.4.7\generator-bin\protoc.exe --experimental_allow_proto3_optional "--nanopb_out=-S.cpp -v:..\src\mesh\generated\" -I=..\protobufs ..\protobufs\meshtastic\*.proto
+cd protobufs && ..\nanopb-0.4.8\generator-bin\protoc.exe --experimental_allow_proto3_optional "--nanopb_out=-S.cpp -v:..\src\mesh\generated" -I=..\protobufs\ ..\protobufs\meshtastic\*.proto

bin/regen-protos.sh

@@ -2,18 +2,10 @@
 
 set -e
 
-echo "This script requires https://jpa.kapsi.fi/nanopb/download/ version 0.4.7 to be located in the"
+echo "This script requires https://jpa.kapsi.fi/nanopb/download/ version 0.4.8 to be located in the"
 echo "firmware root directory if the following step fails, you should download the correct"
-echo "prebuilt binaries for your computer into nanopb-0.4.7"
+echo "prebuilt binaries for your computer into nanopb-0.4.8"
 
 # the nanopb tool seems to require that the .options file be in the current directory!
 cd protobufs
-../nanopb-0.4.7/generator-bin/protoc "--nanopb_out=-S.cpp -v:../src/mesh/generated/" -I=../protobufs meshtastic/*.proto --experimental_allow_proto3_optional
-
-# sed -i 's/#include "meshtastic/#include "./g' -- *
-
-# sed -i 's/meshtastic_//g' -- *
-
-#echo "Regenerating protobuf documentation - if you see an error message"
-#echo "you can ignore it unless doing a new protobuf release to github."
-#bin/regen-docs.sh
+../nanopb-0.4.8/generator-bin/protoc --experimental_allow_proto3_optional "--nanopb_out=-S.cpp -v:../src/mesh/generated/" -I=../protobufs meshtastic/*.proto

boards/CDEBYTE_EoRa-S3.json

@@ -0,0 +1,38 @@
+{
+  "build": {
+    "arduino": {
+      "ldscript": "esp32s3_out.ld"
+    },
+    "core": "esp32",
+    "extra_flags": [
+      "-D CDEBYTE_EORA_S3",
+      "-D ARDUINO_USB_CDC_ON_BOOT=1",
+      "-D ARDUINO_USB_MODE=0",
+      "-D ARDUINO_RUNNING_CORE=1",
+      "-D ARDUINO_EVENT_RUNNING_CORE=1",
+      "-D BOARD_HAS_PSRAM"
+    ],
+    "f_cpu": "240000000L",
+    "f_flash": "80000000L",
+    "flash_mode": "dio",
+    "hwids": [["0x303A", "0x1001"]],
+    "mcu": "esp32s3",
+    "variant": "CDEBYTE_EoRa-S3"
+  },
+  "connectivity": ["wifi"],
+  "debug": {
+    "openocd_target": "esp32s3.cfg"
+  },
+  "frameworks": ["arduino", "espidf"],
+  "name": "CDEBYTE EoRa-S3",
+  "upload": {
+    "flash_size": "4MB",
+    "maximum_ram_size": 327680,
+    "maximum_size": 4194304,
+    "wait_for_upload_port": true,
+    "require_upload_port": true,
+    "speed": 921600
+  },
+  "url": "https://www.cdebyte.com/Module-Testkits-EoRaPI",
+  "vendor": "CDEBYTE"
+}

boards/ESP32-S3-WROOM-1-N4.json

@@ -0,0 +1,39 @@
+{
+  "build": {
+    "arduino": {
+      "ldscript": "esp32s3_out.ld"
+    },
+    "core": "esp32",
+    "extra_flags": [
+      "-D ARDUINO_USB_CDC_ON_BOOT=0",
+      "-D ARDUINO_USB_MSC_ON_BOOT=0",
+      "-D ARDUINO_USB_DFU_ON_BOOT=0",
+      "-D ARDUINO_USB_MODE=0",
+      "-D ARDUINO_RUNNING_CORE=1",
+      "-D ARDUINO_EVENT_RUNNING_CORE=1"
+    ],
+    "f_cpu": "240000000L",
+    "f_flash": "80000000L",
+    "flash_mode": "qio",
+    "hwids": [["0x303A", "0x1001"]],
+    "mcu": "esp32s3",
+    "variant": "ESP32-S3-WROOM-1-N4"
+  },
+  "connectivity": ["wifi"],
+  "debug": {
+    "default_tool": "esp-builtin",
+    "onboard_tools": ["esp-builtin"],
+    "openocd_target": "esp32s3.cfg"
+  },
+  "frameworks": ["arduino", "espidf"],
+  "name": "ESP32-S3-WROOM-1-N4 (4 MB Flash, No PSRAM)",
+  "upload": {
+    "flash_size": "4MB",
+    "maximum_ram_size": 524288,
+    "maximum_size": 4194304,
+    "require_upload_port": true,
+    "speed": 921600
+  },
+  "url": "https://www.espressif.com/sites/default/files/documentation/esp32-s3-wroom-1_wroom-1u_datasheet_en.pdf",
+  "vendor": "Espressif"
+}

boards/promicro-nrf52840.json

@@ -0,0 +1,52 @@
+{
+  "build": {
+    "arduino": {
+      "ldscript": "nrf52840_s140_v6.ld"
+    },
+    "core": "nRF5",
+    "cpu": "cortex-m4",
+    "extra_flags": "-DARDUINO_NRF52840_FEATHER -DNRF52840_XXAA",
+    "f_cpu": "64000000L",
+    "hwids": [
+      ["0x239A", "0x00B3"],
+      ["0x239A", "0x8029"],
+      ["0x239A", "0x0029"],
+      ["0x239A", "0x002A"],
+      ["0x239A", "0x802A"]
+    ],
+    "usb_product": "ProMicro compatible nRF52840",
+    "mcu": "nrf52840",
+    "variant": "promicro_diy",
+    "bsp": {
+      "name": "adafruit"
+    },
+    "softdevice": {
+      "sd_flags": "-DS140",
+      "sd_name": "s140",
+      "sd_version": "6.1.1",
+      "sd_fwid": "0x00B6"
+    },
+    "bootloader": {
+      "settings_addr": "0xFF000"
+    }
+  },
+  "connectivity": ["bluetooth"],
+  "debug": {
+    "jlink_device": "nRF52840_xxAA",
+    "svd_path": "nrf52840.svd"
+  },
+  "frameworks": ["arduino"],
+  "name": "ProMicro compatible nRF52840",
+  "upload": {
+    "maximum_ram_size": 248832,
+    "maximum_size": 815104,
+    "speed": 115200,
+    "protocol": "nrfutil",
+    "protocols": ["nrfutil", "jlink", "nrfjprog", "stlink"],
+    "use_1200bps_touch": true,
+    "require_upload_port": true,
+    "wait_for_upload_port": true
+  },
+  "url": "https://www.nologo.tech/product/otherboard/NRF52840.html",
+  "vendor": "Nologo"
+}

boards/wio-sdk-wm1110.json

@@ -0,0 +1,51 @@
+{
+  "build": {
+    "arduino": {
+      "ldscript": "nrf52840_s140_v6.ld"
+    },
+    "core": "nRF5",
+    "cpu": "cortex-m4",
+    "extra_flags": "-DARDUINO_WIO_WM1110 -DNRF52840_XXAA",
+    "f_cpu": "64000000L",
+    "mcu": "nrf52840",
+    "variant": "Seeed_WIO_WM1110",
+    "bsp": {
+      "name": "adafruit"
+    },
+    "softdevice": {
+      "sd_flags": "-DS140",
+      "sd_name": "s140",
+      "sd_version": "6.1.1",
+      "sd_fwid": "0x00B6"
+    },
+    "bootloader": {
+      "settings_addr": "0xFF000"
+    }
+  },
+  "connectivity": ["bluetooth"],
+  "debug": {
+    "jlink_device": "nRF52840_xxAA",
+    "svd_path": "nrf52840.svd"
+  },
+  "frameworks": ["arduino"],
+  "name": "Seeed WIO WM1110",
+  "upload": {
+    "maximum_ram_size": 248832,
+    "maximum_size": 815104,
+    "speed": 115200,
+    "protocol": "nrfutil",
+    "protocols": [
+      "jlink",
+      "nrfjprog",
+      "nrfutil",
+      "stlink",
+      "cmsis-dap",
+      "blackmagic"
+    ],
+    "use_1200bps_touch": true,
+    "require_upload_port": true,
+    "wait_for_upload_port": true
+  },
+  "url": "https://www.seeedstudio.com/Wio-WM1110-Dev-Kit-p-5677.html",
+  "vendor": "Seeed Studio"
+}

boards/wio-tracker-wm1110.json

@@ -0,0 +1,58 @@
+{
+  "build": {
+    "arduino": {
+      "ldscript": "nrf52840_s140_v6.ld"
+    },
+    "core": "nRF5",
+    "cpu": "cortex-m4",
+    "extra_flags": "-DARDUINO_WIO_WM1110 -DNRF52840_XXAA",
+    "f_cpu": "64000000L",
+    "hwids": [
+      ["0x239A", "0x8029"],
+      ["0x239A", "0x0029"],
+      ["0x239A", "0x002A"],
+      ["0x239A", "0x802A"]
+    ],
+    "usb_product": "WIO-BOOT",
+    "mcu": "nrf52840",
+    "variant": "Seeed_WIO_WM1110",
+    "bsp": {
+      "name": "adafruit"
+    },
+    "softdevice": {
+      "sd_flags": "-DS140",
+      "sd_name": "s140",
+      "sd_version": "6.1.1",
+      "sd_fwid": "0x00B6"
+    },
+    "bootloader": {
+      "settings_addr": "0xFF000"
+    }
+  },
+  "connectivity": ["bluetooth"],
+  "debug": {
+    "jlink_device": "nRF52840_xxAA",
+    "svd_path": "nrf52840.svd"
+  },
+  "frameworks": ["arduino"],
+  "name": "Seeed WIO WM1110",
+  "upload": {
+    "maximum_ram_size": 248832,
+    "maximum_size": 815104,
+    "speed": 115200,
+    "protocol": "nrfutil",
+    "protocols": [
+      "jlink",
+      "nrfjprog",
+      "nrfutil",
+      "stlink",
+      "cmsis-dap",
+      "blackmagic"
+    ],
+    "use_1200bps_touch": true,
+    "require_upload_port": true,
+    "wait_for_upload_port": true
+  },
+  "url": "https://www.seeedstudio.com/Wio-WM1110-Dev-Kit-p-5677.html",
+  "vendor": "Seeed Studio"
+}

boards/wiphone.json

@@ -0,0 +1,34 @@
+{
+  "build": {
+    "arduino": {
+      "ldscript": "esp32_out.ld",
+      "partitions": "default_16MB.csv"
+    },
+    "core": "esp32",
+    "extra_flags": [
+      "-DARDUINO_WIPHONE14",
+      "-DBOARD_HAS_PSRAM",
+      "-mfix-esp32-psram-cache-issue",
+      "-mfix-esp32-psram-cache-strategy=memw"
+    ],
+    "f_cpu": "240000000L",
+    "f_flash": "40000000L",
+    "flash_mode": "dio",
+    "mcu": "esp32",
+    "variant": "wiphone",
+    "board": "WiPhone"
+  },
+  "connectivity": ["wifi", "bluetooth"],
+  "frameworks": ["arduino", "espidf"],
+  "name": "WIPhone Integrated 1.4",
+  "upload": {
+    "flash_size": "16MB",
+    "maximum_ram_size": 532480,
+    "maximum_size": 6553600,
+    "maximum_data_size": 4521984,
+    "require_upload_port": true,
+    "speed": 921600
+  },
+  "url": "https://www.wiphone.io/",
+  "vendor": "HackEDA"
+}

boards/wiscore_rak11200.json

@@ -4,7 +4,7 @@
       "ldscript": "esp32_out.ld"
     },
     "core": "esp32",
-    "extra_flags": "-DARDUINO_ESP32_DEV",
+    "extra_flags": ["-DBOARD_HAS_PSRAM", "-DARDUINO_ESP32_DEV"],
     "f_cpu": "240000000L",
     "f_flash": "40000000L",
     "flash_mode": "dio",

extra_scripts/README.md

@@ -0,0 +1,3 @@
+# extra_scripts
+
+This directory contains special [scripts](https://docs.platformio.org/en/latest/scripting/index.html) that are used to modify the platformio environment in rare cases.

extra_scripts/disable_adafruit_usb.py

@@ -0,0 +1,20 @@
+# trunk-ignore-all(flake8/F821)
+# trunk-ignore-all(ruff/F821)
+
+Import("env")
+
+# NOTE: This is not currently used, but can serve as an example on how to write extra_scripts
+
+print("Current CLI targets", COMMAND_LINE_TARGETS)
+print("Current Build targets", BUILD_TARGETS)
+print("CPP defs", env.get("CPPDEFINES"))
+
+# Adafruit.py in the platformio build tree is a bit naive and always enables their USB stack for building.  We don't want this.
+# So come in after that python script has run and disable it.  This hack avoids us having to fork that big project and send in a PR
+# which might not be accepted. -@geeksville
+
+env["CPPDEFINES"].remove("USBCON")
+env["CPPDEFINES"].remove("USE_TINYUSB")
+
+# Custom actions when building program/firmware
+# env.AddPreAction("buildprog", callback...)

platformio.ini

@@ -29,8 +29,12 @@ default_envs = tbeam
 ;default_envs = meshtastic-dr-dev
 ;default_envs = m5stack-coreink
 ;default_envs = rak4631
+;default_envs = rak2560
 ;default_envs = rak10701
 ;default_envs = wio-e5
+;default_envs = radiomaster_900_bandit_nano
+;default_envs = radiomaster_900_bandit_micro
+;default_envs = heltec_capsule_sensor_v3
 
 extra_configs =
   arch/*/*.ini
@@ -70,17 +74,18 @@ build_flags = -Wno-missing-field-initializers
   -DRADIOLIB_EXCLUDE_FSK4
   -DRADIOLIB_EXCLUDE_APRS
   -DRADIOLIB_EXCLUDE_LORAWAN
+  -DMESHTASTIC_EXCLUDE_DROPZONE=1
 
 monitor_speed = 115200
 
 lib_deps =
-  jgromes/RadioLib@^6.4.0
-  https://github.com/meshtastic/esp8266-oled-ssd1306.git#ee628ee6c9588d4c56c9e3da35f0fc9448ad54a8 ; ESP8266_SSD1306
+  jgromes/RadioLib@~6.6.0
+  https://github.com/meshtastic/esp8266-oled-ssd1306.git#2b40affbe7f7dc63b6c00fa88e7e12ed1f8e1719 ; ESP8266_SSD1306
   mathertel/OneButton@^2.5.0 ; OneButton library for non-blocking button debounce
   https://github.com/meshtastic/arduino-fsm.git#7db3702bf0cfe97b783d6c72595e3f38e0b19159
-  https://github.com/meshtastic/TinyGPSPlus.git#f9f4fef2183514aa52be91d714c1455dd6f26e45
+  https://github.com/meshtastic/TinyGPSPlus.git#71a82db35f3b973440044c476d4bcdc673b104f4
   https://github.com/meshtastic/ArduinoThread.git#1ae8778c85d0a2a729f989e0b1e7d7c4dc84eef0
-  nanopb/Nanopb@^0.4.7
+  nanopb/Nanopb@^0.4.8
   erriez/ErriezCRC32@^1.0.1
 
 ; Used for the code analysis in PIO Home / Inspect
@@ -96,7 +101,6 @@ check_flags =
 framework = arduino
 lib_deps =
   ${env.lib_deps}
-  mprograms/QMC5883LCompass@^1.2.0
   end2endzone/NonBlockingRTTTL@^1.3.0
   https://github.com/meshtastic/SparkFun_ATECCX08a_Arduino_Library.git#5cf62b36c6f30bc72a07bdb2c11fc9a22d1e31da
 
@@ -119,10 +123,7 @@ lib_deps =
   adafruit/Adafruit BMP280 Library@^2.6.8
   adafruit/Adafruit BMP085 Library@^1.2.4
   adafruit/Adafruit BME280 Library@^2.2.2
-  https://github.com/boschsensortec/Bosch-BSEC2-Library#v1.5.2400
-  boschsensortec/BME68x Sensor Library@^1.1.40407
   adafruit/Adafruit MCP9808 Library@^2.0.0
-  https://github.com/KodinLanewave/INA3221@^1.0.0
   adafruit/Adafruit INA260 Library@^1.5.0
   adafruit/Adafruit INA219@^1.2.0
   adafruit/Adafruit SHTC3 Library@^1.0.0
@@ -131,4 +132,23 @@ lib_deps =
   adafruit/Adafruit PM25 AQI Sensor@^1.0.6
   adafruit/Adafruit MPU6050@^2.2.4
   adafruit/Adafruit LIS3DH@^1.2.4
-  https://github.com/lewisxhe/SensorLib#27fd0f721e20cd09e1f81383f0ba58a54fe84a17
+  adafruit/Adafruit AHTX0@^2.0.5
+  adafruit/Adafruit LSM6DS@^4.7.2
+  adafruit/Adafruit VEML7700 Library@^2.1.6
+  adafruit/Adafruit SHT4x Library@^1.0.4
+  adafruit/Adafruit TSL2591 Library@^1.4.5
+  sparkfun/SparkFun Qwiic Scale NAU7802 Arduino Library@^1.0.5
+  ClosedCube OPT3001@^1.1.2
+  emotibit/EmotiBit MLX90632@^1.0.8
+  dfrobot/DFRobot_RTU@^1.0.3
+
+
+  https://github.com/boschsensortec/Bosch-BSEC2-Library#v1.7.2502
+  boschsensortec/BME68x Sensor Library@^1.1.40407
+  https://github.com/KodinLanewave/INA3221@^1.0.0
+  lewisxhe/SensorLib@^0.2.0
+  mprograms/QMC5883LCompass@^1.2.0
+  
+
+  https://github.com/meshtastic/DFRobot_LarkWeatherStation#dee914270dc7cb3e43fbf034edd85a63a16a12ee
+

src/AccelerometerThread.h

@@ -1,22 +1,28 @@
+#pragma once
+#include "configuration.h"
+
+#if !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR
+
 #include "PowerFSM.h"
 #include "concurrency/OSThread.h"
-#include "configuration.h"
 #include "main.h"
 #include "power.h"
 
 #include <Adafruit_LIS3DH.h>
+#include <Adafruit_LSM6DS3TRC.h>
 #include <Adafruit_MPU6050.h>
 #include <Arduino.h>
 #include <SensorBMA423.hpp>
 #include <Wire.h>
-
-SensorBMA423 bmaSensor;
-bool BMA_IRQ = false;
+#ifdef RAK_4631
+#include "Fusion/Fusion.h"
+#include <Rak_BMX160.h>
+#endif
 
 #define ACCELEROMETER_CHECK_INTERVAL_MS 100
 #define ACCELEROMETER_CLICK_THRESHOLD 40
 
-int readRegister(uint8_t address, uint8_t reg, uint8_t *data, uint8_t len)
+static inline int readRegister(uint8_t address, uint8_t reg, uint8_t *data, uint8_t len)
 {
     Wire.beginTransmission(address);
     Wire.write(reg);
@@ -29,7 +35,7 @@ int readRegister(uint8_t address, uint8_t reg, uint8_t *data, uint8_t len)
     return 0; // Pass
 }
 
-int writeRegister(uint8_t address, uint8_t reg, uint8_t *data, uint8_t len)
+static inline int writeRegister(uint8_t address, uint8_t reg, uint8_t *data, uint8_t len)
 {
     Wire.beginTransmission(address);
     Wire.write(reg);
@@ -37,8 +43,6 @@ int writeRegister(uint8_t address, uint8_t reg, uint8_t *data, uint8_t len)
     return (0 != Wire.endTransmission());
 }
 
-namespace concurrency
-{
 class AccelerometerThread : public concurrency::OSThread
 {
   public:
@@ -49,14 +53,122 @@ class AccelerometerThread : public concurrency::OSThread
             disable();
             return;
         }
-
+        acceleremoter_type = type;
+#ifndef RAK_4631
         if (!config.display.wake_on_tap_or_motion && !config.device.double_tap_as_button_press) {
             LOG_DEBUG("AccelerometerThread disabling due to no interested configurations\n");
             disable();
             return;
         }
+#endif
+        init();
+    }
 
-        acceleremoter_type = type;
+    void start()
+    {
+        init();
+        setIntervalFromNow(0);
+    };
+
+  protected:
+    int32_t runOnce() override
+    {
+        canSleep = true; // Assume we should not keep the board awake
+
+        if (acceleremoter_type == ScanI2C::DeviceType::MPU6050 && mpu.getMotionInterruptStatus()) {
+            wakeScreen();
+        } else if (acceleremoter_type == ScanI2C::DeviceType::LIS3DH && lis.getClick() > 0) {
+            uint8_t click = lis.getClick();
+            if (!config.device.double_tap_as_button_press) {
+                wakeScreen();
+            }
+
+            if (config.device.double_tap_as_button_press && (click & 0x20)) {
+                buttonPress();
+                return 500;
+            }
+        } else if (acceleremoter_type == ScanI2C::DeviceType::BMA423 && bmaSensor.readIrqStatus() != DEV_WIRE_NONE) {
+            if (bmaSensor.isTilt() || bmaSensor.isDoubleTap()) {
+                wakeScreen();
+                return 500;
+            }
+#ifdef RAK_4631
+        } else if (acceleremoter_type == ScanI2C::DeviceType::BMX160) {
+            sBmx160SensorData_t magAccel;
+            sBmx160SensorData_t gAccel;
+
+            /* Get a new sensor event */
+            bmx160.getAllData(&magAccel, NULL, &gAccel);
+
+            // expirimental calibrate routine. Limited to between 10 and 30 seconds after boot
+            if (millis() > 10 * 1000 && millis() < 30 * 1000) {
+                if (magAccel.x > highestX)
+                    highestX = magAccel.x;
+                if (magAccel.x < lowestX)
+                    lowestX = magAccel.x;
+                if (magAccel.y > highestY)
+                    highestY = magAccel.y;
+                if (magAccel.y < lowestY)
+                    lowestY = magAccel.y;
+                if (magAccel.z > highestZ)
+                    highestZ = magAccel.z;
+                if (magAccel.z < lowestZ)
+                    lowestZ = magAccel.z;
+            }
+
+            int highestRealX = highestX - (highestX + lowestX) / 2;
+
+            magAccel.x -= (highestX + lowestX) / 2;
+            magAccel.y -= (highestY + lowestY) / 2;
+            magAccel.z -= (highestZ + lowestZ) / 2;
+            FusionVector ga, ma;
+            ga.axis.x = -gAccel.x; // default location for the BMX160 is on the rear of the board
+            ga.axis.y = -gAccel.y;
+            ga.axis.z = gAccel.z;
+            ma.axis.x = -magAccel.x;
+            ma.axis.y = -magAccel.y;
+            ma.axis.z = magAccel.z * 3;
+
+            // If we're set to one of the inverted positions
+            if (config.display.compass_orientation > meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270) {
+                ma = FusionAxesSwap(ma, FusionAxesAlignmentNXNYPZ);
+                ga = FusionAxesSwap(ga, FusionAxesAlignmentNXNYPZ);
+            }
+
+            float heading = FusionCompassCalculateHeading(FusionConventionNed, ga, ma);
+
+            switch (config.display.compass_orientation) {
+            case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0_INVERTED:
+            case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0:
+                break;
+            case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90:
+            case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90_INVERTED:
+                heading += 90;
+                break;
+            case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180:
+            case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180_INVERTED:
+                heading += 180;
+                break;
+            case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270:
+            case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270_INVERTED:
+                heading += 270;
+                break;
+            }
+
+            screen->setHeading(heading);
+
+#endif
+        } else if (acceleremoter_type == ScanI2C::DeviceType::LSM6DS3 && lsm.shake()) {
+            wakeScreen();
+            return 500;
+        }
+
+        return ACCELEROMETER_CHECK_INTERVAL_MS;
+    }
+
+  private:
+    void init()
+    {
         LOG_DEBUG("AccelerometerThread initializing\n");
 
         if (acceleremoter_type == ScanI2C::DeviceType::MPU6050 && mpu.begin(accelerometer_found.address)) {
@@ -108,37 +220,22 @@ class AccelerometerThread : public concurrency::OSThread
             bmaSensor.enableTiltIRQ();
             // It corresponds to isDoubleClick interrupt
             bmaSensor.enableWakeupIRQ();
+#ifdef RAK_4631
+        } else if (acceleremoter_type == ScanI2C::DeviceType::BMX160 && bmx160.begin()) {
+            bmx160.ODR_Config(BMX160_ACCEL_ODR_100HZ, BMX160_GYRO_ODR_100HZ); // set output data rate
+
+#endif
+        } else if (acceleremoter_type == ScanI2C::DeviceType::LSM6DS3 && lsm.begin_I2C(accelerometer_found.address)) {
+            LOG_DEBUG("LSM6DS3 initializing\n");
+            // Default threshold of 2G, less sensitive options are 4, 8 or 16G
+            lsm.setAccelRange(LSM6DS_ACCEL_RANGE_2_G);
+#ifndef LSM6DS3_WAKE_THRESH
+#define LSM6DS3_WAKE_THRESH 20
+#endif
+            lsm.enableWakeup(config.display.wake_on_tap_or_motion, 1, LSM6DS3_WAKE_THRESH);
+            // Duration is number of occurances needed to trigger, higher threshold is less sensitive
         }
     }
-
-  protected:
-    int32_t runOnce() override
-    {
-        canSleep = true; // Assume we should not keep the board awake
-
-        if (acceleremoter_type == ScanI2C::DeviceType::MPU6050 && mpu.getMotionInterruptStatus()) {
-            wakeScreen();
-        } else if (acceleremoter_type == ScanI2C::DeviceType::LIS3DH && lis.getClick() > 0) {
-            uint8_t click = lis.getClick();
-            if (!config.device.double_tap_as_button_press) {
-                wakeScreen();
-            }
-
-            if (config.device.double_tap_as_button_press && (click & 0x20)) {
-                buttonPress();
-                return 500;
-            }
-        } else if (acceleremoter_type == ScanI2C::DeviceType::BMA423 && bmaSensor.readIrqStatus() != DEV_WIRE_NONE) {
-            if (bmaSensor.isTilt() || bmaSensor.isDoubleTap()) {
-                wakeScreen();
-                return 500;
-            }
-        }
-
-        return ACCELEROMETER_CHECK_INTERVAL_MS;
-    }
-
-  private:
     void wakeScreen()
     {
         if (powerFSM.getState() == &stateDARK) {
@@ -156,6 +253,13 @@ class AccelerometerThread : public concurrency::OSThread
     ScanI2C::DeviceType acceleremoter_type;
     Adafruit_MPU6050 mpu;
     Adafruit_LIS3DH lis;
+    Adafruit_LSM6DS3TRC lsm;
+    SensorBMA423 bmaSensor;
+#ifdef RAK_4631
+    RAK_BMX160 bmx160;
+    float highestX = 0, lowestX = 0, highestY = 0, lowestY = 0, highestZ = 0, lowestZ = 0;
+#endif
+    bool BMA_IRQ = false;
 };
 
-} // namespace concurrency
+#endif

src/AmbientLightingThread.h

@@ -5,6 +5,16 @@
 NCP5623 rgb;
 #endif
 
+#ifdef HAS_NEOPIXEL
+#include <graphics/NeoPixel.h>
+Adafruit_NeoPixel pixels(NEOPIXEL_COUNT, NEOPIXEL_DATA, NEOPIXEL_TYPE);
+#endif
+
+#ifdef UNPHONE
+#include "unPhone.h"
+extern unPhone unphone;
+#endif
+
 namespace concurrency
 {
 class AmbientLightingThread : public concurrency::OSThread
@@ -27,15 +37,31 @@ class AmbientLightingThread : public concurrency::OSThread
             disable();
             return;
         }
+#endif
+#if defined(HAS_NCP5623) || defined(RGBLED_RED) || defined(HAS_NEOPIXEL) || defined(UNPHONE)
         if (!moduleConfig.ambient_lighting.led_state) {
             LOG_DEBUG("AmbientLightingThread disabling due to moduleConfig.ambient_lighting.led_state OFF\n");
             disable();
             return;
         }
         LOG_DEBUG("AmbientLightingThread initializing\n");
+#ifdef HAS_NCP5623
         if (_type == ScanI2C::NCP5623) {
             rgb.begin();
+#endif
+#ifdef RGBLED_RED
+            pinMode(RGBLED_RED, OUTPUT);
+            pinMode(RGBLED_GREEN, OUTPUT);
+            pinMode(RGBLED_BLUE, OUTPUT);
+#endif
+#ifdef HAS_NEOPIXEL
+            pixels.begin(); // Initialise the pixel(s)
+            pixels.clear(); // Set all pixel colors to 'off'
+            pixels.setBrightness(moduleConfig.ambient_lighting.current);
+#endif
             setLighting();
+#endif
+#ifdef HAS_NCP5623
         }
 #endif
     }
@@ -43,16 +69,17 @@ class AmbientLightingThread : public concurrency::OSThread
   protected:
     int32_t runOnce() override
     {
+#if defined(HAS_NCP5623) || defined(RGBLED_RED) || defined(HAS_NEOPIXEL) || defined(UNPHONE)
 #ifdef HAS_NCP5623
         if (_type == ScanI2C::NCP5623 && moduleConfig.ambient_lighting.led_state) {
+#endif
             setLighting();
             return 30000; // 30 seconds to reset from any animations that may have been running from Ext. Notification
-        } else {
-            return disable();
+#ifdef HAS_NCP5623
         }
-#else
-        return disable();
 #endif
+#endif
+        return disable();
     }
 
   private:
@@ -65,9 +92,36 @@ class AmbientLightingThread : public concurrency::OSThread
         rgb.setRed(moduleConfig.ambient_lighting.red);
         rgb.setGreen(moduleConfig.ambient_lighting.green);
         rgb.setBlue(moduleConfig.ambient_lighting.blue);
-        LOG_DEBUG("Initializing Ambient lighting w/ current=%d, red=%d, green=%d, blue=%d\n",
+        LOG_DEBUG("Initializing NCP5623 Ambient lighting w/ current=%d, red=%d, green=%d, blue=%d\n",
                   moduleConfig.ambient_lighting.current, moduleConfig.ambient_lighting.red, moduleConfig.ambient_lighting.green,
                   moduleConfig.ambient_lighting.blue);
+#endif
+#ifdef HAS_NEOPIXEL
+        pixels.fill(pixels.Color(moduleConfig.ambient_lighting.red, moduleConfig.ambient_lighting.green,
+                                 moduleConfig.ambient_lighting.blue),
+                    0, NEOPIXEL_COUNT);
+        pixels.show();
+        LOG_DEBUG("Initializing NeoPixel Ambient lighting w/ brightness(current)=%d, red=%d, green=%d, blue=%d\n",
+                  moduleConfig.ambient_lighting.current, moduleConfig.ambient_lighting.red, moduleConfig.ambient_lighting.green,
+                  moduleConfig.ambient_lighting.blue);
+#endif
+#ifdef RGBLED_CA
+        analogWrite(RGBLED_RED, 255 - moduleConfig.ambient_lighting.red);
+        analogWrite(RGBLED_GREEN, 255 - moduleConfig.ambient_lighting.green);
+        analogWrite(RGBLED_BLUE, 255 - moduleConfig.ambient_lighting.blue);
+        LOG_DEBUG("Initializing Ambient lighting RGB Common Anode w/ red=%d, green=%d, blue=%d\n",
+                  moduleConfig.ambient_lighting.red, moduleConfig.ambient_lighting.green, moduleConfig.ambient_lighting.blue);
+#elif defined(RGBLED_RED)
+        analogWrite(RGBLED_RED, moduleConfig.ambient_lighting.red);
+        analogWrite(RGBLED_GREEN, moduleConfig.ambient_lighting.green);
+        analogWrite(RGBLED_BLUE, moduleConfig.ambient_lighting.blue);
+        LOG_DEBUG("Initializing Ambient lighting RGB Common Cathode w/ red=%d, green=%d, blue=%d\n",
+                  moduleConfig.ambient_lighting.red, moduleConfig.ambient_lighting.green, moduleConfig.ambient_lighting.blue);
+#endif
+#ifdef UNPHONE
+        unphone.rgb(moduleConfig.ambient_lighting.red, moduleConfig.ambient_lighting.green, moduleConfig.ambient_lighting.blue);
+        LOG_DEBUG("Initializing unPhone Ambient lighting w/ red=%d, green=%d, blue=%d\n", moduleConfig.ambient_lighting.red,
+                  moduleConfig.ambient_lighting.green, moduleConfig.ambient_lighting.blue);
 #endif
     }
 };

src/BluetoothCommon.cpp

@@ -10,4 +10,6 @@ const uint8_t TORADIO_UUID_16[16u] = {0xe7, 0x01, 0x44, 0x12, 0x66, 0x78, 0xdd,
 const uint8_t FROMRADIO_UUID_16[16u] = {0x02, 0x00, 0x12, 0xac, 0x42, 0x02, 0x78, 0xb8,
                                         0xed, 0x11, 0x93, 0x49, 0x9e, 0xe6, 0x55, 0x2c};
 const uint8_t FROMNUM_UUID_16[16u] = {0x53, 0x44, 0xe3, 0x47, 0x75, 0xaa, 0x70, 0xa6,
-                                      0x66, 0x4f, 0x00, 0xa8, 0x8c, 0xa1, 0x9d, 0xed};
+                                      0x66, 0x4f, 0x00, 0xa8, 0x8c, 0xa1, 0x9d, 0xed};
+const uint8_t LOGRADIO_UUID_16[16u] = {0xe2, 0xf2, 0x1e, 0xbe, 0xc5, 0x15, 0xcf, 0xaa,
+                                       0x6b, 0x43, 0xfa, 0x78, 0x38, 0xd2, 0x6f, 0x6c};

src/BluetoothCommon.h

@@ -11,10 +11,11 @@
 #define TORADIO_UUID "f75c76d2-129e-4dad-a1dd-7866124401e7"
 #define FROMRADIO_UUID "2c55e69e-4993-11ed-b878-0242ac120002"
 #define FROMNUM_UUID "ed9da18c-a800-4f66-a670-aa7547e34453"
+#define LOGRADIO_UUID "6c6fd238-78fa-436b-aacf-15c5be1ef2e2"
 
 // NRF52 wants these constants as byte arrays
 // Generated here https://yupana-engineering.com/online-uuid-to-c-array-converter - but in REVERSE BYTE ORDER
-extern const uint8_t MESH_SERVICE_UUID_16[], TORADIO_UUID_16[16u], FROMRADIO_UUID_16[], FROMNUM_UUID_16[];
+extern const uint8_t MESH_SERVICE_UUID_16[], TORADIO_UUID_16[16u], FROMRADIO_UUID_16[], FROMNUM_UUID_16[], LOGRADIO_UUID_16[];
 
 /// Given a level between 0-100, update the BLE attribute
 void updateBatteryLevel(uint8_t level);
@@ -27,4 +28,5 @@ class BluetoothApi
     virtual void clearBonds();
     virtual bool isConnected();
     virtual int getRssi() = 0;
+    virtual void sendLog(const char *logMessage);
 };

src/ButtonThread.cpp

@@ -1,10 +1,12 @@
 #include "ButtonThread.h"
+#include "configuration.h"
+#if !MESHTASTIC_EXCLUDE_GPS
 #include "GPS.h"
+#endif
 #include "MeshService.h"
 #include "PowerFSM.h"
 #include "RadioLibInterface.h"
 #include "buzz.h"
-#include "graphics/Screen.h"
 #include "main.h"
 #include "modules/ExternalNotificationModule.h"
 #include "power.h"
@@ -21,19 +23,29 @@
 
 using namespace concurrency;
 
+ButtonThread *buttonThread; // Declared extern in header
 volatile ButtonThread::ButtonEventType ButtonThread::btnEvent = ButtonThread::BUTTON_EVENT_NONE;
 
+#if defined(BUTTON_PIN) || defined(ARCH_PORTDUINO)
+OneButton ButtonThread::userButton; // Get reference to static member
+#endif
+
 ButtonThread::ButtonThread() : OSThread("Button")
 {
-#if defined(ARCH_PORTDUINO) || defined(BUTTON_PIN)
+#if defined(BUTTON_PIN) || defined(ARCH_PORTDUINO)
+
 #if defined(ARCH_PORTDUINO)
     if (settingsMap.count(user) != 0 && settingsMap[user] != RADIOLIB_NC) {
-        userButton = OneButton(settingsMap[user], true, true);
+        this->userButton = OneButton(settingsMap[user], true, true);
         LOG_DEBUG("Using GPIO%02d for button\n", settingsMap[user]);
     }
 #elif defined(BUTTON_PIN)
-    int pin = config.device.button_gpio ? config.device.button_gpio : BUTTON_PIN;
+    int pin = config.device.button_gpio ? config.device.button_gpio : BUTTON_PIN; // Resolved button pin
+#if defined(HELTEC_CAPSULE_SENSOR_V3)
+    this->userButton = OneButton(pin, false, false);
+#else
     this->userButton = OneButton(pin, true, true);
+#endif
     LOG_DEBUG("Using GPIO%02d for button\n", pin);
 #endif
 
@@ -41,31 +53,20 @@ ButtonThread::ButtonThread() : OSThread("Button")
     // Some platforms (nrf52) have a SENSE variant which allows wake from sleep - override what OneButton did
     pinMode(pin, INPUT_PULLUP_SENSE);
 #endif
+
+#if defined(BUTTON_PIN) || defined(ARCH_PORTDUINO)
     userButton.attachClick(userButtonPressed);
-    userButton.setClickMs(250);
-    userButton.setPressMs(c_longPressTime);
+    userButton.setClickMs(BUTTON_CLICK_MS);
+    userButton.setPressMs(BUTTON_LONGPRESS_MS);
     userButton.setDebounceMs(1);
     userButton.attachDoubleClick(userButtonDoublePressed);
-    userButton.attachMultiClick(userButtonMultiPressed);
+    userButton.attachMultiClick(userButtonMultiPressed, this); // Reference to instance: get click count from non-static OneButton
 #ifndef T_DECK // T-Deck immediately wakes up after shutdown, so disable this function
     userButton.attachLongPressStart(userButtonPressedLongStart);
     userButton.attachLongPressStop(userButtonPressedLongStop);
 #endif
-#if defined(ARCH_PORTDUINO)
-    if (settingsMap.count(user) != 0 && settingsMap[user] != RADIOLIB_NC)
-        wakeOnIrq(settingsMap[user], FALLING);
-#else
-    static OneButton *pBtn = &userButton; // only one instance of ButtonThread is created, so static is safe
-    attachInterrupt(
-        pin,
-        []() {
-            BaseType_t higherWake = 0;
-            mainDelay.interruptFromISR(&higherWake);
-            pBtn->tick();
-        },
-        CHANGE);
-#endif
 #endif
+
 #ifdef BUTTON_PIN_ALT
     userButtonAlt = OneButton(BUTTON_PIN_ALT, true, true);
 #ifdef INPUT_PULLUP_SENSE
@@ -73,19 +74,21 @@ ButtonThread::ButtonThread() : OSThread("Button")
     pinMode(BUTTON_PIN_ALT, INPUT_PULLUP_SENSE);
 #endif
     userButtonAlt.attachClick(userButtonPressed);
-    userButtonAlt.setClickMs(250);
-    userButtonAlt.setPressMs(c_longPressTime);
+    userButtonAlt.setClickMs(BUTTON_CLICK_MS);
+    userButtonAlt.setPressMs(BUTTON_LONGPRESS_MS);
     userButtonAlt.setDebounceMs(1);
     userButtonAlt.attachDoubleClick(userButtonDoublePressed);
     userButtonAlt.attachLongPressStart(userButtonPressedLongStart);
     userButtonAlt.attachLongPressStop(userButtonPressedLongStop);
-    wakeOnIrq(BUTTON_PIN_ALT, FALLING);
 #endif
 
 #ifdef BUTTON_PIN_TOUCH
     userButtonTouch = OneButton(BUTTON_PIN_TOUCH, true, true);
-    userButtonTouch.attachClick(touchPressed);
-    wakeOnIrq(BUTTON_PIN_TOUCH, FALLING);
+    userButtonTouch.setPressMs(BUTTON_TOUCH_MS);
+    userButtonTouch.attachLongPressStart(touchPressedLongStart); // Better handling with longpress than click?
+#endif
+
+    attachButtonInterrupts();
 #endif
 }
 
@@ -136,25 +139,44 @@ int32_t ButtonThread::runOnce()
 
         case BUTTON_EVENT_DOUBLE_PRESSED: {
             LOG_BUTTON("Double press!\n");
-#if defined(USE_EINK) && defined(PIN_EINK_EN)
-            digitalWrite(PIN_EINK_EN, digitalRead(PIN_EINK_EN) == LOW);
-#endif
             service.refreshLocalMeshNode();
-            service.sendNetworkPing(NODENUM_BROADCAST, true);
-            if (screen)
-                screen->print("Sent ad-hoc ping\n");
+            auto sentPosition = service.trySendPosition(NODENUM_BROADCAST, true);
+            if (screen) {
+                if (sentPosition)
+                    screen->print("Sent ad-hoc position\n");
+                else
+                    screen->print("Sent ad-hoc nodeinfo\n");
+                screen->forceDisplay(true); // Force a new UI frame, then force an EInk update
+            }
             break;
         }
 
         case BUTTON_EVENT_MULTI_PRESSED: {
-            LOG_BUTTON("Multi press!\n");
-            if (!config.device.disable_triple_click && (gps != nullptr)) {
-                gps->toggleGpsMode();
-                if (screen)
-                    screen->forceDisplay();
-            }
+            LOG_BUTTON("Mulitipress! %hux\n", multipressClickCount);
+            switch (multipressClickCount) {
+#if HAS_GPS
+            // 3 clicks: toggle GPS
+            case 3:
+                if (!config.device.disable_triple_click && (gps != nullptr)) {
+                    gps->toggleGpsMode();
+                    if (screen)
+                        screen->forceDisplay(true); // Force a new UI frame, then force an EInk update
+                }
+                break;
+#endif
+#if defined(USE_EINK) && defined(PIN_EINK_EN) // i.e. T-Echo
+            // 4 clicks: toggle backlight
+            case 4:
+                digitalWrite(PIN_EINK_EN, digitalRead(PIN_EINK_EN) == LOW);
+                break;
+#endif
+            // No valid multipress action
+            default:
+                break;
+            } // end switch: click count
+
             break;
-        }
+        } // end multipress event
 
         case BUTTON_EVENT_LONG_PRESSED: {
             LOG_BUTTON("Long press!\n");
@@ -174,21 +196,85 @@ int32_t ButtonThread::runOnce()
             power->shutdown();
             break;
         }
-        case BUTTON_EVENT_TOUCH_PRESSED: {
+
+#ifdef BUTTON_PIN_TOUCH
+        case BUTTON_EVENT_TOUCH_LONG_PRESSED: {
             LOG_BUTTON("Touch press!\n");
-            if (screen)
+            if (screen) {
+                // Wake if asleep
+                if (powerFSM.getState() == &stateDARK)
+                    powerFSM.trigger(EVENT_PRESS);
+
+                // Update display (legacy behaviour)
                 screen->forceDisplay();
+            }
             break;
         }
+#endif // BUTTON_PIN_TOUCH
+
         default:
             break;
         }
         btnEvent = BUTTON_EVENT_NONE;
     }
 
+    runASAP = false;
     return 50;
 }
 
+/*
+ * Attach (or re-attach) hardware interrupts for buttons
+ * Public method. Used outside class when waking from MCU sleep
+ */
+void ButtonThread::attachButtonInterrupts()
+{
+#if defined(ARCH_PORTDUINO)
+    if (settingsMap.count(user) != 0 && settingsMap[user] != RADIOLIB_NC)
+        wakeOnIrq(settingsMap[user], FALLING);
+#elif defined(BUTTON_PIN)
+    // Interrupt for user button, during normal use. Improves responsiveness.
+    attachInterrupt(
+        config.device.button_gpio ? config.device.button_gpio : BUTTON_PIN,
+        []() {
+            ButtonThread::userButton.tick();
+            runASAP = true;
+            BaseType_t higherWake = 0;
+            mainDelay.interruptFromISR(&higherWake);
+        },
+        CHANGE);
+#endif
+
+#ifdef BUTTON_PIN_ALT
+    wakeOnIrq(BUTTON_PIN_ALT, FALLING);
+#endif
+
+#ifdef BUTTON_PIN_TOUCH
+    wakeOnIrq(BUTTON_PIN_TOUCH, FALLING);
+#endif
+}
+
+/*
+ * Detach the "normal" button interrupts.
+ * Public method. Used before attaching a "wake-on-button" interrupt for MCU sleep
+ */
+void ButtonThread::detachButtonInterrupts()
+{
+#if defined(ARCH_PORTDUINO)
+    if (settingsMap.count(user) != 0 && settingsMap[user] != RADIOLIB_NC)
+        detachInterrupt(settingsMap[user]);
+#elif defined(BUTTON_PIN)
+    detachInterrupt(config.device.button_gpio ? config.device.button_gpio : BUTTON_PIN);
+#endif
+
+#ifdef BUTTON_PIN_ALT
+    detachInterrupt(BUTTON_PIN_ALT);
+#endif
+
+#ifdef BUTTON_PIN_TOUCH
+    detachInterrupt(BUTTON_PIN_TOUCH);
+#endif
+}
+
 /**
  * Watch a GPIO and if we get an IRQ, wake the main thread.
  * Use to add wake on button press
@@ -200,10 +286,30 @@ void ButtonThread::wakeOnIrq(int irq, int mode)
         [] {
             BaseType_t higherWake = 0;
             mainDelay.interruptFromISR(&higherWake);
+            runASAP = true;
         },
         FALLING);
 }
 
+// Static callback
+void ButtonThread::userButtonMultiPressed(void *callerThread)
+{
+    // Grab click count from non-static button, while the info is still valid
+    ButtonThread *thread = (ButtonThread *)callerThread;
+    thread->storeClickCount();
+
+    // Then handle later, in the usual way
+    btnEvent = BUTTON_EVENT_MULTI_PRESSED;
+}
+
+// Non-static method, runs during callback. Grabs info while still valid
+void ButtonThread::storeClickCount()
+{
+#ifdef BUTTON_PIN
+    multipressClickCount = userButton.getNumberClicks();
+#endif
+}
+
 void ButtonThread::userButtonPressedLongStart()
 {
     if (millis() > c_holdOffTime) {

src/ButtonThread.h

@@ -4,11 +4,22 @@
 #include "concurrency/OSThread.h"
 #include "configuration.h"
 
+#ifndef BUTTON_CLICK_MS
+#define BUTTON_CLICK_MS 250
+#endif
+
+#ifndef BUTTON_LONGPRESS_MS
+#define BUTTON_LONGPRESS_MS 5000
+#endif
+
+#ifndef BUTTON_TOUCH_MS
+#define BUTTON_TOCH_MS 400
+#endif
+
 class ButtonThread : public concurrency::OSThread
 {
   public:
-    static const uint32_t c_longPressTime = 5000; // shutdown after 5s
-    static const uint32_t c_holdOffTime = 30000;  // hold off 30s after boot
+    static const uint32_t c_holdOffTime = 30000; // hold off 30s after boot
 
     enum ButtonEventType {
         BUTTON_EVENT_NONE,
@@ -17,15 +28,18 @@ class ButtonThread : public concurrency::OSThread
         BUTTON_EVENT_MULTI_PRESSED,
         BUTTON_EVENT_LONG_PRESSED,
         BUTTON_EVENT_LONG_RELEASED,
-        BUTTON_EVENT_TOUCH_PRESSED
+        BUTTON_EVENT_TOUCH_LONG_PRESSED,
     };
 
     ButtonThread();
     int32_t runOnce() override;
+    void attachButtonInterrupts();
+    void detachButtonInterrupts();
+    void storeClickCount();
 
   private:
-#ifdef BUTTON_PIN
-    OneButton userButton;
+#if defined(BUTTON_PIN) || defined(ARCH_PORTDUINO)
+    static OneButton userButton; // Static - accessed from an interrupt
 #endif
 #ifdef BUTTON_PIN_ALT
     OneButton userButtonAlt;
@@ -33,20 +47,22 @@ class ButtonThread : public concurrency::OSThread
 #ifdef BUTTON_PIN_TOUCH
     OneButton userButtonTouch;
 #endif
-#if defined(ARCH_PORTDUINO)
-    OneButton userButton;
-#endif
 
     // set during IRQ
     static volatile ButtonEventType btnEvent;
 
+    // Store click count during callback, for later use
+    volatile int multipressClickCount = 0;
+
     static void wakeOnIrq(int irq, int mode);
 
     // IRQ callbacks
-    static void touchPressed() { btnEvent = BUTTON_EVENT_TOUCH_PRESSED; }
     static void userButtonPressed() { btnEvent = BUTTON_EVENT_PRESSED; }
     static void userButtonDoublePressed() { btnEvent = BUTTON_EVENT_DOUBLE_PRESSED; }
-    static void userButtonMultiPressed() { btnEvent = BUTTON_EVENT_MULTI_PRESSED; }
+    static void userButtonMultiPressed(void *callerThread); // Retrieve click count from non-static Onebutton while still valid
     static void userButtonPressedLongStart();
     static void userButtonPressedLongStop();
+    static void touchPressedLongStart() { btnEvent = BUTTON_EVENT_TOUCH_LONG_PRESSED; }
 };
+
+extern ButtonThread *buttonThread;

src/DebugConfiguration.h

@@ -36,7 +36,7 @@
 #define LOG_CRIT(...) SEGGER_RTT_printf(0, __VA_ARGS__)
 #define LOG_TRACE(...) SEGGER_RTT_printf(0, __VA_ARGS__)
 #else
-#ifdef DEBUG_PORT
+#if defined(DEBUG_PORT) && !defined(DEBUG_MUTE)
 #define LOG_DEBUG(...) DEBUG_PORT.log(MESHTASTIC_LOG_LEVEL_DEBUG, __VA_ARGS__)
 #define LOG_INFO(...) DEBUG_PORT.log(MESHTASTIC_LOG_LEVEL_INFO, __VA_ARGS__)
 #define LOG_WARN(...) DEBUG_PORT.log(MESHTASTIC_LOG_LEVEL_WARN, __VA_ARGS__)

src/FSCommon.cpp

@@ -205,6 +205,62 @@ void rmDir(const char *dirname)
 #endif
 }
 
+bool fsCheck()
+{
+#if defined(ARCH_NRF52)
+    size_t write_size = 0;
+    size_t read_size = 0;
+    char buf[32] = {0};
+
+    Adafruit_LittleFS_Namespace::File file(FSCom);
+    const char *text = "meshtastic fs test";
+    size_t text_length = strlen(text);
+    const char *filename = "/meshtastic.txt";
+
+    LOG_DEBUG("Try create file .\n");
+    if (file.open(filename, FILE_O_WRITE)) {
+        write_size = file.write(text);
+    } else {
+        LOG_DEBUG("Open file failed .\n");
+        goto FORMAT_FS;
+    }
+
+    if (write_size != text_length) {
+        LOG_DEBUG("Text bytes do not match .\n");
+        file.close();
+        goto FORMAT_FS;
+    }
+
+    file.close();
+
+    if (!file.open(filename, FILE_O_READ)) {
+        LOG_DEBUG("Open file failed .\n");
+        goto FORMAT_FS;
+    }
+
+    read_size = file.readBytes(buf, text_length);
+    if (read_size != text_length) {
+        LOG_DEBUG("Text bytes do not match .\n");
+        file.close();
+        goto FORMAT_FS;
+    }
+
+    if (memcmp(buf, text, text_length) != 0) {
+        LOG_DEBUG("The written bytes do not match the read bytes .\n");
+        file.close();
+        goto FORMAT_FS;
+    }
+    return true;
+FORMAT_FS:
+    LOG_DEBUG("Format FS ....\n");
+    FSCom.format();
+    FSCom.begin();
+    return false;
+#else
+    return true;
+#endif
+}
+
 void fsInit()
 {
 #ifdef FSCom
@@ -212,8 +268,37 @@ void fsInit()
         LOG_ERROR("Filesystem mount Failed.\n");
         // assert(0); This auto-formats the partition, so no need to fail here.
     }
-#ifdef ARCH_ESP32
+#if defined(ARCH_ESP32)
     LOG_DEBUG("Filesystem files (%d/%d Bytes):\n", FSCom.usedBytes(), FSCom.totalBytes());
+#elif defined(ARCH_NRF52)
+    /*
+     * nRF52840 has a certain chance of automatic formatting failure.
+     * Try to create a file after initializing the file system. If the creation fails,
+     * it means that the file system is not working properly. Please format it manually again.
+     * To check the normality of the file system, you need to disable the LFS_NO_ASSERT assertion.
+     * Otherwise, the assertion will be entered at the moment of reading or opening, and the FS will not be formatted.
+     * */
+    bool ret = false;
+    uint8_t retry = 3;
+
+    while (retry--) {
+        ret = fsCheck();
+        if (ret) {
+            LOG_DEBUG("File system check is OK.\n");
+            break;
+        }
+        delay(10);
+    }
+
+    // It may not be possible to reach this step.
+    // Add a loop here to prevent unpredictable situations from happening.
+    // Can add a screen to display error status later.
+    if (!ret) {
+        while (1) {
+            LOG_ERROR("The file system is damaged and cannot proceed to the next step.\n");
+            delay(1000);
+        }
+    }
 #else
     LOG_DEBUG("Filesystem files:\n");
 #endif

src/Fusion/Fusion.h

@@ -0,0 +1,32 @@
+/**
+ * @file Fusion.h
+ * @author Seb Madgwick
+ * @brief Main header file for the Fusion library.  This is the only file that
+ * needs to be included when using the library.
+ */
+
+#ifndef FUSION_H
+#define FUSION_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "FusionAhrs.h"
+#include "FusionAxes.h"
+#include "FusionCalibration.h"
+#include "FusionCompass.h"
+#include "FusionConvention.h"
+#include "FusionMath.h"
+#include "FusionOffset.h"
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionAhrs.c

@@ -0,0 +1,542 @@
+/**
+ * @file FusionAhrs.c
+ * @author Seb Madgwick
+ * @brief AHRS algorithm to combine gyroscope, accelerometer, and magnetometer
+ * measurements into a single measurement of orientation relative to the Earth.
+ */
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionAhrs.h"
+#include <float.h> // FLT_MAX
+#include <math.h>  // atan2f, cosf, fabsf, powf, sinf
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Initial gain used during the initialisation.
+ */
+#define INITIAL_GAIN (10.0f)
+
+/**
+ * @brief Initialisation period in seconds.
+ */
+#define INITIALISATION_PERIOD (3.0f)
+
+//------------------------------------------------------------------------------
+// Function declarations
+
+static inline FusionVector HalfGravity(const FusionAhrs *const ahrs);
+
+static inline FusionVector HalfMagnetic(const FusionAhrs *const ahrs);
+
+static inline FusionVector Feedback(const FusionVector sensor, const FusionVector reference);
+
+static inline int Clamp(const int value, const int min, const int max);
+
+//------------------------------------------------------------------------------
+// Functions
+
+/**
+ * @brief Initialises the AHRS algorithm structure.
+ * @param ahrs AHRS algorithm structure.
+ */
+void FusionAhrsInitialise(FusionAhrs *const ahrs)
+{
+    const FusionAhrsSettings settings = {
+        .convention = FusionConventionNwu,
+        .gain = 0.5f,
+        .gyroscopeRange = 0.0f,
+        .accelerationRejection = 90.0f,
+        .magneticRejection = 90.0f,
+        .recoveryTriggerPeriod = 0,
+    };
+    FusionAhrsSetSettings(ahrs, &settings);
+    FusionAhrsReset(ahrs);
+}
+
+/**
+ * @brief Resets the AHRS algorithm.  This is equivalent to reinitialising the
+ * algorithm while maintaining the current settings.
+ * @param ahrs AHRS algorithm structure.
+ */
+void FusionAhrsReset(FusionAhrs *const ahrs)
+{
+    ahrs->quaternion = FUSION_IDENTITY_QUATERNION;
+    ahrs->accelerometer = FUSION_VECTOR_ZERO;
+    ahrs->initialising = true;
+    ahrs->rampedGain = INITIAL_GAIN;
+    ahrs->angularRateRecovery = false;
+    ahrs->halfAccelerometerFeedback = FUSION_VECTOR_ZERO;
+    ahrs->halfMagnetometerFeedback = FUSION_VECTOR_ZERO;
+    ahrs->accelerometerIgnored = false;
+    ahrs->accelerationRecoveryTrigger = 0;
+    ahrs->accelerationRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
+    ahrs->magnetometerIgnored = false;
+    ahrs->magneticRecoveryTrigger = 0;
+    ahrs->magneticRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
+}
+
+/**
+ * @brief Sets the AHRS algorithm settings.
+ * @param ahrs AHRS algorithm structure.
+ * @param settings Settings.
+ */
+void FusionAhrsSetSettings(FusionAhrs *const ahrs, const FusionAhrsSettings *const settings)
+{
+    ahrs->settings.convention = settings->convention;
+    ahrs->settings.gain = settings->gain;
+    ahrs->settings.gyroscopeRange = settings->gyroscopeRange == 0.0f ? FLT_MAX : 0.98f * settings->gyroscopeRange;
+    ahrs->settings.accelerationRejection = settings->accelerationRejection == 0.0f
+                                               ? FLT_MAX
+                                               : powf(0.5f * sinf(FusionDegreesToRadians(settings->accelerationRejection)), 2);
+    ahrs->settings.magneticRejection =
+        settings->magneticRejection == 0.0f ? FLT_MAX : powf(0.5f * sinf(FusionDegreesToRadians(settings->magneticRejection)), 2);
+    ahrs->settings.recoveryTriggerPeriod = settings->recoveryTriggerPeriod;
+    ahrs->accelerationRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
+    ahrs->magneticRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
+    if ((settings->gain == 0.0f) ||
+        (settings->recoveryTriggerPeriod == 0)) { // disable acceleration and magnetic rejection features if gain is zero
+        ahrs->settings.accelerationRejection = FLT_MAX;
+        ahrs->settings.magneticRejection = FLT_MAX;
+    }
+    if (ahrs->initialising == false) {
+        ahrs->rampedGain = ahrs->settings.gain;
+    }
+    ahrs->rampedGainStep = (INITIAL_GAIN - ahrs->settings.gain) / INITIALISATION_PERIOD;
+}
+
+/**
+ * @brief Updates the AHRS algorithm using the gyroscope, accelerometer, and
+ * magnetometer measurements.
+ * @param ahrs AHRS algorithm structure.
+ * @param gyroscope Gyroscope measurement in degrees per second.
+ * @param accelerometer Accelerometer measurement in g.
+ * @param magnetometer Magnetometer measurement in arbitrary units.
+ * @param deltaTime Delta time in seconds.
+ */
+void FusionAhrsUpdate(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
+                      const FusionVector magnetometer, const float deltaTime)
+{
+#define Q ahrs->quaternion.element
+
+    // Store accelerometer
+    ahrs->accelerometer = accelerometer;
+
+    // Reinitialise if gyroscope range exceeded
+    if ((fabsf(gyroscope.axis.x) > ahrs->settings.gyroscopeRange) || (fabsf(gyroscope.axis.y) > ahrs->settings.gyroscopeRange) ||
+        (fabsf(gyroscope.axis.z) > ahrs->settings.gyroscopeRange)) {
+        const FusionQuaternion quaternion = ahrs->quaternion;
+        FusionAhrsReset(ahrs);
+        ahrs->quaternion = quaternion;
+        ahrs->angularRateRecovery = true;
+    }
+
+    // Ramp down gain during initialisation
+    if (ahrs->initialising) {
+        ahrs->rampedGain -= ahrs->rampedGainStep * deltaTime;
+        if ((ahrs->rampedGain < ahrs->settings.gain) || (ahrs->settings.gain == 0.0f)) {
+            ahrs->rampedGain = ahrs->settings.gain;
+            ahrs->initialising = false;
+            ahrs->angularRateRecovery = false;
+        }
+    }
+
+    // Calculate direction of gravity indicated by algorithm
+    const FusionVector halfGravity = HalfGravity(ahrs);
+
+    // Calculate accelerometer feedback
+    FusionVector halfAccelerometerFeedback = FUSION_VECTOR_ZERO;
+    ahrs->accelerometerIgnored = true;
+    if (FusionVectorIsZero(accelerometer) == false) {
+
+        // Calculate accelerometer feedback scaled by 0.5
+        ahrs->halfAccelerometerFeedback = Feedback(FusionVectorNormalise(accelerometer), halfGravity);
+
+        // Don't ignore accelerometer if acceleration error below threshold
+        if (ahrs->initialising ||
+            ((FusionVectorMagnitudeSquared(ahrs->halfAccelerometerFeedback) <= ahrs->settings.accelerationRejection))) {
+            ahrs->accelerometerIgnored = false;
+            ahrs->accelerationRecoveryTrigger -= 9;
+        } else {
+            ahrs->accelerationRecoveryTrigger += 1;
+        }
+
+        // Don't ignore accelerometer during acceleration recovery
+        if (ahrs->accelerationRecoveryTrigger > ahrs->accelerationRecoveryTimeout) {
+            ahrs->accelerationRecoveryTimeout = 0;
+            ahrs->accelerometerIgnored = false;
+        } else {
+            ahrs->accelerationRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
+        }
+        ahrs->accelerationRecoveryTrigger = Clamp(ahrs->accelerationRecoveryTrigger, 0, ahrs->settings.recoveryTriggerPeriod);
+
+        // Apply accelerometer feedback
+        if (ahrs->accelerometerIgnored == false) {
+            halfAccelerometerFeedback = ahrs->halfAccelerometerFeedback;
+        }
+    }
+
+    // Calculate magnetometer feedback
+    FusionVector halfMagnetometerFeedback = FUSION_VECTOR_ZERO;
+    ahrs->magnetometerIgnored = true;
+    if (FusionVectorIsZero(magnetometer) == false) {
+
+        // Calculate direction of magnetic field indicated by algorithm
+        const FusionVector halfMagnetic = HalfMagnetic(ahrs);
+
+        // Calculate magnetometer feedback scaled by 0.5
+        ahrs->halfMagnetometerFeedback =
+            Feedback(FusionVectorNormalise(FusionVectorCrossProduct(halfGravity, magnetometer)), halfMagnetic);
+
+        // Don't ignore magnetometer if magnetic error below threshold
+        if (ahrs->initialising ||
+            ((FusionVectorMagnitudeSquared(ahrs->halfMagnetometerFeedback) <= ahrs->settings.magneticRejection))) {
+            ahrs->magnetometerIgnored = false;
+            ahrs->magneticRecoveryTrigger -= 9;
+        } else {
+            ahrs->magneticRecoveryTrigger += 1;
+        }
+
+        // Don't ignore magnetometer during magnetic recovery
+        if (ahrs->magneticRecoveryTrigger > ahrs->magneticRecoveryTimeout) {
+            ahrs->magneticRecoveryTimeout = 0;
+            ahrs->magnetometerIgnored = false;
+        } else {
+            ahrs->magneticRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
+        }
+        ahrs->magneticRecoveryTrigger = Clamp(ahrs->magneticRecoveryTrigger, 0, ahrs->settings.recoveryTriggerPeriod);
+
+        // Apply magnetometer feedback
+        if (ahrs->magnetometerIgnored == false) {
+            halfMagnetometerFeedback = ahrs->halfMagnetometerFeedback;
+        }
+    }
+
+    // Convert gyroscope to radians per second scaled by 0.5
+    const FusionVector halfGyroscope = FusionVectorMultiplyScalar(gyroscope, FusionDegreesToRadians(0.5f));
+
+    // Apply feedback to gyroscope
+    const FusionVector adjustedHalfGyroscope = FusionVectorAdd(
+        halfGyroscope,
+        FusionVectorMultiplyScalar(FusionVectorAdd(halfAccelerometerFeedback, halfMagnetometerFeedback), ahrs->rampedGain));
+
+    // Integrate rate of change of quaternion
+    ahrs->quaternion = FusionQuaternionAdd(
+        ahrs->quaternion,
+        FusionQuaternionMultiplyVector(ahrs->quaternion, FusionVectorMultiplyScalar(adjustedHalfGyroscope, deltaTime)));
+
+    // Normalise quaternion
+    ahrs->quaternion = FusionQuaternionNormalise(ahrs->quaternion);
+#undef Q
+}
+
+/**
+ * @brief Returns the direction of gravity scaled by 0.5.
+ * @param ahrs AHRS algorithm structure.
+ * @return Direction of gravity scaled by 0.5.
+ */
+static inline FusionVector HalfGravity(const FusionAhrs *const ahrs)
+{
+#define Q ahrs->quaternion.element
+    switch (ahrs->settings.convention) {
+    case FusionConventionNwu:
+    case FusionConventionEnu: {
+        const FusionVector halfGravity = {.axis = {
+                                              .x = Q.x * Q.z - Q.w * Q.y,
+                                              .y = Q.y * Q.z + Q.w * Q.x,
+                                              .z = Q.w * Q.w - 0.5f + Q.z * Q.z,
+                                          }}; // third column of transposed rotation matrix scaled by 0.5
+        return halfGravity;
+    }
+    case FusionConventionNed: {
+        const FusionVector halfGravity = {.axis = {
+                                              .x = Q.w * Q.y - Q.x * Q.z,
+                                              .y = -1.0f * (Q.y * Q.z + Q.w * Q.x),
+                                              .z = 0.5f - Q.w * Q.w - Q.z * Q.z,
+                                          }}; // third column of transposed rotation matrix scaled by -0.5
+        return halfGravity;
+    }
+    }
+    return FUSION_VECTOR_ZERO; // avoid compiler warning
+#undef Q
+}
+
+/**
+ * @brief Returns the direction of the magnetic field scaled by 0.5.
+ * @param ahrs AHRS algorithm structure.
+ * @return Direction of the magnetic field scaled by 0.5.
+ */
+static inline FusionVector HalfMagnetic(const FusionAhrs *const ahrs)
+{
+#define Q ahrs->quaternion.element
+    switch (ahrs->settings.convention) {
+    case FusionConventionNwu: {
+        const FusionVector halfMagnetic = {.axis = {
+                                               .x = Q.x * Q.y + Q.w * Q.z,
+                                               .y = Q.w * Q.w - 0.5f + Q.y * Q.y,
+                                               .z = Q.y * Q.z - Q.w * Q.x,
+                                           }}; // second column of transposed rotation matrix scaled by 0.5
+        return halfMagnetic;
+    }
+    case FusionConventionEnu: {
+        const FusionVector halfMagnetic = {.axis = {
+                                               .x = 0.5f - Q.w * Q.w - Q.x * Q.x,
+                                               .y = Q.w * Q.z - Q.x * Q.y,
+                                               .z = -1.0f * (Q.x * Q.z + Q.w * Q.y),
+                                           }}; // first column of transposed rotation matrix scaled by -0.5
+        return halfMagnetic;
+    }
+    case FusionConventionNed: {
+        const FusionVector halfMagnetic = {.axis = {
+                                               .x = -1.0f * (Q.x * Q.y + Q.w * Q.z),
+                                               .y = 0.5f - Q.w * Q.w - Q.y * Q.y,
+                                               .z = Q.w * Q.x - Q.y * Q.z,
+                                           }}; // second column of transposed rotation matrix scaled by -0.5
+        return halfMagnetic;
+    }
+    }
+    return FUSION_VECTOR_ZERO; // avoid compiler warning
+#undef Q
+}
+
+/**
+ * @brief Returns the feedback.
+ * @param sensor Sensor.
+ * @param reference Reference.
+ * @return Feedback.
+ */
+static inline FusionVector Feedback(const FusionVector sensor, const FusionVector reference)
+{
+    if (FusionVectorDotProduct(sensor, reference) < 0.0f) { // if error is >90 degrees
+        return FusionVectorNormalise(FusionVectorCrossProduct(sensor, reference));
+    }
+    return FusionVectorCrossProduct(sensor, reference);
+}
+
+/**
+ * @brief Returns a value limited to maximum and minimum.
+ * @param value Value.
+ * @param min Minimum value.
+ * @param max Maximum value.
+ * @return Value limited to maximum and minimum.
+ */
+static inline int Clamp(const int value, const int min, const int max)
+{
+    if (value < min) {
+        return min;
+    }
+    if (value > max) {
+        return max;
+    }
+    return value;
+}
+
+/**
+ * @brief Updates the AHRS algorithm using the gyroscope and accelerometer
+ * measurements only.
+ * @param ahrs AHRS algorithm structure.
+ * @param gyroscope Gyroscope measurement in degrees per second.
+ * @param accelerometer Accelerometer measurement in g.
+ * @param deltaTime Delta time in seconds.
+ */
+void FusionAhrsUpdateNoMagnetometer(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
+                                    const float deltaTime)
+{
+
+    // Update AHRS algorithm
+    FusionAhrsUpdate(ahrs, gyroscope, accelerometer, FUSION_VECTOR_ZERO, deltaTime);
+
+    // Zero heading during initialisation
+    if (ahrs->initialising) {
+        FusionAhrsSetHeading(ahrs, 0.0f);
+    }
+}
+
+/**
+ * @brief Updates the AHRS algorithm using the gyroscope, accelerometer, and
+ * heading measurements.
+ * @param ahrs AHRS algorithm structure.
+ * @param gyroscope Gyroscope measurement in degrees per second.
+ * @param accelerometer Accelerometer measurement in g.
+ * @param heading Heading measurement in degrees.
+ * @param deltaTime Delta time in seconds.
+ */
+void FusionAhrsUpdateExternalHeading(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
+                                     const float heading, const float deltaTime)
+{
+#define Q ahrs->quaternion.element
+
+    // Calculate roll
+    const float roll = atan2f(Q.w * Q.x + Q.y * Q.z, 0.5f - Q.y * Q.y - Q.x * Q.x);
+
+    // Calculate magnetometer
+    const float headingRadians = FusionDegreesToRadians(heading);
+    const float sinHeadingRadians = sinf(headingRadians);
+    const FusionVector magnetometer = {.axis = {
+                                           .x = cosf(headingRadians),
+                                           .y = -1.0f * cosf(roll) * sinHeadingRadians,
+                                           .z = sinHeadingRadians * sinf(roll),
+                                       }};
+
+    // Update AHRS algorithm
+    FusionAhrsUpdate(ahrs, gyroscope, accelerometer, magnetometer, deltaTime);
+#undef Q
+}
+
+/**
+ * @brief Returns the quaternion describing the sensor relative to the Earth.
+ * @param ahrs AHRS algorithm structure.
+ * @return Quaternion describing the sensor relative to the Earth.
+ */
+FusionQuaternion FusionAhrsGetQuaternion(const FusionAhrs *const ahrs)
+{
+    return ahrs->quaternion;
+}
+
+/**
+ * @brief Sets the quaternion describing the sensor relative to the Earth.
+ * @param ahrs AHRS algorithm structure.
+ * @param quaternion Quaternion describing the sensor relative to the Earth.
+ */
+void FusionAhrsSetQuaternion(FusionAhrs *const ahrs, const FusionQuaternion quaternion)
+{
+    ahrs->quaternion = quaternion;
+}
+
+/**
+ * @brief Returns the linear acceleration measurement equal to the accelerometer
+ * measurement with the 1 g of gravity removed.
+ * @param ahrs AHRS algorithm structure.
+ * @return Linear acceleration measurement in g.
+ */
+FusionVector FusionAhrsGetLinearAcceleration(const FusionAhrs *const ahrs)
+{
+#define Q ahrs->quaternion.element
+
+    // Calculate gravity in the sensor coordinate frame
+    const FusionVector gravity = {.axis = {
+                                      .x = 2.0f * (Q.x * Q.z - Q.w * Q.y),
+                                      .y = 2.0f * (Q.y * Q.z + Q.w * Q.x),
+                                      .z = 2.0f * (Q.w * Q.w - 0.5f + Q.z * Q.z),
+                                  }}; // third column of transposed rotation matrix
+
+    // Remove gravity from accelerometer measurement
+    switch (ahrs->settings.convention) {
+    case FusionConventionNwu:
+    case FusionConventionEnu: {
+        return FusionVectorSubtract(ahrs->accelerometer, gravity);
+    }
+    case FusionConventionNed: {
+        return FusionVectorAdd(ahrs->accelerometer, gravity);
+    }
+    }
+    return FUSION_VECTOR_ZERO; // avoid compiler warning
+#undef Q
+}
+
+/**
+ * @brief Returns the Earth acceleration measurement equal to accelerometer
+ * measurement in the Earth coordinate frame with the 1 g of gravity removed.
+ * @param ahrs AHRS algorithm structure.
+ * @return Earth acceleration measurement in g.
+ */
+FusionVector FusionAhrsGetEarthAcceleration(const FusionAhrs *const ahrs)
+{
+#define Q ahrs->quaternion.element
+#define A ahrs->accelerometer.axis
+
+    // Calculate accelerometer measurement in the Earth coordinate frame
+    const float qwqw = Q.w * Q.w; // calculate common terms to avoid repeated operations
+    const float qwqx = Q.w * Q.x;
+    const float qwqy = Q.w * Q.y;
+    const float qwqz = Q.w * Q.z;
+    const float qxqy = Q.x * Q.y;
+    const float qxqz = Q.x * Q.z;
+    const float qyqz = Q.y * Q.z;
+    FusionVector accelerometer = {.axis = {
+                                      .x = 2.0f * ((qwqw - 0.5f + Q.x * Q.x) * A.x + (qxqy - qwqz) * A.y + (qxqz + qwqy) * A.z),
+                                      .y = 2.0f * ((qxqy + qwqz) * A.x + (qwqw - 0.5f + Q.y * Q.y) * A.y + (qyqz - qwqx) * A.z),
+                                      .z = 2.0f * ((qxqz - qwqy) * A.x + (qyqz + qwqx) * A.y + (qwqw - 0.5f + Q.z * Q.z) * A.z),
+                                  }}; // rotation matrix multiplied with the accelerometer
+
+    // Remove gravity from accelerometer measurement
+    switch (ahrs->settings.convention) {
+    case FusionConventionNwu:
+    case FusionConventionEnu:
+        accelerometer.axis.z -= 1.0f;
+        break;
+    case FusionConventionNed:
+        accelerometer.axis.z += 1.0f;
+        break;
+    }
+    return accelerometer;
+#undef Q
+#undef A
+}
+
+/**
+ * @brief Returns the AHRS algorithm internal states.
+ * @param ahrs AHRS algorithm structure.
+ * @return AHRS algorithm internal states.
+ */
+FusionAhrsInternalStates FusionAhrsGetInternalStates(const FusionAhrs *const ahrs)
+{
+    const FusionAhrsInternalStates internalStates = {
+        .accelerationError = FusionRadiansToDegrees(FusionAsin(2.0f * FusionVectorMagnitude(ahrs->halfAccelerometerFeedback))),
+        .accelerometerIgnored = ahrs->accelerometerIgnored,
+        .accelerationRecoveryTrigger =
+            ahrs->settings.recoveryTriggerPeriod == 0
+                ? 0.0f
+                : (float)ahrs->accelerationRecoveryTrigger / (float)ahrs->settings.recoveryTriggerPeriod,
+        .magneticError = FusionRadiansToDegrees(FusionAsin(2.0f * FusionVectorMagnitude(ahrs->halfMagnetometerFeedback))),
+        .magnetometerIgnored = ahrs->magnetometerIgnored,
+        .magneticRecoveryTrigger = ahrs->settings.recoveryTriggerPeriod == 0
+                                       ? 0.0f
+                                       : (float)ahrs->magneticRecoveryTrigger / (float)ahrs->settings.recoveryTriggerPeriod,
+    };
+    return internalStates;
+}
+
+/**
+ * @brief Returns the AHRS algorithm flags.
+ * @param ahrs AHRS algorithm structure.
+ * @return AHRS algorithm flags.
+ */
+FusionAhrsFlags FusionAhrsGetFlags(const FusionAhrs *const ahrs)
+{
+    const FusionAhrsFlags flags = {
+        .initialising = ahrs->initialising,
+        .angularRateRecovery = ahrs->angularRateRecovery,
+        .accelerationRecovery = ahrs->accelerationRecoveryTrigger > ahrs->accelerationRecoveryTimeout,
+        .magneticRecovery = ahrs->magneticRecoveryTrigger > ahrs->magneticRecoveryTimeout,
+    };
+    return flags;
+}
+
+/**
+ * @brief Sets the heading of the orientation measurement provided by the AHRS
+ * algorithm.  This function can be used to reset drift in heading when the AHRS
+ * algorithm is being used without a magnetometer.
+ * @param ahrs AHRS algorithm structure.
+ * @param heading Heading angle in degrees.
+ */
+void FusionAhrsSetHeading(FusionAhrs *const ahrs, const float heading)
+{
+#define Q ahrs->quaternion.element
+    const float yaw = atan2f(Q.w * Q.z + Q.x * Q.y, 0.5f - Q.y * Q.y - Q.z * Q.z);
+    const float halfYawMinusHeading = 0.5f * (yaw - FusionDegreesToRadians(heading));
+    const FusionQuaternion rotation = {.element = {
+                                           .w = cosf(halfYawMinusHeading),
+                                           .x = 0.0f,
+                                           .y = 0.0f,
+                                           .z = -1.0f * sinf(halfYawMinusHeading),
+                                       }};
+    ahrs->quaternion = FusionQuaternionMultiply(rotation, ahrs->quaternion);
+#undef Q
+}
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionAhrs.h

@@ -0,0 +1,112 @@
+/**
+ * @file FusionAhrs.h
+ * @author Seb Madgwick
+ * @brief AHRS algorithm to combine gyroscope, accelerometer, and magnetometer
+ * measurements into a single measurement of orientation relative to the Earth.
+ */
+
+#ifndef FUSION_AHRS_H
+#define FUSION_AHRS_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionConvention.h"
+#include "FusionMath.h"
+#include <stdbool.h>
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief AHRS algorithm settings.
+ */
+typedef struct {
+    FusionConvention convention;
+    float gain;
+    float gyroscopeRange;
+    float accelerationRejection;
+    float magneticRejection;
+    unsigned int recoveryTriggerPeriod;
+} FusionAhrsSettings;
+
+/**
+ * @brief AHRS algorithm structure.  Structure members are used internally and
+ * must not be accessed by the application.
+ */
+typedef struct {
+    FusionAhrsSettings settings;
+    FusionQuaternion quaternion;
+    FusionVector accelerometer;
+    bool initialising;
+    float rampedGain;
+    float rampedGainStep;
+    bool angularRateRecovery;
+    FusionVector halfAccelerometerFeedback;
+    FusionVector halfMagnetometerFeedback;
+    bool accelerometerIgnored;
+    int accelerationRecoveryTrigger;
+    int accelerationRecoveryTimeout;
+    bool magnetometerIgnored;
+    int magneticRecoveryTrigger;
+    int magneticRecoveryTimeout;
+} FusionAhrs;
+
+/**
+ * @brief AHRS algorithm internal states.
+ */
+typedef struct {
+    float accelerationError;
+    bool accelerometerIgnored;
+    float accelerationRecoveryTrigger;
+    float magneticError;
+    bool magnetometerIgnored;
+    float magneticRecoveryTrigger;
+} FusionAhrsInternalStates;
+
+/**
+ * @brief AHRS algorithm flags.
+ */
+typedef struct {
+    bool initialising;
+    bool angularRateRecovery;
+    bool accelerationRecovery;
+    bool magneticRecovery;
+} FusionAhrsFlags;
+
+//------------------------------------------------------------------------------
+// Function declarations
+
+void FusionAhrsInitialise(FusionAhrs *const ahrs);
+
+void FusionAhrsReset(FusionAhrs *const ahrs);
+
+void FusionAhrsSetSettings(FusionAhrs *const ahrs, const FusionAhrsSettings *const settings);
+
+void FusionAhrsUpdate(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
+                      const FusionVector magnetometer, const float deltaTime);
+
+void FusionAhrsUpdateNoMagnetometer(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
+                                    const float deltaTime);
+
+void FusionAhrsUpdateExternalHeading(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
+                                     const float heading, const float deltaTime);
+
+FusionQuaternion FusionAhrsGetQuaternion(const FusionAhrs *const ahrs);
+
+void FusionAhrsSetQuaternion(FusionAhrs *const ahrs, const FusionQuaternion quaternion);
+
+FusionVector FusionAhrsGetLinearAcceleration(const FusionAhrs *const ahrs);
+
+FusionVector FusionAhrsGetEarthAcceleration(const FusionAhrs *const ahrs);
+
+FusionAhrsInternalStates FusionAhrsGetInternalStates(const FusionAhrs *const ahrs);
+
+FusionAhrsFlags FusionAhrsGetFlags(const FusionAhrs *const ahrs);
+
+void FusionAhrsSetHeading(FusionAhrs *const ahrs, const float heading);
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionAxes.h

@@ -0,0 +1,188 @@
+/**
+ * @file FusionAxes.h
+ * @author Seb Madgwick
+ * @brief Swaps sensor axes for alignment with the body axes.
+ */
+
+#ifndef FUSION_AXES_H
+#define FUSION_AXES_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionMath.h"
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Axes alignment describing the sensor axes relative to the body axes.
+ * For example, if the body X axis is aligned with the sensor Y axis and the
+ * body Y axis is aligned with sensor X axis but pointing the opposite direction
+ * then alignment is +Y-X+Z.
+ */
+typedef enum {
+    FusionAxesAlignmentPXPYPZ, /* +X+Y+Z */
+    FusionAxesAlignmentPXNZPY, /* +X-Z+Y */
+    FusionAxesAlignmentPXNYNZ, /* +X-Y-Z */
+    FusionAxesAlignmentPXPZNY, /* +X+Z-Y */
+    FusionAxesAlignmentNXPYNZ, /* -X+Y-Z */
+    FusionAxesAlignmentNXPZPY, /* -X+Z+Y */
+    FusionAxesAlignmentNXNYPZ, /* -X-Y+Z */
+    FusionAxesAlignmentNXNZNY, /* -X-Z-Y */
+    FusionAxesAlignmentPYNXPZ, /* +Y-X+Z */
+    FusionAxesAlignmentPYNZNX, /* +Y-Z-X */
+    FusionAxesAlignmentPYPXNZ, /* +Y+X-Z */
+    FusionAxesAlignmentPYPZPX, /* +Y+Z+X */
+    FusionAxesAlignmentNYPXPZ, /* -Y+X+Z */
+    FusionAxesAlignmentNYNZPX, /* -Y-Z+X */
+    FusionAxesAlignmentNYNXNZ, /* -Y-X-Z */
+    FusionAxesAlignmentNYPZNX, /* -Y+Z-X */
+    FusionAxesAlignmentPZPYNX, /* +Z+Y-X */
+    FusionAxesAlignmentPZPXPY, /* +Z+X+Y */
+    FusionAxesAlignmentPZNYPX, /* +Z-Y+X */
+    FusionAxesAlignmentPZNXNY, /* +Z-X-Y */
+    FusionAxesAlignmentNZPYPX, /* -Z+Y+X */
+    FusionAxesAlignmentNZNXPY, /* -Z-X+Y */
+    FusionAxesAlignmentNZNYNX, /* -Z-Y-X */
+    FusionAxesAlignmentNZPXNY, /* -Z+X-Y */
+} FusionAxesAlignment;
+
+//------------------------------------------------------------------------------
+// Inline functions
+
+/**
+ * @brief Swaps sensor axes for alignment with the body axes.
+ * @param sensor Sensor axes.
+ * @param alignment Axes alignment.
+ * @return Sensor axes aligned with the body axes.
+ */
+static inline FusionVector FusionAxesSwap(const FusionVector sensor, const FusionAxesAlignment alignment)
+{
+    FusionVector result;
+    switch (alignment) {
+    case FusionAxesAlignmentPXPYPZ:
+        break;
+    case FusionAxesAlignmentPXNZPY:
+        result.axis.x = +sensor.axis.x;
+        result.axis.y = -sensor.axis.z;
+        result.axis.z = +sensor.axis.y;
+        return result;
+    case FusionAxesAlignmentPXNYNZ:
+        result.axis.x = +sensor.axis.x;
+        result.axis.y = -sensor.axis.y;
+        result.axis.z = -sensor.axis.z;
+        return result;
+    case FusionAxesAlignmentPXPZNY:
+        result.axis.x = +sensor.axis.x;
+        result.axis.y = +sensor.axis.z;
+        result.axis.z = -sensor.axis.y;
+        return result;
+    case FusionAxesAlignmentNXPYNZ:
+        result.axis.x = -sensor.axis.x;
+        result.axis.y = +sensor.axis.y;
+        result.axis.z = -sensor.axis.z;
+        return result;
+    case FusionAxesAlignmentNXPZPY:
+        result.axis.x = -sensor.axis.x;
+        result.axis.y = +sensor.axis.z;
+        result.axis.z = +sensor.axis.y;
+        return result;
+    case FusionAxesAlignmentNXNYPZ:
+        result.axis.x = -sensor.axis.x;
+        result.axis.y = -sensor.axis.y;
+        result.axis.z = +sensor.axis.z;
+        return result;
+    case FusionAxesAlignmentNXNZNY:
+        result.axis.x = -sensor.axis.x;
+        result.axis.y = -sensor.axis.z;
+        result.axis.z = -sensor.axis.y;
+        return result;
+    case FusionAxesAlignmentPYNXPZ:
+        result.axis.x = +sensor.axis.y;
+        result.axis.y = -sensor.axis.x;
+        result.axis.z = +sensor.axis.z;
+        return result;
+    case FusionAxesAlignmentPYNZNX:
+        result.axis.x = +sensor.axis.y;
+        result.axis.y = -sensor.axis.z;
+        result.axis.z = -sensor.axis.x;
+        return result;
+    case FusionAxesAlignmentPYPXNZ:
+        result.axis.x = +sensor.axis.y;
+        result.axis.y = +sensor.axis.x;
+        result.axis.z = -sensor.axis.z;
+        return result;
+    case FusionAxesAlignmentPYPZPX:
+        result.axis.x = +sensor.axis.y;
+        result.axis.y = +sensor.axis.z;
+        result.axis.z = +sensor.axis.x;
+        return result;
+    case FusionAxesAlignmentNYPXPZ:
+        result.axis.x = -sensor.axis.y;
+        result.axis.y = +sensor.axis.x;
+        result.axis.z = +sensor.axis.z;
+        return result;
+    case FusionAxesAlignmentNYNZPX:
+        result.axis.x = -sensor.axis.y;
+        result.axis.y = -sensor.axis.z;
+        result.axis.z = +sensor.axis.x;
+        return result;
+    case FusionAxesAlignmentNYNXNZ:
+        result.axis.x = -sensor.axis.y;
+        result.axis.y = -sensor.axis.x;
+        result.axis.z = -sensor.axis.z;
+        return result;
+    case FusionAxesAlignmentNYPZNX:
+        result.axis.x = -sensor.axis.y;
+        result.axis.y = +sensor.axis.z;
+        result.axis.z = -sensor.axis.x;
+        return result;
+    case FusionAxesAlignmentPZPYNX:
+        result.axis.x = +sensor.axis.z;
+        result.axis.y = +sensor.axis.y;
+        result.axis.z = -sensor.axis.x;
+        return result;
+    case FusionAxesAlignmentPZPXPY:
+        result.axis.x = +sensor.axis.z;
+        result.axis.y = +sensor.axis.x;
+        result.axis.z = +sensor.axis.y;
+        return result;
+    case FusionAxesAlignmentPZNYPX:
+        result.axis.x = +sensor.axis.z;
+        result.axis.y = -sensor.axis.y;
+        result.axis.z = +sensor.axis.x;
+        return result;
+    case FusionAxesAlignmentPZNXNY:
+        result.axis.x = +sensor.axis.z;
+        result.axis.y = -sensor.axis.x;
+        result.axis.z = -sensor.axis.y;
+        return result;
+    case FusionAxesAlignmentNZPYPX:
+        result.axis.x = -sensor.axis.z;
+        result.axis.y = +sensor.axis.y;
+        result.axis.z = +sensor.axis.x;
+        return result;
+    case FusionAxesAlignmentNZNXPY:
+        result.axis.x = -sensor.axis.z;
+        result.axis.y = -sensor.axis.x;
+        result.axis.z = +sensor.axis.y;
+        return result;
+    case FusionAxesAlignmentNZNYNX:
+        result.axis.x = -sensor.axis.z;
+        result.axis.y = -sensor.axis.y;
+        result.axis.z = -sensor.axis.x;
+        return result;
+    case FusionAxesAlignmentNZPXNY:
+        result.axis.x = -sensor.axis.z;
+        result.axis.y = +sensor.axis.x;
+        result.axis.z = -sensor.axis.y;
+        return result;
+    }
+    return sensor; // avoid compiler warning
+}
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionCalibration.h

@@ -0,0 +1,49 @@
+/**
+ * @file FusionCalibration.h
+ * @author Seb Madgwick
+ * @brief Gyroscope, accelerometer, and magnetometer calibration models.
+ */
+
+#ifndef FUSION_CALIBRATION_H
+#define FUSION_CALIBRATION_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionMath.h"
+
+//------------------------------------------------------------------------------
+// Inline functions
+
+/**
+ * @brief Gyroscope and accelerometer calibration model.
+ * @param uncalibrated Uncalibrated measurement.
+ * @param misalignment Misalignment matrix.
+ * @param sensitivity Sensitivity.
+ * @param offset Offset.
+ * @return Calibrated measurement.
+ */
+static inline FusionVector FusionCalibrationInertial(const FusionVector uncalibrated, const FusionMatrix misalignment,
+                                                     const FusionVector sensitivity, const FusionVector offset)
+{
+    return FusionMatrixMultiplyVector(misalignment,
+                                      FusionVectorHadamardProduct(FusionVectorSubtract(uncalibrated, offset), sensitivity));
+}
+
+/**
+ * @brief Magnetometer calibration model.
+ * @param uncalibrated Uncalibrated measurement.
+ * @param softIronMatrix Soft-iron matrix.
+ * @param hardIronOffset Hard-iron offset.
+ * @return Calibrated measurement.
+ */
+static inline FusionVector FusionCalibrationMagnetic(const FusionVector uncalibrated, const FusionMatrix softIronMatrix,
+                                                     const FusionVector hardIronOffset)
+{
+    return FusionMatrixMultiplyVector(softIronMatrix, FusionVectorSubtract(uncalibrated, hardIronOffset));
+}
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionCompass.c

@@ -0,0 +1,51 @@
+/**
+ * @file FusionCompass.c
+ * @author Seb Madgwick
+ * @brief Tilt-compensated compass to calculate the magnetic heading using
+ * accelerometer and magnetometer measurements.
+ */
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionCompass.h"
+#include "FusionAxes.h"
+#include <math.h> // atan2f
+
+//------------------------------------------------------------------------------
+// Functions
+
+/**
+ * @brief Calculates the magnetic heading.
+ * @param convention Earth axes convention.
+ * @param accelerometer Accelerometer measurement in any calibrated units.
+ * @param magnetometer Magnetometer measurement in any calibrated units.
+ * @return Heading angle in degrees.
+ */
+float FusionCompassCalculateHeading(const FusionConvention convention, const FusionVector accelerometer,
+                                    const FusionVector magnetometer)
+{
+    switch (convention) {
+    case FusionConventionNwu: {
+        const FusionVector west = FusionVectorNormalise(FusionVectorCrossProduct(accelerometer, magnetometer));
+        const FusionVector north = FusionVectorNormalise(FusionVectorCrossProduct(west, accelerometer));
+        return FusionRadiansToDegrees(atan2f(west.axis.x, north.axis.x));
+    }
+    case FusionConventionEnu: {
+        const FusionVector west = FusionVectorNormalise(FusionVectorCrossProduct(accelerometer, magnetometer));
+        const FusionVector north = FusionVectorNormalise(FusionVectorCrossProduct(west, accelerometer));
+        const FusionVector east = FusionVectorMultiplyScalar(west, -1.0f);
+        return FusionRadiansToDegrees(atan2f(north.axis.x, east.axis.x));
+    }
+    case FusionConventionNed: {
+        const FusionVector up = FusionVectorMultiplyScalar(accelerometer, -1.0f);
+        const FusionVector west = FusionVectorNormalise(FusionVectorCrossProduct(up, magnetometer));
+        const FusionVector north = FusionVectorNormalise(FusionVectorCrossProduct(west, up));
+        return FusionRadiansToDegrees(atan2f(west.axis.x, north.axis.x));
+    }
+    }
+    return 0; // avoid compiler warning
+}
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionCompass.h

@@ -0,0 +1,26 @@
+/**
+ * @file FusionCompass.h
+ * @author Seb Madgwick
+ * @brief Tilt-compensated compass to calculate the magnetic heading using
+ * accelerometer and magnetometer measurements.
+ */
+
+#ifndef FUSION_COMPASS_H
+#define FUSION_COMPASS_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionConvention.h"
+#include "FusionMath.h"
+
+//------------------------------------------------------------------------------
+// Function declarations
+
+float FusionCompassCalculateHeading(const FusionConvention convention, const FusionVector accelerometer,
+                                    const FusionVector magnetometer);
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionConvention.h

@@ -0,0 +1,25 @@
+/**
+ * @file FusionConvention.h
+ * @author Seb Madgwick
+ * @brief Earth axes convention.
+ */
+
+#ifndef FUSION_CONVENTION_H
+#define FUSION_CONVENTION_H
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Earth axes convention.
+ */
+typedef enum {
+    FusionConventionNwu, /* North-West-Up */
+    FusionConventionEnu, /* East-North-Up */
+    FusionConventionNed, /* North-East-Down */
+} FusionConvention;
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionMath.h

@@ -0,0 +1,503 @@
+/**
+ * @file FusionMath.h
+ * @author Seb Madgwick
+ * @brief Math library.
+ */
+
+#ifndef FUSION_MATH_H
+#define FUSION_MATH_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include <math.h> // M_PI, sqrtf, atan2f, asinf
+#include <stdbool.h>
+#include <stdint.h>
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief 3D vector.
+ */
+typedef union {
+    float array[3];
+
+    struct {
+        float x;
+        float y;
+        float z;
+    } axis;
+} FusionVector;
+
+/**
+ * @brief Quaternion.
+ */
+typedef union {
+    float array[4];
+
+    struct {
+        float w;
+        float x;
+        float y;
+        float z;
+    } element;
+} FusionQuaternion;
+
+/**
+ * @brief 3x3 matrix in row-major order.
+ * See http://en.wikipedia.org/wiki/Row-major_order
+ */
+typedef union {
+    float array[3][3];
+
+    struct {
+        float xx;
+        float xy;
+        float xz;
+        float yx;
+        float yy;
+        float yz;
+        float zx;
+        float zy;
+        float zz;
+    } element;
+} FusionMatrix;
+
+/**
+ * @brief Euler angles.  Roll, pitch, and yaw correspond to rotations around
+ * X, Y, and Z respectively.
+ */
+typedef union {
+    float array[3];
+
+    struct {
+        float roll;
+        float pitch;
+        float yaw;
+    } angle;
+} FusionEuler;
+
+/**
+ * @brief Vector of zeros.
+ */
+#define FUSION_VECTOR_ZERO ((FusionVector){.array = {0.0f, 0.0f, 0.0f}})
+
+/**
+ * @brief Vector of ones.
+ */
+#define FUSION_VECTOR_ONES ((FusionVector){.array = {1.0f, 1.0f, 1.0f}})
+
+/**
+ * @brief Identity quaternion.
+ */
+#define FUSION_IDENTITY_QUATERNION ((FusionQuaternion){.array = {1.0f, 0.0f, 0.0f, 0.0f}})
+
+/**
+ * @brief Identity matrix.
+ */
+#define FUSION_IDENTITY_MATRIX ((FusionMatrix){.array = {{1.0f, 0.0f, 0.0f}, {0.0f, 1.0f, 0.0f}, {0.0f, 0.0f, 1.0f}}})
+
+/**
+ * @brief Euler angles of zero.
+ */
+#define FUSION_EULER_ZERO ((FusionEuler){.array = {0.0f, 0.0f, 0.0f}})
+
+/**
+ * @brief Pi. May not be defined in math.h.
+ */
+#ifndef M_PI
+#define M_PI (3.14159265358979323846)
+#endif
+
+/**
+ * @brief Include this definition or add as a preprocessor definition to use
+ * normal square root operations.
+ */
+// #define FUSION_USE_NORMAL_SQRT
+
+//------------------------------------------------------------------------------
+// Inline functions - Degrees and radians conversion
+
+/**
+ * @brief Converts degrees to radians.
+ * @param degrees Degrees.
+ * @return Radians.
+ */
+static inline float FusionDegreesToRadians(const float degrees)
+{
+    return degrees * ((float)M_PI / 180.0f);
+}
+
+/**
+ * @brief Converts radians to degrees.
+ * @param radians Radians.
+ * @return Degrees.
+ */
+static inline float FusionRadiansToDegrees(const float radians)
+{
+    return radians * (180.0f / (float)M_PI);
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Arc sine
+
+/**
+ * @brief Returns the arc sine of the value.
+ * @param value Value.
+ * @return Arc sine of the value.
+ */
+static inline float FusionAsin(const float value)
+{
+    if (value <= -1.0f) {
+        return (float)M_PI / -2.0f;
+    }
+    if (value >= 1.0f) {
+        return (float)M_PI / 2.0f;
+    }
+    return asinf(value);
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Fast inverse square root
+
+#ifndef FUSION_USE_NORMAL_SQRT
+
+/**
+ * @brief Calculates the reciprocal of the square root.
+ * See https://pizer.wordpress.com/2008/10/12/fast-inverse-square-root/
+ * @param x Operand.
+ * @return Reciprocal of the square root of x.
+ */
+static inline float FusionFastInverseSqrt(const float x)
+{
+
+    typedef union {
+        float f;
+        int32_t i;
+    } Union32;
+
+    Union32 union32 = {.f = x};
+    union32.i = 0x5F1F1412 - (union32.i >> 1);
+    return union32.f * (1.69000231f - 0.714158168f * x * union32.f * union32.f);
+}
+
+#endif
+
+//------------------------------------------------------------------------------
+// Inline functions - Vector operations
+
+/**
+ * @brief Returns true if the vector is zero.
+ * @param vector Vector.
+ * @return True if the vector is zero.
+ */
+static inline bool FusionVectorIsZero(const FusionVector vector)
+{
+    return (vector.axis.x == 0.0f) && (vector.axis.y == 0.0f) && (vector.axis.z == 0.0f);
+}
+
+/**
+ * @brief Returns the sum of two vectors.
+ * @param vectorA Vector A.
+ * @param vectorB Vector B.
+ * @return Sum of two vectors.
+ */
+static inline FusionVector FusionVectorAdd(const FusionVector vectorA, const FusionVector vectorB)
+{
+    const FusionVector result = {.axis = {
+                                     .x = vectorA.axis.x + vectorB.axis.x,
+                                     .y = vectorA.axis.y + vectorB.axis.y,
+                                     .z = vectorA.axis.z + vectorB.axis.z,
+                                 }};
+    return result;
+}
+
+/**
+ * @brief Returns vector B subtracted from vector A.
+ * @param vectorA Vector A.
+ * @param vectorB Vector B.
+ * @return Vector B subtracted from vector A.
+ */
+static inline FusionVector FusionVectorSubtract(const FusionVector vectorA, const FusionVector vectorB)
+{
+    const FusionVector result = {.axis = {
+                                     .x = vectorA.axis.x - vectorB.axis.x,
+                                     .y = vectorA.axis.y - vectorB.axis.y,
+                                     .z = vectorA.axis.z - vectorB.axis.z,
+                                 }};
+    return result;
+}
+
+/**
+ * @brief Returns the sum of the elements.
+ * @param vector Vector.
+ * @return Sum of the elements.
+ */
+static inline float FusionVectorSum(const FusionVector vector)
+{
+    return vector.axis.x + vector.axis.y + vector.axis.z;
+}
+
+/**
+ * @brief Returns the multiplication of a vector by a scalar.
+ * @param vector Vector.
+ * @param scalar Scalar.
+ * @return Multiplication of a vector by a scalar.
+ */
+static inline FusionVector FusionVectorMultiplyScalar(const FusionVector vector, const float scalar)
+{
+    const FusionVector result = {.axis = {
+                                     .x = vector.axis.x * scalar,
+                                     .y = vector.axis.y * scalar,
+                                     .z = vector.axis.z * scalar,
+                                 }};
+    return result;
+}
+
+/**
+ * @brief Calculates the Hadamard product (element-wise multiplication).
+ * @param vectorA Vector A.
+ * @param vectorB Vector B.
+ * @return Hadamard product.
+ */
+static inline FusionVector FusionVectorHadamardProduct(const FusionVector vectorA, const FusionVector vectorB)
+{
+    const FusionVector result = {.axis = {
+                                     .x = vectorA.axis.x * vectorB.axis.x,
+                                     .y = vectorA.axis.y * vectorB.axis.y,
+                                     .z = vectorA.axis.z * vectorB.axis.z,
+                                 }};
+    return result;
+}
+
+/**
+ * @brief Returns the cross product.
+ * @param vectorA Vector A.
+ * @param vectorB Vector B.
+ * @return Cross product.
+ */
+static inline FusionVector FusionVectorCrossProduct(const FusionVector vectorA, const FusionVector vectorB)
+{
+#define A vectorA.axis
+#define B vectorB.axis
+    const FusionVector result = {.axis = {
+                                     .x = A.y * B.z - A.z * B.y,
+                                     .y = A.z * B.x - A.x * B.z,
+                                     .z = A.x * B.y - A.y * B.x,
+                                 }};
+    return result;
+#undef A
+#undef B
+}
+
+/**
+ * @brief Returns the dot product.
+ * @param vectorA Vector A.
+ * @param vectorB Vector B.
+ * @return Dot product.
+ */
+static inline float FusionVectorDotProduct(const FusionVector vectorA, const FusionVector vectorB)
+{
+    return FusionVectorSum(FusionVectorHadamardProduct(vectorA, vectorB));
+}
+
+/**
+ * @brief Returns the vector magnitude squared.
+ * @param vector Vector.
+ * @return Vector magnitude squared.
+ */
+static inline float FusionVectorMagnitudeSquared(const FusionVector vector)
+{
+    return FusionVectorSum(FusionVectorHadamardProduct(vector, vector));
+}
+
+/**
+ * @brief Returns the vector magnitude.
+ * @param vector Vector.
+ * @return Vector magnitude.
+ */
+static inline float FusionVectorMagnitude(const FusionVector vector)
+{
+    return sqrtf(FusionVectorMagnitudeSquared(vector));
+}
+
+/**
+ * @brief Returns the normalised vector.
+ * @param vector Vector.
+ * @return Normalised vector.
+ */
+static inline FusionVector FusionVectorNormalise(const FusionVector vector)
+{
+#ifdef FUSION_USE_NORMAL_SQRT
+    const float magnitudeReciprocal = 1.0f / sqrtf(FusionVectorMagnitudeSquared(vector));
+#else
+    const float magnitudeReciprocal = FusionFastInverseSqrt(FusionVectorMagnitudeSquared(vector));
+#endif
+    return FusionVectorMultiplyScalar(vector, magnitudeReciprocal);
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Quaternion operations
+
+/**
+ * @brief Returns the sum of two quaternions.
+ * @param quaternionA Quaternion A.
+ * @param quaternionB Quaternion B.
+ * @return Sum of two quaternions.
+ */
+static inline FusionQuaternion FusionQuaternionAdd(const FusionQuaternion quaternionA, const FusionQuaternion quaternionB)
+{
+    const FusionQuaternion result = {.element = {
+                                         .w = quaternionA.element.w + quaternionB.element.w,
+                                         .x = quaternionA.element.x + quaternionB.element.x,
+                                         .y = quaternionA.element.y + quaternionB.element.y,
+                                         .z = quaternionA.element.z + quaternionB.element.z,
+                                     }};
+    return result;
+}
+
+/**
+ * @brief Returns the multiplication of two quaternions.
+ * @param quaternionA Quaternion A (to be post-multiplied).
+ * @param quaternionB Quaternion B (to be pre-multiplied).
+ * @return Multiplication of two quaternions.
+ */
+static inline FusionQuaternion FusionQuaternionMultiply(const FusionQuaternion quaternionA, const FusionQuaternion quaternionB)
+{
+#define A quaternionA.element
+#define B quaternionB.element
+    const FusionQuaternion result = {.element = {
+                                         .w = A.w * B.w - A.x * B.x - A.y * B.y - A.z * B.z,
+                                         .x = A.w * B.x + A.x * B.w + A.y * B.z - A.z * B.y,
+                                         .y = A.w * B.y - A.x * B.z + A.y * B.w + A.z * B.x,
+                                         .z = A.w * B.z + A.x * B.y - A.y * B.x + A.z * B.w,
+                                     }};
+    return result;
+#undef A
+#undef B
+}
+
+/**
+ * @brief Returns the multiplication of a quaternion with a vector.  This is a
+ * normal quaternion multiplication where the vector is treated a
+ * quaternion with a W element value of zero.  The quaternion is post-
+ * multiplied by the vector.
+ * @param quaternion Quaternion.
+ * @param vector Vector.
+ * @return Multiplication of a quaternion with a vector.
+ */
+static inline FusionQuaternion FusionQuaternionMultiplyVector(const FusionQuaternion quaternion, const FusionVector vector)
+{
+#define Q quaternion.element
+#define V vector.axis
+    const FusionQuaternion result = {.element = {
+                                         .w = -Q.x * V.x - Q.y * V.y - Q.z * V.z,
+                                         .x = Q.w * V.x + Q.y * V.z - Q.z * V.y,
+                                         .y = Q.w * V.y - Q.x * V.z + Q.z * V.x,
+                                         .z = Q.w * V.z + Q.x * V.y - Q.y * V.x,
+                                     }};
+    return result;
+#undef Q
+#undef V
+}
+
+/**
+ * @brief Returns the normalised quaternion.
+ * @param quaternion Quaternion.
+ * @return Normalised quaternion.
+ */
+static inline FusionQuaternion FusionQuaternionNormalise(const FusionQuaternion quaternion)
+{
+#define Q quaternion.element
+#ifdef FUSION_USE_NORMAL_SQRT
+    const float magnitudeReciprocal = 1.0f / sqrtf(Q.w * Q.w + Q.x * Q.x + Q.y * Q.y + Q.z * Q.z);
+#else
+    const float magnitudeReciprocal = FusionFastInverseSqrt(Q.w * Q.w + Q.x * Q.x + Q.y * Q.y + Q.z * Q.z);
+#endif
+    const FusionQuaternion result = {.element = {
+                                         .w = Q.w * magnitudeReciprocal,
+                                         .x = Q.x * magnitudeReciprocal,
+                                         .y = Q.y * magnitudeReciprocal,
+                                         .z = Q.z * magnitudeReciprocal,
+                                     }};
+    return result;
+#undef Q
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Matrix operations
+
+/**
+ * @brief Returns the multiplication of a matrix with a vector.
+ * @param matrix Matrix.
+ * @param vector Vector.
+ * @return Multiplication of a matrix with a vector.
+ */
+static inline FusionVector FusionMatrixMultiplyVector(const FusionMatrix matrix, const FusionVector vector)
+{
+#define R matrix.element
+    const FusionVector result = {.axis = {
+                                     .x = R.xx * vector.axis.x + R.xy * vector.axis.y + R.xz * vector.axis.z,
+                                     .y = R.yx * vector.axis.x + R.yy * vector.axis.y + R.yz * vector.axis.z,
+                                     .z = R.zx * vector.axis.x + R.zy * vector.axis.y + R.zz * vector.axis.z,
+                                 }};
+    return result;
+#undef R
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Conversion operations
+
+/**
+ * @brief Converts a quaternion to a rotation matrix.
+ * @param quaternion Quaternion.
+ * @return Rotation matrix.
+ */
+static inline FusionMatrix FusionQuaternionToMatrix(const FusionQuaternion quaternion)
+{
+#define Q quaternion.element
+    const float qwqw = Q.w * Q.w; // calculate common terms to avoid repeated operations
+    const float qwqx = Q.w * Q.x;
+    const float qwqy = Q.w * Q.y;
+    const float qwqz = Q.w * Q.z;
+    const float qxqy = Q.x * Q.y;
+    const float qxqz = Q.x * Q.z;
+    const float qyqz = Q.y * Q.z;
+    const FusionMatrix matrix = {.element = {
+                                     .xx = 2.0f * (qwqw - 0.5f + Q.x * Q.x),
+                                     .xy = 2.0f * (qxqy - qwqz),
+                                     .xz = 2.0f * (qxqz + qwqy),
+                                     .yx = 2.0f * (qxqy + qwqz),
+                                     .yy = 2.0f * (qwqw - 0.5f + Q.y * Q.y),
+                                     .yz = 2.0f * (qyqz - qwqx),
+                                     .zx = 2.0f * (qxqz - qwqy),
+                                     .zy = 2.0f * (qyqz + qwqx),
+                                     .zz = 2.0f * (qwqw - 0.5f + Q.z * Q.z),
+                                 }};
+    return matrix;
+#undef Q
+}
+
+/**
+ * @brief Converts a quaternion to ZYX Euler angles in degrees.
+ * @param quaternion Quaternion.
+ * @return Euler angles in degrees.
+ */
+static inline FusionEuler FusionQuaternionToEuler(const FusionQuaternion quaternion)
+{
+#define Q quaternion.element
+    const float halfMinusQySquared = 0.5f - Q.y * Q.y; // calculate common terms to avoid repeated operations
+    const FusionEuler euler = {.angle = {
+                                   .roll = FusionRadiansToDegrees(atan2f(Q.w * Q.x + Q.y * Q.z, halfMinusQySquared - Q.x * Q.x)),
+                                   .pitch = FusionRadiansToDegrees(FusionAsin(2.0f * (Q.w * Q.y - Q.z * Q.x))),
+                                   .yaw = FusionRadiansToDegrees(atan2f(Q.w * Q.z + Q.x * Q.y, halfMinusQySquared - Q.z * Q.z)),
+                               }};
+    return euler;
+#undef Q
+}
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionOffset.c

@@ -0,0 +1,80 @@
+/**
+ * @file FusionOffset.c
+ * @author Seb Madgwick
+ * @brief Gyroscope offset correction algorithm for run-time calibration of the
+ * gyroscope offset.
+ */
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionOffset.h"
+#include <math.h> // fabsf
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Cutoff frequency in Hz.
+ */
+#define CUTOFF_FREQUENCY (0.02f)
+
+/**
+ * @brief Timeout in seconds.
+ */
+#define TIMEOUT (5)
+
+/**
+ * @brief Threshold in degrees per second.
+ */
+#define THRESHOLD (3.0f)
+
+//------------------------------------------------------------------------------
+// Functions
+
+/**
+ * @brief Initialises the gyroscope offset algorithm.
+ * @param offset Gyroscope offset algorithm structure.
+ * @param sampleRate Sample rate in Hz.
+ */
+void FusionOffsetInitialise(FusionOffset *const offset, const unsigned int sampleRate)
+{
+    offset->filterCoefficient = 2.0f * (float)M_PI * CUTOFF_FREQUENCY * (1.0f / (float)sampleRate);
+    offset->timeout = TIMEOUT * sampleRate;
+    offset->timer = 0;
+    offset->gyroscopeOffset = FUSION_VECTOR_ZERO;
+}
+
+/**
+ * @brief Updates the gyroscope offset algorithm and returns the corrected
+ * gyroscope measurement.
+ * @param offset Gyroscope offset algorithm structure.
+ * @param gyroscope Gyroscope measurement in degrees per second.
+ * @return Corrected gyroscope measurement in degrees per second.
+ */
+FusionVector FusionOffsetUpdate(FusionOffset *const offset, FusionVector gyroscope)
+{
+
+    // Subtract offset from gyroscope measurement
+    gyroscope = FusionVectorSubtract(gyroscope, offset->gyroscopeOffset);
+
+    // Reset timer if gyroscope not stationary
+    if ((fabsf(gyroscope.axis.x) > THRESHOLD) || (fabsf(gyroscope.axis.y) > THRESHOLD) || (fabsf(gyroscope.axis.z) > THRESHOLD)) {
+        offset->timer = 0;
+        return gyroscope;
+    }
+
+    // Increment timer while gyroscope stationary
+    if (offset->timer < offset->timeout) {
+        offset->timer++;
+        return gyroscope;
+    }
+
+    // Adjust offset if timer has elapsed
+    offset->gyroscopeOffset =
+        FusionVectorAdd(offset->gyroscopeOffset, FusionVectorMultiplyScalar(gyroscope, offset->filterCoefficient));
+    return gyroscope;
+}
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionOffset.h

@@ -0,0 +1,40 @@
+/**
+ * @file FusionOffset.h
+ * @author Seb Madgwick
+ * @brief Gyroscope offset correction algorithm for run-time calibration of the
+ * gyroscope offset.
+ */
+
+#ifndef FUSION_OFFSET_H
+#define FUSION_OFFSET_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionMath.h"
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Gyroscope offset algorithm structure.  Structure members are used
+ * internally and must not be accessed by the application.
+ */
+typedef struct {
+    float filterCoefficient;
+    unsigned int timeout;
+    unsigned int timer;
+    FusionVector gyroscopeOffset;
+} FusionOffset;
+
+//------------------------------------------------------------------------------
+// Function declarations
+
+void FusionOffsetInitialise(FusionOffset *const offset, const unsigned int sampleRate);
+
+FusionVector FusionOffsetUpdate(FusionOffset *const offset, FusionVector gyroscope);
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

src/GPSStatus.h

@@ -124,7 +124,7 @@ class GPSStatus : public Status
         if (isDirty) {
             if (hasLock) {
                 // In debug logs, identify position by @timestamp:stage (stage 3 = notify)
-                LOG_DEBUG("New GPS pos@%x:3 lat=%f, lon=%f, alt=%d, pdop=%.2f, track=%.2f, speed=%.2f, sats=%d\n", p.timestamp,
+                LOG_DEBUG("New GPS pos@%x:3 lat=%f lon=%f alt=%d pdop=%.2f track=%.2f speed=%.2f sats=%d\n", p.timestamp,
                           p.latitude_i * 1e-7, p.longitude_i * 1e-7, p.altitude, p.PDOP * 1e-2, p.ground_track * 1e-5,
                           p.ground_speed * 1e-2, p.sats_in_view);
             } else {

src/Power.cpp

@@ -24,11 +24,13 @@
 #include "nrfx_power.h"
 #endif
 
-#ifdef DEBUG_HEAP_MQTT
+#if defined(DEBUG_HEAP_MQTT) && !MESHTASTIC_EXCLUDE_MQTT
 #include "mqtt/MQTT.h"
 #include "target_specific.h"
+#if !MESTASTIC_EXCLUDE_WIFI
 #include <WiFi.h>
 #endif
+#endif
 
 #ifndef DELAY_FOREVER
 #define DELAY_FOREVER portMAX_DELAY
@@ -48,7 +50,7 @@ RTC_NOINIT_ATTR uint64_t RTC_reg_b;
 
 esp_adc_cal_characteristics_t *adc_characs = (esp_adc_cal_characteristics_t *)calloc(1, sizeof(esp_adc_cal_characteristics_t));
 #ifndef ADC_ATTENUATION
-static const adc_atten_t atten = ADC_ATTEN_DB_11;
+static const adc_atten_t atten = ADC_ATTEN_DB_12;
 #else
 static const adc_atten_t atten = ADC_ATTENUATION;
 #endif
@@ -67,12 +69,16 @@ static const uint8_t ext_chrg_detect_value = EXT_CHRG_DETECT_VALUE;
 #endif
 #endif
 
-#if HAS_TELEMETRY && !defined(ARCH_PORTDUINO)
+#if HAS_TELEMETRY && !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR && !defined(ARCH_PORTDUINO)
 INA260Sensor ina260Sensor;
 INA219Sensor ina219Sensor;
 INA3221Sensor ina3221Sensor;
 #endif
 
+#if HAS_RAKPROT && !defined(ARCH_PORTDUINO)
+RAK9154Sensor rak9154Sensor;
+#endif
+
 #ifdef HAS_PMU
 #include "XPowersAXP192.tpp"
 #include "XPowersAXP2101.tpp"
@@ -143,6 +149,12 @@ class AnalogBatteryLevel : public HasBatteryLevel
      */
     virtual int getBatteryPercent() override
     {
+#if defined(HAS_RAKPROT) && !defined(ARCH_PORTDUINO) && !defined(HAS_PMU)
+        if (hasRAK()) {
+            return rak9154Sensor.getBusBatteryPercent();
+        }
+#endif
+
         float v = getBattVoltage();
 
         if (v < noBatVolt)
@@ -182,7 +194,13 @@ class AnalogBatteryLevel : public HasBatteryLevel
     virtual uint16_t getBattVoltage() override
     {
 
-#if defined(HAS_TELEMETRY) && !defined(ARCH_PORTDUINO) && !defined(HAS_PMU)
+#if defined(HAS_RAKPROT) && !defined(ARCH_PORTDUINO) && !defined(HAS_PMU)
+        if (hasRAK()) {
+            return getRAKVoltage();
+        }
+#endif
+
+#if HAS_TELEMETRY && !defined(ARCH_PORTDUINO) && !defined(HAS_PMU) && !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR
         if (hasINA()) {
             LOG_DEBUG("Using INA on I2C addr 0x%x for device battery voltage\n", config.power.device_battery_ina_address);
             return getINAVoltage();
@@ -221,7 +239,17 @@ class AnalogBatteryLevel : public HasBatteryLevel
             raw = raw / BATTERY_SENSE_SAMPLES;
             scaled = operativeAdcMultiplier * ((1000 * AREF_VOLTAGE) / pow(2, BATTERY_SENSE_RESOLUTION_BITS)) * raw;
 #endif
-            last_read_value += (scaled - last_read_value) * 0.5; // Virtual LPF
+
+            if (!initial_read_done) {
+                // Flush the smoothing filter with an ADC reading, if the reading is plausibly correct
+                if (scaled > last_read_value)
+                    last_read_value = scaled;
+                initial_read_done = true;
+            } else {
+                // Already initialized - filter this reading
+                last_read_value += (scaled - last_read_value) * 0.5; // Virtual LPF
+            }
+
             // LOG_DEBUG("battery gpio %d raw val=%u scaled=%u filtered=%u\n", BATTERY_PIN, raw, (uint32_t)(scaled), (uint32_t)
             // (last_read_value));
         }
@@ -323,13 +351,20 @@ class AnalogBatteryLevel : public HasBatteryLevel
     virtual bool isVbusIn() override
     {
 #ifdef EXT_PWR_DETECT
+#ifdef HELTEC_CAPSULE_SENSOR_V3
+        // if external powered that pin will be pulled down
+        if (digitalRead(EXT_PWR_DETECT) == LOW) {
+            return true;
+        }
+        // if it's not LOW - check the battery
+#else
         // if external powered that pin will be pulled up
         if (digitalRead(EXT_PWR_DETECT) == HIGH) {
             return true;
         }
         // if it's not HIGH - check the battery
 #endif
-
+#endif
         return getBattVoltage() > chargingVolt;
     }
 
@@ -337,6 +372,11 @@ class AnalogBatteryLevel : public HasBatteryLevel
     /// we can't be smart enough to say 'full'?
     virtual bool isCharging() override
     {
+#if defined(HAS_RAKPROT) && !defined(ARCH_PORTDUINO) && !defined(HAS_PMU)
+        if (hasRAK()) {
+            return (rak9154Sensor.isCharging()) ? OptTrue : OptFalse;
+        }
+#endif
 #ifdef EXT_CHRG_DETECT
         return digitalRead(EXT_CHRG_DETECT) == ext_chrg_detect_value;
 #else
@@ -355,10 +395,24 @@ class AnalogBatteryLevel : public HasBatteryLevel
     const float noBatVolt = (OCV[NUM_OCV_POINTS - 1] - 500) * NUM_CELLS;
     // Start value from minimum voltage for the filter to not start from 0
     // that could trigger some events.
+    // This value is over-written by the first ADC reading, it the voltage seems reasonable.
+    bool initial_read_done = false;
     float last_read_value = (OCV[NUM_OCV_POINTS - 1] * NUM_CELLS);
     uint32_t last_read_time_ms = 0;
 
-#if defined(HAS_TELEMETRY) && !defined(ARCH_PORTDUINO)
+#if defined(HAS_RAKPROT)
+
+    uint16_t getRAKVoltage() { return rak9154Sensor.getBusVoltageMv(); }
+
+    bool hasRAK()
+    {
+        if (!rak9154Sensor.isInitialized())
+            return rak9154Sensor.runOnce() > 0;
+        return rak9154Sensor.isRunning();
+    }
+#endif
+
+#if HAS_TELEMETRY && !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR && !defined(ARCH_PORTDUINO)
     uint16_t getINAVoltage()
     {
         if (nodeTelemetrySensorsMap[meshtastic_TelemetrySensorType_INA219].first == config.power.device_battery_ina_address) {
@@ -407,8 +461,12 @@ Power::Power() : OSThread("Power")
 bool Power::analogInit()
 {
 #ifdef EXT_PWR_DETECT
+#ifdef HELTEC_CAPSULE_SENSOR_V3
+    pinMode(EXT_PWR_DETECT, INPUT_PULLUP);
+#else
     pinMode(EXT_PWR_DETECT, INPUT);
 #endif
+#endif
 #ifdef EXT_CHRG_DETECT
     pinMode(EXT_CHRG_DETECT, ext_chrg_detect_mode);
 #endif
@@ -498,12 +556,7 @@ void Power::shutdown()
 {
     LOG_INFO("Shutting down\n");
 
-#ifdef HAS_PMU
-    if (pmu_found == true) {
-        PMU->setChargingLedMode(XPOWERS_CHG_LED_OFF);
-        PMU->shutdown();
-    }
-#elif defined(ARCH_NRF52) || defined(ARCH_ESP32)
+#if defined(ARCH_NRF52) || defined(ARCH_ESP32)
 #ifdef PIN_LED1
     ledOff(PIN_LED1);
 #endif
@@ -546,14 +599,24 @@ void Power::readPowerStatus()
 #ifdef NRF_APM // Section of code detects USB power on the RAK4631 and updates the power states.  Takes 20 seconds or so to detect
                // changes.
 
+        static nrfx_power_usb_state_t prev_nrf_usb_state = (nrfx_power_usb_state_t)-1; // -1 so that state detected at boot
         nrfx_power_usb_state_t nrf_usb_state = nrfx_power_usbstatus_get();
 
-        if (nrf_usb_state == NRFX_POWER_USB_STATE_DISCONNECTED) {
-            powerFSM.trigger(EVENT_POWER_DISCONNECTED);
-            NRF_USB = OptFalse;
-        } else {
-            powerFSM.trigger(EVENT_POWER_CONNECTED);
-            NRF_USB = OptTrue;
+        // If state changed
+        if (nrf_usb_state != prev_nrf_usb_state) {
+            // If changed to DISCONNECTED
+            if (nrf_usb_state == NRFX_POWER_USB_STATE_DISCONNECTED) {
+                powerFSM.trigger(EVENT_POWER_DISCONNECTED);
+                NRF_USB = OptFalse;
+            }
+            // If changed to CONNECTED / READY
+            else {
+                powerFSM.trigger(EVENT_POWER_CONNECTED);
+                NRF_USB = OptTrue;
+            }
+
+            // Cache the current state
+            prev_nrf_usb_state = nrf_usb_state;
         }
 #endif
         // Notify any status instances that are observing us

src/PowerFSM.cpp

@@ -17,6 +17,10 @@
 #include "sleep.h"
 #include "target_specific.h"
 
+#ifndef SLEEP_TIME
+#define SLEEP_TIME 30
+#endif
+
 /// Should we behave as if we have AC power now?
 static bool isPowered()
 {
@@ -81,7 +85,7 @@ static void lsIdle()
         // If some other service would stall sleep, don't let sleep happen yet
         if (doPreflightSleep()) {
             // Briefly come out of sleep long enough to blink the led once every few seconds
-            uint32_t sleepTime = 30;
+            uint32_t sleepTime = SLEEP_TIME;
 
             setLed(false); // Never leave led on while in light sleep
             esp_sleep_source_t wakeCause2 = doLightSleep(sleepTime * 1000LL);
@@ -103,9 +107,7 @@ static void lsIdle()
                 break;
 
             default:
-                // We woke for some other reason (button press, device interrupt)
-                // uint64_t status = esp_sleep_get_ext1_wakeup_status();
-                LOG_INFO("wakeCause2 %d\n", wakeCause2);
+                // We woke for some other reason (button press, device IRQ interrupt)
 
 #ifdef BUTTON_PIN
                 bool pressed = !digitalRead(config.device.button_gpio ? config.device.button_gpio : BUTTON_PIN);
@@ -183,10 +185,12 @@ static void powerEnter()
         screen->setOn(true);
         setBluetoothEnable(true);
         // within enter() the function getState() returns the state we came from
-        if (strcmp(powerFSM.getState()->name, "BOOT") != 0 && strcmp(powerFSM.getState()->name, "POWER") != 0 &&
+
+        // Mothballed: print change of power-state to device screen
+        /* if (strcmp(powerFSM.getState()->name, "BOOT") != 0 && strcmp(powerFSM.getState()->name, "POWER") != 0 &&
             strcmp(powerFSM.getState()->name, "DARK") != 0) {
             screen->print("Powered...\n");
-        }
+        }*/
     }
 }
 
@@ -203,8 +207,10 @@ static void powerExit()
 {
     screen->setOn(true);
     setBluetoothEnable(true);
-    if (!isPowered())
-        screen->print("Unpowered...\n");
+
+    // Mothballed: print change of power-state to device screen
+    /*if (!isPowered())
+        screen->print("Unpowered...\n");*/
 }
 
 static void onEnter()
@@ -246,7 +252,6 @@ Fsm powerFSM(&stateBOOT);
 void PowerFSM_setup()
 {
     bool isRouter = (config.device.role == meshtastic_Config_DeviceConfig_Role_ROUTER ? 1 : 0);
-    bool isInfrastructureRole = isRouter || config.device.role == meshtastic_Config_DeviceConfig_Role_REPEATER;
     bool isTrackerOrSensor = config.device.role == meshtastic_Config_DeviceConfig_Role_TRACKER ||
                              config.device.role == meshtastic_Config_DeviceConfig_Role_TAK_TRACKER ||
                              config.device.role == meshtastic_Config_DeviceConfig_Role_SENSOR;
@@ -343,15 +348,18 @@ void PowerFSM_setup()
 
     powerFSM.add_transition(&stateDARK, &stateDARK, EVENT_CONTACT_FROM_PHONE, NULL, "Contact from phone");
 
-    powerFSM.add_timed_transition(&stateON, &stateDARK,
-                                  Default::getConfiguredOrDefaultMs(config.display.screen_on_secs, default_screen_on_secs), NULL,
-                                  "Screen-on timeout");
-    powerFSM.add_timed_transition(&statePOWER, &stateDARK,
-                                  Default::getConfiguredOrDefaultMs(config.display.screen_on_secs, default_screen_on_secs), NULL,
-                                  "Screen-on timeout");
-    powerFSM.add_timed_transition(&stateDARK, &stateDARK,
-                                  Default::getConfiguredOrDefaultMs(config.display.screen_on_secs, default_screen_on_secs), NULL,
-                                  "Screen-on timeout");
+#ifdef USE_EINK
+    // Allow E-Ink devices to suppress the screensaver, if screen timeout set to 0
+    if (config.display.screen_on_secs > 0)
+#endif
+    {
+        powerFSM.add_timed_transition(&stateON, &stateDARK,
+                                      Default::getConfiguredOrDefaultMs(config.display.screen_on_secs, default_screen_on_secs),
+                                      NULL, "Screen-on timeout");
+        powerFSM.add_timed_transition(&statePOWER, &stateDARK,
+                                      Default::getConfiguredOrDefaultMs(config.display.screen_on_secs, default_screen_on_secs),
+                                      NULL, "Screen-on timeout");
+    }
 
 // We never enter light-sleep or NB states on NRF52 (because the CPU uses so little power normally)
 #ifdef ARCH_ESP32
@@ -362,11 +370,24 @@ void PowerFSM_setup()
         powerFSM.add_timed_transition(&stateNB, &stateLS,
                                       Default::getConfiguredOrDefaultMs(config.power.min_wake_secs, default_min_wake_secs), NULL,
                                       "Min wake timeout");
+
+        // If ESP32 and using power-saving, timer mover from DARK to light-sleep
+        // Also serves purpose of the old DARK to DARK transition(?) See https://github.com/meshtastic/firmware/issues/3517
         powerFSM.add_timed_transition(
             &stateDARK, &stateLS,
             Default::getConfiguredOrDefaultMs(config.power.wait_bluetooth_secs, default_wait_bluetooth_secs), NULL,
             "Bluetooth timeout");
+    } else {
+        // If ESP32, but not using power-saving, check periodically if config has drifted out of stateDark
+        powerFSM.add_timed_transition(&stateDARK, &stateDARK,
+                                      Default::getConfiguredOrDefaultMs(config.display.screen_on_secs, default_screen_on_secs),
+                                      NULL, "Screen-on timeout");
     }
+#else
+    // If not ESP32, light-sleep not used. Check periodically if config has drifted out of stateDark
+    powerFSM.add_timed_transition(&stateDARK, &stateDARK,
+                                  Default::getConfiguredOrDefaultMs(config.display.screen_on_secs, default_screen_on_secs), NULL,
+                                  "Screen-on timeout");
 #endif
 
     powerFSM.run_machine(); // run one iteration of the state machine, so we run our on enter tasks for the initial DARK state

src/PowerStatus.h

@@ -59,9 +59,18 @@ class PowerStatus : public Status
     int getBatteryVoltageMv() const { return batteryVoltageMv; }
 
     /**
-     * Note: 0% battery means 'unknown/this board doesn't have a battery installed'
+     * Note: for boards with battery pin or PMU, 0% battery means 'unknown/this board doesn't have a battery installed'
      */
+#if defined(HAS_PMU) || defined(BATTERY_PIN)
     uint8_t getBatteryChargePercent() const { return getHasBattery() ? batteryChargePercent : 0; }
+#endif
+
+    /**
+     * Note: for boards without battery pin and PMU, 101% battery means 'the board is using external power'
+     */
+#if !defined(HAS_PMU) && !defined(BATTERY_PIN)
+    uint8_t getBatteryChargePercent() const { return getHasBattery() ? batteryChargePercent : 101; }
+#endif
 
     bool matches(const PowerStatus *newStatus) const
     {

src/RedirectablePrint.cpp

@@ -3,6 +3,7 @@
 #include "RTC.h"
 #include "concurrency/OSThread.h"
 #include "configuration.h"
+#include "main.h"
 #include <assert.h>
 #include <cstring>
 #include <memory>
@@ -99,7 +100,7 @@ size_t RedirectablePrint::log(const char *logLevel, const char *format, ...)
 
         // If we are the first message on a report, include the header
         if (!isContinuationMessage) {
-            uint32_t rtc_sec = getValidTime(RTCQuality::RTCQualityDevice);
+            uint32_t rtc_sec = getValidTime(RTCQuality::RTCQualityDevice, true); // display local time on logfile
             if (rtc_sec > 0) {
                 long hms = rtc_sec % SEC_PER_DAY;
                 // hms += tz.tz_dsttime * SEC_PER_HOUR;
@@ -166,9 +167,43 @@ size_t RedirectablePrint::log(const char *logLevel, const char *format, ...)
         }
 #endif
 
-        va_end(arg);
-
         isContinuationMessage = !hasNewline;
+
+        if (config.bluetooth.device_logging_enabled && !pauseBluetoothLogging) {
+            bool isBleConnected = false;
+#ifdef ARCH_ESP32
+            isBleConnected = nimbleBluetooth && nimbleBluetooth->isActive() && nimbleBluetooth->isConnected();
+#elif defined(ARCH_NRF52)
+            isBleConnected = nrf52Bluetooth != nullptr && nrf52Bluetooth->isConnected();
+#endif
+            if (isBleConnected) {
+                char *message;
+                size_t initialLen;
+                size_t len;
+                initialLen = strlen(format);
+                message = new char[initialLen + 1];
+                len = vsnprintf(message, initialLen + 1, format, arg);
+                if (len > initialLen) {
+                    delete[] message;
+                    message = new char[len + 1];
+                    vsnprintf(message, len + 1, format, arg);
+                }
+                auto thread = concurrency::OSThread::currentThread;
+#ifdef ARCH_ESP32
+                if (thread)
+                    nimbleBluetooth->sendLog(mt_sprintf("%s | [%s] %s", logLevel, thread->ThreadName.c_str(), message).c_str());
+                else
+                    nimbleBluetooth->sendLog(mt_sprintf("%s | %s", logLevel, message).c_str());
+#elif defined(ARCH_NRF52)
+                if (thread)
+                    nrf52Bluetooth->sendLog(mt_sprintf("%s | [%s] %s", logLevel, thread->ThreadName.c_str(), message).c_str());
+                else
+                    nrf52Bluetooth->sendLog(mt_sprintf("%s | %s", logLevel, message).c_str());
+#endif
+                delete[] message;
+            }
+        }
+        va_end(arg);
 #ifdef HAS_FREE_RTOS
         xSemaphoreGive(inDebugPrint);
 #else
@@ -182,11 +217,11 @@ size_t RedirectablePrint::log(const char *logLevel, const char *format, ...)
 void RedirectablePrint::hexDump(const char *logLevel, unsigned char *buf, uint16_t len)
 {
     const char alphabet[17] = "0123456789abcdef";
-    log(logLevel, "   +------------------------------------------------+ +----------------+\n");
-    log(logLevel, "   |.0 .1 .2 .3 .4 .5 .6 .7 .8 .9 .a .b .c .d .e .f | |      ASCII     |\n");
+    log(logLevel, "    +------------------------------------------------+ +----------------+\n");
+    log(logLevel, "    |.0 .1 .2 .3 .4 .5 .6 .7 .8 .9 .a .b .c .d .e .f | |      ASCII     |\n");
     for (uint16_t i = 0; i < len; i += 16) {
         if (i % 128 == 0)
-            log(logLevel, "   +------------------------------------------------+ +----------------+\n");
+            log(logLevel, "    +------------------------------------------------+ +----------------+\n");
         char s[] = "|                                                | |                |\n";
         uint8_t ix = 1, iy = 52;
         for (uint8_t j = 0; j < 16; j++) {
@@ -208,7 +243,7 @@ void RedirectablePrint::hexDump(const char *logLevel, unsigned char *buf, uint16
         log(logLevel, ".");
         log(logLevel, s);
     }
-    log(logLevel, "   +------------------------------------------------+ +----------------+\n");
+    log(logLevel, "    +------------------------------------------------+ +----------------+\n");
 }
 
 std::string RedirectablePrint::mt_sprintf(const std::string fmt_str, ...)

src/SerialConsole.cpp

@@ -2,6 +2,7 @@
 #include "NodeDB.h"
 #include "PowerFSM.h"
 #include "configuration.h"
+#include "time.h"
 
 #ifdef RP2040_SLOW_CLOCK
 #define Port Serial2
@@ -50,7 +51,9 @@ SerialConsole::SerialConsole() : StreamAPI(&Port), RedirectablePrint(&Port), con
         }
     }
 #endif
+#if !ARCH_PORTDUINO
     emitRebooted();
+#endif
 }
 
 int32_t SerialConsole::runOnce()

src/configuration.h

@@ -74,6 +74,19 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #define RTC_DATA_ATTR
 #endif
 
+// -----------------------------------------------------------------------------
+// Regulatory overrides
+// -----------------------------------------------------------------------------
+
+// Override user saved region, for producing region-locked builds
+// #define REGULATORY_LORA_REGIONCODE meshtastic_Config_LoRaConfig_RegionCode_SG_923
+
+// Total system gain in dBm to subtract from Tx power to remain within regulatory ERP limit for non-licensed operators
+// This value should be set in variant.h and is PA gain + antenna gain (if system ships with an antenna)
+#ifndef REGULATORY_GAIN_LORA
+#define REGULATORY_GAIN_LORA 0
+#endif
+
 // -----------------------------------------------------------------------------
 // Feature toggles
 // -----------------------------------------------------------------------------
@@ -119,8 +132,17 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #define SHTC3_ADDR 0x70
 #define LPS22HB_ADDR 0x5C
 #define LPS22HB_ADDR_ALT 0x5D
-#define SHT31_ADDR 0x44
+#define SHT31_4x_ADDR 0x44
 #define PMSA0031_ADDR 0x12
+#define AHT10_ADDR 0x38
+#define RCWL9620_ADDR 0x57
+#define VEML7700_ADDR 0x10
+#define TSL25911_ADDR 0x29
+#define OPT3001_ADDR 0x45
+#define OPT3001_ADDR_ALT 0x44
+#define MLX90632_ADDR 0x3A
+#define DFROBOT_LARK_ADDR 0x42
+#define NAU7802_ADDR 0x2A
 
 // -----------------------------------------------------------------------------
 // ACCELEROMETER
@@ -128,6 +150,8 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #define MPU6050_ADDR 0x68
 #define LIS3DH_ADR 0x18
 #define BMA423_ADDR 0x19
+#define LSM6DS3_ADDR 0x6A
+#define BMX160_ADDR 0x69
 
 // -----------------------------------------------------------------------------
 // LED
@@ -137,9 +161,13 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 // -----------------------------------------------------------------------------
 // Security
 // -----------------------------------------------------------------------------
-
 #define ATECC608B_ADDR 0x35
 
+// -----------------------------------------------------------------------------
+// IO Expander
+// -----------------------------------------------------------------------------
+#define TCA9555_ADDR 0x26
+
 // -----------------------------------------------------------------------------
 // GPS
 // -----------------------------------------------------------------------------
@@ -161,19 +189,16 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
    also enable HAS_ option not specifically disabled by variant.h */
 #include "architecture.h"
 
+#ifndef DEFAULT_REBOOT_SECONDS
+#define DEFAULT_REBOOT_SECONDS 7
+#endif
+
+#ifndef DEFAULT_SHUTDOWN_SECONDS
+#define DEFAULT_SHUTDOWN_SECONDS 2
+#endif
+
 /* Step #3: mop up with disabled values for HAS_ options not handled by the above two */
 
-// -----------------------------------------------------------------------------
-// GPS
-// -----------------------------------------------------------------------------
-
-#ifndef GPS_BAUDRATE
-#define GPS_BAUDRATE 9600
-#endif
-#ifndef GPS_THREAD_INTERVAL
-#define GPS_THREAD_INTERVAL 100
-#endif
-
 #ifndef HAS_WIFI
 #define HAS_WIFI 0
 #endif
@@ -224,7 +249,21 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #error HW_VENDOR must be defined
 #endif
 
-// global switch to turn off all optional modules for a minimzed build
+// -----------------------------------------------------------------------------
+// Global switches to turn off features for a minimized build
+// -----------------------------------------------------------------------------
+
+// #define MESHTASTIC_MINIMIZE_BUILD 1
+#ifdef MESHTASTIC_MINIMIZE_BUILD
+#define MESHTASTIC_EXCLUDE_MODULES 1
+#define MESHTASTIC_EXCLUDE_WIFI 1
+#define MESHTASTIC_EXCLUDE_BLUETOOTH 1
+#define MESHTASTIC_EXCLUDE_GPS 1
+#define MESHTASTIC_EXCLUDE_SCREEN 1
+#define MESHTASTIC_EXCLUDE_MQTT 1
+#endif
+
+// Turn off all optional modules
 #ifdef MESHTASTIC_EXCLUDE_MODULES
 #define MESHTASTIC_EXCLUDE_AUDIO 1
 #define MESHTASTIC_EXCLUDE_DETECTIONSENSOR 1
@@ -243,3 +282,30 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #define MESHTASTIC_EXCLUDE_INPUTBROKER 1
 #define MESHTASTIC_EXCLUDE_SERIAL 1
 #endif
+
+// // Turn off wifi even if HW supports wifi (webserver relies on wifi and is also disabled)
+#ifdef MESHTASTIC_EXCLUDE_WIFI
+#define MESHTASTIC_EXCLUDE_WEBSERVER 1
+#undef HAS_WIFI
+#define HAS_WIFI 0
+#endif
+
+// // Turn off Bluetooth
+#ifdef MESHTASTIC_EXCLUDE_BLUETOOTH
+#undef HAS_BLUETOOTH
+#define HAS_BLUETOOTH 0
+#endif
+
+// // Turn off GPS
+#ifdef MESHTASTIC_EXCLUDE_GPS
+#undef HAS_GPS
+#define HAS_GPS 0
+#undef MESHTASTIC_EXCLUDE_RANGETEST
+#define MESHTASTIC_EXCLUDE_RANGETEST 1
+#endif
+
+// Turn off Screen
+#ifdef MESHTASTIC_EXCLUDE_SCREEN
+#undef HAS_SCREEN
+#define HAS_SCREEN 0
+#endif

src/detect/LoRaRadioType.h

@@ -0,0 +1,16 @@
+#pragma once
+
+enum LoRaRadioType {
+    NO_RADIO,
+    STM32WLx_RADIO,
+    SIM_RADIO,
+    RF95_RADIO,
+    SX1262_RADIO,
+    SX1268_RADIO,
+    LLCC68_RADIO,
+    SX1280_RADIO,
+    LR1110_RADIO,
+    LR1120_RADIO
+};
+
+extern LoRaRadioType radioType;

src/detect/ScanI2C.cpp

@@ -6,6 +6,7 @@ const ScanI2C::FoundDevice ScanI2C::DEVICE_NONE = ScanI2C::FoundDevice(ScanI2C::
 ScanI2C::ScanI2C() = default;
 
 void ScanI2C::scanPort(ScanI2C::I2CPort port) {}
+void ScanI2C::scanPort(ScanI2C::I2CPort port, uint8_t *address, uint8_t asize) {}
 
 void ScanI2C::setSuppressScreen()
 {
@@ -36,8 +37,8 @@ ScanI2C::FoundDevice ScanI2C::firstKeyboard() const
 
 ScanI2C::FoundDevice ScanI2C::firstAccelerometer() const
 {
-    ScanI2C::DeviceType types[] = {MPU6050, LIS3DH, BMA423};
-    return firstOfOrNONE(3, types);
+    ScanI2C::DeviceType types[] = {MPU6050, LIS3DH, BMA423, LSM6DS3, BMX160};
+    return firstOfOrNONE(5, types);
 }
 
 ScanI2C::FoundDevice ScanI2C::find(ScanI2C::DeviceType) const

src/detect/ScanI2C.h

@@ -29,6 +29,7 @@ class ScanI2C
         INA3221,
         MCP9808,
         SHT31,
+        SHT4X,
         SHTC3,
         LPS22HB,
         QMC6310,
@@ -38,9 +39,19 @@ class ScanI2C
         MPU6050,
         LIS3DH,
         BMA423,
-#ifdef HAS_NCP5623
+        BQ24295,
+        LSM6DS3,
+        TCA9555,
+        VEML7700,
+        RCWL9620,
         NCP5623,
-#endif
+        TSL2591,
+        OPT3001,
+        MLX90632,
+        AHT10,
+        BMX160,
+        DFROBOT_LARK,
+        NAU7802
     } DeviceType;
 
     // typedef uint8_t DeviceAddress;
@@ -77,6 +88,7 @@ class ScanI2C
     ScanI2C();
 
     virtual void scanPort(ScanI2C::I2CPort);
+    virtual void scanPort(ScanI2C::I2CPort, uint8_t *, uint8_t);
 
     /*
      * A bit of a hack, this tells the scanner not to tell later systems there is a screen to avoid enabling it.

src/detect/ScanI2CTwoWire.cpp

@@ -14,6 +14,15 @@
 #define XPOWERS_AXP192_AXP2101_ADDRESS 0x34
 #endif
 
+bool in_array(uint8_t *array, int size, uint8_t lookfor)
+{
+    int i;
+    for (i = 0; i < size; i++)
+        if (lookfor == array[i])
+            return true;
+    return false;
+}
+
 ScanI2C::FoundDevice ScanI2CTwoWire::find(ScanI2C::DeviceType type) const
 {
     concurrency::LockGuard guard((concurrency::Lock *)&lock);
@@ -135,11 +144,11 @@ uint16_t ScanI2CTwoWire::getRegisterValue(const ScanI2CTwoWire::RegisterLocation
         type = T;                                                                                                                \
         break;
 
-void ScanI2CTwoWire::scanPort(I2CPort port)
+void ScanI2CTwoWire::scanPort(I2CPort port, uint8_t *address, uint8_t asize)
 {
     concurrency::LockGuard guard((concurrency::Lock *)&lock);
 
-    LOG_DEBUG("Scanning for i2c devices on port %d\n", port);
+    LOG_DEBUG("Scanning for I2C devices on port %d\n", port);
 
     uint8_t err;
 
@@ -163,6 +172,11 @@ void ScanI2CTwoWire::scanPort(I2CPort port)
 #endif
 
     for (addr.address = 1; addr.address < 127; addr.address++) {
+        if (asize != 0) {
+            if (!in_array(address, asize, addr.address))
+                continue;
+            LOG_DEBUG("Scanning address 0x%x\n", addr.address);
+        }
         i2cBus->beginTransmission(addr.address);
 #ifdef ARCH_PORTDUINO
         if (i2cBus->read() != -1)
@@ -256,7 +270,12 @@ void ScanI2CTwoWire::scanPort(I2CPort port)
                     type = BMP_280;
                 }
                 break;
-
+#ifndef HAS_NCP5623
+            case AHT10_ADDR:
+                LOG_INFO("AHT10 sensor found at address 0x%x\n", (uint8_t)addr.address);
+                type = AHT10;
+                break;
+#endif
             case INA_ADDR:
             case INA_ADDR_ALTERNATE:
             case INA_ADDR_WAVESHARE_UPS:
@@ -271,8 +290,15 @@ void ScanI2CTwoWire::scanPort(I2CPort port)
                 }
                 break;
             case INA3221_ADDR:
-                LOG_INFO("INA3221 sensor found at address 0x%x\n", (uint8_t)addr.address);
-                type = INA3221;
+                registerValue = getRegisterValue(ScanI2CTwoWire::RegisterLocation(addr, 0xFE), 2);
+                LOG_DEBUG("Register MFG_UID: 0x%x\n", registerValue);
+                if (registerValue == 0x5449) {
+                    LOG_INFO("INA3221 sensor found at address 0x%x\n", (uint8_t)addr.address);
+                    type = INA3221;
+                } else {
+                    LOG_INFO("DFRobot Lark weather station found at address 0x%x\n", (uint8_t)addr.address);
+                    type = DFROBOT_LARK;
+                }
                 break;
             case MCP9808_ADDR:
                 registerValue = getRegisterValue(ScanI2CTwoWire::RegisterLocation(addr, 0x07), 2);
@@ -286,25 +312,65 @@ void ScanI2CTwoWire::scanPort(I2CPort port)
 
                 break;
 
-                SCAN_SIMPLE_CASE(SHT31_ADDR, SHT31, "SHT31 sensor found\n")
+            case SHT31_4x_ADDR:
+                registerValue = getRegisterValue(ScanI2CTwoWire::RegisterLocation(addr, 0x89), 2);
+                if (registerValue == 0x11a2) {
+                    type = SHT4X;
+                    LOG_INFO("SHT4X sensor found\n");
+                } else if (getRegisterValue(ScanI2CTwoWire::RegisterLocation(addr, 0x7E), 2) == 0x5449) {
+                    type = OPT3001;
+                    LOG_INFO("OPT3001 light sensor found\n");
+                } else {
+                    type = SHT31;
+                    LOG_INFO("SHT31 sensor found\n");
+                }
+
+                break;
+
                 SCAN_SIMPLE_CASE(SHTC3_ADDR, SHTC3, "SHTC3 sensor found\n")
+                SCAN_SIMPLE_CASE(RCWL9620_ADDR, RCWL9620, "RCWL9620 sensor found\n")
 
             case LPS22HB_ADDR_ALT:
                 SCAN_SIMPLE_CASE(LPS22HB_ADDR, LPS22HB, "LPS22HB sensor found\n")
 
                 SCAN_SIMPLE_CASE(QMC6310_ADDR, QMC6310, "QMC6310 Highrate 3-Axis magnetic sensor found\n")
-                SCAN_SIMPLE_CASE(QMI8658_ADDR, QMI8658, "QMI8658 Highrate 6-Axis inertial measurement sensor found\n")
+
+            case QMI8658_ADDR:
+                registerValue = getRegisterValue(ScanI2CTwoWire::RegisterLocation(addr, 0x0A), 1); // get ID
+                if (registerValue == 0xC0) {
+                    type = BQ24295;
+                    LOG_INFO("BQ24295 PMU found\n");
+                    break;
+                }
+                registerValue = getRegisterValue(ScanI2CTwoWire::RegisterLocation(addr, 0x0F), 1); // get ID
+                if (registerValue == 0x6A) {
+                    type = LSM6DS3;
+                    LOG_INFO("LSM6DS3 accelerometer found at address 0x%x\n", (uint8_t)addr.address);
+                } else {
+                    type = QMI8658;
+                    LOG_INFO("QMI8658 Highrate 6-Axis inertial measurement sensor found\n");
+                }
+                break;
+
                 SCAN_SIMPLE_CASE(QMC5883L_ADDR, QMC5883L, "QMC5883L Highrate 3-Axis magnetic sensor found\n")
 
                 SCAN_SIMPLE_CASE(PMSA0031_ADDR, PMSA0031, "PMSA0031 air quality sensor found\n")
                 SCAN_SIMPLE_CASE(MPU6050_ADDR, MPU6050, "MPU6050 accelerometer found\n");
+                SCAN_SIMPLE_CASE(BMX160_ADDR, BMX160, "BMX160 accelerometer found\n");
                 SCAN_SIMPLE_CASE(BMA423_ADDR, BMA423, "BMA423 accelerometer found\n");
+                SCAN_SIMPLE_CASE(LSM6DS3_ADDR, LSM6DS3, "LSM6DS3 accelerometer found at address 0x%x\n", (uint8_t)addr.address);
+                SCAN_SIMPLE_CASE(TCA9555_ADDR, TCA9555, "TCA9555 I2C expander found\n");
+                SCAN_SIMPLE_CASE(VEML7700_ADDR, VEML7700, "VEML7700 light sensor found\n");
+                SCAN_SIMPLE_CASE(TSL25911_ADDR, TSL2591, "TSL2591 light sensor found\n");
+                SCAN_SIMPLE_CASE(OPT3001_ADDR, OPT3001, "OPT3001 light sensor found\n");
+                SCAN_SIMPLE_CASE(MLX90632_ADDR, MLX90632, "MLX90632 IR temp sensor found\n");
+                SCAN_SIMPLE_CASE(NAU7802_ADDR, NAU7802, "NAU7802 based scale found\n");
 
             default:
                 LOG_INFO("Device found at address 0x%x was not able to be enumerated\n", addr.address);
             }
         } else if (err == 4) {
-            LOG_ERROR("Unknown error at address 0x%x\n", addr);
+            LOG_ERROR("Unknown error at address 0x%x\n", addr.address);
         }
 
         // Check if a type was found for the enumerated device - save, if so
@@ -315,6 +381,11 @@ void ScanI2CTwoWire::scanPort(I2CPort port)
     }
 }
 
+void ScanI2CTwoWire::scanPort(I2CPort port)
+{
+    scanPort(port, nullptr, 0);
+}
+
 TwoWire *ScanI2CTwoWire::fetchI2CBus(ScanI2C::DeviceAddress address) const
 {
     if (address.port == ScanI2C::I2CPort::WIRE) {

src/detect/ScanI2CTwoWire.h

@@ -16,6 +16,8 @@ class ScanI2CTwoWire : public ScanI2C
   public:
     void scanPort(ScanI2C::I2CPort) override;
 
+    void scanPort(ScanI2C::I2CPort, uint8_t *, uint8_t) override;
+
     ScanI2C::FoundDevice find(ScanI2C::DeviceType) const override;
 
     TwoWire *fetchI2CBus(ScanI2C::DeviceAddress) const;
@@ -53,4 +55,4 @@ class ScanI2CTwoWire : public ScanI2C
     uint16_t getRegisterValue(const RegisterLocation &, ResponseWidth) const;
 
     DeviceType probeOLED(ScanI2C::DeviceAddress) const;
-};
+};

src/gps/GPS.cpp

@@ -1,10 +1,14 @@
-#include "GPS.h"
+#include "configuration.h"
+#if !MESHTASTIC_EXCLUDE_GPS
 #include "Default.h"
+#include "GPS.h"
 #include "NodeDB.h"
 #include "RTC.h"
-#include "configuration.h"
+
 #include "main.h" // pmu_found
 #include "sleep.h"
+
+#include "cas.h"
 #include "ubx.h"
 
 #ifdef ARCH_PORTDUINO
@@ -17,6 +21,19 @@
 #define GPS_RESET_MODE HIGH
 #endif
 
+// How many minutes of sleep make it worthwhile to power-off the GPS
+// Shorter than this, and GPS will only enter standby
+// Affected by lock-time, and config.position.gps_update_interval
+#ifndef GPS_STANDBY_THRESHOLD_MINUTES
+#define GPS_STANDBY_THRESHOLD_MINUTES 15
+#endif
+
+// How many seconds of sleep make it worthwhile for the GPS to use powered-on standby
+// Shorter than this, and we'll just wait instead
+#ifndef GPS_IDLE_THRESHOLD_SECONDS
+#define GPS_IDLE_THRESHOLD_SECONDS 10
+#endif
+
 #if defined(NRF52840_XXAA) || defined(NRF52833_XXAA) || defined(ARCH_ESP32) || defined(ARCH_PORTDUINO)
 HardwareSerial *GPS::_serial_gps = &Serial1;
 #else
@@ -49,6 +66,28 @@ void GPS::UBXChecksum(uint8_t *message, size_t length)
     message[length - 1] = CK_B;
 }
 
+// Calculate the checksum for a CAS packet
+void GPS::CASChecksum(uint8_t *message, size_t length)
+{
+    uint32_t cksum = ((uint32_t)message[5] << 24); // Message ID
+    cksum += ((uint32_t)message[4]) << 16;         // Class
+    cksum += message[2];                           // Payload Len
+
+    // Iterate over the payload as a series of uint32_t's and
+    // accumulate the cksum
+    uint32_t const *payload = (uint32_t *)(message + 6);
+    for (size_t i = 0; i < (length - 10) / 4; i++) {
+        uint32_t pl = payload[i];
+        cksum += pl;
+    }
+
+    // Place the checksum values in the message
+    message[length - 4] = (cksum & 0xFF);
+    message[length - 3] = (cksum & (0xFF << 8)) >> 8;
+    message[length - 2] = (cksum & (0xFF << 16)) >> 16;
+    message[length - 1] = (cksum & (0xFF << 24)) >> 24;
+}
+
 // Function to create a ublox packet for editing in memory
 uint8_t GPS::makeUBXPacket(uint8_t class_id, uint8_t msg_id, uint8_t payload_size, const uint8_t *msg)
 {
@@ -70,6 +109,41 @@ uint8_t GPS::makeUBXPacket(uint8_t class_id, uint8_t msg_id, uint8_t payload_siz
     return (payload_size + 8);
 }
 
+// Function to create a CAS packet for editing in memory
+uint8_t GPS::makeCASPacket(uint8_t class_id, uint8_t msg_id, uint8_t payload_size, const uint8_t *msg)
+{
+    // General CAS structure
+    //        | H1   | H2   | payload_len | cls  | msg  | Payload       ...   | Checksum                  |
+    // Size:  | 1    | 1    | 2           | 1    | 1    | payload_len         | 4                         |
+    // Pos:   | 0    | 1    | 2    | 3    | 4    | 5    | 6    | 7      ...   | 6 + payload_len ...       |
+    //        |------|------|-------------|------|------|------|--------------|---------------------------|
+    //        | 0xBA | 0xCE | 0xXX | 0xXX | 0xXX | 0xXX | 0xXX | 0xXX   ...   | 0xXX | 0xXX | 0xXX | 0xXX |
+
+    // Construct the CAS packet
+    UBXscratch[0] = 0xBA;         // header 1 (0xBA)
+    UBXscratch[1] = 0xCE;         // header 2 (0xCE)
+    UBXscratch[2] = payload_size; // length 1
+    UBXscratch[3] = 0;            // length 2
+    UBXscratch[4] = class_id;     // class
+    UBXscratch[5] = msg_id;       // id
+
+    UBXscratch[6 + payload_size] = 0x00; // Checksum
+    UBXscratch[7 + payload_size] = 0x00;
+    UBXscratch[8 + payload_size] = 0x00;
+    UBXscratch[9 + payload_size] = 0x00;
+
+    for (int i = 0; i < payload_size; i++) {
+        UBXscratch[6 + i] = pgm_read_byte(&msg[i]);
+    }
+    CASChecksum(UBXscratch, (payload_size + 10));
+
+#if defined(GPS_DEBUG) && defined(DEBUG_PORT)
+    LOG_DEBUG("Constructed CAS packet: \n");
+    DEBUG_PORT.hexDump(MESHTASTIC_LOG_LEVEL_DEBUG, UBXscratch, payload_size + 10);
+#endif
+    return (payload_size + 10);
+}
+
 GPS_RESPONSE GPS::getACK(const char *message, uint32_t waitMillis)
 {
     uint8_t buffer[768] = {0};
@@ -79,6 +153,7 @@ GPS_RESPONSE GPS::getACK(const char *message, uint32_t waitMillis)
     while (millis() < startTimeout) {
         if (_serial_gps->available()) {
             b = _serial_gps->read();
+
 #ifdef GPS_DEBUG
             LOG_DEBUG("%02X", (char *)buffer);
 #endif
@@ -102,6 +177,67 @@ GPS_RESPONSE GPS::getACK(const char *message, uint32_t waitMillis)
     return GNSS_RESPONSE_NONE;
 }
 
+GPS_RESPONSE GPS::getACKCas(uint8_t class_id, uint8_t msg_id, uint32_t waitMillis)
+{
+    uint32_t startTime = millis();
+    uint8_t buffer[CAS_ACK_NACK_MSG_SIZE] = {0};
+    uint8_t bufferPos = 0;
+
+    // CAS-ACK-(N)ACK structure
+    //         | H1   | H2   | Payload Len | cls  | msg  | Payload                   | Checksum (4)              |
+    //         |      |      |             |      |      | Cls  | Msg  | Reserved    |                           |
+    //         |------|------|-------------|------|------|------|------|-------------|---------------------------|
+    // ACK-NACK| 0xBA | 0xCE | 0x04 | 0x00 | 0x05 | 0x00 | 0xXX | 0xXX | 0x00 | 0x00 | 0xXX | 0xXX | 0xXX | 0xXX |
+    // ACK-ACK | 0xBA | 0xCE | 0x04 | 0x00 | 0x05 | 0x01 | 0xXX | 0xXX | 0x00 | 0x00 | 0xXX | 0xXX | 0xXX | 0xXX |
+
+    while (millis() - startTime < waitMillis) {
+        if (_serial_gps->available()) {
+            buffer[bufferPos++] = _serial_gps->read();
+
+            // keep looking at the first two bytes of buffer until
+            // we have found the CAS frame header (0xBA, 0xCE), if not
+            // keep reading bytes until we find a frame header or we run
+            // out of time.
+            if ((bufferPos == 2) && !(buffer[0] == 0xBA && buffer[1] == 0xCE)) {
+                buffer[0] = buffer[1];
+                buffer[1] = 0;
+                bufferPos = 1;
+            }
+        }
+
+        // we have read all the bytes required for the Ack/Nack (14-bytes)
+        // and we must have found a frame to get this far
+        if (bufferPos == sizeof(buffer) - 1) {
+            uint8_t msg_cls = buffer[4];     // message class should be 0x05
+            uint8_t msg_msg_id = buffer[5];  // message id should be 0x00 or 0x01
+            uint8_t payload_cls = buffer[6]; // payload class id
+            uint8_t payload_msg = buffer[7]; // payload message id
+
+            // Check for an ACK-ACK for the specified class and message id
+            if ((msg_cls == 0x05) && (msg_msg_id == 0x01) && payload_cls == class_id && payload_msg == msg_id) {
+#ifdef GPS_DEBUG
+                LOG_INFO("Got ACK for class %02X message %02X in %d millis.\n", class_id, msg_id, millis() - startTime);
+#endif
+                return GNSS_RESPONSE_OK;
+            }
+
+            // Check for an ACK-NACK for the specified class and message id
+            if ((msg_cls == 0x05) && (msg_msg_id == 0x00) && payload_cls == class_id && payload_msg == msg_id) {
+#ifdef GPS_DEBUG
+                LOG_WARN("Got NACK for class %02X message %02X in %d millis.\n", class_id, msg_id, millis() - startTime);
+#endif
+                return GNSS_RESPONSE_NAK;
+            }
+
+            // This isn't the frame we are looking for, clear the buffer
+            // and try again until we run out of time.
+            memset(buffer, 0x0, sizeof(buffer));
+            bufferPos = 0;
+        }
+    }
+    return GNSS_RESPONSE_NONE;
+}
+
 GPS_RESPONSE GPS::getACK(uint8_t class_id, uint8_t msg_id, uint32_t waitMillis)
 {
     uint8_t b;
@@ -311,6 +447,33 @@ bool GPS::setup()
             // Switch to Fitness Mode, for running and walking purpose with low speed (<5 m/s)
             _serial_gps->write("$PMTK886,1*29\r\n");
             delay(250);
+        } else if (gnssModel == GNSS_MODEL_ATGM336H) {
+            // Set the intial configuration of the device - these _should_ work for most AT6558 devices
+            msglen = makeCASPacket(0x06, 0x07, sizeof(_message_CAS_CFG_NAVX_CONF), _message_CAS_CFG_NAVX_CONF);
+            _serial_gps->write(UBXscratch, msglen);
+            if (getACKCas(0x06, 0x07, 250) != GNSS_RESPONSE_OK) {
+                LOG_WARN("ATGM336H - Could not set Configuration");
+            }
+
+            // Set the update frequence to 1Hz
+            msglen = makeCASPacket(0x06, 0x04, sizeof(_message_CAS_CFG_RATE_1HZ), _message_CAS_CFG_RATE_1HZ);
+            _serial_gps->write(UBXscratch, msglen);
+            if (getACKCas(0x06, 0x04, 250) != GNSS_RESPONSE_OK) {
+                LOG_WARN("ATGM336H - Could not set Update Frequency");
+            }
+
+            // Set the NEMA output messages
+            // Ask for only RMC and GGA
+            uint8_t fields[] = {CAS_NEMA_RMC, CAS_NEMA_GGA};
+            for (unsigned int i = 0; i < sizeof(fields); i++) {
+                // Construct a CAS-CFG-MSG packet
+                uint8_t cas_cfg_msg_packet[] = {0x4e, fields[i], 0x01, 0x00};
+                msglen = makeCASPacket(0x06, 0x01, sizeof(cas_cfg_msg_packet), cas_cfg_msg_packet);
+                _serial_gps->write(UBXscratch, msglen);
+                if (getACKCas(0x06, 0x01, 250) != GNSS_RESPONSE_OK) {
+                    LOG_WARN("ATGM336H - Could not enable NMEA MSG: %d\n", fields[i]);
+                }
+            }
         } else if (gnssModel == GNSS_MODEL_UC6580) {
             // The Unicore UC6580 can use a lot of sat systems, enable it to
             // use GPS L1 & L5 + BDS B1I & B2a + GLONASS L1 + GALILEO E1 & E5a + SBAS
@@ -322,6 +485,9 @@ bool GPS::setup()
             // Turn off GSV messages, we don't really care about which and where the sats are, maybe someday.
             _serial_gps->write("$CFGMSG,0,3,0\r\n");
             delay(250);
+            // Turn off GSA messages, TinyGPS++ doesn't use this message.
+            _serial_gps->write("$CFGMSG,0,2,0\r\n");
+            delay(250);
             // Turn off NOTICE __TXT messages, these may provide Unicore some info but we don't care.
             _serial_gps->write("$CFGMSG,6,0,0\r\n");
             delay(250);
@@ -612,9 +778,42 @@ GPS::~GPS()
     notifyGPSSleepObserver.observe(&notifyGPSSleep);
 }
 
+const char *GPS::powerStateToString()
+{
+    switch (powerState) {
+    case GPS_OFF:
+        return "OFF";
+    case GPS_IDLE:
+        return "IDLE";
+    case GPS_STANDBY:
+        return "STANDBY";
+    case GPS_ACTIVE:
+        return "ACTIVE";
+    default:
+        return "UNKNOWN";
+    }
+}
+
 void GPS::setGPSPower(bool on, bool standbyOnly, uint32_t sleepTime)
 {
-    LOG_INFO("Setting GPS power=%d\n", on);
+    // Record the current powerState
+    if (on)
+        powerState = GPS_ACTIVE;
+    else if (!enabled) // User has disabled with triple press
+        powerState = GPS_OFF;
+    else if (sleepTime <= GPS_IDLE_THRESHOLD_SECONDS * 1000UL)
+        powerState = GPS_IDLE;
+    else if (standbyOnly)
+        powerState = GPS_STANDBY;
+    else
+        powerState = GPS_OFF;
+
+    LOG_DEBUG("GPS::powerState=%s\n", powerStateToString());
+
+    // If the next update is due *really soon*, don't actually power off or enter standby. Just wait it out.
+    if (!on && powerState == GPS_IDLE)
+        return;
+
     if (on) {
         clearBuffer(); // drop any old data waiting in the buffer before re-enabling
         if (en_gpio)
@@ -708,45 +907,72 @@ void GPS::setConnected()
  *
  * calls sleep/wake
  */
-void GPS::setAwake(bool on)
+void GPS::setAwake(bool wantAwake)
 {
-    if (isAwake != on) {
-        LOG_DEBUG("WANT GPS=%d\n", on);
-        isAwake = on;
-        if (!enabled) { // short circuit if the user has disabled GPS
-            setGPSPower(false, false, 0);
-            return;
-        }
 
-        if (on) {
+    // If user has disabled GPS, make sure it is off, not just in standby or idle
+    if (!wantAwake && !enabled && powerState != GPS_OFF) {
+        setGPSPower(false, false, 0);
+        return;
+    }
+
+    // If GPS power state needs to change
+    if ((wantAwake && powerState != GPS_ACTIVE) || (!wantAwake && powerState == GPS_ACTIVE)) {
+        LOG_DEBUG("WANT GPS=%d\n", wantAwake);
+
+        // Calculate how long it takes to get a GPS lock
+        if (wantAwake) {
+            // Record the time we start looking for a lock
             lastWakeStartMsec = millis();
         } else {
+            // Record by how much we missed our ideal target postion.gps_update_interval (for logging only)
+            // Need to calculate this before we update lastSleepStartMsec, to make the new prediction
+            int32_t lateByMsec = (int32_t)(millis() - lastSleepStartMsec) - (int32_t)getSleepTime();
+
+            // Record the time we finish looking for a lock
             lastSleepStartMsec = millis();
-            if (GPSCycles == 1) { // Skipping initial lock time, as it will likely be much longer than average
-                averageLockTime = lastSleepStartMsec - lastWakeStartMsec;
-            } else if (GPSCycles > 1) {
-                averageLockTime += ((int32_t)(lastSleepStartMsec - lastWakeStartMsec) - averageLockTime) / (int32_t)GPSCycles;
+
+            // How long did it take to get GPS lock this time?
+            uint32_t lockTime = lastSleepStartMsec - lastWakeStartMsec;
+
+            // Update the lock-time prediction
+            // Used pre-emptively, attempting to hit target of gps.position_update_interval
+            switch (GPSCycles) {
+            case 0:
+                LOG_DEBUG("Initial GPS lock took %ds\n", lockTime / 1000);
+                break;
+            case 1:
+                predictedLockTime = lockTime; // Avoid slow ramp-up - start with a real value
+                LOG_DEBUG("GPS Lock took %ds\n", lockTime / 1000);
+                break;
+            default:
+                // Predict lock-time using exponential smoothing: respond slowly to changes
+                predictedLockTime = (lockTime * 0.2) + (predictedLockTime * 0.8); // Latest lock time has 20% weight on prediction
+                LOG_INFO("GPS Lock took %ds. %s by %ds. Next lock predicted to take %ds.\n", lockTime / 1000,
+                         (lateByMsec > 0) ? "Late" : "Early", abs(lateByMsec) / 1000, predictedLockTime / 1000);
             }
             GPSCycles++;
-            LOG_DEBUG("GPS Lock took %d, average %d\n", (lastSleepStartMsec - lastWakeStartMsec) / 1000, averageLockTime / 1000);
         }
-        if ((int32_t)getSleepTime() - averageLockTime >
-            15 * 60 * 1000) { // 15 minutes is probably long enough to make a complete poweroff worth it.
-            setGPSPower(on, false, getSleepTime() - averageLockTime);
-            return;
-        } else if ((int32_t)getSleepTime() - averageLockTime > 10000) { // 10 seconds is enough for standby
+
+        // How long to wait before attempting next GPS update
+        // Aims to hit position.gps_update_interval by using the lock-time prediction
+        uint32_t compensatedSleepTime = (getSleepTime() > predictedLockTime) ? (getSleepTime() - predictedLockTime) : 0;
+
+        // If long interval between updates: power off between updates
+        if (compensatedSleepTime > GPS_STANDBY_THRESHOLD_MINUTES * MS_IN_MINUTE) {
+            setGPSPower(wantAwake, false, getSleepTime() - predictedLockTime);
+        }
+
+        // If waking relatively frequently: don't power off. Would use more energy trying to reacquire lock each time
+        // We'll either use a "powered-on" standby, or just wait it out, depending on how soon the next update is due
+        // Will decide which inside setGPSPower method
+        else {
 #ifdef GPS_UC6580
-            setGPSPower(on, false, getSleepTime() - averageLockTime);
+            setGPSPower(wantAwake, false, compensatedSleepTime);
 #else
-            setGPSPower(on, true, getSleepTime() - averageLockTime);
+            setGPSPower(wantAwake, true, compensatedSleepTime);
 #endif
-            return;
         }
-        if (averageLockTime > 20000) {
-            averageLockTime -= 1000; // eventually want to sleep again.
-        }
-        if (on)
-            setGPSPower(true, true, 0); // make sure we don't have a fallthrough where GPS is stuck off
     }
 }
 
@@ -852,14 +1078,14 @@ int32_t GPS::runOnce()
     uint32_t timeAsleep = now - lastSleepStartMsec;
 
     auto sleepTime = getSleepTime();
-    if (!isAwake && (sleepTime != UINT32_MAX) &&
-        ((timeAsleep > sleepTime) || (isInPowersave && timeAsleep > (sleepTime - averageLockTime)))) {
+    if (powerState != GPS_ACTIVE && (sleepTime != UINT32_MAX) &&
+        ((timeAsleep > sleepTime) || (isInPowersave && timeAsleep > (sleepTime - predictedLockTime)))) {
         // We now want to be awake - so wake up the GPS
         setAwake(true);
     }
 
     // While we are awake
-    if (isAwake) {
+    if (powerState == GPS_ACTIVE) {
         // LOG_DEBUG("looking for location\n");
         // If we've already set time from the GPS, no need to ask the GPS
         bool gotTime = (getRTCQuality() >= RTCQualityGPS);
@@ -905,7 +1131,7 @@ int32_t GPS::runOnce()
 
     // 9600bps is approx 1 byte per msec, so considering our buffer size we never need to wake more often than 200ms
     // if not awake we can run super infrquently (once every 5 secs?) to see if we need to wake.
-    return isAwake ? GPS_THREAD_INTERVAL : 5000;
+    return (powerState == GPS_ACTIVE) ? GPS_THREAD_INTERVAL : 5000;
 }
 
 // clear the GPS rx buffer as quickly as possible
@@ -946,10 +1172,18 @@ GnssModel_t GPS::probe(int serialSpeed)
     uint8_t buffer[768] = {0};
     delay(100);
 
-    // Close all NMEA sentences , Only valid for L76K MTK platform
+    // Close all NMEA sentences, valid for L76K, ATGM336H (and likely other AT6558 devices)
     _serial_gps->write("$PCAS03,0,0,0,0,0,0,0,0,0,0,,,0,0*02\r\n");
     delay(20);
 
+    // Get version information
+    clearBuffer();
+    _serial_gps->write("$PCAS06,1*1A\r\n");
+    if (getACK("$GPTXT,01,01,02,HW=ATGM336H", 500) == GNSS_RESPONSE_OK) {
+        LOG_INFO("ATGM336H GNSS init succeeded, using ATGM336H Module\n");
+        return GNSS_MODEL_ATGM336H;
+    }
+
     // Get version information
     clearBuffer();
     _serial_gps->write("$PCAS06,0*1B\r\n");
@@ -1214,6 +1448,11 @@ bool GPS::factoryReset()
         LOG_INFO("GNSS Factory Reset via PCAS10,3\n");
         _serial_gps->write("$PCAS10,3*1F\r\n");
         delay(100);
+    } else if (gnssModel == GNSS_MODEL_ATGM336H) {
+        LOG_INFO("Factory Reset via CAS-CFG-RST\n");
+        uint8_t msglen = makeCASPacket(0x06, 0x02, sizeof(_message_CAS_CFG_RST_FACTORY), _message_CAS_CFG_RST_FACTORY);
+        _serial_gps->write(UBXscratch, msglen);
+        delay(100);
     } else {
         // fire this for good measure, if we have an L76B - won't harm other devices.
         _serial_gps->write("$PMTK104*37\r\n");
@@ -1304,7 +1543,7 @@ bool GPS::lookForLocation()
 #endif // GPS_EXTRAVERBOSE
 
     // Is this a new point or are we re-reading the previous one?
-    if (!reader.location.isUpdated())
+    if (!reader.location.isUpdated() && !reader.altitude.isUpdated())
         return false;
 
     // check if a complete GPS solution set is available for reading
@@ -1377,7 +1616,7 @@ bool GPS::lookForLocation()
     t.tm_mon = reader.date.month() - 1;
     t.tm_year = reader.date.year() - 1900;
     t.tm_isdst = false;
-    p.timestamp = mktime(&t);
+    p.timestamp = gm_mktime(&t);
 
     // Nice to have, if available
     if (reader.satellites.isUpdated()) {
@@ -1421,11 +1660,11 @@ bool GPS::hasFlow()
 
 bool GPS::whileIdle()
 {
-    int charsInBuf = 0;
+    unsigned int charsInBuf = 0;
     bool isValid = false;
-    if (!isAwake) {
+    if (powerState != GPS_ACTIVE) {
         clearBuffer();
-        return isAwake;
+        return (powerState == GPS_ACTIVE);
     }
 #ifdef SERIAL_BUFFER_SIZE
     if (_serial_gps->available() >= SERIAL_BUFFER_SIZE - 1) {
@@ -1456,6 +1695,10 @@ bool GPS::whileIdle()
 }
 void GPS::enable()
 {
+    // Clear the old lock-time prediction
+    GPSCycles = 0;
+    predictedLockTime = 0;
+
     enabled = true;
     setInterval(GPS_THREAD_INTERVAL);
     setAwake(true);
@@ -1481,4 +1724,5 @@ void GPS::toggleGpsMode()
         LOG_DEBUG("Flag set to true to restore power. GpsMode: ENABLED\n");
         enable();
     }
-}
+}
+#endif // Exclude GPS

src/gps/GPS.h

@@ -1,4 +1,6 @@
 #pragma once
+#include "configuration.h"
+#if !MESHTASTIC_EXCLUDE_GPS
 
 #include "GPSStatus.h"
 #include "Observer.h"
@@ -20,7 +22,14 @@ struct uBloxGnssModelInfo {
     char extension[10][30];
 };
 
-typedef enum { GNSS_MODEL_MTK, GNSS_MODEL_UBLOX, GNSS_MODEL_UC6580, GNSS_MODEL_UNKNOWN, GNSS_MODEL_MTK_L76B } GnssModel_t;
+typedef enum {
+    GNSS_MODEL_ATGM336H,
+    GNSS_MODEL_MTK,
+    GNSS_MODEL_UBLOX,
+    GNSS_MODEL_UC6580,
+    GNSS_MODEL_UNKNOWN,
+    GNSS_MODEL_MTK_L76B
+} GnssModel_t;
 
 typedef enum {
     GNSS_RESPONSE_NONE,
@@ -29,6 +38,13 @@ typedef enum {
     GNSS_RESPONSE_OK,
 } GPS_RESPONSE;
 
+enum GPSPowerState : uint8_t {
+    GPS_OFF = 0,     // Physically powered off
+    GPS_ACTIVE = 1,  // Awake and want a position
+    GPS_STANDBY = 2, // Physically powered on, but soft-sleeping
+    GPS_IDLE = 3,    // Awake, but not wanting another position yet
+};
+
 // Generate a string representation of DOP
 const char *getDOPString(uint32_t dop);
 
@@ -57,7 +73,7 @@ class GPS : private concurrency::OSThread
     uint32_t rx_gpio = 0;
     uint32_t tx_gpio = 0;
     uint32_t en_gpio = 0;
-    int32_t averageLockTime = 0;
+    uint32_t predictedLockTime = 0;
     uint32_t GPSCycles = 0;
 
     int speedSelect = 0;
@@ -69,8 +85,6 @@ class GPS : private concurrency::OSThread
      */
     bool hasValidLocation = false; // default to false, until we complete our first read
 
-    bool isAwake = false; // true if we want a location right now
-
     bool isInPowersave = false;
 
     bool shouldPublish = false; // If we've changed GPS state, this will force a publish the next loop()
@@ -80,6 +94,8 @@ class GPS : private concurrency::OSThread
     bool GPSInitFinished = false; // Init thread finished?
     bool GPSInitStarted = false;  // Init thread finished?
 
+    GPSPowerState powerState = GPS_OFF; // GPS_ACTIVE if we want a location right now
+
     uint8_t numSatellites = 0;
 
     CallbackObserver<GPS, void *> notifyDeepSleepObserver = CallbackObserver<GPS, void *>(this, &GPS::prepareDeepSleep);
@@ -131,6 +147,11 @@ class GPS : private concurrency::OSThread
     static const uint8_t _message_VALSET_DISABLE_SBAS_RAM[];
     static const uint8_t _message_VALSET_DISABLE_SBAS_BBR[];
 
+    // CASIC commands for ATGM336H
+    static const uint8_t _message_CAS_CFG_RST_FACTORY[];
+    static const uint8_t _message_CAS_CFG_NAVX_CONF[];
+    static const uint8_t _message_CAS_CFG_RATE_1HZ[];
+
     meshtastic_Position p = meshtastic_Position_init_default;
 
     GPS() : concurrency::OSThread("GPS") {}
@@ -172,6 +193,7 @@ class GPS : private concurrency::OSThread
 
     // Create a ublox packet for editing in memory
     uint8_t makeUBXPacket(uint8_t class_id, uint8_t msg_id, uint8_t payload_size, const uint8_t *msg);
+    uint8_t makeCASPacket(uint8_t class_id, uint8_t msg_id, uint8_t payload_size, const uint8_t *msg);
 
     // scratch space for creating ublox packets
     uint8_t UBXscratch[250] = {0};
@@ -182,6 +204,8 @@ class GPS : private concurrency::OSThread
     GPS_RESPONSE getACK(uint8_t c, uint8_t i, uint32_t waitMillis);
     GPS_RESPONSE getACK(const char *message, uint32_t waitMillis);
 
+    GPS_RESPONSE getACKCas(uint8_t class_id, uint8_t msg_id, uint32_t waitMillis);
+
     /**
      * Switch the GPS into a mode where we are actively looking for a lock, or alternatively switch GPS into a low power mode
      *
@@ -241,6 +265,7 @@ class GPS : private concurrency::OSThread
 
     // Calculate checksum
     void UBXChecksum(uint8_t *message, size_t length);
+    void CASChecksum(uint8_t *message, size_t length);
 
     /** Get how long we should stay looking for each aquisition
      */
@@ -264,8 +289,11 @@ class GPS : private concurrency::OSThread
     // delay counter to allow more sats before fixed position stops GPS thread
     uint8_t fixeddelayCtr = 0;
 
+    const char *powerStateToString();
+
   protected:
     GnssModel_t gnssModel = GNSS_MODEL_UNKNOWN;
 };
 
-extern GPS *gps;
+extern GPS *gps;
+#endif // Exclude GPS

src/gps/GeoCoord.cpp

@@ -486,3 +486,91 @@ std::shared_ptr<GeoCoord> GeoCoord::pointAtDistance(double bearing, double range
 
     return std::make_shared<GeoCoord>(double(lat), double(lon), this->getAltitude());
 }
+
+/**
+ * Convert bearing to degrees
+ * @param bearing
+ * The bearing in string format
+ * @return Bearing in degrees
+ */
+uint GeoCoord::bearingToDegrees(const char *bearing)
+{
+    if (strcmp(bearing, "N") == 0)
+        return 0;
+    else if (strcmp(bearing, "NNE") == 0)
+        return 22;
+    else if (strcmp(bearing, "NE") == 0)
+        return 45;
+    else if (strcmp(bearing, "ENE") == 0)
+        return 67;
+    else if (strcmp(bearing, "E") == 0)
+        return 90;
+    else if (strcmp(bearing, "ESE") == 0)
+        return 112;
+    else if (strcmp(bearing, "SE") == 0)
+        return 135;
+    else if (strcmp(bearing, "SSE") == 0)
+        return 157;
+    else if (strcmp(bearing, "S") == 0)
+        return 180;
+    else if (strcmp(bearing, "SSW") == 0)
+        return 202;
+    else if (strcmp(bearing, "SW") == 0)
+        return 225;
+    else if (strcmp(bearing, "WSW") == 0)
+        return 247;
+    else if (strcmp(bearing, "W") == 0)
+        return 270;
+    else if (strcmp(bearing, "WNW") == 0)
+        return 292;
+    else if (strcmp(bearing, "NW") == 0)
+        return 315;
+    else if (strcmp(bearing, "NNW") == 0)
+        return 337;
+    else
+        return 0;
+}
+
+/**
+ * Convert bearing to string
+ * @param degrees
+ * The bearing in degrees
+ * @return Bearing in string format
+ */
+const char *GeoCoord::degreesToBearing(uint degrees)
+{
+    if (degrees >= 348 || degrees < 11)
+        return "N";
+    else if (degrees >= 11 && degrees < 34)
+        return "NNE";
+    else if (degrees >= 34 && degrees < 56)
+        return "NE";
+    else if (degrees >= 56 && degrees < 79)
+        return "ENE";
+    else if (degrees >= 79 && degrees < 101)
+        return "E";
+    else if (degrees >= 101 && degrees < 124)
+        return "ESE";
+    else if (degrees >= 124 && degrees < 146)
+        return "SE";
+    else if (degrees >= 146 && degrees < 169)
+        return "SSE";
+    else if (degrees >= 169 && degrees < 191)
+        return "S";
+    else if (degrees >= 191 && degrees < 214)
+        return "SSW";
+    else if (degrees >= 214 && degrees < 236)
+        return "SW";
+    else if (degrees >= 236 && degrees < 259)
+        return "WSW";
+    else if (degrees >= 259 && degrees < 281)
+        return "W";
+    else if (degrees >= 281 && degrees < 304)
+        return "WNW";
+    else if (degrees >= 304 && degrees < 326)
+        return "NW";
+    else if (degrees >= 326 && degrees < 348)
+        return "NNW";
+    else
+        return "N";
+}

src/gps/GeoCoord.h

@@ -117,6 +117,8 @@ class GeoCoord
     static float bearing(double lat1, double lon1, double lat2, double lon2);
     static float rangeRadiansToMeters(double range_radians);
     static float rangeMetersToRadians(double range_meters);
+    static uint bearingToDegrees(const char *bearing);
+    static const char *degreesToBearing(uint degrees);
 
     // Point to point conversions
     int32_t distanceTo(const GeoCoord &pointB);

src/gps/NMEAWPL.cpp

@@ -1,3 +1,4 @@
+#if !MESHTASTIC_EXCLUDE_GPS
 #include "NMEAWPL.h"
 #include "GeoCoord.h"
 #include "RTC.h"
@@ -74,10 +75,10 @@ uint32_t printWPL(char *buf, size_t bufsz, const meshtastic_Position &pos, const
 uint32_t printGGA(char *buf, size_t bufsz, const meshtastic_Position &pos)
 {
     GeoCoord geoCoord(pos.latitude_i, pos.longitude_i, pos.altitude);
-    tm *t = localtime((time_t *)&pos.timestamp);
+    tm *t = gmtime((time_t *)&pos.timestamp);
     if (getRTCQuality() > 0) { // use the device clock if we got time from somewhere. If not, use the GPS timestamp.
         uint32_t rtc_sec = getValidTime(RTCQuality::RTCQualityDevice);
-        t = localtime((time_t *)&rtc_sec);
+        t = gmtime((time_t *)&rtc_sec);
     }
 
     uint32_t len = snprintf(
@@ -93,4 +94,6 @@ uint32_t printGGA(char *buf, size_t bufsz, const meshtastic_Position &pos)
     }
     len += snprintf(buf + len, bufsz - len, "*%02X\r\n", chk);
     return len;
-}
+}
+
+#endif

src/gps/RTC.cpp

@@ -40,7 +40,7 @@ void readFromRTC()
         t.tm_hour = rtc.getHour();
         t.tm_min = rtc.getMinute();
         t.tm_sec = rtc.getSecond();
-        tv.tv_sec = mktime(&t);
+        tv.tv_sec = gm_mktime(&t);
         tv.tv_usec = 0;
         LOG_DEBUG("Read RTC time from RV3028 as %ld\n", tv.tv_sec);
         timeStartMsec = now;
@@ -68,7 +68,7 @@ void readFromRTC()
         t.tm_hour = tc.hour;
         t.tm_min = tc.minute;
         t.tm_sec = tc.second;
-        tv.tv_sec = mktime(&t);
+        tv.tv_sec = gm_mktime(&t);
         tv.tv_usec = 0;
         LOG_DEBUG("Read RTC time from PCF8563 as %ld\n", tv.tv_sec);
         timeStartMsec = now;
@@ -96,21 +96,27 @@ void readFromRTC()
  *
  * If we haven't yet set our RTC this boot, set it from a GPS derived time
  */
-bool perhapsSetRTC(RTCQuality q, const struct timeval *tv)
+bool perhapsSetRTC(RTCQuality q, const struct timeval *tv, bool forceUpdate)
 {
     static uint32_t lastSetMsec = 0;
     uint32_t now = millis();
 
     bool shouldSet;
-    if (q > currentQuality) {
+    if (forceUpdate) {
         shouldSet = true;
-        LOG_DEBUG("Upgrading time to quality %d\n", q);
-    } else if (q == RTCQualityGPS && (now - lastSetMsec) > (12 * 60 * 60 * 1000UL)) {
-        // Every 12 hrs we will slam in a new GPS time, to correct for local RTC clock drift
+        LOG_DEBUG("Overriding current RTC quality (%s) with incoming time of RTC quality of %s\n", RtcName(currentQuality),
+                  RtcName(q));
+    } else if (q > currentQuality) {
+        shouldSet = true;
+        LOG_DEBUG("Upgrading time to quality %s\n", RtcName(q));
+    } else if (q >= RTCQualityNTP && (now - lastSetMsec) > (12 * 60 * 60 * 1000UL)) {
+        // Every 12 hrs we will slam in a new GPS or Phone GPS / NTP time, to correct for local RTC clock drift
         shouldSet = true;
         LOG_DEBUG("Reapplying external time to correct clock drift %ld secs\n", tv->tv_sec);
-    } else
+    } else {
         shouldSet = false;
+        LOG_DEBUG("Current RTC quality: %s. Ignoring time of RTC quality of %s\n", RtcName(currentQuality), RtcName(q));
+    }
 
     if (shouldSet) {
         currentQuality = q;
@@ -128,7 +134,7 @@ bool perhapsSetRTC(RTCQuality q, const struct timeval *tv)
 #else
             rtc.initI2C();
 #endif
-            tm *t = localtime(&tv->tv_sec);
+            tm *t = gmtime(&tv->tv_sec);
             rtc.setTime(t->tm_year + 1900, t->tm_mon + 1, t->tm_wday, t->tm_mday, t->tm_hour, t->tm_min, t->tm_sec);
             LOG_DEBUG("RV3028_RTC setTime %02d-%02d-%02d %02d:%02d:%02d %ld\n", t->tm_year + 1900, t->tm_mon + 1, t->tm_mday,
                       t->tm_hour, t->tm_min, t->tm_sec, tv->tv_sec);
@@ -142,7 +148,7 @@ bool perhapsSetRTC(RTCQuality q, const struct timeval *tv)
 #else
             rtc.begin();
 #endif
-            tm *t = localtime(&tv->tv_sec);
+            tm *t = gmtime(&tv->tv_sec);
             rtc.setDateTime(t->tm_year + 1900, t->tm_mon + 1, t->tm_mday, t->tm_hour, t->tm_min, t->tm_sec);
             LOG_DEBUG("PCF8563_RTC setDateTime %02d-%02d-%02d %02d:%02d:%02d %ld\n", t->tm_year + 1900, t->tm_mon + 1, t->tm_mday,
                       t->tm_hour, t->tm_min, t->tm_sec, tv->tv_sec);
@@ -162,6 +168,24 @@ bool perhapsSetRTC(RTCQuality q, const struct timeval *tv)
     }
 }
 
+const char *RtcName(RTCQuality quality)
+{
+    switch (quality) {
+    case RTCQualityNone:
+        return "None";
+    case RTCQualityDevice:
+        return "Device";
+    case RTCQualityFromNet:
+        return "Net";
+    case RTCQualityNTP:
+        return "NTP";
+    case RTCQualityGPS:
+        return "GPS";
+    default:
+        return "Unknown";
+    }
+}
+
 /**
  * Sets the RTC time if the provided time is of higher quality than the current RTC time.
  *
@@ -175,7 +199,9 @@ bool perhapsSetRTC(RTCQuality q, struct tm &t)
     The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of seconds that have elapsed since January 1, 1970
     (midnight UTC/GMT), not counting leap seconds (in ISO 8601: 1970-01-01T00:00:00Z).
     */
-    time_t res = mktime(&t);
+    // horrible hack to make mktime TZ agnostic - best practise according to
+    // https://www.gnu.org/software/libc/manual/html_node/Broken_002ddown-Time.html
+    time_t res = gm_mktime(&t);
     struct timeval tv;
     tv.tv_sec = res;
     tv.tv_usec = 0; // time.centisecond() * (10 / 1000);
@@ -189,14 +215,32 @@ bool perhapsSetRTC(RTCQuality q, struct tm &t)
     }
 }
 
+/**
+ * Returns the timezone offset in seconds.
+ *
+ * @return The timezone offset in seconds.
+ */
+int32_t getTZOffset()
+{
+    time_t now = getTime(false);
+    struct tm *gmt;
+    gmt = gmtime(&now);
+    gmt->tm_isdst = -1;
+    return (int32_t)difftime(now, mktime(gmt));
+}
+
 /**
  * Returns the current time in seconds since the Unix epoch (January 1, 1970).
  *
  * @return The current time in seconds since the Unix epoch.
  */
-uint32_t getTime()
+uint32_t getTime(bool local)
 {
-    return (((uint32_t)millis() - timeStartMsec) / 1000) + zeroOffsetSecs;
+    if (local) {
+        return (((uint32_t)millis() - timeStartMsec) / 1000) + zeroOffsetSecs + getTZOffset();
+    } else {
+        return (((uint32_t)millis() - timeStartMsec) / 1000) + zeroOffsetSecs;
+    }
 }
 
 /**
@@ -205,7 +249,19 @@ uint32_t getTime()
  * @param minQuality The minimum quality of the RTC time required for it to be considered valid.
  * @return The current time from the RTC if it meets the minimum quality requirement, or 0 if the time is not valid.
  */
-uint32_t getValidTime(RTCQuality minQuality)
+uint32_t getValidTime(RTCQuality minQuality, bool local)
 {
-    return (currentQuality >= minQuality) ? getTime() : 0;
+    return (currentQuality >= minQuality) ? getTime(local) : 0;
 }
+
+time_t gm_mktime(struct tm *tm)
+{
+    setenv("TZ", "GMT0", 1);
+    time_t res = mktime(tm);
+    if (*config.device.tzdef) {
+        setenv("TZ", config.device.tzdef, 1);
+    } else {
+        setenv("TZ", "UTC0", 1);
+    }
+    return res;
+}

src/gps/RTC.h

@@ -25,17 +25,22 @@ enum RTCQuality {
 RTCQuality getRTCQuality();
 
 /// If we haven't yet set our RTC this boot, set it from a GPS derived time
-bool perhapsSetRTC(RTCQuality q, const struct timeval *tv);
+bool perhapsSetRTC(RTCQuality q, const struct timeval *tv, bool forceUpdate = false);
 bool perhapsSetRTC(RTCQuality q, struct tm &t);
 
+/// Return a string name for the quality
+const char *RtcName(RTCQuality quality);
+
 /// Return time since 1970 in secs.  While quality is RTCQualityNone we will be returning time based at zero
-uint32_t getTime();
+uint32_t getTime(bool local = false);
 
 /// Return time since 1970 in secs.  If quality is RTCQualityNone return zero
-uint32_t getValidTime(RTCQuality minQuality);
+uint32_t getValidTime(RTCQuality minQuality, bool local = false);
 
 void readFromRTC();
 
+time_t gm_mktime(struct tm *tm);
+
 #define SEC_PER_DAY 86400
 #define SEC_PER_HOUR 3600
 #define SEC_PER_MIN 60

src/gps/cas.h

@@ -0,0 +1,63 @@
+#pragma once
+
+// CASIC binary message definitions
+// Reference: https://www.icofchina.com/d/file/xiazai/2020-09-22/20f1b42b3a11ac52089caf3603b43fb5.pdf
+// ATGM33H-5N: https://www.icofchina.com/pro/mokuai/2016-08-01/4.html
+// (https://www.icofchina.com/d/file/xiazai/2016-12-05/b5c57074f4b1fcc62ba8c7868548d18a.pdf)
+
+// NEMA (Class ID - 0x4e) message IDs
+#define CAS_NEMA_GGA 0x00
+#define CAS_NEMA_GLL 0x01
+#define CAS_NEMA_GSA 0x02
+#define CAS_NEMA_GSV 0x03
+#define CAS_NEMA_RMC 0x04
+#define CAS_NEMA_VTG 0x05
+#define CAS_NEMA_GST 0x07
+#define CAS_NEMA_ZDA 0x08
+#define CAS_NEMA_DHV 0x0D
+
+// Size of a CAS-ACK-(N)ACK message (14 bytes)
+#define CAS_ACK_NACK_MSG_SIZE 0x0E
+
+// CFG-RST (0x06, 0x02)
+// Factory reset
+const uint8_t GPS::_message_CAS_CFG_RST_FACTORY[] = {
+    0xFF, 0x03, // Fields to clear
+    0x01,       // Reset Mode: Controlled Software reset
+    0x03        // Startup Mode: Factory
+};
+
+// CFG_RATE (0x06, 0x01)
+// 1HZ update rate, this should always be the case after
+// factory reset but update it regardless
+const uint8_t GPS::_message_CAS_CFG_RATE_1HZ[] = {
+    0xE8, 0x03, // Update Rate: 0x03E8 = 1000ms
+    0x00, 0x00  // Reserved
+};
+
+// CFG-NAVX (0x06, 0x07)
+// Initial ATGM33H-5N configuration, Updates for Dynamic Mode, Fix Mode, and SV system
+// Qwirk: The ATGM33H-5N-31 should only support GPS+BDS, however it will happily enable
+//  and use GPS+BDS+GLONASS iff the correct CFG_NAVX command is used.
+const uint8_t GPS::_message_CAS_CFG_NAVX_CONF[] = {
+    0x03, 0x01, 0x00, 0x00, // Update Mask: Dynamic Mode, Fix Mode, Nav Settings
+    0x03,                   // Dynamic Mode: Automotive
+    0x03,                   // Fix Mode: Auto 2D/3D
+    0x00,                   // Min SV
+    0x00,                   // Max SVs
+    0x00,                   // Min CNO
+    0x00,                   // Reserved1
+    0x00,                   // Init 3D fix
+    0x00,                   // Min Elevation
+    0x00,                   // Dr Limit
+    0x07,                   // Nav System: 2^0 = GPS, 2^1 = BDS 2^2 = GLONASS: 2^3
+                            // 3=GPS+BDS, 7=GPS+BDS+GLONASS
+    0x00, 0x00,             // Rollover Week
+    0x00, 0x00, 0x00, 0x00, // Fix Altitude
+    0x00, 0x00, 0x00, 0x00, // Fix Height Error
+    0x00, 0x00, 0x00, 0x00, // PDOP Maximum
+    0x00, 0x00, 0x00, 0x00, // TDOP Maximum
+    0x00, 0x00, 0x00, 0x00, // Position Accuracy Max
+    0x00, 0x00, 0x00, 0x00, // Time Accuracy Max
+    0x00, 0x00, 0x00, 0x00  // Static Hold Threshold
+};

src/gps/ubx.h

@@ -206,14 +206,14 @@ const uint8_t GPS::_message_GLL[] = {
     0x00        // Reserved
 };
 
-// Enable GSA. GSA - GPS DOP and active satellites, used for detailing the satellites used in the positioning and
+// Disable GSA. GSA - GPS DOP and active satellites, used for detailing the satellites used in the positioning and
 // the DOP (Dilution of Precision)
 const uint8_t GPS::_message_GSA[] = {
     0xF0, 0x02, // NMEA ID for GSA
     0x00,       // Rate for DDC
-    0x01,       // Rate for UART1
+    0x00,       // Rate for UART1
     0x00,       // Rate for UART2
-    0x01,       // Rate for USB usefull for native linux
+    0x00,       // Rate for USB usefull for native linux
     0x00,       // Rate for SPI
     0x00        // Reserved
 };
@@ -319,6 +319,8 @@ const uint8_t GPS::_message_SAVE[] = {
 // As the M10 has no flash, the best we can do to preserve the config is to set it in RAM and BBR.
 // BBR will survive a restart, and power off for a while, but modules with small backup
 // batteries or super caps will not retain the config for a long power off time.
+// for all configurations using sleep / low power modes, V_BCKP needs to be hooked to permanent power for fast aquisition after
+// sleep
 
 // VALSET Commands for M10
 // Please refer to the M10 Protocol Specification:
@@ -327,40 +329,42 @@ const uint8_t GPS::_message_SAVE[] = {
 // and:
 // https://content.u-blox.com/sites/default/files/u-blox-M10-ROM-5.10_ReleaseNotes_UBX-22001426.pdf
 // for interesting insights.
+//
+// Integration manual:
+// https://content.u-blox.com/sites/default/files/documents/SAM-M10Q_IntegrationManual_UBX-22020019.pdf
+// has details on low-power modes
+
 /*
 CFG-PM2 has been replaced by many CFG-PM commands
-OPERATEMODE E1 2 (0 | 1 | 2)
-POSUPDATEPERIOD U4 1000ms for M10 must be >= 5s try 5
-ACQPERIOD U4 10 seems ok for M10 def ok
-GRIDOFFSET U4 0 seems ok for M10 def ok
-ONTIME U2 1 will try 1
-MINACQTIME U1 0 will try 0 def ok
-MAXACQTIME U1 stick with default of 0 def ok
-DONOTENTEROFF L 1 stay at 1
-WAITTIMEFIX  L 1 stay with 1
-UPDATEEPH L 1 changed to 1 for gps rework default is 1
-EXTINTWAKE L 0 no ext ints
-EXTINTBACKUP L 0 no ext ints
-EXTINTINACTIVE L 0 no ext ints
-EXTINTACTIVITY U4 0 no ext ints
-LIMITPEAKCURRENT L 1 stay with 1
-*/
-// CFG-PMS has been removed
+CFG-PMS has been removed
+
+CFG-PM-OPERATEMODE E1 (0 | 1 | 2) -> 1 (PSMOO), because sporadic position updates are required instead of continous tracking <10s
+(PSMCT) CFG-PM-POSUPDATEPERIOD U4 -> 0ms, no self-timed wakup because receiver power mode is controlled via "software standby
+mode" by legacy UBX-RXM-PMREQ request CFG-PM-ACQPERIOD U4 -> 0ms, because receiver power mode is controlled via "software standby
+mode" by legacy UBX-RXM-PMREQ request CFG-PM-ONTIME U4 -> 0ms, optional I guess CFG-PM-EXTINTBACKUP L -> 1, force receiver into
+BACKUP mode when EXTINT (should be connected to GPS_EN_PIN) pin is "low"
+
+This is required because the receiver never enters low power mode if microcontroller is in deep-sleep.
+Maybe the changing UART_RX levels trigger a wakeup but even with UBX-RXM-PMREQ[12] = 0x00 (all external wakeup sources disabled)
+the receivcer remains in aquisition state -> potentially a bug
+
+Workaround: Control the EXTINT pin by the GPS_EN_PIN signal
+
+As mentioned in the M10 operational issues down below, power save won't allow the use of BDS B1C.
+CFG-SIGNAL-BDS_B1C_ENA L -> 0
 
 // Ram layer config message:
-// b5 62 06 8a 26 00 00 01 00 00 01 00 d0 20 02 02 00 d0 40 05 00 00 00 05 00 d0 30 01 00 08 00 d0 10 01 09 00 d0 10 01 10 00 d0
-// 10 01 8b de
+// 01 01 00 00 01 00 D0 20 01 02 00 D0 40 00 00 00 00 03 00 D0 40 00 00 00 00 05 00 D0 30 00 00 0D 00 D0 10 01
 
 // BBR layer config message:
-// b5 62 06 8a 26 00 00 02 00 00 01 00 d0 20 02 02 00 d0 40 05 00 00 00 05 00 d0 30 01 00 08 00 d0 10 01 09 00 d0 10 01 10 00 d0
-// 10 01 8c 03
-
-const uint8_t GPS::_message_VALSET_PM_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0xd0, 0x20, 0x02, 0x02, 0x00, 0xd0, 0x40,
-                                               0x05, 0x00, 0x00, 0x00, 0x05, 0x00, 0xd0, 0x30, 0x01, 0x00, 0x08, 0x00, 0xd0,
-                                               0x10, 0x01, 0x09, 0x00, 0xd0, 0x10, 0x01, 0x10, 0x00, 0xd0, 0x10, 0x01};
-const uint8_t GPS::_message_VALSET_PM_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x01, 0x00, 0xd0, 0x20, 0x02, 0x02, 0x00, 0xd0, 0x40,
-                                               0x05, 0x00, 0x00, 0x00, 0x05, 0x00, 0xd0, 0x30, 0x01, 0x00, 0x08, 0x00, 0xd0,
-                                               0x10, 0x01, 0x09, 0x00, 0xd0, 0x10, 0x01, 0x10, 0x00, 0xd0, 0x10, 0x01};
+// 01 02 00 00 01 00 D0 20 01 02 00 D0 40 00 00 00 00 03 00 D0 40 00 00 00 00 05 00 D0 30 00 00 0D 00 D0 10 01
+*/
+const uint8_t GPS::_message_VALSET_PM_RAM[] = {0x01, 0x01, 0x00, 0x00, 0x0F, 0x00, 0x31, 0x10, 0x00, 0x01, 0x00, 0xD0, 0x20, 0x01,
+                                               0x02, 0x00, 0xD0, 0x40, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0xD0, 0x40, 0x00, 0x00,
+                                               0x00, 0x00, 0x05, 0x00, 0xD0, 0x30, 0x00, 0x00, 0x0D, 0x00, 0xD0, 0x10, 0x01};
+const uint8_t GPS::_message_VALSET_PM_BBR[] = {0x01, 0x02, 0x00, 0x00, 0x0F, 0x00, 0x31, 0x10, 0x00, 0x01, 0x00, 0xD0, 0x20, 0x01,
+                                               0x02, 0x00, 0xD0, 0x40, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0xD0, 0x40, 0x00, 0x00,
+                                               0x00, 0x00, 0x05, 0x00, 0xD0, 0x30, 0x00, 0x00, 0x0D, 0x00, 0xD0, 0x10, 0x01};
 
 /*
 CFG-ITFM replaced by 5 valset messages which can be combined into one for RAM and one for BBR
@@ -402,23 +406,28 @@ const uint8_t GPS::_message_VALSET_DISABLE_NMEA_BBR[] = {0x00, 0x02, 0x00, 0x00,
 // BBR layer config message:
 // b5 62 06 8a 09 00 00 02 00 00 07 00 92 20 06 5a 58
 
-// Turn NMEA GSA, GGA, RMC messages on:
-// Ram layer config message:
-// b5 62 06 8a 13 00 00 01 00 00 c0 00 91 20 01 bb 00 91 20 01 ac 00 91 20 01 e1 3b
-
-// BBR layer config message:
-// b5 62 06 8a 13 00 00 02 00 00 c0 00 91 20 01 bb 00 91 20 01 ac 00 91 20 01 e2 4d
+// Turn NMEA GGA, RMC messages on:
+// Layer config messages:
+// RAM:
+// b5 62 06 8a 0e 00 00 01 00 00 bb 00 91 20 01 ac 00 91 20 01 6a 8f
+// BBR:
+// b5 62 06 8a 0e 00 00 02 00 00 bb 00 91 20 01 ac 00 91 20 01 6b 9c
+// FLASH:
+// b5 62 06 8a 0e 00 00 04 00 00 bb 00 91 20 01 ac 00 91 20 01 6d b6
+// Doing this for the FLASH layer isn't really required since we save the config to flash later
 
 const uint8_t GPS::_message_VALSET_DISABLE_TXT_INFO_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x07, 0x00, 0x92, 0x20, 0x03};
 const uint8_t GPS::_message_VALSET_DISABLE_TXT_INFO_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x07, 0x00, 0x92, 0x20, 0x03};
-const uint8_t GPS::_message_VALSET_ENABLE_NMEA_RAM[] = {0x00, 0x01, 0x00, 0x00, 0xc0, 0x00, 0x91, 0x20, 0x01, 0xbb,
-                                                        0x00, 0x91, 0x20, 0x01, 0xac, 0x00, 0x91, 0x20, 0x01};
-const uint8_t GPS::_message_VALSET_ENABLE_NMEA_BBR[] = {0x00, 0x02, 0x00, 0x00, 0xc0, 0x00, 0x91, 0x20, 0x01, 0xbb,
-                                                        0x00, 0x91, 0x20, 0x01, 0xac, 0x00, 0x91, 0x20, 0x01};
+
+const uint8_t GPS::_message_VALSET_ENABLE_NMEA_RAM[] = {0x00, 0x01, 0x00, 0x00, 0xbb, 0x00, 0x91,
+                                                        0x20, 0x01, 0xac, 0x00, 0x91, 0x20, 0x01};
+const uint8_t GPS::_message_VALSET_ENABLE_NMEA_BBR[] = {0x00, 0x02, 0x00, 0x00, 0xbb, 0x00, 0x91,
+                                                        0x20, 0x01, 0xac, 0x00, 0x91, 0x20, 0x01};
 const uint8_t GPS::_message_VALSET_DISABLE_SBAS_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x20, 0x00, 0x31,
                                                          0x10, 0x00, 0x05, 0x00, 0x31, 0x10, 0x00};
 const uint8_t GPS::_message_VALSET_DISABLE_SBAS_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x20, 0x00, 0x31,
                                                          0x10, 0x00, 0x05, 0x00, 0x31, 0x10, 0x00};
+
 /*
 Operational issues with the M10:
 

src/graphics/EInkDisplay2.cpp

@@ -62,12 +62,19 @@ bool EInkDisplay::forceDisplay(uint32_t msecLimit)
         return false;
 
     // FIXME - only draw bits have changed (use backbuf similar to the other displays)
+    const bool flipped = config.display.flip_screen;
     for (uint32_t y = 0; y < displayHeight; y++) {
         for (uint32_t x = 0; x < displayWidth; x++) {
             // get src pixel in the page based ordering the OLED lib uses FIXME, super inefficient
             auto b = buffer[x + (y / 8) * displayWidth];
             auto isset = b & (1 << (y & 7));
-            adafruitDisplay->drawPixel(x, y, isset ? GxEPD_BLACK : GxEPD_WHITE);
+
+            // Handle flip here, rather than with setRotation(),
+            // Avoids issues when display width is not a multiple of 8
+            if (flipped)
+                adafruitDisplay->drawPixel((displayWidth - 1) - x, (displayHeight - 1) - y, isset ? GxEPD_BLACK : GxEPD_WHITE);
+            else
+                adafruitDisplay->drawPixel(x, y, isset ? GxEPD_BLACK : GxEPD_WHITE);
         }
     }
 
@@ -151,31 +158,12 @@ bool EInkDisplay::connect()
 
 #elif defined(HELTEC_WIRELESS_PAPER_V1_0) || defined(HELTEC_WIRELESS_PAPER)
     {
-        // Is this a normal boot, or a wake from deep sleep?
-        esp_sleep_wakeup_cause_t wakeReason = esp_sleep_get_wakeup_cause();
-
-        // If waking from sleep, need to reverse rtc_gpio_isolate(), called in cpuDeepSleep()
-        // Otherwise, SPI won't work
-        if (wakeReason != ESP_SLEEP_WAKEUP_UNDEFINED) {
-            // HSPI + other display pins
-            rtc_gpio_hold_dis((gpio_num_t)PIN_EINK_SCLK);
-            rtc_gpio_hold_dis((gpio_num_t)PIN_EINK_DC);
-            rtc_gpio_hold_dis((gpio_num_t)PIN_EINK_RES);
-            rtc_gpio_hold_dis((gpio_num_t)PIN_EINK_BUSY);
-            rtc_gpio_hold_dis((gpio_num_t)PIN_EINK_CS);
-            rtc_gpio_hold_dis((gpio_num_t)PIN_EINK_MOSI);
-        }
-
         // Start HSPI
         hspi = new SPIClass(HSPI);
         hspi->begin(PIN_EINK_SCLK, -1, PIN_EINK_MOSI, PIN_EINK_CS); // SCLK, MISO, MOSI, SS
 
-        // Enable VExt (ACTIVE LOW)
-        // Unsure if called elsewhere first?
-        delay(100);
-        pinMode(Vext, OUTPUT);
-        digitalWrite(Vext, LOW);
-        delay(100);
+        // VExt already enabled in setup()
+        // RTC GPIO hold disabled in setup()
 
         // Create GxEPD2 objects
         auto lowLevel = new EINK_DISPLAY_MODEL(PIN_EINK_CS, PIN_EINK_DC, PIN_EINK_RES, PIN_EINK_BUSY, *hspi);
@@ -184,7 +172,6 @@ bool EInkDisplay::connect()
         // Init GxEPD2
         adafruitDisplay->init();
         adafruitDisplay->setRotation(3);
-        adafruitDisplay->clearScreen(); // Clearing now, so the boot logo will draw nice and smoothe (fast refresh)
     }
 #elif defined(PCA10059)
     {

src/graphics/EInkDynamicDisplay.cpp

@@ -5,7 +5,7 @@
 
 // Constructor
 EInkDynamicDisplay::EInkDynamicDisplay(uint8_t address, int sda, int scl, OLEDDISPLAY_GEOMETRY geometry, HW_I2C i2cBus)
-    : EInkDisplay(address, sda, scl, geometry, i2cBus)
+    : EInkDisplay(address, sda, scl, geometry, i2cBus), NotifiedWorkerThread("EInkDynamicDisplay")
 {
     // If tracking ghost pixels, grab memory
 #ifdef EINK_LIMIT_GHOSTING_PX
@@ -112,12 +112,15 @@ void EInkDynamicDisplay::endOrDetach()
     // If the GxEPD2 version reports that it has the async modifications
 #ifdef HAS_EINK_ASYNCFULL
     if (previousRefresh == FULL) {
-        asyncRefreshRunning = true; // Set the flag - picked up at start of determineMode(), next loop.
+        asyncRefreshRunning = true; // Set the flag - checked in determineMode(); cleared by onNotify()
 
         if (previousFrameFlags & BLOCKING)
             awaitRefresh();
-        else
-            LOG_DEBUG("Async full-refresh begins\n");
+        else {
+            // Async begins
+            LOG_DEBUG("Async full-refresh begins (dropping frames)\n");
+            notifyLater(intervalPollAsyncRefresh, DUE_POLL_ASYNCREFRESH, true); // Hand-off to NotifiedWorkerThread
+        }
     }
 
     // Fast Refresh
@@ -141,7 +144,7 @@ bool EInkDynamicDisplay::determineMode()
     checkInitialized();
     checkForPromotion();
 #if defined(HAS_EINK_ASYNCFULL)
-    checkAsyncFullRefresh();
+    checkBusyAsyncRefresh();
 #endif
     checkRateLimiting();
 
@@ -252,6 +255,7 @@ void EInkDynamicDisplay::checkRateLimiting()
         if (now - previousRunMs < EINK_LIMIT_RATE_RESPONSIVE_SEC * 1000) {
             refresh = SKIPPED;
             reason = EXCEEDED_RATELIMIT_FAST;
+            LOG_DEBUG("refresh=SKIPPED, reason=EXCEEDED_RATELIMIT_FAST, frameFlags=0x%x\n", frameFlags);
             return;
         }
     }
@@ -447,9 +451,67 @@ void EInkDynamicDisplay::resetGhostPixelTracking()
 }
 #endif // EINK_LIMIT_GHOSTING_PX
 
+// Handle any asyc tasks
+void EInkDynamicDisplay::onNotify(uint32_t notification)
+{
+    // Which task
+    switch (notification) {
+    case DUE_POLL_ASYNCREFRESH:
+        pollAsyncRefresh();
+        break;
+    }
+}
+
 #ifdef HAS_EINK_ASYNCFULL
-// Check the status of an "async full-refresh", and run the finish-up code if the hardware is ready
-void EInkDynamicDisplay::checkAsyncFullRefresh()
+// Public: wait for an refresh already in progress, then run the post-update code. See Screen::setScreensaverFrames()
+void EInkDynamicDisplay::joinAsyncRefresh()
+{
+    // If no async refresh running, nothing to do
+    if (!asyncRefreshRunning)
+        return;
+
+    LOG_DEBUG("Joining an async refresh in progress\n");
+
+    // Continually poll the BUSY pin
+    while (adafruitDisplay->epd2.isBusy())
+        yield();
+
+    // If asyncRefreshRunning flag is still set, but display's BUSY pin reports the refresh is done
+    adafruitDisplay->endAsyncFull(); // Run the end of nextPage() code
+    EInkDisplay::endUpdate();        // Run base-class code to finish off update (NOT our derived class override)
+    asyncRefreshRunning = false;     // Unset the flag
+    LOG_DEBUG("Refresh complete\n");
+
+    // Note: this code only works because of a modification to meshtastic/GxEPD2.
+    // It is only equipped to intercept calls to nextPage()
+}
+
+// Called from NotifiedWorkerThread. Run the post-update code if the hardware is ready
+void EInkDynamicDisplay::pollAsyncRefresh()
+{
+    // In theory, this condition should never be met
+    if (!asyncRefreshRunning)
+        return;
+
+    // Still running, check back later
+    if (adafruitDisplay->epd2.isBusy()) {
+        // Schedule next call of pollAsyncRefresh()
+        NotifiedWorkerThread::notifyLater(intervalPollAsyncRefresh, DUE_POLL_ASYNCREFRESH, true);
+        return;
+    }
+
+    // If asyncRefreshRunning flag is still set, but display's BUSY pin reports the refresh is done
+    adafruitDisplay->endAsyncFull(); // Run the end of nextPage() code
+    EInkDisplay::endUpdate();        // Run base-class code to finish off update (NOT our derived class override)
+    asyncRefreshRunning = false;     // Unset the flag
+    LOG_DEBUG("Async full-refresh complete\n");
+
+    // Note: this code only works because of a modification to meshtastic/GxEPD2.
+    // It is only equipped to intercept calls to nextPage()
+}
+
+// Check the status of "async full-refresh"; skip if running
+void EInkDynamicDisplay::checkBusyAsyncRefresh()
 {
     // No refresh taking place, continue with determineMode()
     if (!asyncRefreshRunning)
@@ -473,14 +535,9 @@ void EInkDynamicDisplay::checkAsyncFullRefresh()
         return;
     }
 
-    // If we asyncRefreshRunning flag is still set, but display's BUSY pin reports the refresh is done
-    adafruitDisplay->endAsyncFull(); // Run the end of nextPage() code
-    EInkDisplay::endUpdate();        // Run base-class code to finish off update (NOT our derived class override)
-    asyncRefreshRunning = false;     // Unset the flag
-    LOG_DEBUG("Async full-refresh complete\n");
-
-    // Note: this code only works because of a modification to meshtastic/GxEPD2.
-    // It is only equipped to intercept calls to nextPage()
+    // Async refresh appears to have stopped, but wasn't caught by onNotify()
+    else
+        pollAsyncRefresh(); // Check (and terminate) the async refresh manually
 }
 
 // Hold control while an async refresh runs

src/graphics/EInkDynamicDisplay.h

@@ -6,6 +6,7 @@
 
 #include "EInkDisplay2.h"
 #include "GxEPD2_BW.h"
+#include "concurrency/NotifiedWorkerThread.h"
 
 /*
     Derives from the EInkDisplay adapter class.
@@ -14,7 +15,7 @@
     (Full, Fast, Skip)
 */
 
-class EInkDynamicDisplay : public EInkDisplay
+class EInkDynamicDisplay : public EInkDisplay, protected concurrency::NotifiedWorkerThread
 {
   public:
     // Constructor
@@ -61,13 +62,20 @@ class EInkDynamicDisplay : public EInkDisplay
         REDRAW_WITH_FULL,
     };
 
-    void configForFastRefresh();  // GxEPD2 code to set fast-refresh
-    void configForFullRefresh();  // GxEPD2 code to set full-refresh
-    bool determineMode();         // Assess situation, pick a refresh type
-    void applyRefreshMode();      // Run any relevant GxEPD2 code, so next update will use correct refresh type
-    void adjustRefreshCounters(); // Update fastRefreshCount
-    bool update();                // Trigger the display update - determine mode, then call base class
-    void endOrDetach();           // Run the post-update code, or delegate it off to checkAsyncFullRefresh()
+    enum notificationTypes : uint8_t { // What was onNotify() called for
+        NONE = 0,                      // This behavior (NONE=0) is fixed by NotifiedWorkerThread class
+        DUE_POLL_ASYNCREFRESH = 1,
+    };
+    const uint32_t intervalPollAsyncRefresh = 100;
+
+    void onNotify(uint32_t notification) override; // Handle any async tasks - overrides NotifiedWorkerThread
+    void configForFastRefresh();                   // GxEPD2 code to set fast-refresh
+    void configForFullRefresh();                   // GxEPD2 code to set full-refresh
+    bool determineMode();                          // Assess situation, pick a refresh type
+    void applyRefreshMode();                       // Run any relevant GxEPD2 code, so next update will use correct refresh type
+    void adjustRefreshCounters();                  // Update fastRefreshCount
+    bool update();                                 // Trigger the display update - determine mode, then call base class
+    void endOrDetach();                            // Run the post-update code, or delegate it off to checkBusyAsyncRefresh()
 
     // Checks as part of determineMode()
     void checkInitialized();              // Is this the very first frame?
@@ -101,6 +109,7 @@ class EInkDynamicDisplay : public EInkDisplay
     refreshTypes currentConfig = FULL; // Which refresh type is GxEPD2 currently configured for
 
     // Optional - track ghosting, pixel by pixel
+    // May 2024: no longer used by any display. Kept for possible future use.
 #ifdef EINK_LIMIT_GHOSTING_PX
     void countGhostPixels();        // Count any pixels which have moved from black to white since last full-refresh
     void checkExcessiveGhosting();  // Check if ghosting exceeds defined limit
@@ -111,17 +120,30 @@ class EInkDynamicDisplay : public EInkDisplay
 
     // Conditional - async full refresh - only with modified meshtastic/GxEPD2
 #if defined(HAS_EINK_ASYNCFULL)
-    void checkAsyncFullRefresh(); // Check the status of "async full-refresh"; run the post-update code if the hardware is ready
-    void awaitRefresh();          // Hold control while an async refresh runs
-    void endUpdate() override {}  // Disable base-class behavior of running post-update immediately after forceDisplay()
-    bool asyncRefreshRunning = false; // Flag, checked by checkAsyncFullRefresh()
+  public:
+    void joinAsyncRefresh(); // Main thread joins an async refresh already in progress. Blocks, then runs post-update code
+
+  protected:
+    void pollAsyncRefresh();          // Run the post-update code if the hardware is ready
+    void checkBusyAsyncRefresh();     // Check if display is busy running an async full-refresh (rejecting new frames)
+    void awaitRefresh();              // Hold control while an async refresh runs
+    void endUpdate() override {}      // Disable base-class behavior of running post-update immediately after forceDisplay()
+    bool asyncRefreshRunning = false; // Flag, checked by checkBusyAsyncRefresh()
+#else
+  public:
+    void joinAsyncRefresh() {} // Dummy method
+
+  protected:
+    void pollAsyncRefresh() {} // Dummy method. In theory, not reachable
 #endif
 };
 
-// Tidier calls to addFrameFlag() from outside class
+// Hide the ugly casts used in Screen.cpp
 #define EINK_ADD_FRAMEFLAG(display, flag) static_cast<EInkDynamicDisplay *>(display)->addFrameFlag(EInkDynamicDisplay::flag)
+#define EINK_JOIN_ASYNCREFRESH(display) static_cast<EInkDynamicDisplay *>(display)->joinAsyncRefresh()
 
 #else // !USE_EINK_DYNAMICDISPLAY
 // Dummy-macro, removes the need for include guards
 #define EINK_ADD_FRAMEFLAG(display, flag)
+#define EINK_JOIN_ASYNCREFRESH(display)
 #endif

src/graphics/NeoPixel.h

@@ -0,0 +1,4 @@
+#ifdef HAS_NEOPIXEL
+#include <Adafruit_NeoPixel.h>
+extern Adafruit_NeoPixel pixels;
+#endif

src/graphics/PointStruct.h

@@ -0,0 +1,4 @@
+struct PointStruct {
+    int x;
+    int y;
+};

src/graphics/Screen.h

@@ -20,7 +20,7 @@ class Screen
     void setOn(bool) {}
     void print(const char *) {}
     void doDeepSleep() {}
-    void forceDisplay() {}
+    void forceDisplay(bool forceUiUpdate = false) {}
     void startBluetoothPinScreen(uint32_t pin) {}
     void stopBluetoothPinScreen() {}
     void startRebootScreen() {}
@@ -48,6 +48,7 @@ class Screen
 
 #include "EInkDisplay2.h"
 #include "EInkDynamicDisplay.h"
+#include "PointStruct.h"
 #include "TFTDisplay.h"
 #include "TypedQueue.h"
 #include "commands.h"
@@ -73,6 +74,14 @@ class Screen
 #define MILES_TO_FEET 5280
 #endif
 
+// Intuitive colors. E-Ink display is inverted from OLED(?)
+#define EINK_BLACK OLEDDISPLAY_COLOR::WHITE
+#define EINK_WHITE OLEDDISPLAY_COLOR::BLACK
+
+// Base segment dimensions for T-Watch segmented display
+#define SEGMENT_WIDTH 16
+#define SEGMENT_HEIGHT 4
+
 namespace graphics
 {
 
@@ -117,6 +126,8 @@ class Screen : public concurrency::OSThread
         CallbackObserver<Screen, const meshtastic::Status *>(this, &Screen::handleStatusUpdate);
     CallbackObserver<Screen, const meshtastic_MeshPacket *> textMessageObserver =
         CallbackObserver<Screen, const meshtastic_MeshPacket *>(this, &Screen::handleTextMessage);
+    CallbackObserver<Screen, const meshtastic_MeshPacket *> waypointObserver =
+        CallbackObserver<Screen, const meshtastic_MeshPacket *>(this, &Screen::handleWaypoint);
     CallbackObserver<Screen, const UIFrameEvent *> uiFrameEventObserver =
         CallbackObserver<Screen, const UIFrameEvent *>(this, &Screen::handleUIFrameEvent);
     CallbackObserver<Screen, const InputEvent *> inputObserver =
@@ -139,14 +150,14 @@ class Screen : public concurrency::OSThread
     // Not thread safe - must be called before any other methods are called.
     void setup();
 
-    /// Turns the screen on/off.
-    void setOn(bool on)
+    /// Turns the screen on/off. Optionally, pass a custom screensaver frame for E-Ink
+    void setOn(bool on, FrameCallback einkScreensaver = NULL)
     {
         if (!on)
-            handleSetOn(
-                false); // We handle off commands immediately, because they might be called because the CPU is shutting down
+            // We handle off commands immediately, because they might be called because the CPU is shutting down
+            handleSetOn(false, einkScreensaver);
         else
-            enqueueCmd(ScreenCmd{.cmd = on ? Cmd::SET_ON : Cmd::SET_OFF});
+            enqueueCmd(ScreenCmd{.cmd = Cmd::SET_ON});
     }
 
     /**
@@ -162,9 +173,6 @@ class Screen : public concurrency::OSThread
     void showPrevFrame() { enqueueCmd(ScreenCmd{.cmd = Cmd::SHOW_PREV_FRAME}); }
     void showNextFrame() { enqueueCmd(ScreenCmd{.cmd = Cmd::SHOW_NEXT_FRAME}); }
 
-    // Implementation to Adjust Brightness
-    uint8_t brightness = BRIGHTNESS_DEFAULT;
-
     /// Starts showing the Bluetooth PIN screen.
     //
     // Switches over to a static frame showing the Bluetooth pairing screen
@@ -198,6 +206,24 @@ class Screen : public concurrency::OSThread
         enqueueCmd(cmd);
     }
 
+    // Function to allow the AccelerometerThread to set the heading if a sensor provides it
+    // Mutex needed?
+    void setHeading(long _heading)
+    {
+        hasCompass = true;
+        compassHeading = _heading;
+    }
+
+    bool hasHeading() { return hasCompass; }
+
+    long getHeading() { return compassHeading; }
+    // functions for display brightness
+    void increaseBrightness();
+    void decreaseBrightness();
+
+    void setFunctionSymbal(std::string sym);
+    void removeFunctionSymbal(std::string sym);
+
     /// Stops showing the bluetooth PIN screen.
     void stopBluetoothPinScreen() { enqueueCmd(ScreenCmd{.cmd = Cmd::STOP_BLUETOOTH_PIN_SCREEN}); }
 
@@ -312,15 +338,21 @@ class Screen : public concurrency::OSThread
     int handleTextMessage(const meshtastic_MeshPacket *arg);
     int handleUIFrameEvent(const UIFrameEvent *arg);
     int handleInputEvent(const InputEvent *arg);
+    int handleWaypoint(const meshtastic_MeshPacket *arg);
 
     /// Used to force (super slow) eink displays to draw critical frames
-    void forceDisplay();
+    void forceDisplay(bool forceUiUpdate = false);
 
     /// Draws our SSL cert screen during boot (called from WebServer)
     void setSSLFrames();
 
     void setWelcomeFrames();
 
+#ifdef USE_EINK
+    /// Draw an image to remain on E-Ink display after screen off
+    void setScreensaverFrames(FrameCallback einkScreensaver = NULL);
+#endif
+
   protected:
     /// Updates the UI.
     //
@@ -342,7 +374,7 @@ class Screen : public concurrency::OSThread
     bool enqueueCmd(const ScreenCmd &cmd)
     {
         if (!useDisplay)
-            return true; // claim success if our display is not in use
+            return false; // not enqueued if our display is not in use
         else {
             bool success = cmdQueue.enqueue(cmd, 0);
             enabled = true; // handle ASAP (we are the registered reader for cmdQueue, but might have been disabled)
@@ -351,7 +383,7 @@ class Screen : public concurrency::OSThread
     }
 
     // Implementations of various commands, called from doTask().
-    void handleSetOn(bool on);
+    void handleSetOn(bool on, FrameCallback einkScreensaver = NULL);
     void handleOnPress();
     void handleShowNextFrame();
     void handleShowPrevFrame();
@@ -376,6 +408,27 @@ class Screen : public concurrency::OSThread
 
     static void drawDebugInfoWiFiTrampoline(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y);
 
+#ifdef T_WATCH_S3
+    static void drawAnalogClockFrame(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y);
+
+    static void drawDigitalClockFrame(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y);
+
+    static void drawSegmentedDisplayCharacter(OLEDDisplay *display, int x, int y, uint8_t number, float scale = 1);
+
+    static void drawHorizontalSegment(OLEDDisplay *display, int x, int y, int width, int height);
+
+    static void drawVerticalSegment(OLEDDisplay *display, int x, int y, int width, int height);
+
+    static void drawSegmentedDisplayColon(OLEDDisplay *display, int x, int y, float scale = 1);
+
+    static void drawWatchFaceToggleButton(OLEDDisplay *display, int16_t x, int16_t y, bool digitalMode = true, float scale = 1);
+
+    static void drawBluetoothConnectedIcon(OLEDDisplay *display, int16_t x, int16_t y);
+
+    // Whether we are showing the digital watch face or the analog one
+    bool digitalWatchFace = true;
+#endif
+
     /// Queue of commands to execute in doTask.
     TypedQueue<ScreenCmd> cmdQueue;
     /// Whether we are using a display
@@ -386,6 +439,11 @@ class Screen : public concurrency::OSThread
     // Bluetooth PIN screen)
     bool showingNormalScreen = false;
 
+    // Implementation to Adjust Brightness
+    uint8_t brightness = BRIGHTNESS_DEFAULT; // H = 254, MH = 192, ML = 130 L = 103
+
+    bool hasCompass = false;
+    float compassHeading;
     /// Holds state for debug information
     DebugInfo debugInfo;
 

src/graphics/ScreenFonts.h

@@ -8,7 +8,7 @@
 #include "graphics/fonts/OLEDDisplayFontsUA.h"
 #endif
 
-#if (defined(USE_EINK) || defined(ILI9341_DRIVER) || defined(ST7735_CS) || defined(ST7789_CS)) &&                                \
+#if (defined(USE_EINK) || defined(ILI9341_DRIVER) || defined(ST7735_CS) || defined(ST7789_CS) || defined(HX8357_CS)) &&          \
     !defined(DISPLAY_FORCE_SMALL_FONTS)
 // The screen is bigger so use bigger fonts
 #define FONT_SMALL ArialMT_Plain_16  // Height: 19