新增静态库及配置

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")

app/app_main.c

@@ -6,13 +6,16 @@
 #include <string.h>
 
 /* 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
+}

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)

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);
+}

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);

app/utils/sb_aes.c

@@ -0,0 +1,89 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#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");
+//}

app/utils/sb_aes.h

@@ -0,0 +1,14 @@
+#pragma once
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+/*
+ * 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);

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,
+};

app/utils/trigonometric.h

@@ -0,0 +1,6 @@
+#pragma once
+
+#include <stdint.h>
+
+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

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()

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 <string.h>
+
+#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);
+}

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);