diff --git a/app/CMakeLists.txt b/app/CMakeLists.txt index c07a603..b1f857c 100644 --- a/app/CMakeLists.txt +++ b/app/CMakeLists.txt @@ -1,4 +1,5 @@ list(APPEND incs ".") +list(APPEND incs "../components/lib") list(APPEND incs "../components/system/include") list(APPEND incs "../components/system/source") list(APPEND incs "../components/system/source/k_kit") @@ -6,7 +7,6 @@ list(APPEND incs "../components/system/source/shell") list(APPEND incs "drivers/data_port/usb-host") list(APPEND incs "drivers/data_port/ble_spp") list(APPEND incs "drivers/data_port/socket_inet") -list(APPEND incs "lib-out") @@ -22,7 +22,9 @@ list(APPEND srcs "button/button.c") list(APPEND srcs "button/multi_button.c") list(APPEND srcs "config/board_config.c") list(APPEND srcs "config/app_config.c") +list(APPEND srcs "config/app_log.c") list(APPEND srcs "utils/crc.c") +list(APPEND srcs "utils/sb_aes.c") if(CONFIG_BUILD_BLE) list(APPEND srcs "drivers/data_port/ble_spp/ble_spp_server.c") diff --git a/app/app_main.c b/app/app_main.c index 2bcc784..426de40 100644 --- a/app/app_main.c +++ b/app/app_main.c @@ -6,13 +6,16 @@ #include /* 配置 */ -#include "ota.h" #include "config/board_config.h" #include "config/app_config.h" +#include "config/app_log.h" /* SDK */ #include "esp_err.h" #include "hal/spi_types.h" +#include "spbelib_interface.h" +#include "lib_shell.h" +#include "ota.h" /* 驱动 */ #include "drivers/ws2812_spi/ws2812_spi.h" @@ -37,7 +40,6 @@ nvs_handle g_nvs_hdl; // nvs 句柄 os_work_q_t g_work_q_hdl_low; // 低于 default_os_work_q_hdl 优先级的工作队列 static void _init_nvs(void); -static void _init_work_q(void); static void _init_ws2812(void); static void _change_mode_event_button(button_hdl_t *handle, press_event_t event); static void _vset_cb(sh_t *sh_hdl); @@ -50,20 +52,22 @@ void work_app_main(void *arg) /* 初始化配置 */ board_cfg_init(); // 板级配置 app_cfg_init(); // 应用配置 + app_log_init(); // 应用记录 /* 初始化 OTA 功能*/ ota_partition_check(); - /* 初始化其他优先级的工作队列 */ - _init_work_q(); - - /* 初始化按键检测和控制 */ - btn_attach(&g_cfg_board->key_reset, _change_mode_event_button, EVENT_PRESS_UP | EVENT_PRESS_DOWN | EVENT_LONG_PRESS_HOLD); - /* 初始化 ws2812 */ _init_ws2812(); ws2812_spi_shell_register(); // 用于测试 ws2812 的 shell 命令 + /* 启动静态库功能 */ + sblib_init(SBLIB_INIT_ADAPTER); + lib_shell_register(); // 静态库接口命令 + + /* 初始化按键检测和控制 */ + btn_attach(&g_cfg_board->key_reset, _change_mode_event_button, EVENT_PRESS_UP | EVENT_PRESS_DOWN | EVENT_LONG_PRESS_HOLD); + /* 启动 shell */ os_thread_sleep(100); shell_start(_vset_cb); @@ -79,15 +83,6 @@ static void _init_nvs(void) } } -static void _init_work_q(void) -{ - /* 不使用以节省内存 */ - // os_work_q_create(&g_work_q_hdl_low, - // "app-work_q-low", - // 0x2000, - // OS_PRIORITY_LOW); -} - static void _init_ws2812(void) { #if (CONFIG_LED_STRIP_MAX_LEDS) @@ -113,3 +108,36 @@ static void _change_mode_event_button(button_hdl_t *handle, press_event_t event) SYS_LOG_DBG("button stat: %s", stat_tab[event]); } } + +// 导出符号，供 linker script 使用 +#include "utils/sb_aes.h" +#include "drivers/data_port/sb_data_port.h" +#include "drivers/data_port/uart/uart_port.h" +#if defined(CONFIG_BUILD_BLE) +#include "drivers/data_port/ble_spp/ble_spp_server.h" +#endif +#if defined(CONFIG_BUILD_WIFI) +#include "drivers/data_port/socket_inet/socket_inet.h" +#endif +#if defined(CONFIG_IDF_TARGET_ESP32S3) +#include "drivers/data_port/usb-host/usbport.h" +#endif +void _exporter_reference_symbols(void) +{ + btn_attach(NULL, NULL, 0); + sb_aes_init(); + sb_data_port_start(NULL); + sb_uart_port_init(); + sh_init_vt100(NULL, NULL, NULL); + shell_start(NULL); + ws2812_spi_led_strip_init(0, 0); +#if defined(CONFIG_BUILD_BLE) + sb_ble_server_port_init(NULL); +#endif +#if defined(CONFIG_BUILD_WIFI) + socket_inet_init(); +#endif +#if defined(CONFIG_IDF_TARGET_ESP32S3) + usbport_init(); +#endif +} diff --git a/app/config/app_config/SBDEMO.h b/app/config/app_config/SBDEMO.h index d3f57a4..19cfda7 100644 --- a/app/config/app_config/SBDEMO.h +++ b/app/config/app_config/SBDEMO.h @@ -54,7 +54,7 @@ static cfg_app_t const s_cfg_app_default = { .strip_pwrup = 0, // 使用灯带上电效果 .strip_show_rf = 0, // 在灯带中用一个灯来显示射频数据接口状态的灯效图层 .strip_link_fc = 0, // 开启灯带联动飞控 - .ws2812_bat_led_mode = 1, // 电量灯效, 0: 关闭, 1: 普通飞控, 2: 竞速飞控, 3: 固定翼飞控 + .ws2812_bat_led_mode = 0, // 电量灯效, 0: 关闭, 1: 普通飞控, 2: 竞速飞控, 3: 固定翼飞控 }, .ws2812_bat_led_direction = 0, // 0: 正向，1: 反向(正反向是指灯珠的连接方式，正向是指从第一个灯珠开始，反向是指从最后一个灯珠开始) .ws2812_bat_led_color = 0xFFFFFF, // 电量灯颜色, RGB颜色值,如 0xFFFFFF 代表白色(默认) diff --git a/app/config/app_log.c b/app/config/app_log.c new file mode 100644 index 0000000..c16cd1f --- /dev/null +++ b/app/config/app_log.c @@ -0,0 +1,276 @@ +/** + * @file app_log.c + * @author LokLiang + * @brief app_log.h 模块源码 + * @version 0.1 + * @date 2023-11-242 + * + * @copyright Copyright (c) 2023 + * + */ + +#include "app_log.h" +#include "nvs.h" +#include "utils/crc.h" +#include "os/os.h" + +#undef CONFIG_SYS_LOG_LEVEL +#define CONFIG_SYS_LOG_LEVEL SYS_LOG_LEVEL_INF +#define SYS_LOG_DOMAIN "APLOG" +#define CONS_ABORT() +#include "sys_log.h" + +#define _NVS_KEY_MAIN "log-main" + +/* 数据区 -------------------------------------------------------------------------------------- */ + +extern nvs_handle g_nvs_hdl; + +static struct +{ + os_time_t flight_time_start; +} s_cm; + +/* nvs 接口 ------------------------------------------------------------------------------------ */ + +static int _read_key(const char *key, void *out_value, size_t tar_length, uint32_t *crc_base); +static int _set_crc(const void *struct_base, size_t struct_length, uint32_t *crc_base); +static int _do_factory_set(log_app_t *log); + +/** + * @brief 读取指定的数据，并按给出的特性进行校验，返回校验结果 + * + * @param key 在 nvs 的存储块的键值 + * @param out_value[out] 输出内存 + * @param tar_length 输出的内存预期的长度 + * @param crc_base[io] CRC 校验值所在内存块的地址（绝对值）。输入：校验值，输出：新的正确校验值 + * @retval 0 正确读取了已存储数据 + * @retval 1 nvs 模块可用， CRC 校验值已更新 + * @retval -1 nvs 模块不可用 + */ +static int _read_key(const char *key, void *out_value, size_t tar_length, uint32_t *crc_base) +{ + size_t required_size = 0; + esp_err_t err = ESP_OK; + + /* 在确认已存储的数据长度前，仅获取长度以免数据溢出 */ + err = nvs_get_blob(g_nvs_hdl, key, NULL, &required_size); + if (err != ESP_OK) + { + SYS_LOG_WRN("failed to read prfsdata data length, err:%d", err); + return -1; + } + if (required_size != tar_length) + { + SYS_LOG_WRN("invalid prfsdata length, length:%d, err:%d", required_size, err); + return -1; + } + + /* 读出已存储的数据 */ + err = nvs_get_blob(g_nvs_hdl, key, out_value, &required_size); + if (err != ESP_OK) + { + SYS_LOG_ERR("failed to read prfsdata data, err:%d", err); + return -1; + } + + /* 设置并校验 CRC */ + if (_set_crc(out_value, tar_length, crc_base)) + { + SYS_LOG_WRN("read frs failed, incorrect crc and update"); + return 1; + } + + return 0; +} + +/** + * @brief 校验并更新结构体中 CRC 的值。 + * 这将校验整个结构（包含 CRC 本身），因此 CRC 自身的初始值为 0，然后更新 CRC 的结果到结构中 + * + * @param struct_base 待分析和设置的内存块 + * @param struct_length 待分析和设置的内存块的实际长度 + * @param crc_base[io] CRC 校验值所在内存块的地址（绝对值） + * @retval 0 校验正确 + * @retval 1 校验错误，并且设置了正确的校验值 + */ +static int _set_crc(const void *struct_base, size_t struct_length, uint32_t *crc_base) +{ + // 校验读出来的数据的正确性 + uint32_t crc_read = *crc_base; + *crc_base = 0; + *crc_base = crc32_calc(0, struct_base, struct_length); + return (crc_read != *crc_base); +} + +static int _do_factory_set(log_app_t *log) +{ + memset(log, 0, sizeof(*log)); + + log->flight_data.crc16 = crc16_calc(NULL, 0); + + return app_log_do_save(log); +} + +/** + * @brief 初始化 + */ +void app_log_init(void) +{ + SYS_ASSERT(g_nvs_hdl != 0, ""); +} + +/** + * @brief 使内存的数据恢复到默认设置 + * + * @retval 0 操作成功 + * @retval -1 操作失败 + */ +int app_log_factory_set(void) +{ + log_app_t *log = os_malloc(sizeof(log_app_t)); + if (log == NULL) + { + SYS_LOG_WRN("malloc fail"); + return -1; + } + + int ret = _do_factory_set(log); + + os_free(log); + + return ret; +} + +/** + * @brief 立即执行保存 配置数据 到 nvs 的动作 + * + * @param delay_ms 0: 立即保存， > 0 多少毫秒后执行保存 + * @return int @ref esp_err_t + */ +int app_log_do_save(log_app_t *log) +{ + log->version = APP_LOG_DATA_VER; + _set_crc(log, sizeof(*log), &log->crc32); + esp_err_t err = nvs_set_blob(g_nvs_hdl, _NVS_KEY_MAIN, log, sizeof(*log)); + if (err != ESP_OK) + { + SYS_LOG_WRN("nvs_set_blob() err: %d", err); + } + return err; +} + +/* 读接口 -------------------------------------------------------------------------------------- */ + +/** + * @brief 读取日志信息 + * 将从 nvs 读取已保存的数据到内存 log_app_t 中。 + * 当出现以下情况时，配置数据被恢复到默认值： + * nvs 未初始化或操作失败； + * 使用 app_log_factory_set() 立即恢复到默认值； + * 结构体的长度 log_app_t 发生改变； + * APP_CONFIG_DATA_VER 定义的值发生改变； + * + * @param out_log[out] 用于保存日志信息的内存 + * @retval 0 成功读取已有记录 + * @retval 1 已恢复默认设置 + * @retval -1 nvs 操作失败 + */ +int app_log_read(log_app_t *out_log) +{ + int ret = _read_key(_NVS_KEY_MAIN, out_log, sizeof(*out_log), &out_log->crc32); + if (ret) + { + goto use_default_prfs; + } + if (out_log->version != APP_LOG_DATA_VER) + { + ret = 1; + SYS_LOG_WRN("Upgrade to the latest version: %u ==> %u", out_log->version, APP_LOG_DATA_VER); + goto use_default_prfs; + } + + return ret; + +use_default_prfs: + _do_factory_set(out_log); + return ret; +} + +/* 写接口 -------------------------------------------------------------------------------------- */ + +/** + * @brief 开始计时 + * + */ +void app_log_flight_time_start(void) +{ + log_app_t *log = os_malloc(sizeof(log_app_t)); + if (log == NULL) + { + SYS_LOG_WRN("malloc fail"); + return; + } + + if (log->flight_data.flight_number < __ARRAY_SIZE(log->flight_data.datas)) + { + s_cm.flight_time_start = os_get_sys_time(); + } + else + { + s_cm.flight_time_start = 0; + SYS_LOG_INF("The maximum number of groups: %d", __ARRAY_SIZE(log->flight_data.datas)); + } + + os_free(log); +} + +/** + * @brief 结束计时，并保存这个记录 + * + */ +void app_log_flight_time_stop(void) +{ + if (s_cm.flight_time_start == 0) + { + SYS_LOG_WRN("never exec app_log_flight_time_start()"); + return; + } + + log_app_t *log = os_malloc(sizeof(log_app_t)); + if (log == NULL) + { + SYS_LOG_WRN("malloc fail"); + return; + } + + os_time_t time_cost_sec = (os_get_sys_time() - s_cm.flight_time_start) / 1000; + if (time_cost_sec > 10) + { + log->flight_data.datas[log->flight_data.flight_number++] = time_cost_sec; + log->flight_data.crc16 = crc16_calc(log->flight_data.datas, sizeof(log->flight_data.datas[0]) * log->flight_data.flight_number); + app_log_do_save(log); + } + s_cm.flight_time_start = 0; + + os_free(log); +} + +/** + * @brief 清除全部计时记录 + * + */ +void app_log_flight_time_clr(void) +{ + log_app_t *log = os_malloc(sizeof(log_app_t)); + if (log == NULL) + { + SYS_LOG_WRN("malloc fail"); + return; + } + + memset(&log->flight_data, 0, sizeof(log->flight_data)); + app_log_do_save(log); + + os_free(log); +} diff --git a/app/config/app_log.h b/app/config/app_log.h new file mode 100644 index 0000000..79603ad --- /dev/null +++ b/app/config/app_log.h @@ -0,0 +1,74 @@ +/** + * @file app_log.h + * @author LokLiang + * @brief 用于应用控制程序的统一配置的数据结构 + * @version 0.1 + * @date 2023-11-24 + * + * @copyright Copyright (c) 2023 + * + * 本模块实现功能： + * 1. 统一定义应用程序需要存储的所有数据； + * 2. 依赖 nfs 模块，使当前数据与内部存储的数据实现同步； + * 3. 依赖 sh_vset 模块，并提供其对应的所有设置实现函数； + * + * 对数据的读操作： + * 上层应用：应用和模式管理模块和控制模块 + * 对外提 app_log_read() 读取数据 + * + * 对数据的写操作： + * 上层应用： + * 为所有成员提供专门的写入接口，内部数据被立即更新。 + * + * 数据的默认值： + * 当出现以下情况时，配置数据被恢复到默认值： + * nvs 未初始化或操作失败； + * 使用 app_log_factory_set() 恢复到默认值； + * 结构体的长度 log_app_t 发生改变； + * APP_LOG_DATA_VER 定义的值发生改变（在 app_log.c 内部定义）； + * + */ + +#pragma once + +#include "sys_types.h" + +#define APP_LOG_DATA_VER 1 /* 对应 log_app_t::version */ + +/* 数据结构 ------------------------------------------------------------------------------------ */ + +typedef struct +{ + uint16_t flight_number; // 当前记录的飞行次数 + uint16_t crc16; // CRC16 + uint16_t datas[2048]; +} flight_data_t; + +typedef struct // 设备配置统一数据结构 +{ + uint32_t version; // 配置版本，修改 APP_LOG_DATA_VER 的值后， nvs 已同步的数据被恢复到默认值 + + flight_data_t flight_data; + + uint32_t crc32; // 校验数据（可放于任何位置） +} log_app_t; + +/* nvs 接口 ------------------------------------------------------------------------------------ */ + +void app_log_init(void); // 初始化 + +int app_log_factory_set(void); // 使内存的数据恢复到默认设置，注意不会被立即保存到 nvs 中 + +int app_log_do_save(log_app_t *log); // 保存配置数据 到 nvs 的动作 + +/* 读接口 -------------------------------------------------------------------------------------- */ + +int app_log_read(log_app_t *out_log); + +/* 操作接口 ------------------------------------------------------------------------------------ */ + +/* 写接口 -------------------------------------------------------------------------------------- */ + +void app_log_flight_time_start(void); +void app_log_flight_time_stop(void); +void app_log_flight_time_clr(void); diff --git a/app/utils/sb_aes.c b/app/utils/sb_aes.c new file mode 100644 index 0000000..b5c4e8d --- /dev/null +++ b/app/utils/sb_aes.c @@ -0,0 +1,89 @@ +#include +#include +#include +#include "mbedtls/aes.h" + +#define RAWDATALEN 16 +// uint8_t rawData[RAWDATALEN]; +uint8_t aes_iv[16]; + +// aes key，加密和解密要用同样的key +uint8_t aes_key[16] = {0xFE, 0x63, 0x96, 0xF9, 0x5C, 0xEF, 0xB8, 0xF4, 0x07, 0x05, 0xD1, 0xB6, 0xEB, 0xAB, 0xEA, 0x07}; +uint8_t aes_iv_original[16] = {0x3D, 0x27, 0x4E, 0x83, 0x43, 0x5D, 0x30, 0xEC, 0x62, 0xEB, 0x90, 0x3A, 0xAC, 0x60, 0x12, 0xF5}; + +mbedtls_aes_context aes; + +void sb_aes_init() +{ + // 初始化aes上下文 + mbedtls_aes_init(&aes); +} + +void reset_iv() +{ + // 该函数用于每次加密、解密前，重置iv值，iv值的内容是随意定的，只要起到不是随便就能猜中的IV值即可。 + // 加、解密所用的iv值必须相同。此处把iv值设置为0~15 + memcpy(aes_iv, aes_iv_original, 16); +} + +int sb_aes_encrypt(uint8_t *crypt_data, int crypt_len, uint8_t *output_data) +{ + int ret; + // 设置加密的key + mbedtls_aes_setkey_enc(&aes, aes_key, 128); + reset_iv(); // 因为调用mbedtls_aes_crypt_cbc后传入的iv值会有变化，重置iv值会有变化 + ret = mbedtls_aes_crypt_cbc(&aes, MBEDTLS_AES_ENCRYPT, crypt_len, aes_iv, crypt_data, output_data); + if (ret) + { + return -1; + } + + return crypt_len; +} + +int sb_aes_decrypt(uint8_t *crypt_data, int crypt_len, uint8_t *output_data) +{ + int ret; + + // 设置解密的key + mbedtls_aes_setkey_dec(&aes, aes_key, 128); + reset_iv(); // 因为调用mbedtls_aes_crypt_cbc后传入的iv值会有变化，重置iv值会有变化 + ret = mbedtls_aes_crypt_cbc(&aes, MBEDTLS_AES_DECRYPT, crypt_len, aes_iv, crypt_data, output_data); + if (ret) + { + return -1; + } + + return crypt_len; +} + +// void app_main(void) +//{ +// uint8_t encData[RAWDATALEN] = { 0 }; +// uint8_t decData[RAWDATALEN] = { 0 }; + +// sb_aes_init(); // 初始化aes上下文 + +// // 打印原始数据 +// printf("rawData:\t"); +// for (int i = 0; i < RAWDATALEN; i++) { +// printf("%02x, ", rawData[i]); +// } +// printf("\n"); + +// // 加密 +// int encresult = sb_aes_encrypt(rawData, sizeof(rawData), encData); +// printf("enc data(%d):\t", encresult); +// for (int i = 0; i < RAWDATALEN; i++) { +// printf("%02x, ", encData[i]); +// } +// printf("\n"); + +// // 解密 +// int decresult = sb_aes_decrypt(encData, RAWDATALEN, decData); +// printf("dec data(%d):\t", decresult); +// for (int i = 0; i < RAWDATALEN; i++) { +// printf("%02x, ", decData[i]); +// } +// printf("\n"); +//} \ No newline at end of file diff --git a/app/utils/sb_aes.h b/app/utils/sb_aes.h new file mode 100644 index 0000000..378fb49 --- /dev/null +++ b/app/utils/sb_aes.h @@ -0,0 +1,14 @@ +#pragma once + +#include +#include +#include + +/* + * DEFINES + **************************************************************************************** + */ + +void sb_aes_init(); +int sb_aes_encrypt(uint8_t *crypt_data, int crypt_len, uint8_t *output_data); +int sb_aes_decrypt(uint8_t *crypt_data, int crypt_len, uint8_t *output_data); diff --git a/app/utils/trigonometric.c b/app/utils/trigonometric.c new file mode 100644 index 0000000..8558a4c --- /dev/null +++ b/app/utils/trigonometric.c @@ -0,0 +1,941 @@ +#include "trigonometric.h" + +static int16_t const s_sin_tab[901]; + +int16_t sin_s16(int16_t deg) +{ + if (deg < 0) + { + deg = 3600 - (-deg % 3600); + } + else + { + deg %= 3600; + } + + if (deg <= 900) + { + return s_sin_tab[deg]; + } + + if (deg <= 1800) + { + return s_sin_tab[1800 - deg]; + } + + if (deg <= 2700) + { + return -s_sin_tab[deg - 1800]; + } + + return -s_sin_tab[3600 - deg]; +} + +int16_t cos_s16(int16_t deg) +{ + return sin_s16(deg + 900); +} + +static int16_t const s_sin_tab[901] = { + [0] = 0L, // 0.000000, + [1] = 57L, // 0.001745, + [2] = 114L, // 0.003491, + [3] = 171L, // 0.005236, + [4] = 228L, // 0.006981, + [5] = 285L, // 0.008727, + [6] = 343L, // 0.010472, + [7] = 400L, // 0.012217, + [8] = 457L, // 0.013962, + [9] = 514L, // 0.015707, + [10] = 571L, // 0.017452, + [11] = 629L, // 0.019197, + [12] = 686L, // 0.020942, + [13] = 743L, // 0.022687, + [14] = 800L, // 0.024432, + [15] = 857L, // 0.026177, + [16] = 914L, // 0.027922, + [17] = 972L, // 0.029666, + [18] = 1029L, // 0.031411, + [19] = 1086L, // 0.033155, + [20] = 1143L, // 0.034899, + [21] = 1200L, // 0.036644, + [22] = 1257L, // 0.038388, + [23] = 1314L, // 0.040132, + [24] = 1372L, // 0.041876, + [25] = 1429L, // 0.043619, + [26] = 1486L, // 0.045363, + [27] = 1543L, // 0.047106, + [28] = 1600L, // 0.048850, + [29] = 1657L, // 0.050593, + [30] = 1714L, // 0.052336, + [31] = 1772L, // 0.054079, + [32] = 1829L, // 0.055822, + [33] = 1886L, // 0.057564, + [34] = 1943L, // 0.059306, + [35] = 2000L, // 0.061049, + [36] = 2057L, // 0.062791, + [37] = 2114L, // 0.064532, + [38] = 2171L, // 0.066274, + [39] = 2228L, // 0.068015, + [40] = 2285L, // 0.069756, + [41] = 2342L, // 0.071497, + [42] = 2399L, // 0.073238, + [43] = 2456L, // 0.074979, + [44] = 2513L, // 0.076719, + [45] = 2570L, // 0.078459, + [46] = 2627L, // 0.080199, + [47] = 2684L, // 0.081939, + [48] = 2741L, // 0.083678, + [49] = 2798L, // 0.085417, + [50] = 2855L, // 0.087156, + [51] = 2912L, // 0.088894, + [52] = 2969L, // 0.090633, + [53] = 3026L, // 0.092371, + [54] = 3083L, // 0.094108, + [55] = 3140L, // 0.095846, + [56] = 3197L, // 0.097583, + [57] = 3254L, // 0.099320, + [58] = 3311L, // 0.101056, + [59] = 3368L, // 0.102793, + [60] = 3425L, // 0.104528, + [61] = 3481L, // 0.106264, + [62] = 3538L, // 0.107999, + [63] = 3595L, // 0.109734, + [64] = 3652L, // 0.111469, + [65] = 3709L, // 0.113203, + [66] = 3766L, // 0.114937, + [67] = 3822L, // 0.116671, + [68] = 3879L, // 0.118404, + [69] = 3936L, // 0.120137, + [70] = 3993L, // 0.121869, + [71] = 4050L, // 0.123601, + [72] = 4106L, // 0.125333, + [73] = 4163L, // 0.127065, + [74] = 4220L, // 0.128796, + [75] = 4276L, // 0.130526, + [76] = 4333L, // 0.132256, + [77] = 4390L, // 0.133986, + [78] = 4446L, // 0.135716, + [79] = 4503L, // 0.137445, + [80] = 4560L, // 0.139173, + [81] = 4616L, // 0.140901, + [82] = 4673L, // 0.142629, + [83] = 4730L, // 0.144356, + [84] = 4786L, // 0.146083, + [85] = 4843L, // 0.147809, + [86] = 4899L, // 0.149535, + [87] = 4956L, // 0.151261, + [88] = 5012L, // 0.152986, + [89] = 5069L, // 0.154710, + [90] = 5125L, // 0.156434, + [91] = 5182L, // 0.158158, + [92] = 5238L, // 0.159881, + [93] = 5295L, // 0.161604, + [94] = 5351L, // 0.163326, + [95] = 5408L, // 0.165048, + [96] = 5464L, // 0.166769, + [97] = 5520L, // 0.168489, + [98] = 5577L, // 0.170209, + [99] = 5633L, // 0.171929, + [100] = 5689L, // 0.173648, + [101] = 5746L, // 0.175367, + [102] = 5802L, // 0.177085, + [103] = 5858L, // 0.178802, + [104] = 5915L, // 0.180519, + [105] = 5971L, // 0.182236, + [106] = 6027L, // 0.183951, + [107] = 6083L, // 0.185667, + [108] = 6139L, // 0.187381, + [109] = 6196L, // 0.189095, + [110] = 6252L, // 0.190809, + [111] = 6308L, // 0.192522, + [112] = 6364L, // 0.194234, + [113] = 6420L, // 0.195946, + [114] = 6476L, // 0.197657, + [115] = 6532L, // 0.199368, + [116] = 6588L, // 0.201078, + [117] = 6644L, // 0.202787, + [118] = 6700L, // 0.204496, + [119] = 6756L, // 0.206204, + [120] = 6812L, // 0.207912, + [121] = 6868L, // 0.209619, + [122] = 6924L, // 0.211325, + [123] = 6980L, // 0.213030, + [124] = 7036L, // 0.214735, + [125] = 7092L, // 0.216440, + [126] = 7147L, // 0.218143, + [127] = 7203L, // 0.219846, + [128] = 7259L, // 0.221548, + [129] = 7315L, // 0.223250, + [130] = 7370L, // 0.224951, + [131] = 7426L, // 0.226651, + [132] = 7482L, // 0.228351, + [133] = 7538L, // 0.230050, + [134] = 7593L, // 0.231748, + [135] = 7649L, // 0.233445, + [136] = 7704L, // 0.235142, + [137] = 7760L, // 0.236838, + [138] = 7816L, // 0.238533, + [139] = 7871L, // 0.240228, + [140] = 7927L, // 0.241922, + [141] = 7982L, // 0.243615, + [142] = 8037L, // 0.245307, + [143] = 8093L, // 0.246999, + [144] = 8148L, // 0.248690, + [145] = 8204L, // 0.250380, + [146] = 8259L, // 0.252069, + [147] = 8314L, // 0.253758, + [148] = 8370L, // 0.255446, + [149] = 8425L, // 0.257133, + [150] = 8480L, // 0.258819, + [151] = 8535L, // 0.260505, + [152] = 8591L, // 0.262189, + [153] = 8646L, // 0.263873, + [154] = 8701L, // 0.265556, + [155] = 8756L, // 0.267238, + [156] = 8811L, // 0.268920, + [157] = 8866L, // 0.270600, + [158] = 8921L, // 0.272280, + [159] = 8976L, // 0.273959, + [160] = 9031L, // 0.275637, + [161] = 9086L, // 0.277315, + [162] = 9141L, // 0.278991, + [163] = 9196L, // 0.280667, + [164] = 9251L, // 0.282341, + [165] = 9306L, // 0.284015, + [166] = 9361L, // 0.285688, + [167] = 9415L, // 0.287361, + [168] = 9470L, // 0.289032, + [169] = 9525L, // 0.290702, + [170] = 9580L, // 0.292372, + [171] = 9634L, // 0.294040, + [172] = 9689L, // 0.295708, + [173] = 9744L, // 0.297375, + [174] = 9798L, // 0.299041, + [175] = 9853L, // 0.300706, + [176] = 9907L, // 0.302370, + [177] = 9962L, // 0.304033, + [178] = 10016L, // 0.305695, + [179] = 10071L, // 0.307357, + [180] = 10125L, // 0.309017, + [181] = 10179L, // 0.310676, + [182] = 10234L, // 0.312335, + [183] = 10288L, // 0.313992, + [184] = 10342L, // 0.315649, + [185] = 10397L, // 0.317305, + [186] = 10451L, // 0.318959, + [187] = 10505L, // 0.320613, + [188] = 10559L, // 0.322266, + [189] = 10613L, // 0.323917, + [190] = 10667L, // 0.325568, + [191] = 10721L, // 0.327218, + [192] = 10775L, // 0.328867, + [193] = 10829L, // 0.330514, + [194] = 10883L, // 0.332161, + [195] = 10937L, // 0.333807, + [196] = 10991L, // 0.335452, + [197] = 11045L, // 0.337095, + [198] = 11099L, // 0.338738, + [199] = 11153L, // 0.340380, + [200] = 11206L, // 0.342020, + [201] = 11260L, // 0.343660, + [202] = 11314L, // 0.345298, + [203] = 11368L, // 0.346936, + [204] = 11421L, // 0.348572, + [205] = 11475L, // 0.350207, + [206] = 11528L, // 0.351842, + [207] = 11582L, // 0.353475, + [208] = 11635L, // 0.355107, + [209] = 11689L, // 0.356738, + [210] = 11742L, // 0.358368, + [211] = 11796L, // 0.359997, + [212] = 11849L, // 0.361625, + [213] = 11902L, // 0.363251, + [214] = 11955L, // 0.364877, + [215] = 12009L, // 0.366501, + [216] = 12062L, // 0.368125, + [217] = 12115L, // 0.369747, + [218] = 12168L, // 0.371368, + [219] = 12221L, // 0.372988, + [220] = 12274L, // 0.374607, + [221] = 12327L, // 0.376224, + [222] = 12380L, // 0.377841, + [223] = 12433L, // 0.379456, + [224] = 12486L, // 0.381070, + [225] = 12539L, // 0.382683, + [226] = 12592L, // 0.384295, + [227] = 12644L, // 0.385906, + [228] = 12697L, // 0.387516, + [229] = 12750L, // 0.389124, + [230] = 12803L, // 0.390731, + [231] = 12855L, // 0.392337, + [232] = 12908L, // 0.393942, + [233] = 12960L, // 0.395546, + [234] = 13013L, // 0.397148, + [235] = 13065L, // 0.398749, + [236] = 13118L, // 0.400349, + [237] = 13170L, // 0.401948, + [238] = 13222L, // 0.403545, + [239] = 13275L, // 0.405142, + [240] = 13327L, // 0.406737, + [241] = 13379L, // 0.408330, + [242] = 13431L, // 0.409923, + [243] = 13484L, // 0.411514, + [244] = 13536L, // 0.413104, + [245] = 13588L, // 0.414693, + [246] = 13640L, // 0.416281, + [247] = 13692L, // 0.417867, + [248] = 13744L, // 0.419452, + [249] = 13796L, // 0.421036, + [250] = 13847L, // 0.422618, + [251] = 13899L, // 0.424199, + [252] = 13951L, // 0.425779, + [253] = 14003L, // 0.427358, + [254] = 14054L, // 0.428935, + [255] = 14106L, // 0.430511, + [256] = 14158L, // 0.432086, + [257] = 14209L, // 0.433659, + [258] = 14261L, // 0.435231, + [259] = 14312L, // 0.436802, + [260] = 14364L, // 0.438371, + [261] = 14415L, // 0.439939, + [262] = 14466L, // 0.441506, + [263] = 14518L, // 0.443071, + [264] = 14569L, // 0.444635, + [265] = 14620L, // 0.446198, + [266] = 14671L, // 0.447759, + [267] = 14722L, // 0.449319, + [268] = 14773L, // 0.450878, + [269] = 14824L, // 0.452435, + [270] = 14875L, // 0.453990, + [271] = 14926L, // 0.455545, + [272] = 14977L, // 0.457098, + [273] = 15028L, // 0.458650, + [274] = 15079L, // 0.460200, + [275] = 15130L, // 0.461749, + [276] = 15180L, // 0.463296, + [277] = 15231L, // 0.464842, + [278] = 15282L, // 0.466387, + [279] = 15332L, // 0.467930, + [280] = 15383L, // 0.469472, + [281] = 15433L, // 0.471012, + [282] = 15484L, // 0.472551, + [283] = 15534L, // 0.474088, + [284] = 15584L, // 0.475624, + [285] = 15635L, // 0.477159, + [286] = 15685L, // 0.478692, + [287] = 15735L, // 0.480224, + [288] = 15785L, // 0.481754, + [289] = 15835L, // 0.483282, + [290] = 15885L, // 0.484810, + [291] = 15935L, // 0.486335, + [292] = 15985L, // 0.487860, + [293] = 16035L, // 0.489382, + [294] = 16085L, // 0.490904, + [295] = 16135L, // 0.492424, + [296] = 16184L, // 0.493942, + [297] = 16234L, // 0.495459, + [298] = 16284L, // 0.496974, + [299] = 16333L, // 0.498488, + [300] = 16383L, // 0.500000, + [301] = 16433L, // 0.501511, + [302] = 16482L, // 0.503020, + [303] = 16531L, // 0.504528, + [304] = 16581L, // 0.506034, + [305] = 16630L, // 0.507538, + [306] = 16679L, // 0.509041, + [307] = 16728L, // 0.510543, + [308] = 16778L, // 0.512043, + [309] = 16827L, // 0.513541, + [310] = 16876L, // 0.515038, + [311] = 16925L, // 0.516533, + [312] = 16974L, // 0.518027, + [313] = 17023L, // 0.519519, + [314] = 17071L, // 0.521010, + [315] = 17120L, // 0.522499, + [316] = 17169L, // 0.523986, + [317] = 17218L, // 0.525472, + [318] = 17266L, // 0.526956, + [319] = 17315L, // 0.528438, + [320] = 17363L, // 0.529919, + [321] = 17412L, // 0.531399, + [322] = 17460L, // 0.532876, + [323] = 17509L, // 0.534352, + [324] = 17557L, // 0.535827, + [325] = 17605L, // 0.537300, + [326] = 17653L, // 0.538771, + [327] = 17702L, // 0.540240, + [328] = 17750L, // 0.541708, + [329] = 17798L, // 0.543174, + [330] = 17846L, // 0.544639, + [331] = 17894L, // 0.546102, + [332] = 17942L, // 0.547563, + [333] = 17989L, // 0.549023, + [334] = 18037L, // 0.550481, + [335] = 18085L, // 0.551937, + [336] = 18132L, // 0.553392, + [337] = 18180L, // 0.554844, + [338] = 18228L, // 0.556296, + [339] = 18275L, // 0.557745, + [340] = 18323L, // 0.559193, + [341] = 18370L, // 0.560639, + [342] = 18417L, // 0.562083, + [343] = 18465L, // 0.563526, + [344] = 18512L, // 0.564967, + [345] = 18559L, // 0.566406, + [346] = 18606L, // 0.567844, + [347] = 18653L, // 0.569280, + [348] = 18700L, // 0.570714, + [349] = 18747L, // 0.572146, + [350] = 18794L, // 0.573576, + [351] = 18841L, // 0.575005, + [352] = 18887L, // 0.576432, + [353] = 18934L, // 0.577858, + [354] = 18981L, // 0.579281, + [355] = 19027L, // 0.580703, + [356] = 19074L, // 0.582123, + [357] = 19120L, // 0.583541, + [358] = 19167L, // 0.584958, + [359] = 19213L, // 0.586372, + [360] = 19259L, // 0.587785, + [361] = 19306L, // 0.589196, + [362] = 19352L, // 0.590606, + [363] = 19398L, // 0.592013, + [364] = 19444L, // 0.593419, + [365] = 19490L, // 0.594823, + [366] = 19536L, // 0.596225, + [367] = 19582L, // 0.597625, + [368] = 19628L, // 0.599024, + [369] = 19673L, // 0.600420, + [370] = 19719L, // 0.601815, + [371] = 19765L, // 0.603208, + [372] = 19810L, // 0.604599, + [373] = 19856L, // 0.605988, + [374] = 19901L, // 0.607376, + [375] = 19947L, // 0.608761, + [376] = 19992L, // 0.610145, + [377] = 20037L, // 0.611527, + [378] = 20083L, // 0.612907, + [379] = 20128L, // 0.614285, + [380] = 20173L, // 0.615662, + [381] = 20218L, // 0.617036, + [382] = 20263L, // 0.618408, + [383] = 20308L, // 0.619779, + [384] = 20353L, // 0.621148, + [385] = 20397L, // 0.622515, + [386] = 20442L, // 0.623880, + [387] = 20487L, // 0.625243, + [388] = 20531L, // 0.626604, + [389] = 20576L, // 0.627963, + [390] = 20620L, // 0.629320, + [391] = 20665L, // 0.630676, + [392] = 20709L, // 0.632029, + [393] = 20753L, // 0.633381, + [394] = 20798L, // 0.634731, + [395] = 20842L, // 0.636078, + [396] = 20886L, // 0.637424, + [397] = 20930L, // 0.638768, + [398] = 20974L, // 0.640110, + [399] = 21018L, // 0.641450, + [400] = 21062L, // 0.642788, + [401] = 21105L, // 0.644124, + [402] = 21149L, // 0.645458, + [403] = 21193L, // 0.646790, + [404] = 21236L, // 0.648120, + [405] = 21280L, // 0.649448, + [406] = 21323L, // 0.650774, + [407] = 21367L, // 0.652098, + [408] = 21410L, // 0.653421, + [409] = 21453L, // 0.654741, + [410] = 21497L, // 0.656059, + [411] = 21540L, // 0.657375, + [412] = 21583L, // 0.658689, + [413] = 21626L, // 0.660002, + [414] = 21669L, // 0.661312, + [415] = 21712L, // 0.662620, + [416] = 21754L, // 0.663926, + [417] = 21797L, // 0.665230, + [418] = 21840L, // 0.666532, + [419] = 21882L, // 0.667833, + [420] = 21925L, // 0.669131, + [421] = 21967L, // 0.670427, + [422] = 22010L, // 0.671721, + [423] = 22052L, // 0.673012, + [424] = 22094L, // 0.674302, + [425] = 22137L, // 0.675590, + [426] = 22179L, // 0.676876, + [427] = 22221L, // 0.678160, + [428] = 22263L, // 0.679441, + [429] = 22305L, // 0.680721, + [430] = 22347L, // 0.681998, + [431] = 22388L, // 0.683274, + [432] = 22430L, // 0.684547, + [433] = 22472L, // 0.685818, + [434] = 22513L, // 0.687088, + [435] = 22555L, // 0.688355, + [436] = 22596L, // 0.689620, + [437] = 22638L, // 0.690882, + [438] = 22679L, // 0.692143, + [439] = 22720L, // 0.693402, + [440] = 22761L, // 0.694658, + [441] = 22802L, // 0.695913, + [442] = 22844L, // 0.697165, + [443] = 22884L, // 0.698415, + [444] = 22925L, // 0.699663, + [445] = 22966L, // 0.700909, + [446] = 23007L, // 0.702153, + [447] = 23048L, // 0.703395, + [448] = 23088L, // 0.704634, + [449] = 23129L, // 0.705872, + [450] = 23169L, // 0.707107, + [451] = 23210L, // 0.708340, + [452] = 23250L, // 0.709571, + [453] = 23290L, // 0.710799, + [454] = 23330L, // 0.712026, + [455] = 23371L, // 0.713250, + [456] = 23411L, // 0.714473, + [457] = 23451L, // 0.715693, + [458] = 23491L, // 0.716911, + [459] = 23530L, // 0.718126, + [460] = 23570L, // 0.719340, + [461] = 23610L, // 0.720551, + [462] = 23649L, // 0.721760, + [463] = 23689L, // 0.722967, + [464] = 23728L, // 0.724172, + [465] = 23768L, // 0.725374, + [466] = 23807L, // 0.726575, + [467] = 23846L, // 0.727773, + [468] = 23886L, // 0.728969, + [469] = 23925L, // 0.730162, + [470] = 23964L, // 0.731354, + [471] = 24003L, // 0.732543, + [472] = 24042L, // 0.733730, + [473] = 24080L, // 0.734915, + [474] = 24119L, // 0.736097, + [475] = 24158L, // 0.737277, + [476] = 24196L, // 0.738455, + [477] = 24235L, // 0.739631, + [478] = 24273L, // 0.740805, + [479] = 24312L, // 0.741976, + [480] = 24350L, // 0.743145, + [481] = 24388L, // 0.744312, + [482] = 24427L, // 0.745476, + [483] = 24465L, // 0.746638, + [484] = 24503L, // 0.747798, + [485] = 24541L, // 0.748956, + [486] = 24578L, // 0.750111, + [487] = 24616L, // 0.751264, + [488] = 24654L, // 0.752415, + [489] = 24692L, // 0.753563, + [490] = 24729L, // 0.754710, + [491] = 24767L, // 0.755853, + [492] = 24804L, // 0.756995, + [493] = 24841L, // 0.758134, + [494] = 24879L, // 0.759271, + [495] = 24916L, // 0.760406, + [496] = 24953L, // 0.761538, + [497] = 24990L, // 0.762668, + [498] = 25027L, // 0.763796, + [499] = 25064L, // 0.764921, + [500] = 25100L, // 0.766044, + [501] = 25137L, // 0.767165, + [502] = 25174L, // 0.768284, + [503] = 25210L, // 0.769400, + [504] = 25247L, // 0.770513, + [505] = 25283L, // 0.771625, + [506] = 25320L, // 0.772734, + [507] = 25356L, // 0.773840, + [508] = 25392L, // 0.774944, + [509] = 25428L, // 0.776046, + [510] = 25464L, // 0.777146, + [511] = 25500L, // 0.778243, + [512] = 25536L, // 0.779338, + [513] = 25572L, // 0.780430, + [514] = 25608L, // 0.781520, + [515] = 25643L, // 0.782608, + [516] = 25679L, // 0.783693, + [517] = 25714L, // 0.784776, + [518] = 25750L, // 0.785857, + [519] = 25785L, // 0.786935, + [520] = 25820L, // 0.788011, + [521] = 25855L, // 0.789084, + [522] = 25891L, // 0.790155, + [523] = 25926L, // 0.791224, + [524] = 25960L, // 0.792290, + [525] = 25995L, // 0.793353, + [526] = 26030L, // 0.794415, + [527] = 26065L, // 0.795473, + [528] = 26099L, // 0.796530, + [529] = 26134L, // 0.797584, + [530] = 26168L, // 0.798635, + [531] = 26203L, // 0.799685, + [532] = 26237L, // 0.800731, + [533] = 26271L, // 0.801776, + [534] = 26305L, // 0.802817, + [535] = 26339L, // 0.803857, + [536] = 26373L, // 0.804894, + [537] = 26407L, // 0.805928, + [538] = 26441L, // 0.806960, + [539] = 26475L, // 0.807990, + [540] = 26509L, // 0.809017, + [541] = 26542L, // 0.810042, + [542] = 26576L, // 0.811064, + [543] = 26609L, // 0.812084, + [544] = 26642L, // 0.813101, + [545] = 26676L, // 0.814116, + [546] = 26709L, // 0.815128, + [547] = 26742L, // 0.816138, + [548] = 26775L, // 0.817145, + [549] = 26808L, // 0.818150, + [550] = 26841L, // 0.819152, + [551] = 26873L, // 0.820152, + [552] = 26906L, // 0.821149, + [553] = 26939L, // 0.822144, + [554] = 26971L, // 0.823136, + [555] = 27004L, // 0.824126, + [556] = 27036L, // 0.825113, + [557] = 27068L, // 0.826098, + [558] = 27100L, // 0.827081, + [559] = 27133L, // 0.828060, + [560] = 27165L, // 0.829038, + [561] = 27197L, // 0.830012, + [562] = 27228L, // 0.830984, + [563] = 27260L, // 0.831954, + [564] = 27292L, // 0.832921, + [565] = 27323L, // 0.833886, + [566] = 27355L, // 0.834848, + [567] = 27386L, // 0.835807, + [568] = 27418L, // 0.836764, + [569] = 27449L, // 0.837719, + [570] = 27480L, // 0.838671, + [571] = 27511L, // 0.839620, + [572] = 27542L, // 0.840567, + [573] = 27573L, // 0.841511, + [574] = 27604L, // 0.842452, + [575] = 27635L, // 0.843391, + [576] = 27666L, // 0.844328, + [577] = 27696L, // 0.845262, + [578] = 27727L, // 0.846193, + [579] = 27757L, // 0.847122, + [580] = 27787L, // 0.848048, + [581] = 27818L, // 0.848972, + [582] = 27848L, // 0.849893, + [583] = 27878L, // 0.850811, + [584] = 27908L, // 0.851727, + [585] = 27938L, // 0.852640, + [586] = 27968L, // 0.853551, + [587] = 27998L, // 0.854459, + [588] = 28027L, // 0.855364, + [589] = 28057L, // 0.856267, + [590] = 28086L, // 0.857167, + [591] = 28116L, // 0.858065, + [592] = 28145L, // 0.858960, + [593] = 28174L, // 0.859852, + [594] = 28203L, // 0.860742, + [595] = 28233L, // 0.861629, + [596] = 28261L, // 0.862514, + [597] = 28290L, // 0.863396, + [598] = 28319L, // 0.864275, + [599] = 28348L, // 0.865151, + [600] = 28377L, // 0.866025, + [601] = 28405L, // 0.866897, + [602] = 28434L, // 0.867765, + [603] = 28462L, // 0.868632, + [604] = 28490L, // 0.869495, + [605] = 28518L, // 0.870356, + [606] = 28547L, // 0.871214, + [607] = 28575L, // 0.872069, + [608] = 28603L, // 0.872922, + [609] = 28630L, // 0.873772, + [610] = 28658L, // 0.874620, + [611] = 28686L, // 0.875464, + [612] = 28713L, // 0.876307, + [613] = 28741L, // 0.877146, + [614] = 28768L, // 0.877983, + [615] = 28796L, // 0.878817, + [616] = 28823L, // 0.879649, + [617] = 28850L, // 0.880477, + [618] = 28877L, // 0.881303, + [619] = 28904L, // 0.882127, + [620] = 28931L, // 0.882948, + [621] = 28958L, // 0.883766, + [622] = 28985L, // 0.884581, + [623] = 29011L, // 0.885394, + [624] = 29038L, // 0.886204, + [625] = 29064L, // 0.887011, + [626] = 29091L, // 0.887815, + [627] = 29117L, // 0.888617, + [628] = 29143L, // 0.889416, + [629] = 29169L, // 0.890213, + [630] = 29195L, // 0.891007, + [631] = 29221L, // 0.891798, + [632] = 29247L, // 0.892586, + [633] = 29273L, // 0.893371, + [634] = 29298L, // 0.894154, + [635] = 29324L, // 0.894934, + [636] = 29349L, // 0.895712, + [637] = 29375L, // 0.896486, + [638] = 29400L, // 0.897258, + [639] = 29425L, // 0.898028, + [640] = 29450L, // 0.898794, + [641] = 29475L, // 0.899558, + [642] = 29500L, // 0.900319, + [643] = 29525L, // 0.901077, + [644] = 29550L, // 0.901833, + [645] = 29575L, // 0.902585, + [646] = 29599L, // 0.903335, + [647] = 29624L, // 0.904083, + [648] = 29648L, // 0.904827, + [649] = 29672L, // 0.905569, + [650] = 29696L, // 0.906308, + [651] = 29721L, // 0.907044, + [652] = 29745L, // 0.907777, + [653] = 29769L, // 0.908508, + [654] = 29792L, // 0.909236, + [655] = 29816L, // 0.909961, + [656] = 29840L, // 0.910684, + [657] = 29863L, // 0.911403, + [658] = 29887L, // 0.912120, + [659] = 29910L, // 0.912834, + [660] = 29934L, // 0.913545, + [661] = 29957L, // 0.914254, + [662] = 29980L, // 0.914960, + [663] = 30003L, // 0.915663, + [664] = 30026L, // 0.916363, + [665] = 30049L, // 0.917060, + [666] = 30072L, // 0.917755, + [667] = 30094L, // 0.918446, + [668] = 30117L, // 0.919135, + [669] = 30139L, // 0.919822, + [670] = 30162L, // 0.920505, + [671] = 30184L, // 0.921185, + [672] = 30206L, // 0.921863, + [673] = 30228L, // 0.922538, + [674] = 30250L, // 0.923210, + [675] = 30272L, // 0.923880, + [676] = 30294L, // 0.924546, + [677] = 30316L, // 0.925210, + [678] = 30338L, // 0.925871, + [679] = 30359L, // 0.926529, + [680] = 30381L, // 0.927184, + [681] = 30402L, // 0.927836, + [682] = 30423L, // 0.928486, + [683] = 30444L, // 0.929133, + [684] = 30465L, // 0.929776, + [685] = 30486L, // 0.930418, + [686] = 30507L, // 0.931056, + [687] = 30528L, // 0.931691, + [688] = 30549L, // 0.932324, + [689] = 30570L, // 0.932954, + [690] = 30590L, // 0.933580, + [691] = 30611L, // 0.934204, + [692] = 30631L, // 0.934826, + [693] = 30651L, // 0.935444, + [694] = 30671L, // 0.936060, + [695] = 30691L, // 0.936672, + [696] = 30711L, // 0.937282, + [697] = 30731L, // 0.937889, + [698] = 30751L, // 0.938493, + [699] = 30771L, // 0.939094, + [700] = 30790L, // 0.939693, + [701] = 30810L, // 0.940288, + [702] = 30829L, // 0.940881, + [703] = 30849L, // 0.941471, + [704] = 30868L, // 0.942057, + [705] = 30887L, // 0.942641, + [706] = 30906L, // 0.943223, + [707] = 30925L, // 0.943801, + [708] = 30944L, // 0.944376, + [709] = 30963L, // 0.944949, + [710] = 30981L, // 0.945519, + [711] = 31000L, // 0.946085, + [712] = 31018L, // 0.946649, + [713] = 31037L, // 0.947210, + [714] = 31055L, // 0.947768, + [715] = 31073L, // 0.948324, + [716] = 31091L, // 0.948876, + [717] = 31109L, // 0.949425, + [718] = 31127L, // 0.949972, + [719] = 31145L, // 0.950516, + [720] = 31163L, // 0.951057, + [721] = 31180L, // 0.951594, + [722] = 31198L, // 0.952129, + [723] = 31215L, // 0.952661, + [724] = 31233L, // 0.953191, + [725] = 31250L, // 0.953717, + [726] = 31267L, // 0.954240, + [727] = 31284L, // 0.954761, + [728] = 31301L, // 0.955278, + [729] = 31318L, // 0.955793, + [730] = 31335L, // 0.956305, + [731] = 31351L, // 0.956814, + [732] = 31368L, // 0.957319, + [733] = 31384L, // 0.957823, + [734] = 31401L, // 0.958323, + [735] = 31417L, // 0.958820, + [736] = 31433L, // 0.959314, + [737] = 31449L, // 0.959805, + [738] = 31465L, // 0.960294, + [739] = 31481L, // 0.960779, + [740] = 31497L, // 0.961262, + [741] = 31513L, // 0.961741, + [742] = 31528L, // 0.962218, + [743] = 31544L, // 0.962692, + [744] = 31559L, // 0.963163, + [745] = 31575L, // 0.963630, + [746] = 31590L, // 0.964095, + [747] = 31605L, // 0.964557, + [748] = 31620L, // 0.965016, + [749] = 31635L, // 0.965473, + [750] = 31650L, // 0.965926, + [751] = 31665L, // 0.966376, + [752] = 31679L, // 0.966823, + [753] = 31694L, // 0.967268, + [754] = 31708L, // 0.967709, + [755] = 31723L, // 0.968148, + [756] = 31737L, // 0.968583, + [757] = 31751L, // 0.969016, + [758] = 31765L, // 0.969445, + [759] = 31779L, // 0.969872, + [760] = 31793L, // 0.970296, + [761] = 31807L, // 0.970716, + [762] = 31821L, // 0.971134, + [763] = 31834L, // 0.971549, + [764] = 31848L, // 0.971961, + [765] = 31861L, // 0.972370, + [766] = 31874L, // 0.972776, + [767] = 31888L, // 0.973179, + [768] = 31901L, // 0.973579, + [769] = 31914L, // 0.973976, + [770] = 31927L, // 0.974370, + [771] = 31939L, // 0.974761, + [772] = 31952L, // 0.975149, + [773] = 31965L, // 0.975535, + [774] = 31977L, // 0.975917, + [775] = 31990L, // 0.976296, + [776] = 32002L, // 0.976672, + [777] = 32014L, // 0.977046, + [778] = 32026L, // 0.977416, + [779] = 32039L, // 0.977783, + [780] = 32050L, // 0.978148, + [781] = 32062L, // 0.978509, + [782] = 32074L, // 0.978867, + [783] = 32086L, // 0.979223, + [784] = 32097L, // 0.979575, + [785] = 32109L, // 0.979925, + [786] = 32120L, // 0.980271, + [787] = 32131L, // 0.980615, + [788] = 32142L, // 0.980955, + [789] = 32154L, // 0.981293, + [790] = 32164L, // 0.981627, + [791] = 32175L, // 0.981959, + [792] = 32186L, // 0.982287, + [793] = 32197L, // 0.982613, + [794] = 32207L, // 0.982935, + [795] = 32218L, // 0.983255, + [796] = 32228L, // 0.983571, + [797] = 32238L, // 0.983885, + [798] = 32249L, // 0.984196, + [799] = 32259L, // 0.984503, + [800] = 32269L, // 0.984808, + [801] = 32279L, // 0.985109, + [802] = 32288L, // 0.985408, + [803] = 32298L, // 0.985703, + [804] = 32308L, // 0.985996, + [805] = 32317L, // 0.986286, + [806] = 32327L, // 0.986572, + [807] = 32336L, // 0.986856, + [808] = 32345L, // 0.987136, + [809] = 32354L, // 0.987414, + [810] = 32363L, // 0.987688, + [811] = 32372L, // 0.987960, + [812] = 32381L, // 0.988228, + [813] = 32389L, // 0.988494, + [814] = 32398L, // 0.988756, + [815] = 32407L, // 0.989016, + [816] = 32415L, // 0.989272, + [817] = 32423L, // 0.989526, + [818] = 32431L, // 0.989776, + [819] = 32440L, // 0.990024, + [820] = 32448L, // 0.990268, + [821] = 32456L, // 0.990509, + [822] = 32463L, // 0.990748, + [823] = 32471L, // 0.990983, + [824] = 32479L, // 0.991216, + [825] = 32486L, // 0.991445, + [826] = 32494L, // 0.991671, + [827] = 32501L, // 0.991894, + [828] = 32508L, // 0.992115, + [829] = 32515L, // 0.992332, + [830] = 32522L, // 0.992546, + [831] = 32529L, // 0.992757, + [832] = 32536L, // 0.992966, + [833] = 32543L, // 0.993171, + [834] = 32549L, // 0.993373, + [835] = 32556L, // 0.993572, + [836] = 32562L, // 0.993768, + [837] = 32569L, // 0.993961, + [838] = 32575L, // 0.994151, + [839] = 32581L, // 0.994338, + [840] = 32587L, // 0.994522, + [841] = 32593L, // 0.994703, + [842] = 32599L, // 0.994881, + [843] = 32604L, // 0.995056, + [844] = 32610L, // 0.995227, + [845] = 32616L, // 0.995396, + [846] = 32621L, // 0.995562, + [847] = 32626L, // 0.995725, + [848] = 32632L, // 0.995884, + [849] = 32637L, // 0.996041, + [850] = 32642L, // 0.996195, + [851] = 32647L, // 0.996345, + [852] = 32652L, // 0.996493, + [853] = 32656L, // 0.996637, + [854] = 32661L, // 0.996779, + [855] = 32665L, // 0.996917, + [856] = 32670L, // 0.997053, + [857] = 32674L, // 0.997185, + [858] = 32679L, // 0.997314, + [859] = 32683L, // 0.997441, + [860] = 32687L, // 0.997564, + [861] = 32691L, // 0.997684, + [862] = 32694L, // 0.997801, + [863] = 32698L, // 0.997916, + [864] = 32702L, // 0.998027, + [865] = 32705L, // 0.998135, + [866] = 32709L, // 0.998240, + [867] = 32712L, // 0.998342, + [868] = 32715L, // 0.998441, + [869] = 32719L, // 0.998537, + [870] = 32722L, // 0.998630, + [871] = 32725L, // 0.998719, + [872] = 32727L, // 0.998806, + [873] = 32730L, // 0.998890, + [874] = 32733L, // 0.998971, + [875] = 32735L, // 0.999048, + [876] = 32738L, // 0.999123, + [877] = 32740L, // 0.999194, + [878] = 32742L, // 0.999263, + [879] = 32744L, // 0.999328, + [880] = 32747L, // 0.999391, + [881] = 32748L, // 0.999450, + [882] = 32750L, // 0.999507, + [883] = 32752L, // 0.999560, + [884] = 32754L, // 0.999610, + [885] = 32755L, // 0.999657, + [886] = 32757L, // 0.999701, + [887] = 32758L, // 0.999743, + [888] = 32759L, // 0.999781, + [889] = 32760L, // 0.999816, + [890] = 32762L, // 0.999848, + [891] = 32762L, // 0.999877, + [892] = 32763L, // 0.999903, + [893] = 32764L, // 0.999925, + [894] = 32765L, // 0.999945, + [895] = 32765L, // 0.999962, + [896] = 32766L, // 0.999976, + [897] = 32766L, // 0.999986, + [898] = 32766L, // 0.999994, + [899] = 32766L, // 0.999998, + [900] = 32767L, // 1.000000, +}; diff --git a/app/utils/trigonometric.h b/app/utils/trigonometric.h new file mode 100644 index 0000000..c6c0ea4 --- /dev/null +++ b/app/utils/trigonometric.h @@ -0,0 +1,6 @@ +#pragma once + +#include + +int16_t sin_s16(int16_t deg); // deg: 0.1 角度, 返回: 分母为 0x7fffL 的分子值 +int16_t cos_s16(int16_t deg); // deg: 0.1 角度, 返回: 分母为 0x7fffL 的分子值 diff --git a/components/lib/CMakeLists.txt b/components/lib/CMakeLists.txt new file mode 100644 index 0000000..0f2eee7 --- /dev/null +++ b/components/lib/CMakeLists.txt @@ -0,0 +1,19 @@ +list(APPEND incs ".") +list(APPEND incs "../system/include") +list(APPEND incs "../system/source") +list(APPEND incs "../../app") + +list(APPEND srcs "lib_shell.c") + +idf_component_register( + INCLUDE_DIRS ${incs} + SRCS ${srcs} + ) + +if(CONFIG_IDF_TARGET_ESP32S3) +target_link_libraries(${COMPONENT_TARGET} INTERFACE "${CMAKE_CURRENT_LIST_DIR}/spbelib_s3.a") +elseif(CONFIG_IDF_TARGET_ESP32C2) +target_link_libraries(${COMPONENT_TARGET} INTERFACE "${CMAKE_CURRENT_LIST_DIR}/spbelib_c2.a") +else(CONFIG_IDF_TARGET_ESP32C3) +target_link_libraries(${COMPONENT_TARGET} INTERFACE "${CMAKE_CURRENT_LIST_DIR}/spbelib_c3.a") +endif() diff --git a/components/lib/lib_shell.c b/components/lib/lib_shell.c new file mode 100644 index 0000000..c7f5f9e --- /dev/null +++ b/components/lib/lib_shell.c @@ -0,0 +1,317 @@ +#include "lib_shell.h" +#include "shell/sh.h" +#include "shell/sh_vset.h" +#include "spbelib_interface.h" +#include "config/app_config.h" + +#include + +#undef CONFIG_SYS_LOG_LEVEL +#define CONFIG_SYS_LOG_LEVEL SYS_LOG_LEVEL_INF +#include "sys_log.h" + +static void _print_event(void); +SH_CMD_FN(_set_adapter_fcport_off); // set adapter fcport-off +SH_CMD_FN(_set_adapter_fcport_uart); // set adapter fcport-uart +SH_CMD_FN(_set_adapter_fcport_otg); // set adapter fcport-otg +SH_CMD_FN(_set_adapter_rf_off); // set adapter rf-off +SH_CMD_FN(_set_adapter_rf_ble); // set adapter rf-ble +SH_CMD_FN(_set_adapter_rf_ap); // set adapter rf-ap +SH_CMD_FN(_set_adapter_rf_sta); // set adapter rf-sta +SH_CMD_FN(_set_ble_name); // set ble name <...> +SH_CMD_FN(_set_ble_passwd); // set ble passwd <...> +SH_CMD_FN(_set_wifi_ap_ssid); // set wifi ap-ssid <...> +SH_CMD_FN(_set_wifi_ap_passwd); // set wifi ap-passwd <...> +SH_CMD_FN(_set_wifi_sta_ssid); // set wifi sta-ssid <...> +SH_CMD_FN(_set_wifi_sta_passwd); // set wifi sta-passwd <...> +SH_CMD_FN(_get_adapter_rf_status); // get adapter adapter rf-status +SH_CMD_FN(_get_ble_name); // get ble name +SH_CMD_FN(_get_ble_passwd); // get ble passwd +SH_CMD_FN(_get_wifi_ap_ssid); // get wifi ap-ssid +SH_CMD_FN(_get_wifi_ap_passwd); // get wifi ap-passwd +SH_CMD_FN(_get_wifi_sta_ssid); // get wifi sta-ssid +SH_CMD_FN(_get_wifi_sta_passwd); // get wifi sta-passwd + +SH_DEF_SUB_CMD( + _sub_set_adapter, + SH_SETUP_CMD("fcport-off", "关闭飞控数据接口", _set_adapter_fcport_off, NULL), // set adapter fcport-off + SH_SETUP_CMD("fcport-uart", "使用 UART 连接飞控", _set_adapter_fcport_uart, NULL), // set adapter fcport-uart + SH_SETUP_CMD("fcport-otg", "使用 OTG 连接飞控", _set_adapter_fcport_otg, NULL), // set adapter fcport-otg + + SH_SETUP_CMD("rf-off", "关闭无线功能", _set_adapter_rf_off, NULL), // set adapter rf-off + SH_SETUP_CMD("rf-ble", "打开蓝牙功能", _set_adapter_rf_ble, NULL), // set adapter rf-ble + SH_SETUP_CMD("rf-ap", "打开 AP 功能", _set_adapter_rf_ap, NULL), // set adapter rf-ap + SH_SETUP_CMD("rf-sta", "打开 STA 功能", _set_adapter_rf_sta, NULL), // set adapter rf-sta +); + +SH_DEF_SUB_CMD( + _sub_set_opt, + SH_SETUP_CMD("adapter", "设置小黄砖功能", NULL, _sub_set_adapter), // set adapter <...> +); + +SH_DEF_SUB_CMD( + _sub_set_ble, + SH_SETUP_CMD("name", "设置 BLE 设备名， 1 到 19 个字符", _set_ble_name, NULL), // set ble name <...> + SH_SETUP_CMD("passwd", "设置 BLE 透传密码， 0 到 12 个字符", _set_ble_passwd, NULL), // set ble passwd <...> +); +SH_DEF_SUB_CMD( + _sub_set_wifi, + SH_SETUP_CMD("ap-ssid", "参数", _set_wifi_ap_ssid, NULL), // set wifi ap-ssid <...> + SH_SETUP_CMD("ap-passwd", "参数", _set_wifi_ap_passwd, NULL), // set wifi ap-passwd <...> + SH_SETUP_CMD("sta-ssid", "参数", _set_wifi_sta_ssid, NULL), // set wifi sta-ssid <...> + SH_SETUP_CMD("sta-passwd", "参数", _set_wifi_sta_passwd, NULL), // set wifi sta-passwd <...> +); + +SH_DEF_SUB_CMD( + _sub_set_param, + SH_SETUP_CMD("ble", "参数", NULL, _sub_set_ble), // set ble <...> + SH_SETUP_CMD("wifi", "参数", NULL, _sub_set_wifi), // set wifi <...> +); + +SH_DEF_SUB_CMD( + _sub_get_adapter, + SH_SETUP_CMD("rf-status", "查询小黄砖射频状态", _get_adapter_rf_status, NULL), // get adapter rf-status +); + +SH_DEF_SUB_CMD( + _sub_get_ble, + SH_SETUP_CMD("name", "打印 BLE 设备名", _get_ble_name, NULL), // get ble name + SH_SETUP_CMD("passwd", "打印 BLE 透传密码", _get_ble_passwd, NULL), // get ble passwd +); + +SH_DEF_SUB_CMD( + _sub_get_wifi, + SH_SETUP_CMD("ap-ssid", "参数", _get_wifi_ap_ssid, NULL), // get wifi ap-ssid + SH_SETUP_CMD("ap-passwd", "参数", _get_wifi_ap_passwd, NULL), // get wifi ap-passwd + SH_SETUP_CMD("sta-ssid", "参数", _get_wifi_sta_ssid, NULL), // get wifi sta-ssid + SH_SETUP_CMD("sta-passwd", "参数", _get_wifi_sta_passwd, NULL), // get wifi sta-passwd +); + +SH_DEF_SUB_CMD( + _sub_get, + SH_SETUP_CMD("adapter", "打印当前射频状态", NULL, _sub_get_adapter), // get adapter <...> + SH_SETUP_CMD("ble", "参数", NULL, _sub_get_ble), // get ble <...> + SH_SETUP_CMD("wifi", "参数", NULL, _sub_get_wifi), // get wifi <...> +); + +SH_DEF_CMD( + _register_cmd, + SH_SETUP_CMD("set", "执行控制动作", NULL, _sub_set_opt), // set <...> + SH_SETUP_CMD("set", "执行参数设置", NULL, _sub_set_param), // set <...> + SH_SETUP_CMD("get", "获取状态", NULL, _sub_get), // get <...> +); + +void lib_shell_register(void) +{ + SYS_LOG_INF("Register notify event"); + sblib_regist_notify_event(_print_event); + _print_event(); + sh_register_cmd(&_register_cmd); +} + +SH_CMD_FN(_set_adapter_fcport_off) +{ + return sblib_control(LIB_CONTROL_FCPORT_OFF); +} +SH_CMD_FN(_set_adapter_fcport_uart) +{ + return sblib_control(LIB_CONTROL_FCPORT_UART); +} +SH_CMD_FN(_set_adapter_fcport_otg) +{ + return sblib_control(LIB_CONTROL_FCPORT_OTG); +} + +SH_CMD_FN(_set_adapter_rf_off) +{ + return sblib_control(LIB_CONTROL_RF_OFF); +} +SH_CMD_FN(_set_adapter_rf_ble) +{ + return sblib_control(LIB_CONTROL_RF_BLE); +} +SH_CMD_FN(_set_adapter_rf_ap) +{ + return sblib_control(LIB_CONTROL_RF_AP); +} +SH_CMD_FN(_set_adapter_rf_sta) +{ + return sblib_control(LIB_CONTROL_RF_STA); +} + +SH_CMD_FN(_set_ble_name) +{ + int len = 0; + int ret = -1; + if (argc > 0) + { + len = strlen(argv[0]); + } + + ret = app_cfg_set_device_name_ble(argv[0], len); + if (ret == 0) + { + sblib_send_event(LIB_EVENT_BLE_NAME_SET, 0, NULL); + } + return ret; +} + +SH_CMD_FN(_set_ble_passwd) +{ + int len = 0; + int ret = -1; + if (argc > 0) + { + len = strlen(argv[0]); + } + + ret = app_cfg_set_psPassword(argv[0], len); + if (ret == 0) + { + sblib_send_event(LIB_EVENT_BLE_PASSWD_SET, 0, NULL); + } + return ret; +} + +SH_CMD_FN(_set_wifi_ap_ssid) +{ + int ret = app_cfg_set_wifi_ap_ssid(argv[0]); + if (ret == 0) + { + sblib_send_event(LIB_EVENT_WIFI_AP_SSID_SET, 0, NULL); + } + return ret; +} + +SH_CMD_FN(_set_wifi_ap_passwd) +{ + int ret = app_cfg_set_wifi_ap_password(argv[0]); + if (ret == 0) + { + sblib_send_event(LIB_EVENT_WIFI_AP_PASSWD_SET, 0, NULL); + } + return ret; +} + +SH_CMD_FN(_set_wifi_sta_ssid) +{ + int ret = app_cfg_set_wifi_sta_ssid(argv[0]); + if (ret == 0) + { + sblib_send_event(LIB_EVENT_WIFI_STA_SSID_SET, 0, NULL); + } + return ret; +} + +SH_CMD_FN(_set_wifi_sta_passwd) +{ + int ret = app_cfg_set_wifi_sta_password(argv[0]); + if (ret == 0) + { + sblib_send_event(LIB_EVENT_WIFI_STA_PASSWD_SET, 0, NULL); + } + return ret; +} + +SH_CMD_FN(_get_adapter_rf_status) +{ + static const char *const rf_mode_tab[] = { + [DATA_BRIDGE_RF_MODE_OFF] = "无线已关闭", + [DATA_BRIDGE_RF_MODE_BLE] = "蓝牙模式", + [DATA_BRIDGE_RF_MODE_WIFI_AP] = "AP 模式", + [DATA_BRIDGE_RF_MODE_WIFI_STA] = "STA 模式", + }; + sh_echo(sh_hdl, "当前射频状态：%s\r\n", rf_mode_tab[g_cfg_app->rf_mode]); + return 0; +} + +SH_CMD_FN(_get_ble_name) +{ + char ble_name[__ARRAY_SIZE(g_cfg_app->device_name_ble) + 1] = {0}; + memcpy(ble_name, g_cfg_app->device_name_ble, sizeof(g_cfg_app->device_name_ble)); + sh_echo(sh_hdl, "%s\r\n", ble_name); + return 0; +} +SH_CMD_FN(_get_ble_passwd) +{ + char passwd[__ARRAY_SIZE(g_cfg_app->psPassword) + 1] = {0}; + memcpy(passwd, g_cfg_app->psPassword, sizeof(g_cfg_app->psPassword)); + sh_echo(sh_hdl, "%s\r\n", passwd); + return 0; +} + +SH_CMD_FN(_get_wifi_ap_ssid) +{ + sh_echo(sh_hdl, "%s\r\n", g_cfg_app->app_config_wifi_para.wifi_ap_ssid); + return 0; +} +SH_CMD_FN(_get_wifi_ap_passwd) +{ + sh_echo(sh_hdl, "%s\r\n", g_cfg_app->app_config_wifi_para.wifi_ap_password); + return 0; +} +SH_CMD_FN(_get_wifi_sta_ssid) +{ + sh_echo(sh_hdl, "%s\r\n", g_cfg_app->app_config_wifi_para.wifi_sta_ssid); + return 0; +} +SH_CMD_FN(_get_wifi_sta_passwd) +{ + sh_echo(sh_hdl, "%s\r\n", g_cfg_app->app_config_wifi_para.wifi_sta_password); + return 0; +} + +static void _print_event(void) +{ + lib_event_t event; + + do + { + static const char *const type_tab[] = { + [LIB_EVENT_NONE] = "未新事件", + + [LIB_EVENT_FC_PORT_OFF] = "飞控数据接口关闭", + [LIB_EVENT_FC_PORT_UART] = "飞控数据接口为 UART", + [LIB_EVENT_FC_PORT_OTG] = "飞控数据接口为 OTG", + + [LIB_EVENT_USBH_NO_START] = "USBH 接口未启动", + [LIB_EVENT_USBH_CDC] = "USBH 接口已连接 CDC 设备", + [LIB_EVENT_USBH_DFU] = "USBH 接口已连接 DFU 设备", + [LIB_EVENT_USBH_MSC] = "USBH 接口已连接 MSC 设备", + [LIB_EVENT_USBH_UNKNOW_DEVICE] = "USBH 接口已连接未知设备", + + [LIB_EVENT_RF_OFF] = "射频已关闭", + [LIB_EVENT_RF_CHANGE_MODE] = "已准备好切换模式", + [LIB_EVENT_RF_BLE_IDLE] = "当前为 BLE 模式，未有设备连接", + [LIB_EVENT_RF_BLE_CONNECTED] = "当前为 BLE 模式，已连接", + [LIB_EVENT_RF_AP_IDLE] = "当前为 AP 模式，未有设备连接", + [LIB_EVENT_RF_AP_CONNECTED] = "当前为 AP 模式，已连接", + [LIB_EVENT_RF_STA_IDLE] = "当前为 STA 模式，未连接到 AP", + [LIB_EVENT_RF_STA_CONNECTED] = "当前为 STA 模式，已连接", + [LIB_EVENT_BLE_NAME_SET] = "BLE 名称已设置", + [LIB_EVENT_BLE_PASSWD_SET] = "BLE 密码已设置", + [LIB_EVENT_WIFI_AP_SSID_SET] = "WIFI AP SSID 已设置", + [LIB_EVENT_WIFI_AP_PASSWD_SET] = "WIFI AP 密码已设置", + [LIB_EVENT_WIFI_STA_SSID_SET] = "WIFI STA SSID 已设置", + [LIB_EVENT_WIFI_STA_PASSWD_SET] = "WIFI STA 密码已设置", + }; + event = sblib_get_event(); + if (event.type != LIB_EVENT_NONE) + { + if (event.type < __ARRAY_SIZE(type_tab) && type_tab[event.type] != NULL) + { + SYS_LOG_INF("******** Event: %s ********", type_tab[event.type]); + } + else + { + SYS_LOG_WRN("******** Unknown event: %d ********", event.type); + } + + if (event.len > 0) + { + SYS_LOG_DUMP(event.data, event.len, 0, 0); + } + } + + } while (event.type != LIB_EVENT_NONE); +} diff --git a/components/lib/lib_shell.h b/components/lib/lib_shell.h new file mode 100644 index 0000000..083902e --- /dev/null +++ b/components/lib/lib_shell.h @@ -0,0 +1,14 @@ +/** + * @file lib_shell.h + * @author your name (you@domain.com) + * @brief 通过 shell 演示和操作 spbelib.a 的功能 + * @version 0.1 + * @date 2025-04-07 + * + * @copyright Copyright (c) 2025 + * + */ + +#pragma once + +void lib_shell_register(void); diff --git a/app/lib-out/spbelib_interface.h b/components/lib/spbelib_interface.h similarity index 100% rename from app/lib-out/spbelib_interface.h rename to components/lib/spbelib_interface.h diff --git a/components/lib/spbelib_s3.a b/components/lib/spbelib_s3.a new file mode 100644 index 0000000..fb64399 Binary files /dev/null and b/components/lib/spbelib_s3.a differ