Merge branch 'main' into power_management

.gitignore

@@ -40,7 +40,9 @@ docs/*
 *.vsix
 *.workspace
 
-# Build artifacts and cache
+# Tool-generated files
-build/
 .cache/
 compile_commands.json
+
+# Build directories
+build/

example/advanced/Power_Measurements/Display/Display.ino

@@ -3,7 +3,7 @@
 Dezibot dezibot = Dezibot();
 
 // How many times to run a command on the display consecutively;
-const uint16_t iterations = 5000;
+const uint16_t iterations = 1000;
 
 void setup() {
   dezibot.begin();
@@ -23,4 +23,10 @@ void loop() {
     dezibot.display.println(iter);
   }
   delay(10);
+  //Completely off
+  dezibot.display.clear();
+  sleep(10);
+  //Completely on
+  dezibot.display.invertColor();
+  sleep(10);
 }

example/advanced/Power_Measurements/ESP32_baseline/ESP32_baseline.ino

@@ -4,7 +4,7 @@
 
 Dezibot dezibot;
 
-const uint16_t cycleTime = 2e4;  //20000 ms = 20 s
+const uint16_t cycleTime = 20e3; 
 
 esp_pm_lock_handle_t cpuFreqLock;
 esp_pm_lock_handle_t apbFreqLock;
@@ -12,39 +12,39 @@ esp_pm_lock_handle_t lightSleepLock;
 static bool pmLocksCreated = false;
 
 
-void stress_task0(void *pvParameters) {
+void stress_task(void *pvParameters) {
-  // Register ourselves with the task watchdog
+    // Register with task watchdog
-  if (esp_task_wdt_add(NULL) != ESP_OK) {
+    ESP_ERROR_CHECK(esp_task_wdt_add(NULL));
-    Serial.println("Failed to add task 0 to TWDT");
+    
-  }
+    // Variables for load generation
-  while (1) {
     volatile uint32_t x = 0;
+    TickType_t last_wake_time = xTaskGetTickCount();
+    
+    while (1) {
+        // Compute-intensive period
         for (uint32_t i = 0; i < 10000; i++) {
             x += i;
+            // Mix in some memory operations
+            if (i % 100 == 0) {
+                // Force cache misses occasionally
+                void* temp = malloc(32);
+                if (temp) {
+                    free(temp);
                 }
-    esp_task_wdt_reset();
             }
         }
         
-void stress_task1(void *pvParameters) {
+        // Reset watchdog
-  // Register ourselves with the task watchdog
+        ESP_ERROR_CHECK(esp_task_wdt_reset());
-  if (esp_task_wdt_add(NULL) != ESP_OK) {
+        
-    Serial.println("Failed to add task 0 to TWDT");
-  }
-  while (1) {
-    volatile uint32_t x = 0;
-    for (uint32_t i = 0; i < 10000; i++) {
-      x += i;
-    }
-    esp_task_wdt_reset();
     }
 }
 
 void setup() {
   Serial.begin(115200);
-  while (!Serial) {
+  // while (!Serial) {
-    ;
+  //   ;
-  }
+  // }
   uint32_t Freq = getCpuFrequencyMhz();
   Serial.print("CPU Freq = ");
   Serial.print(Freq);
@@ -87,6 +87,17 @@ void setup() {
   Serial.end();
 }
 
+void blip_io(int times) {
+  constexpr int ioPin = 17;
+  pinMode(ioPin, OUTPUT);
+  for(int i = 0; i<times; i++) {
+    digitalWrite(ioPin,1);
+    delay(1);
+    digitalWrite(ioPin,0);
+    delay(1);
+  }
+}
+
 /*
  * A function that prints to serial, setting up the serial peripheral beforehand, and shutting it down afterwards.
  * Do not use this on a regular basis, as it is probably very slow. It is useful for not having the serial peripheral
@@ -96,10 +107,6 @@ void setup() {
  */
 void setupAndCleanupSerialPrint(char *str) {
   Serial.begin(115200);
-  while (!Serial) {
-    ;
-    ;
-  }
   delay(10);
   Serial.print(str);
   delay(10);
@@ -111,10 +118,11 @@ void setupAndCleanupSerialPrint(char *str) {
 void loop() {
   // Alternate between 20 Seconds at 100% CPU load, no artificial load but not sleeping, and normal behaviour (light sleep when there is nothing to do).
   setupAndCleanupSerialPrint("Beginning stress phase\n");
+  blip_io(1);
   TaskHandle_t core0StressTask = NULL;
   TaskHandle_t core1StressTask = NULL;
-  xTaskCreatePinnedToCore(stress_task0, "CPU0Stress", 4096, NULL, 1, &core0StressTask, 0);
+  xTaskCreatePinnedToCore(stress_task, "CPU0Stress", 4096, NULL, 1, &core0StressTask, 0);
-  xTaskCreatePinnedToCore(stress_task1, "CPU1Stress", 4096, NULL, 1, &core1StressTask, 1);
+  xTaskCreatePinnedToCore(stress_task, "CPU1Stress", 4096, NULL, 1, &core1StressTask, 1);
   vTaskDelay(pdMS_TO_TICKS(cycleTime));
   setupAndCleanupSerialPrint("Still alive after waiting cycleTime after setting up stress tasks...\n");
   esp_task_wdt_delete(core0StressTask);
@@ -123,12 +131,14 @@ void loop() {
   vTaskDelete(core1StressTask);
   // Now disable light sleep
   setupAndCleanupSerialPrint("Beginning idle with power management disabled\n");
+  blip_io(2);
   esp_pm_lock_acquire(cpuFreqLock);
   esp_pm_lock_acquire(apbFreqLock);
   esp_pm_lock_acquire(lightSleepLock);
   vTaskDelay(pdMS_TO_TICKS(cycleTime));
   // Restore auto light sleep and dynamic frequency scaling
   setupAndCleanupSerialPrint("Beginning idle with power management reenabled\n");
+  blip_io(3);
   esp_pm_lock_release(cpuFreqLock);
   esp_pm_lock_release(apbFreqLock);
   esp_pm_lock_release(lightSleepLock);

example/advanced/Power_Measurements/ESP32_baseline/whetstone.c

@@ -0,0 +1,230 @@
+/*
+ *      Whetstone benchmark in C.  This program is a translation of the
+ *	original Algol version in "A Synthetic Benchmark" by H.J. Curnow
+ *      and B.A. Wichman in Computer Journal, Vol  19 #1, February 1976.
+ *
+ *	Used to test compiler optimization and floating point performance.
+ *
+ *	Compile by:		cc -O -s -o whet whet.c
+ *	or:			cc -O -DPOUT -s -o whet whet.c
+ *	if output is desired.
+ */
+
+#define ITERATIONS	10 /* 1 Million Whetstone instructions */
+
+#include "math.h"
+
+double		x1, x2, x3, x4, x, y, z, t, t1, t2;
+double 		e1[4];
+int		i, j, k, l, n1, n2, n3, n4, n6, n7, n8, n9, n10, n11;
+
+run_bench()
+{
+
+	/* initialize constants */
+
+	t   =   0.499975;
+	t1  =   0.50025;
+	t2  =   2.0;
+
+	/* set values of module weights */
+
+	n1  =   0 * ITERATIONS;
+	n2  =  12 * ITERATIONS;
+	n3  =  14 * ITERATIONS;
+	n4  = 345 * ITERATIONS;
+	n6  = 210 * ITERATIONS;
+	n7  =  32 * ITERATIONS;
+	n8  = 899 * ITERATIONS;
+	n9  = 616 * ITERATIONS;
+	n10 =   0 * ITERATIONS;
+	n11 =  93 * ITERATIONS;
+
+/* MODULE 1:  simple identifiers */
+
+	x1 =  1.0;
+	x2 = x3 = x4 = -1.0;
+
+	for(i = 1; i <= n1; i += 1) {
+		x1 = ( x1 + x2 + x3 - x4 ) * t;
+		x2 = ( x1 + x2 - x3 - x4 ) * t;
+		x3 = ( x1 - x2 + x3 + x4 ) * t;
+		x4 = (-x1 + x2 + x3 + x4 ) * t;
+	}
+#ifdef POUT
+	pout(n1, n1, n1, x1, x2, x3, x4);
+#endif
+
+
+/* MODULE 2:  array elements */
+
+	e1[0] =  1.0;
+	e1[1] = e1[2] = e1[3] = -1.0;
+
+	for (i = 1; i <= n2; i +=1) {
+		e1[0] = ( e1[0] + e1[1] + e1[2] - e1[3] ) * t;
+		e1[1] = ( e1[0] + e1[1] - e1[2] + e1[3] ) * t;
+		e1[2] = ( e1[0] - e1[1] + e1[2] + e1[3] ) * t;
+		e1[3] = (-e1[0] + e1[1] + e1[2] + e1[3] ) * t;
+	}
+#ifdef POUT
+	pout(n2, n3, n2, e1[0], e1[1], e1[2], e1[3]);
+#endif
+
+/* MODULE 3:  array as parameter */
+
+	for (i = 1; i <= n3; i += 1)
+		pa(e1);
+#ifdef POUT
+	pout(n3, n2, n2, e1[0], e1[1], e1[2], e1[3]);
+#endif
+
+/* MODULE 4:  conditional jumps */
+
+	j = 1;
+	for (i = 1; i <= n4; i += 1) {
+		if (j == 1)
+			j = 2;
+		else
+			j = 3;
+
+		if (j > 2)
+			j = 0;
+		else
+			j = 1;
+
+		if (j < 1 )
+			j = 1;
+		else
+			j = 0;
+	}
+#ifdef POUT
+	pout(n4, j, j, x1, x2, x3, x4);
+#endif
+
+/* MODULE 5:  omitted */
+
+/* MODULE 6:  integer arithmetic */
+
+	j = 1;
+	k = 2;
+	l = 3;
+
+	for (i = 1; i <= n6; i += 1) {
+		j = j * (k - j) * (l -k);
+		k = l * k - (l - j) * k;
+		l = (l - k) * (k + j);
+
+		e1[l - 2] = j + k + l;		/* C arrays are zero based */
+		e1[k - 2] = j * k * l;
+	}
+#ifdef POUT
+	pout(n6, j, k, e1[0], e1[1], e1[2], e1[3]);
+#endif
+
+/* MODULE 7:  trig. functions */
+
+	x = y = 0.5;
+
+	for(i = 1; i <= n7; i +=1) {
+		x = t * atan(t2*sin(x)*cos(x)/(cos(x+y)+cos(x-y)-1.0));
+		y = t * atan(t2*sin(y)*cos(y)/(cos(x+y)+cos(x-y)-1.0));
+	}
+#ifdef POUT
+	pout(n7, j, k, x, x, y, y);
+#endif
+
+/* MODULE 8:  procedure calls */
+
+	x = y = z = 1.0;
+
+	for (i = 1; i <= n8; i +=1)
+		p3(x, y, &z);
+#ifdef POUT
+	pout(n8, j, k, x, y, z, z);
+#endif
+
+/* MODULE9:  array references */
+
+	j = 1;
+	k = 2;
+	l = 3;
+
+	e1[0] = 1.0;
+	e1[1] = 2.0;
+	e1[2] = 3.0;
+
+	for(i = 1; i <= n9; i += 1)
+		p0();
+#ifdef POUT
+	pout(n9, j, k, e1[0], e1[1], e1[2], e1[3]);
+#endif
+
+/* MODULE10:  integer arithmetic */
+
+	j = 2;
+	k = 3;
+
+	for(i = 1; i <= n10; i +=1) {
+		j = j + k;
+		k = j + k;
+		j = k - j;
+		k = k - j - j;
+	}
+#ifdef POUT
+	pout(n10, j, k, x1, x2, x3, x4);
+#endif
+
+/* MODULE11:  standard functions */
+
+	x = 0.75;
+	for(i = 1; i <= n11; i +=1)
+		x = sqrt( exp( log(x) / t1));
+
+#ifdef POUT
+	pout(n11, j, k, x, x, x, x);
+#endif
+}
+
+pa(e)
+double e[4];
+{
+	register int j;
+
+	j = 0;
+     lab:
+	e[0] = (  e[0] + e[1] + e[2] - e[3] ) * t;
+	e[1] = (  e[0] + e[1] - e[2] + e[3] ) * t;
+	e[2] = (  e[0] - e[1] + e[2] + e[3] ) * t;
+	e[3] = ( -e[0] + e[1] + e[2] + e[3] ) / t2;
+	j += 1;
+	if (j < 6)
+		goto lab;
+}
+
+
+p3(x, y, z)
+double x, y, *z;
+{
+	x  = t * (x + y);
+	y  = t * (x + y);
+	*z = (x + y) /t2;
+}
+
+
+p0()
+{
+	e1[j] = e1[k];
+	e1[k] = e1[l];
+	e1[l] = e1[j];
+}
+
+#ifdef POUT
+pout(n, j, k, x1, x2, x3, x4)
+int n, j, k;
+double x1, x2, x3, x4;
+{
+	printf("%6d%6d%6d  %5e  %5e  %5e  %5e\n",
+		n, j, k, x1, x2, x3, x4);
+}
+#endif

example/advanced/Power_Measurements/IR_LED/IR_LED.ino

@@ -9,15 +9,26 @@ void setup() {
   dezibot.infraredLight.begin();
 }
 
+void blink_times(int times) {
+  constexpr int ioPin = 17;
+  pinMode(ioPin, OUTPUT);
+  for(int i = 0; i<times; i++) {
+    digitalWrite(ioPin,1);
+    delay(300);
+    digitalWrite(ioPin,0);
+    delay(300);
+  }
+}
+
 void loop() {
   // put your main code here, to run repeatedly:
   // Just turn the lights on alternating each five seconds, to get the consumption
   dezibot.infraredLight.front.turnOn();
+  blink_times(1);
   delay(cycleMillis);
   dezibot.infraredLight.front.turnOff();
   dezibot.infraredLight.bottom.turnOn();
   delay(cycleMillis);
-  //Turn off and wait a little to measure baseline consumption
+  blink_times(2);
   dezibot.infraredLight.bottom.turnOff();
-  delay(cycleMillis);
 }

example/advanced/Power_Measurements/Motors/Motors.ino

@@ -14,8 +14,7 @@ void loop() {
   dezibot.motion.rotateAntiClockwise();
   delay(20000);
   // Turn on both motors at the same time
-  dezibot.motion.left.setSpeed(DEFAULT_BASE_VALUE);
+  dezibot.motion.move();
-  dezibot.motion.right.setSpeed(DEFAULT_BASE_VALUE);  
   delay(20000);
   dezibot.motion.stop();
   delay(20000);

example/advanced/Power_Measurements/RGB_LED_direct/RGB_LED_direct.ino

@@ -0,0 +1,80 @@
+#include <Adafruit_NeoPixel.h>
+
+/*
+╔══════════════════════════════════════════════════════════════════════════════╗
+║ WARNING: This example controls the RGB-LEDs directly, bypassing the          ║
+║ MultiColorLight component. This is not recommended for normal use, as it     ║
+║ bypasses the safety checks and color normalization. This is only intended    ║
+║ for diagnostic purposes.                                                     ║
+╚══════════════════════════════════════════════════════════════════════════════╝
+*/
+
+Adafruit_NeoPixel rgbLeds(3, 48);
+
+void setup() { rgbLeds.begin(); }
+
+void loop() {
+  // Ramp up the brightness of each color channel
+  // Allows for the PWM behaviour to quickly be observed on an oscilloscope
+  // Red
+  for (int bri = 0; bri < 0xFF; bri += 0x1) {
+    rgbLeds.setPixelColor(0, rgbLeds.Color(bri, 0, 0));
+    rgbLeds.show();
+    delay(10);
+  }
+  // Red
+  for (int bri = 0; bri < 0xFF; bri += 0x1) {
+    rgbLeds.setPixelColor(0, rgbLeds.Color(0, bri, 0));
+    rgbLeds.show();
+    delay(10);
+  }
+  // Blue
+  for (int bri = 0; bri < 0xFF; bri += 0x1) {
+    rgbLeds.setPixelColor(0, rgbLeds.Color(0, 0, bri));
+    rgbLeds.show();
+    delay(10);
+  }
+  // Combinations of the color channels
+  // Yellow (Red + Green)
+  for (int bri = 0; bri < 0xFF; bri += 0x1) {
+    rgbLeds.setPixelColor(0, rgbLeds.Color(bri, bri, 0));
+    rgbLeds.show();
+    delay(10);
+  }
+  // Purple (Red + Blue)
+  for (int bri = 0; bri < 0xFF; bri += 0x1) {
+    rgbLeds.setPixelColor(0, rgbLeds.Color(bri, 0, bri));
+    rgbLeds.show();
+    delay(10);
+  }
+  // Cyan (Green + Blue)
+  for (int bri = 0; bri < 0xFF; bri += 0x1) {
+    rgbLeds.setPixelColor(0, rgbLeds.Color(0, bri, bri));
+    rgbLeds.show();
+    delay(10);
+  }
+  // White (Red + Green + Blue)
+  for (int bri = 0; bri < 0xFF; bri += 0x1) {
+    rgbLeds.setPixelColor(0, rgbLeds.Color(bri, bri, bri));
+    rgbLeds.show();
+    delay(10);
+  }
+
+  // Now some constant states for comparable measurements
+  // Full brightness R+G+B
+  rgbLeds.setPixelColor(0, rgbLeds.Color(255, 255, 255));
+  rgbLeds.show();
+  sleep(5);
+  // Half brightness R+G+B
+  rgbLeds.setPixelColor(0, rgbLeds.Color(127, 127, 127));
+  rgbLeds.show();
+  sleep(5);
+  // Minimum brightness R+G+B
+  rgbLeds.setPixelColor(0, rgbLeds.Color(1, 1, 1));
+  rgbLeds.show();
+  sleep(5);
+  // Off (baseline)
+  rgbLeds.setPixelColor(0, rgbLeds.Color(0, 0, 0));
+  rgbLeds.show();
+  sleep(5);
+}

example/advanced/Power_Measurements/VEML6040/VEML6040.ino

@@ -3,7 +3,7 @@
 Dezibot dezibot;
 
 void setup() {
-  dezibot.lightDetection.begin();
+  dezibot.colorDetection.begin();
   //dezibot.motion.detection.end();
   // put your setup code here, to run once:
   Serial.begin(115200);
@@ -13,7 +13,7 @@ void setup() {
   }
   delay(1000);
   // Test if VEML6040 is working correctly
-  char light_value = dezibot.lightDetection.getValue(DL_FRONT);
+  char light_value = dezibot.colorDetection.getColorValue(VEML_WHITE);
   if (light_value != UINT16_MAX) {
     Serial.printf("Light detection seems to be working (detected value: %d). Starting measurements...\r\n", light_value);
   } else {
@@ -29,6 +29,6 @@ void setup() {
 
 void loop() {
   // put your main code here, to run repeatedly:
-  dezibot.lightDetection.getValue(DL_FRONT);
+  dezibot.colorDetection.getColorValue(VEML_WHITE);
   delay(10);
 }

example/advanced/Power_Measurements/WLAN/WLAN.ino

@@ -3,40 +3,46 @@
 
 Dezibot dezibot = Dezibot();
 
-const uint16_t cycleTime = 5e3;  //5000 ms = 5 s
+void blip_io(int times) {
+  constexpr int ioPin = 17;
+  pinMode(ioPin, OUTPUT);
+  for(int i = 0; i<times; i++) {
+    digitalWrite(ioPin,1);
+    delay(500);
+    digitalWrite(ioPin,0);
+    delay(500);
+  }
+}
 
 void setup() {
   #ifdef DEBUG
   Serial.begin(112500);
-  while (!Serial) {
-    ; /* Wait for USB-CDC Serial init to complete. */
-  }
-  dezibot.display.begin();
-  dezibot.display.println("Debug enabled.");
   Serial.println("Debug enabled.");
   #endif
   dezibot.communication.begin();
   dezibot.communication.setGroupNumber(1);
   dezibot.communication.sendMessage("Repeated send power consumption test commencing");
   #ifdef DEBUG
-  dezibot.display.println("Mesh set up");
+  Serial.println("Mesh set up");
   /* Set up receive handler */
   dezibot.communication.onReceive(handle_receive);
-  dezibot.display.println("Set up receive. Printing incoming messages:");
+  Serial.println("Set up receive. Printing incoming messages:");
   Serial.println("Sending broadcast messages to generate TX power consumption:");
   #endif
+  blip_io(1);
+  delay(5000);
+  #ifdef DEBUG
+  Serial.println("Starting Transmission...");
+  #endif
+  blip_io(2);
 }
 
 void handle_receive(String &message) {
-  dezibot.display.println(message);
+  Serial.println(message);
 }
 
 void loop() {
     /* Continuously send to consume power on TX */
-    for(int i=0; i<cycleTime; i++) {
     dezibot.communication.sendMessage("Power Test Message");
-      delay(1);
+    sleep(2);
-    }
-    delay(cycleTime);
-
 }

tools/generate_clangd_config.sh

@@ -0,0 +1,50 @@
+#!/bin/bash
+
+SCRIPT_DIR="$(cd "$(dirname "$(readlink -f "$0")")" && pwd)"
+PROJECT_PATH="$(cd "$SCRIPT_DIR/.." && pwd)"
+
+# Default values that can be overridden by environment variables
+# The ':=' operator means "use the environment variable if set, otherwise use this default"
+: "${BOARD_FQBN:=esp32:esp32:esp32s3usbotg:USBMode=hwcdc}"
+: "${LIBRARY_PATH:=$PROJECT_PATH}"
+: "${BUILD_PATH:=$PROJECT_PATH/build}"
+: "${BASE_INO_SKETCH_PATH:=$PROJECT_PATH/example/start}"
+: "${COMPILE_COMMANDS:=compile_commands.json}"
+
+
+mkdir -p "$BUILD_PATH"
+
+if ! command -v arduino-cli >/dev/null 2>&1; then
+    echo "Error: arduino-cli is not installed or not in PATH"
+    echo "Please install it from https://arduino.github.io/arduino-cli/latest/installation/"
+    exit 1
+fi
+
+echo "Generating clangd configuration for $BOARD_FQBN in $BUILD_PATH"
+echo "Based on compilation of $BASE_INO_SKETCH_PATH"
+echo "This may take a while and will not produce any output until it's done."
+echo "Please be patient..."
+
+if ! arduino-cli compile \
+    --fqbn "$BOARD_FQBN" \
+    --library "$LIBRARY_PATH" \
+    --only-compilation-database \
+    --build-path "$BUILD_PATH" \
+    "$BASE_INO_SKETCH_PATH"; then
+    echo "Error: Failed to generate compilation database"
+    exit 1
+fi
+
+# Create symbolic link with error handling
+if [ -f "$BUILD_PATH/$COMPILE_COMMANDS" ]; then
+    ln -sf "$BUILD_PATH/$COMPILE_COMMANDS" "$PROJECT_PATH/$COMPILE_COMMANDS"
+    echo "Successfully placed clangd configuration in project root"
+    echo "You no longer have to use the Arduino IDE for code completion \o/"
+    echo "Feel free to use any editor that supports clangd (e.g via LSP)"
+    echo "For example, Visual Studio Code with the 'clangd' extension, or VIM (with YouCompleteMe), or Emacs (with Eglot), or ..."
+    echo "Refer to https://clangd.llvm.org/installation#editor-plugins for more information"
+
+else
+    echo "Error: Could not link \"complile_commands.json\" to the root directory. Please manually copy where needed."
+    exit 1
+fi