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MeshCore/src/helpers/sensors/EnvironmentSensorManager.cpp
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Nick Dunklee c7be216f27 fix(sensors): improve sensor initialization and handling to prevent hangs and handle growth 
This is a medium-ish refactor to attempt to clean up sensor handling logic both for board stability and future potential growth before the code becomes all spaghetti and meatballs.

I'd be curious to see if anyone running sensors out there that knows how to build and flash MeshCore code could give this a try and see how it behaves. It is working fine on my end on multiple nodes.

PR notes are gigantic because it is a fundamental behavior repair for sensors, so I wanted to over-explain. Also, if it hadn't been mentioned previously, push-back is always welcome. I'm just spending my time trying to clean up / fix / enhance this corner of the firmware, and want to contribute my improvements back to the project.

**Problem:**

Current MeshCore code makes no attempt to see what sensors are actually available on the I2C bus at startup and blindly tries to interact with sensors. This has some very bad side-effects, like if a sensor that is unsupported, or has a weird initialization process, the MeshCore node will just hang at boot and never successfully start up and ostensibly looks bricked, or the INA226 and SHT4X both sharing the same address and the code just silently fighting.

The current implementation also gloms sensor readouts from the MCU and environment sensors onto the same telemetry channel, with some arbitrary exceptions for incrementing channels based on certain behavioral situations. The MCU temperature and external temperature sensors would appear on channel 1, and it wouldn't be possible to tell which sensor the temperature value was coming from.

Per [CayenneLPP](https://github.com/myDevicesIoT/CayenneLPP): *Data Channel: Uniquely identifies each sensor in the device across frames, eg. “indoor sensor”* So this channel division implementation falls inline with what CayenneLPP intended. There are up to 256 channels available. So I tried to model this change in that behavioral style.

**Proposed Improvement:**

This implementation scans the I2C bus for what devices are present, sets each sensor to its own CayenneLPP channel, and keeps MCU telemetry on channel 1 only. So Channel 1 is always "self" and no confusion can result.

Details:
  - Channel 1 is always the MCU and things about it, so you always know that telemetry is from the board itself. Exception is GPS, GPS stays on channel 1 as well since it is "about the board" even though it's a bit gray-area as GPS can often be a secondary chip.
  - Each sensor board is allocated to a dedicated CayenneLPP channel, so if you are reading from that channel, you know the data is from that sensor only. (Sensors emitting more than one of the same type of measurement are exceptions.)
  - `scanI2CBus()` probes addresses 0x08–0x77 with raw `beginTransmission`/`endTransmission`. No sensor library is touched until after this completes. This will prevent sensor-based boot hangs, unknown or unresponsive devices never reach a library init call.
  - Created `SENSOR_TABLE` a compile-time array that is gated by the existing `ENV_INCLUDE_*` macros. A sentinel `{ 0, nullptr, nullptr, nullptr }` at the end keeps the array non-empty regardless of which sensors are enabled, avoiding zero-length array warnings.
  - When `begin()` is called, scan first, then loop: skip if address not detected, skip if `init()` returns 0, otherwise register one ActiveSensor entry per sub-channel.
  - `querySensors()` I replaced the entire #ifdef chain with a 3-line loop.
  - T1000-E has its own T1000SensorManager, so it should be completely unaffected by this change.
  - SHT4X quirky initialization behavior is retained.
  - MLX90614  - git commits around this didn't have any notes as to why it is reporting ambient temperature on a separate channel as well as the object temperature, as the ambient temperature is used internally to compute the object temperature and not really needed for the sensor's purpose - just the same, kept the existing behavior of reporting the ambient temperature one channel above the channel assigned to the sensor
  - All `bool *_initialized` fields are gone, replaced with `ActiveSensor _active_sensors[16]` (query function pointer and sub-channel index) and `_active_sensor_count. SensorDef` lives entirely in the `.cpp` so the header has no dependency on it.
  - Details on the INA226 and SHT4X: both default to address 0x44, the old code had a bug and would have both begin() calls fire and they would just fight each other silently. In the new code, the respective sensor code is only called if the device is actually present, however, if both were present simultaneously, SHT4X comes first in the table and would win, and INA226 would return false and be skipped. The INA226 has 16 possible addresses that are configurable in the hardware itself, so in a potential scenario where both sensors would be present, the person implementing that design could take that into account.
  - BME680 gas resistance will now transmit on the same channel as the rest of BME680 telemetry which is inline with CayenneLPP standards. Coupling this PR with https://github.com/meshcore-dev/MeshCore/pull/2146 streamline the whole sensor telemetry, and with https://github.com/meshcore-dev/MeshCore/pull/2149 will overall improve BME680 handling. The gas resistance sensor actually has a binary library to make it more useful, calibration, accounting for age of sensor, and other improvements, but since that adds more flash consumption, I have omitted that in PRs thus far.
 - RAK12035 and other current upstream dev branch changes integrated.
2026-04-17 22:23:21 -06:00

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#include "EnvironmentSensorManager.h"
#if ENV_PIN_SDA && ENV_PIN_SCL
#define TELEM_WIRE &Wire1 // Use Wire1 as the I2C bus for Environment Sensors
#else
#define TELEM_WIRE &Wire // Use default I2C bus for Environment Sensors
#endif
// ============================================================
// Sensor library includes and static driver instances
// ============================================================
#ifdef ENV_INCLUDE_BME680
#ifndef TELEM_BME680_ADDRESS
#define TELEM_BME680_ADDRESS 0x76
#endif
#define TELEM_BME680_SEALEVELPRESSURE_HPA (1013.25)
#include <Adafruit_BME680.h>
static Adafruit_BME680 BME680(TELEM_WIRE);
#endif
#ifdef ENV_INCLUDE_BMP085
#define TELEM_BMP085_SEALEVELPRESSURE_HPA (1013.25)
#include <Adafruit_BMP085.h>
static Adafruit_BMP085 BMP085;
#endif
#if ENV_INCLUDE_AHTX0
#define TELEM_AHTX_ADDRESS 0x38 // AHT10, AHT20 temperature and humidity sensor I2C address
#include <Adafruit_AHTX0.h>
static Adafruit_AHTX0 AHTX0;
#endif
#if ENV_INCLUDE_BME280
#ifndef TELEM_BME280_ADDRESS
#define TELEM_BME280_ADDRESS 0x76 // BME280 environmental sensor I2C address
#endif
#define TELEM_BME280_SEALEVELPRESSURE_HPA (1013.25) // Atmospheric pressure at sea level
#include <Adafruit_BME280.h>
static Adafruit_BME280 BME280;
#endif
#if ENV_INCLUDE_BMP280
#ifndef TELEM_BMP280_ADDRESS
#define TELEM_BMP280_ADDRESS 0x76 // BMP280 environmental sensor I2C address
#endif
#define TELEM_BMP280_SEALEVELPRESSURE_HPA (1013.25) // Atmospheric pressure at sea level
#include <Adafruit_BMP280.h>
static Adafruit_BMP280 BMP280(TELEM_WIRE);
#endif
#if ENV_INCLUDE_SHTC3
#include <Adafruit_SHTC3.h>
static Adafruit_SHTC3 SHTC3;
#endif
#if ENV_INCLUDE_SHT4X
#define TELEM_SHT4X_ADDRESS 0x44
#include <SensirionI2cSht4x.h>
static SensirionI2cSht4x SHT4X;
#endif
#if ENV_INCLUDE_LPS22HB
#include <Arduino_LPS22HB.h>
LPS22HBClass LPS22HB(*TELEM_WIRE);
#endif
#if ENV_INCLUDE_INA3221
#ifndef TELEM_INA3221_ADDRESS
#define TELEM_INA3221_ADDRESS 0x42 // INA3221 3 channel current sensor I2C address
#endif
#ifndef TELEM_INA3221_SHUNT_VALUE
#define TELEM_INA3221_SHUNT_VALUE 0.100 // most variants will have a 0.1 ohm shunts
#endif
#ifndef TELEM_INA3221_NUM_CHANNELS
#define TELEM_INA3221_NUM_CHANNELS 3
#endif
#include <Adafruit_INA3221.h>
static Adafruit_INA3221 INA3221;
#endif
#if ENV_INCLUDE_INA219
#define TELEM_INA219_ADDRESS 0x40 // INA219 single channel current sensor I2C address
#include <Adafruit_INA219.h>
static Adafruit_INA219 INA219(TELEM_INA219_ADDRESS);
#endif
#if ENV_INCLUDE_INA260
#define TELEM_INA260_ADDRESS 0x41 // INA260 single channel current sensor I2C address
#include <Adafruit_INA260.h>
static Adafruit_INA260 INA260;
#endif
#if ENV_INCLUDE_INA226
#define TELEM_INA226_ADDRESS 0x44
#define TELEM_INA226_SHUNT_VALUE 0.100
#define TELEM_INA226_MAX_AMP 0.8
#include <INA226.h>
static INA226 INA226(TELEM_INA226_ADDRESS, TELEM_WIRE);
#endif
#if ENV_INCLUDE_MLX90614
#define TELEM_MLX90614_ADDRESS 0x5A // MLX90614 IR temperature sensor I2C address
#include <Adafruit_MLX90614.h>
static Adafruit_MLX90614 MLX90614;
#endif
#if ENV_INCLUDE_VL53L0X
#define TELEM_VL53L0X_ADDRESS 0x29 // VL53L0X time-of-flight distance sensor I2C address
#include <Adafruit_VL53L0X.h>
static Adafruit_VL53L0X VL53L0X;
#endif
#if ENV_INCLUDE_RAK12035
#define TELEM_RAK12035_ADDRESS 0x20 // RAK12035 Soil Moisture sensor I2C address
#include "RAK12035_SoilMoisture.h"
static RAK12035_SoilMoisture RAK12035;
#endif
#if ENV_INCLUDE_GPS && defined(RAK_BOARD) && !defined(RAK_WISMESH_TAG)
#define RAK_WISBLOCK_GPS
#endif
#ifdef RAK_WISBLOCK_GPS
static uint32_t gpsResetPin = 0;
static bool i2cGPSFlag = false;
static bool serialGPSFlag = false;
#define TELEM_RAK12500_ADDRESS 0x42 //RAK12500 Ublox GPS via i2c
#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
static SFE_UBLOX_GNSS ublox_GNSS;
class RAK12500LocationProvider : public LocationProvider {
long _lat = 0;
long _lng = 0;
long _alt = 0;
int _sats = 0;
long _epoch = 0;
bool _fix = false;
public:
long getLatitude() override { return _lat; }
long getLongitude() override { return _lng; }
long getAltitude() override { return _alt; }
long satellitesCount() override { return _sats; }
bool isValid() override { return _fix; }
long getTimestamp() override { return _epoch; }
void sendSentence(const char * sentence) override { }
void reset() override { }
void begin() override { }
void stop() override { }
void loop() override {
if (ublox_GNSS.getGnssFixOk(8)) {
_fix = true;
_lat = ublox_GNSS.getLatitude(2) / 10;
_lng = ublox_GNSS.getLongitude(2) / 10;
_alt = ublox_GNSS.getAltitude(2);
_sats = ublox_GNSS.getSIV(2);
} else {
_fix = false;
}
_epoch = ublox_GNSS.getUnixEpoch(2);
}
bool isEnabled() override { return true; }
};
static RAK12500LocationProvider RAK12500_provider;
#endif
// ============================================================
// I2C bus scanner
// Probes every valid address and records which ones ACK.
// This runs before any sensor library is touched, so a missing
// or misbehaving device cannot stall or crash the boot sequence.
// ============================================================
static void scanI2CBus(TwoWire* wire, bool found[128]) {
for (uint8_t addr = 0x08; addr < 0x78; addr++) {
wire->beginTransmission(addr);
found[addr] = (wire->endTransmission() == 0);
}
}
// ============================================================
// Per-sensor init and query functions
//
// init(wire, address) — called only when the address was seen
// on the bus. Returns 0 on failure, or the number of
// telemetry channels the sensor will consume (1 for all
// single-output sensors; INA3221 returns one per enabled
// hardware channel; MLX90614 and RAK12035+calibration
// return 2).
//
// query(channel, sub_channel, lpp) — called once per active
// sensor entry during querySensors(). sub_channel is always
// 0 for single-output sensors.
// ============================================================
#if ENV_INCLUDE_AHTX0
static uint8_t init_ahtx0(TwoWire* wire, uint8_t addr) {
return AHTX0.begin(wire, 0, addr) ? 1 : 0;
}
static void query_ahtx0(uint8_t ch, uint8_t, CayenneLPP& lpp) {
sensors_event_t humidity, temp;
AHTX0.getEvent(&humidity, &temp);
lpp.addTemperature(ch, temp.temperature);
lpp.addRelativeHumidity(ch, humidity.relative_humidity);
}
#endif
#ifdef ENV_INCLUDE_BME680
static uint8_t init_bme680(TwoWire*, uint8_t addr) {
// Wire was set in the static constructor; begin() takes address only.
return BME680.begin(addr) ? 1 : 0;
}
static void query_bme680(uint8_t ch, uint8_t, CayenneLPP& lpp) {
if (BME680.performReading()) {
lpp.addTemperature(ch, BME680.temperature);
lpp.addRelativeHumidity(ch, BME680.humidity);
lpp.addBarometricPressure(ch, BME680.pressure / 100);
lpp.addAltitude(ch, 44330.0 * (1.0 - pow((BME680.pressure / 100) / TELEM_BME680_SEALEVELPRESSURE_HPA, 0.1903)));
lpp.addAnalogInput(ch, BME680.gas_resistance);
}
}
#endif
#if ENV_INCLUDE_BME280
static uint8_t init_bme280(TwoWire* wire, uint8_t addr) {
if (!BME280.begin(addr, wire)) return 0;
BME280.setSampling(Adafruit_BME280::MODE_FORCED,
Adafruit_BME280::SAMPLING_X1,
Adafruit_BME280::SAMPLING_X1,
Adafruit_BME280::SAMPLING_X1,
Adafruit_BME280::FILTER_OFF,
Adafruit_BME280::STANDBY_MS_1000);
return 1;
}
static void query_bme280(uint8_t ch, uint8_t, CayenneLPP& lpp) {
if (BME280.takeForcedMeasurement()) {
lpp.addTemperature(ch, BME280.readTemperature());
lpp.addRelativeHumidity(ch, BME280.readHumidity());
lpp.addBarometricPressure(ch, BME280.readPressure() / 100);
lpp.addAltitude(ch, BME280.readAltitude(TELEM_BME280_SEALEVELPRESSURE_HPA));
}
}
#endif
#if ENV_INCLUDE_BMP280
static uint8_t init_bmp280(TwoWire*, uint8_t addr) {
// BMP280 static instance was constructed with TELEM_WIRE; begin() uses it.
return BMP280.begin(addr) ? 1 : 0;
}
static void query_bmp280(uint8_t ch, uint8_t, CayenneLPP& lpp) {
lpp.addTemperature(ch, BMP280.readTemperature());
lpp.addBarometricPressure(ch, BMP280.readPressure() / 100);
lpp.addAltitude(ch, BMP280.readAltitude(TELEM_BMP280_SEALEVELPRESSURE_HPA));
}
#endif
#if ENV_INCLUDE_SHTC3
static uint8_t init_shtc3(TwoWire* wire, uint8_t) {
// Adafruit_SHTC3::begin() does not accept an address (fixed at 0x70).
return SHTC3.begin(wire) ? 1 : 0;
}
static void query_shtc3(uint8_t ch, uint8_t, CayenneLPP& lpp) {
sensors_event_t humidity, temp;
SHTC3.getEvent(&humidity, &temp);
lpp.addTemperature(ch, temp.temperature);
lpp.addRelativeHumidity(ch, humidity.relative_humidity);
}
#endif
#if ENV_INCLUDE_SHT4X
static uint8_t init_sht4x(TwoWire* wire, uint8_t addr) {
// SensirionI2cSht4x::begin() does not probe the hardware; use serialNumber()
// as the actual presence check since it performs a real I2C transaction.
SHT4X.begin(*wire, addr);
uint32_t serial = 0;
return (SHT4X.serialNumber(serial) == 0) ? 1 : 0;
}
static void query_sht4x(uint8_t ch, uint8_t, CayenneLPP& lpp) {
float temperature, humidity;
if (SHT4X.measureLowestPrecision(temperature, humidity) == 0) {
lpp.addTemperature(ch, temperature);
lpp.addRelativeHumidity(ch, humidity);
}
}
#endif
#if ENV_INCLUDE_LPS22HB
static uint8_t init_lps22hb(TwoWire*, uint8_t) {
// LPS22HBClass is constructed with the wire reference; begin() uses it.
return LPS22HB.begin() ? 1 : 0;
}
static void query_lps22hb(uint8_t ch, uint8_t, CayenneLPP& lpp) {
lpp.addTemperature(ch, LPS22HB.readTemperature());
lpp.addBarometricPressure(ch, LPS22HB.readPressure() * 10); // convert kPa to hPa
}
#endif
#if ENV_INCLUDE_INA3221
static uint8_t init_ina3221(TwoWire* wire, uint8_t addr) {
if (!INA3221.begin(addr, wire)) return 0;
for (int i = 0; i < TELEM_INA3221_NUM_CHANNELS; i++) {
INA3221.setShuntResistance(i, TELEM_INA3221_SHUNT_VALUE);
}
// Each enabled hardware channel becomes its own telemetry channel.
uint8_t enabled = 0;
for (int i = 0; i < TELEM_INA3221_NUM_CHANNELS; i++) {
if (INA3221.isChannelEnabled(i)) enabled++;
}
return enabled > 0 ? enabled : 1;
}
static void query_ina3221(uint8_t ch, uint8_t sub_ch, CayenneLPP& lpp) {
// sub_ch is the index of the nth enabled hardware channel.
uint8_t seen = 0;
for (int i = 0; i < TELEM_INA3221_NUM_CHANNELS; i++) {
if (INA3221.isChannelEnabled(i)) {
if (seen == sub_ch) {
float v = INA3221.getBusVoltage(i);
float c = INA3221.getCurrentAmps(i);
lpp.addVoltage(ch, v);
lpp.addCurrent(ch, c);
lpp.addPower(ch, v * c);
return;
}
seen++;
}
}
}
#endif
#if ENV_INCLUDE_INA219
static uint8_t init_ina219(TwoWire* wire, uint8_t) {
// INA219 static instance was constructed with the address; begin() uses it.
return INA219.begin(wire) ? 1 : 0;
}
static void query_ina219(uint8_t ch, uint8_t, CayenneLPP& lpp) {
lpp.addVoltage(ch, INA219.getBusVoltage_V());
lpp.addCurrent(ch, INA219.getCurrent_mA() / 1000.0f);
lpp.addPower(ch, INA219.getPower_mW() / 1000.0f);
}
#endif
#if ENV_INCLUDE_INA260
static uint8_t init_ina260(TwoWire* wire, uint8_t addr) {
return INA260.begin(addr, wire) ? 1 : 0;
}
static void query_ina260(uint8_t ch, uint8_t, CayenneLPP& lpp) {
lpp.addVoltage(ch, INA260.readBusVoltage() / 1000.0f);
lpp.addCurrent(ch, INA260.readCurrent() / 1000.0f);
lpp.addPower(ch, INA260.readPower() / 1000.0f);
}
#endif
#if ENV_INCLUDE_INA226
static uint8_t init_ina226(TwoWire*, uint8_t) {
// INA226 static instance was constructed with address and wire.
if (!INA226.begin()) return 0;
INA226.setMaxCurrentShunt(TELEM_INA226_MAX_AMP, TELEM_INA226_SHUNT_VALUE);
return 1;
}
static void query_ina226(uint8_t ch, uint8_t, CayenneLPP& lpp) {
lpp.addVoltage(ch, INA226.getBusVoltage());
lpp.addCurrent(ch, INA226.getCurrent_mA() / 1000.0f);
lpp.addPower(ch, INA226.getPower_mW() / 1000.0f);
}
#endif
#if ENV_INCLUDE_MLX90614
static uint8_t init_mlx90614(TwoWire* wire, uint8_t addr) {
return MLX90614.begin(addr, wire) ? 2 : 0; // 2 channels: object temp, ambient temp
}
static void query_mlx90614(uint8_t ch, uint8_t sub_ch, CayenneLPP& lpp) {
if (sub_ch == 0)
lpp.addTemperature(ch, MLX90614.readObjectTempC());
else
lpp.addTemperature(ch, MLX90614.readAmbientTempC());
}
#endif
#if ENV_INCLUDE_VL53L0X
static uint8_t init_vl53l0x(TwoWire* wire, uint8_t addr) {
return VL53L0X.begin(addr, false, wire) ? 1 : 0;
}
static void query_vl53l0x(uint8_t ch, uint8_t, CayenneLPP& lpp) {
VL53L0X_RangingMeasurementData_t measure;
VL53L0X.rangingTest(&measure, false);
lpp.addDistance(ch, measure.RangeStatus != 4 ? measure.RangeMilliMeter / 1000.0f : 0.0f);
}
#endif
#ifdef ENV_INCLUDE_BMP085
static uint8_t init_bmp085(TwoWire* wire, uint8_t) {
return BMP085.begin(0, wire) ? 1 : 0; // mode 0 = ULTRALOWPOWER
}
static void query_bmp085(uint8_t ch, uint8_t, CayenneLPP& lpp) {
lpp.addTemperature(ch, BMP085.readTemperature());
lpp.addBarometricPressure(ch, BMP085.readPressure() / 100);
lpp.addAltitude(ch, BMP085.readAltitude(TELEM_BMP085_SEALEVELPRESSURE_HPA * 100));
}
#endif
#if ENV_INCLUDE_RAK12035
static uint8_t init_rak12035(TwoWire* wire, uint8_t addr) {
// RAK12035 requires setup() before begin().
RAK12035.setup(*wire);
if (!RAK12035.begin(addr)) return 0;
#ifdef ENABLE_RAK12035_CALIBRATION
return 2; // moisture channel + calibration channel
#else
return 1;
#endif
}
static void query_rak12035(uint8_t ch, uint8_t sub_ch, CayenneLPP& lpp) {
if (sub_ch == 0) {
lpp.addTemperature(ch, RAK12035.get_sensor_temperature());
lpp.addPercentage(ch, RAK12035.get_sensor_moisture());
} else {
#ifdef ENABLE_RAK12035_CALIBRATION
float cap = RAK12035.get_sensor_capacitance();
float wet = RAK12035.get_humidity_full();
float dry = RAK12035.get_humidity_zero();
lpp.addFrequency(ch, cap);
lpp.addTemperature(ch, wet);
lpp.addPower(ch, dry);
if (cap > dry) RAK12035.set_humidity_zero(cap);
if (cap < wet) RAK12035.set_humidity_full(cap);
#endif
}
}
#endif
// ============================================================
// Sensor descriptor table
//
// Each entry maps an I2C address to a sensor's init and query
// functions. Only entries whose ENV_INCLUDE_* guard is defined
// are compiled in. The sentinel at the end keeps the array
// non-empty regardless of which sensors are enabled.
//
// Ordering here determines channel assignment at runtime:
// the first detected+initialized sensor gets channel 2, the
// next gets channel 3, and so on.
// ============================================================
struct SensorDef {
uint8_t address;
const char* name;
uint8_t (*init)(TwoWire* wire, uint8_t address);
void (*query)(uint8_t channel, uint8_t sub_channel, CayenneLPP& telemetry);
};
static const SensorDef SENSOR_TABLE[] = {
#if ENV_INCLUDE_AHTX0
{ TELEM_AHTX_ADDRESS, "AHT10/AHT20", init_ahtx0, query_ahtx0 },
#endif
#ifdef ENV_INCLUDE_BME680
{ TELEM_BME680_ADDRESS, "BME680", init_bme680, query_bme680 },
#endif
#if ENV_INCLUDE_BME280
{ TELEM_BME280_ADDRESS, "BME280", init_bme280, query_bme280 },
#endif
#if ENV_INCLUDE_BMP280
{ TELEM_BMP280_ADDRESS, "BMP280", init_bmp280, query_bmp280 },
#endif
#if ENV_INCLUDE_SHTC3
{ 0x70, "SHTC3", init_shtc3, query_shtc3 },
#endif
#if ENV_INCLUDE_SHT4X
{ TELEM_SHT4X_ADDRESS, "SHT4X", init_sht4x, query_sht4x },
#endif
#if ENV_INCLUDE_LPS22HB
{ 0x5C, "LPS22HB", init_lps22hb, query_lps22hb },
#endif
#if ENV_INCLUDE_INA3221
{ TELEM_INA3221_ADDRESS, "INA3221", init_ina3221, query_ina3221 },
#endif
#if ENV_INCLUDE_INA219
{ TELEM_INA219_ADDRESS, "INA219", init_ina219, query_ina219 },
#endif
#if ENV_INCLUDE_INA260
{ TELEM_INA260_ADDRESS, "INA260", init_ina260, query_ina260 },
#endif
#if ENV_INCLUDE_INA226
{ TELEM_INA226_ADDRESS, "INA226", init_ina226, query_ina226 },
#endif
#if ENV_INCLUDE_MLX90614
{ TELEM_MLX90614_ADDRESS,"MLX90614", init_mlx90614, query_mlx90614 },
#endif
#if ENV_INCLUDE_VL53L0X
{ TELEM_VL53L0X_ADDRESS, "VL53L0X", init_vl53l0x, query_vl53l0x },
#endif
#ifdef ENV_INCLUDE_BMP085
{ 0x77, "BMP085", init_bmp085, query_bmp085 },
#endif
#if ENV_INCLUDE_RAK12035
{ TELEM_RAK12035_ADDRESS,"RAK12035", init_rak12035, query_rak12035 },
#endif
{ 0, nullptr, nullptr, nullptr } // sentinel — keeps the array non-empty
};
static const size_t SENSOR_TABLE_SIZE = (sizeof(SENSOR_TABLE) / sizeof(SENSOR_TABLE[0])) - 1;
// ============================================================
// begin() — scan the I2C bus, then initialize only what was
// found. A sensor whose address does not ACK during the scan
// is never touched by a library call, preventing hangs or
// crashes caused by absent or misbehaving hardware.
// ============================================================
bool EnvironmentSensorManager::begin() {
#if ENV_INCLUDE_GPS
#ifdef RAK_WISBLOCK_GPS
rakGPSInit();
#else
initBasicGPS();
#endif
#endif
#if ENV_PIN_SDA && ENV_PIN_SCL
#ifdef NRF52_PLATFORM
Wire1.setPins(ENV_PIN_SDA, ENV_PIN_SCL);
Wire1.setClock(100000);
Wire1.begin();
#else
Wire1.begin(ENV_PIN_SDA, ENV_PIN_SCL, 100000);
#endif
MESH_DEBUG_PRINTLN("Second I2C initialized on pins SDA: %d SCL: %d", ENV_PIN_SDA, ENV_PIN_SCL);
#endif
// Scan the I2C bus before touching any sensor library.
bool detected[128] = {};
scanI2CBus(TELEM_WIRE, detected);
// Walk the sensor table and initialize only detected devices.
_active_sensor_count = 0;
for (size_t i = 0; i < SENSOR_TABLE_SIZE && _active_sensor_count < MAX_ACTIVE_SENSORS; i++) {
const SensorDef& def = SENSOR_TABLE[i];
if (!detected[def.address]) {
MESH_DEBUG_PRINTLN("%s not detected at I2C address %02X", def.name, def.address);
continue;
}
uint8_t n = def.init(TELEM_WIRE, def.address);
if (n == 0) {
MESH_DEBUG_PRINTLN("%s found at %02X but failed to initialize", def.name, def.address);
continue;
}
MESH_DEBUG_PRINTLN("Found %s at address: %02X", def.name, def.address);
for (uint8_t sub = 0; sub < n && _active_sensor_count < MAX_ACTIVE_SENSORS; sub++) {
_active_sensors[_active_sensor_count++] = { def.query, sub };
}
}
return true;
}
// ============================================================
// querySensors() — GPS stays on channel 1; each active sensor
// gets the next available channel in the order it was
// initialized.
// ============================================================
bool EnvironmentSensorManager::querySensors(uint8_t requester_permissions, CayenneLPP& telemetry) {
next_available_channel = TELEM_CHANNEL_SELF + 1;
if (requester_permissions & TELEM_PERM_LOCATION && gps_active) {
telemetry.addGPS(TELEM_CHANNEL_SELF, node_lat, node_lon, node_altitude);
}
if (requester_permissions & TELEM_PERM_ENVIRONMENT) {
for (int i = 0; i < _active_sensor_count; i++) {
_active_sensors[i].query(next_available_channel, _active_sensors[i].sub_channel, telemetry);
next_available_channel++;
}
}
return true;
}
int EnvironmentSensorManager::getNumSettings() const {
int settings = 0;
#if ENV_INCLUDE_GPS
if (gps_detected) settings++; // only show GPS setting if GPS is detected
#endif
return settings;
}
const char* EnvironmentSensorManager::getSettingName(int i) const {
int settings = 0;
#if ENV_INCLUDE_GPS
if (gps_detected && i == settings++) {
return "gps";
}
#endif
return NULL;
}
const char* EnvironmentSensorManager::getSettingValue(int i) const {
int settings = 0;
#if ENV_INCLUDE_GPS
if (gps_detected && i == settings++) {
return gps_active ? "1" : "0";
}
#endif
return NULL;
}
bool EnvironmentSensorManager::setSettingValue(const char* name, const char* value) {
#if ENV_INCLUDE_GPS
if (gps_detected && strcmp(name, "gps") == 0) {
if (strcmp(value, "0") == 0) {
stop_gps();
} else {
start_gps();
}
return true;
}
if (strcmp(name, "gps_interval") == 0) {
uint32_t interval_seconds = atoi(value);
gps_update_interval_sec = interval_seconds > 0 ? interval_seconds : 1;
return true;
}
#endif
return false; // not supported
}
#if ENV_INCLUDE_GPS
void EnvironmentSensorManager::initBasicGPS() {
Serial1.setPins(PIN_GPS_TX, PIN_GPS_RX);
#ifdef GPS_BAUD_RATE
Serial1.begin(GPS_BAUD_RATE);
#else
Serial1.begin(9600);
#endif
// Try to detect if GPS is physically connected to determine if we should expose the setting
_location->begin();
_location->reset();
#ifndef PIN_GPS_EN
MESH_DEBUG_PRINTLN("No GPS wake/reset pin found for this board. Continuing on...");
#endif
// Give GPS a moment to power up and send data
delay(1000);
// We'll consider GPS detected if we see any data on Serial1
#ifdef ENV_SKIP_GPS_DETECT
gps_detected = true;
#else
gps_detected = (Serial1.available() > 0);
#endif
if (gps_detected) {
MESH_DEBUG_PRINTLN("GPS detected");
#ifdef PERSISTANT_GPS
gps_active = true;
return;
#endif
} else {
MESH_DEBUG_PRINTLN("No GPS detected");
}
_location->stop();
gps_active = false; //Set GPS visibility off until setting is changed
}
// gps code for rak might be moved to MicroNMEALoactionProvider
// or make a new location provider ...
#ifdef RAK_WISBLOCK_GPS
void EnvironmentSensorManager::rakGPSInit(){
Serial1.setPins(PIN_GPS_TX, PIN_GPS_RX);
#ifdef GPS_BAUD_RATE
Serial1.begin(GPS_BAUD_RATE);
#else
Serial1.begin(9600);
#endif
//search for the correct IO standby pin depending on socket used
if(gpsIsAwake(WB_IO2)){
}
else if(gpsIsAwake(WB_IO4)){
}
else if(gpsIsAwake(WB_IO5)){
}
else{
MESH_DEBUG_PRINTLN("No GPS found");
gps_active = false;
gps_detected = false;
Serial1.end();
return;
}
#ifndef FORCE_GPS_ALIVE // for use with repeaters, until GPS toggle is implimented
//Now that GPS is found and set up, set to sleep for initial state
stop_gps();
#endif
}
bool EnvironmentSensorManager::gpsIsAwake(uint8_t ioPin){
//set initial waking state
pinMode(ioPin,OUTPUT);
digitalWrite(ioPin,LOW);
delay(500);
digitalWrite(ioPin,HIGH);
delay(500);
//Try to init RAK12500 on I2C
if (ublox_GNSS.begin(Wire) == true){
MESH_DEBUG_PRINTLN("RAK12500 GPS init correctly with pin %i",ioPin);
ublox_GNSS.setI2COutput(COM_TYPE_UBX);
ublox_GNSS.enableGNSS(true, SFE_UBLOX_GNSS_ID_GPS);
ublox_GNSS.enableGNSS(true, SFE_UBLOX_GNSS_ID_GALILEO);
ublox_GNSS.enableGNSS(true, SFE_UBLOX_GNSS_ID_GLONASS);
ublox_GNSS.enableGNSS(true, SFE_UBLOX_GNSS_ID_SBAS);
ublox_GNSS.enableGNSS(true, SFE_UBLOX_GNSS_ID_BEIDOU);
ublox_GNSS.enableGNSS(true, SFE_UBLOX_GNSS_ID_IMES);
ublox_GNSS.enableGNSS(true, SFE_UBLOX_GNSS_ID_QZSS);
ublox_GNSS.setMeasurementRate(1000);
ublox_GNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT);
gpsResetPin = ioPin;
i2cGPSFlag = true;
gps_active = true;
gps_detected = true;
_location = &RAK12500_provider;
return true;
} else if (Serial1.available()) {
MESH_DEBUG_PRINTLN("Serial GPS init correctly and is turned on");
if(PIN_GPS_EN){
gpsResetPin = PIN_GPS_EN;
}
serialGPSFlag = true;
gps_active = true;
gps_detected = true;
return true;
}
pinMode(ioPin, INPUT);
MESH_DEBUG_PRINTLN("GPS did not init with this IO pin... try the next");
return false;
}
#endif
void EnvironmentSensorManager::start_gps() {
gps_active = true;
#ifdef RAK_WISBLOCK_GPS
pinMode(gpsResetPin, OUTPUT);
digitalWrite(gpsResetPin, HIGH);
return;
#endif
_location->begin();
_location->reset();
#ifndef PIN_GPS_EN
MESH_DEBUG_PRINTLN("Start GPS is N/A on this board. Actual GPS state unchanged");
#endif
}
void EnvironmentSensorManager::stop_gps() {
gps_active = false;
#ifdef RAK_WISBLOCK_GPS
pinMode(gpsResetPin, OUTPUT);
digitalWrite(gpsResetPin, LOW);
return;
#endif
_location->stop();
#ifndef PIN_GPS_EN
MESH_DEBUG_PRINTLN("Stop GPS is N/A on this board. Actual GPS state unchanged");
#endif
}
void EnvironmentSensorManager::loop() {
static long next_gps_update = 0;
#if ENV_INCLUDE_GPS
if (gps_active) {
_location->loop();
}
if (millis() > next_gps_update) {
if(gps_active){
#ifdef RAK_WISBLOCK_GPS
if ((i2cGPSFlag || serialGPSFlag) && _location->isValid()) {
node_lat = ((double)_location->getLatitude())/1000000.;
node_lon = ((double)_location->getLongitude())/1000000.;
MESH_DEBUG_PRINTLN("lat %f lon %f", node_lat, node_lon);
node_altitude = ((double)_location->getAltitude()) / 1000.0;
MESH_DEBUG_PRINTLN("lat %f lon %f alt %f", node_lat, node_lon, node_altitude);
}
#else
if (_location->isValid()) {
node_lat = ((double)_location->getLatitude())/1000000.;
node_lon = ((double)_location->getLongitude())/1000000.;
MESH_DEBUG_PRINTLN("lat %f lon %f", node_lat, node_lon);
node_altitude = ((double)_location->getAltitude()) / 1000.0;
MESH_DEBUG_PRINTLN("lat %f lon %f alt %f", node_lat, node_lon, node_altitude);
}
#endif
}
next_gps_update = millis() + (gps_update_interval_sec * 1000);
}
#endif
}
#endif
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