diff --git a/.gitignore b/.gitignore index 4aa2f51..b71bf55 100644 --- a/.gitignore +++ b/.gitignore @@ -1,8 +1,9 @@ .pio/* .vscode/* *.map -docs/* test/*.md test/env/* -test/*.py +test/configure_*.py TODO.md +src_docs/_build/* +data/*.min.htm diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 0000000..36567c8 --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,8 @@ +repos: +- repo: https://github.com/bmorcos/pre-commit-hooks-cpp + rev: 9a5aa38207bf557961110d6a4f7e3a9d352911f9 + hooks: + - id: clang-format + - id: cpplint + - id: cppcheck + \ No newline at end of file diff --git a/README.md b/README.md index 86e117c..8fdd384 100644 --- a/README.md +++ b/README.md @@ -2,155 +2,4 @@ This software can be used with iSpindle hardware and utilizes the same hardware configuration. No code has been reused from the iSpindle project. -I started this project out of curiosity for how a motion sensor is working and since I like to brew beer this was the result. - -After 6 months of testing I believe this is working as planned. It give accurate readings same as the orginal iSpindel software. - -Version history -* v0.4 First official version with 5+ brews on record. - -Lower priority -* Add support for Plato in device (today it assumes that formula is in SG). -* Add support for converting between SG/Plato in device. -* Add support for Blynk as endpoint -* Add support for https connections (push) - [need to reduce memory usage for this to work, gets out of memory error] -* Add support for https web server (will require certificates to be created as part of build process) -* Add support for WifiManager Secure access, depends on support in library. - -# Functionallity - -I have made a few different design decision compared to the standard iSpindle software. - -* The device operate in two modes, __always-on__ or __deep-sleep__. Always on can be triggered in two ways: Connected to charger and the power is over 4.1V or the device is lying flat (angle is approx 90 degrees). - -* Configuration options have been moved to a web gui and is accesible when the device is in __always-on__ mode. The Wifi portal only need to be used for changing WIFI network. - -* The software also has built in OTA support so new versions can be downloaded from a local webserver and checks are done during startup and the device is in __always-on__ mode. - -* Temperature calibration has been added for the DS18B20 sensor so you can adjust the temperature sensor readings if there is a need. When the device is in __always-on__ mode the temperature will rise in the container so the value will increase and not reflect the temperature for the surronding the container. - -* There is an option to automatically correct the gravity calculation based on the temperature. Useful if you are fermenting at lower temperatures. It's possible to build this into the normal gravity formula but this is an easier option. Just make sure that the calibration is done at 20°C. - -* The software will read the motion sensor 50 times and use the average to calculate the angle. If the readings show that the device is moving it will wait a few seconds and retry the operation again to make sure that no invalid angles should be reported. If the device is unsuccesful to get a valid angle within 10s it will go to sleep for 60s and then retry again (TODO: This will be adjusted after more testing). - -## Configuration - -Configuration is accessed by entering the URL for the device, this will be the mDNS name __device.local__ or the IP adress. The following chapter assumes the device name is __gravmon__. - -### Index page - -http://gravmon.local/ - -The main page shows the device readings; gravity, angle, temperature and battery charge. If the checkbox is active then the device will never go into sleep mode. This is useful if you are collecting angle/tilt for calibration. If this is unchecked the device will change mode as explained before. - -![Status](img/index.png) - -### Device page - -http://gravmon.local/device.htm - -The device page shows the device settings and software versions. - -![Device](img/device.png) - -### Config page - -http://gravmon.local/config.htm - -* This page is divided into several categories of settings. The first one contains device settings, mDNS name, temperature format, sleep interval and gyro calibration data. The interval setting is the amount of time the device will be in sleep mode between readings (interval is in seconds). To simplify this you can also see the conversion to minutes / seconds next to the input field. - -* The sleep interval can be set between 10 - 3600 seconds (60 minutes). - -* Calibration needs to be done or the device will not work correctly. Place the device flat on a surface with gyro up and press the calibrate button when it's stable. If no calibration data exist the device will not enter sleep-mode. - -![Config - Device](img/config1.png) - -* The second section contains the push settings, two URL's for http posts, Brewfather and settings for InfluxDB v2. - -### This is the format used for standard http posts. -``` -{ - "name" : "gravmon", // mDNS name - "ID": "2E6753", // esp device id - "token" : "gravmon", - "interval": 900, - "temperature": 20.5, // C or F based on setting, adjusted value. - "temp-units": "C", // C or F based on setting - "gravity": 1.0050, // Raw or temperature corrected gravity (based on setting) - "corr-gravity": 1.0050, // Temperature corrected gravity - "angle": 45.34, - "battery": 3.67, - "rssi": -12, - "run-time": 230, // ms, Runtime for this reading, this is an additional field not part of the standard format -} -``` - -### This is the format for Brewfather - -``` -{ - "name" : "gravmon", // mDNS name - "temp": 20.5, - "temp-unit": "C", - "battery": 3.67, - "gravity": 1.0050, - "gravity_unit": "G", // G = SG, Plato is not yet supported -} -``` - -### This is the format for InfluxDB v2 - -``` -measurement,host=,device=,temp-format=,gravity-format=SG,gravity=1.0004,corr-gravity=1.0004,angle=45.45,temp=20.1,battery=3.96,rssi=-18 -``` - -![Config - Push](img/config2.png) - -* The third section contains the gravity formula and also option for doing temperature compensation. The calibration formula uses two keywords, temp and tilt. Temperature is in the selected device format. - -* Gravity formula is compatible with standard iSpindle formulas so any existing calculation option can be used. I use the tool fermentrack for controlling my fermentation and I use this tool for calculating gravity. The formula can handle two keywords, __tilt__ and __temp__. This is an example of a formula; __0.00145*tilt^3+0.1445*tilt^2+0.00179*tilt+0.9436__ - -* This is the formula used for temperature calibration (temp is in F). Cal = 20C. -``` -gravity*((1.00130346-0.000134722124*temp+0.00000204052596*temp^2-0.00000000232820948*temp^3)/(1.00130346-0.000134722124*cal+0.00000204052596*cal^2-0.00000000232820948*cal^3)) -``` -![Config - gravity](img/config3.png) - -* Hardware settings contain settings for temperature sensor adjustment, voltage factor (to calulate the battery level) and OTA URL. - -* For the OTA to work, place the following files (version.json + firmware.bin) at the location that you pointed out in OTA URL. If the version number in the json file is newer than in the code the update will be done during startup. - -Example; OTA URL (don't forget trailing dash), the name of the file should be firmware.bin -``` -http://192.168.1.1/firmware/gravmon/ -``` - -Contents version.json -``` -{ "project":"gravmon", "version":"0.3.0" } -``` - -![Config - Hardware](img/config4.png) - -# Building a device - -See the iSpindle documentation for building a device. - -I've included my 3d sled that I use for my builds that allows for easy adjustment of the default angle. The stl files can be found under the stl directory. - -![Spindle sled](img/spindle.png) -![Spindle sled with weight](img/spindle-weight.png) - -# Compiling the software - -I recommend that VSCODE with PlatformIO and Minfy extensions are used. Minify is used to reduce the size of the HTML files which are embedded into the firmware or uploaded to the file system. When using minify on a file, for example index.htm the output will be called index.min.htm. This is the file that will be used when buildning the image. - -By default the html files are embedded but there are options to upload them to the file system to reduce the size of the image if the size becomes to large for OTA. - -You can set the SSID and PWD as presets through platformio.ini by adding the settings to the following definitions: -``` --D USER_SSID=\""\"" // =\""myssid\"" --D USER_SSID_PWD=\""\"" // =\""mypwd\"" -``` - -There are more options in teh platform.ini file that enable/disable additional functions for logging level, pushing performance data to InfluxDB and more. If i get the time I will add some documentation around these. \ No newline at end of file +The documenation is now moved to https://mp-se.github.io/gravitymon/index.html diff --git a/bin/about.min.htm b/bin/about.min.htm index 6403562..d590edd 100644 --- a/bin/about.min.htm +++ b/bin/about.min.htm @@ -1 +1 @@ -Beer Gravity Monitor

Beer Gravity Monitor

This is a piece of software for the iSpindle hardware and will work in a similar way. No part of this software is copied from the iSpindle project.

MIT License

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
(C) Copyright 2021 Magnus Persson
\ No newline at end of file +Beer Gravity Monitor

Beer Gravity Monitor

This is a piece of software for the iSpindle hardware and will work in a similar way. No part of this software is copied from the iSpindle project.

MIT License

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
(C) Copyright 2021-22 Magnus Persson
\ No newline at end of file diff --git a/bin/calibration.min.htm b/bin/calibration.min.htm new file mode 100644 index 0000000..094932b --- /dev/null +++ b/bin/calibration.min.htm @@ -0,0 +1,52 @@ +Beer Gravity Monitor

Here you can create your gravity formula by entering angles/tilt and the corresponding gravity (SG). These values will be saved for future use. Angles with 0 (zero) will be skipped. The values below will be used to check the formula and if the deviation is more than 1.5 SG then the forumla will be rejected. On the bottom of the page you can see a graph over the entered values + values calcualated by the formula.
(C) Copyright 2021-22 Magnus Persson
\ No newline at end of file diff --git a/bin/config.min.htm b/bin/config.min.htm index b0c839c..f7bd12c 100644 --- a/bin/config.min.htm +++ b/bin/config.min.htm @@ -1 +1 @@ -Beer Gravity Monitor

Temperature Format:

(C) Copyright 2021 Magnus Persson
\ No newline at end of file +Beer Gravity Monitor

Temperature Format:

(C) Copyright 2021-22 Magnus Persson
\ No newline at end of file diff --git a/bin/device.min.htm b/bin/device.min.htm index fe90b77..228c59f 100644 --- a/bin/device.min.htm +++ b/bin/device.min.htm @@ -1 +1 @@ -Beer Gravity Monitor
Current version:
Loading...
Host name:
Loading...
Device ID:
Loading...
(C) Copyright 2021 Magnus Persson
\ No newline at end of file +Beer Gravity Monitor
Current version:
Loading...
Host name:
Loading...
Device ID:
Loading...
(C) Copyright 2021-22 Magnus Persson
\ No newline at end of file diff --git a/bin/firmware-debug.bin b/bin/firmware-debug.bin index 0f6f8fb..f8cf479 100644 Binary files a/bin/firmware-debug.bin and b/bin/firmware-debug.bin differ diff --git a/bin/firmware-perf.bin b/bin/firmware-perf.bin index 003f2b9..f1b9bd5 100644 Binary files a/bin/firmware-perf.bin and b/bin/firmware-perf.bin differ diff --git a/bin/firmware.bin b/bin/firmware.bin index ac7f0d5..14d7250 100644 Binary files a/bin/firmware.bin and b/bin/firmware.bin differ diff --git a/bin/index.min.htm b/bin/index.min.htm index 144df21..1822cec 100644 --- a/bin/index.min.htm +++ b/bin/index.min.htm @@ -1 +1 @@ -Beer Gravity Monitor
Gravity:
Loading...
Temperature:
Loading...
Angle/Tilt:
Loading...
Battery:
Loading...
(C) Copyright 2021 Magnus Persson
\ No newline at end of file +Beer Gravity Monitor
Gravity:
Loading...
Temperature:
Loading...
Angle/Tilt:
Loading...
Battery:
Loading...
(C) Copyright 2021-22 Magnus Persson
\ No newline at end of file diff --git a/bin/version.json b/bin/version.json index d2dc3aa..1925302 100644 --- a/bin/version.json +++ b/bin/version.json @@ -1 +1 @@ -{ "project":"gravmon", "version":"0.4.0", "html": [ "index.min.htm", "device.min.htm", "config.min.htm", "about.min.htm" ] } \ No newline at end of file +{ "project":"gravmon", "version":"0.5.0", "html": [ "index.min.htm", "device.min.htm", "config.min.htm", "calibration.min.htm", "about.min.htm" ] } \ No newline at end of file diff --git a/data/about.min.htm b/data/about.min.htm deleted file mode 100644 index 6403562..0000000 --- a/data/about.min.htm +++ /dev/null @@ -1 +0,0 @@ -Beer Gravity Monitor

Beer Gravity Monitor

This is a piece of software for the iSpindle hardware and will work in a similar way. No part of this software is copied from the iSpindle project.

MIT License

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
(C) Copyright 2021 Magnus Persson
\ No newline at end of file diff --git a/data/config.min.htm b/data/config.min.htm deleted file mode 100644 index b0c839c..0000000 --- a/data/config.min.htm +++ /dev/null @@ -1 +0,0 @@ -Beer Gravity Monitor

Temperature Format:

(C) Copyright 2021 Magnus Persson
\ No newline at end of file diff --git a/data/device.min.htm b/data/device.min.htm deleted file mode 100644 index fe90b77..0000000 --- a/data/device.min.htm +++ /dev/null @@ -1 +0,0 @@ -Beer Gravity Monitor
Current version:
Loading...
Host name:
Loading...
Device ID:
Loading...
(C) Copyright 2021 Magnus Persson
\ No newline at end of file diff --git a/data/index.min.htm b/data/index.min.htm deleted file mode 100644 index 144df21..0000000 --- a/data/index.min.htm +++ /dev/null @@ -1 +0,0 @@ -Beer Gravity Monitor
Gravity:
Loading...
Temperature:
Loading...
Angle/Tilt:
Loading...
Battery:
Loading...
(C) Copyright 2021 Magnus Persson
\ No newline at end of file diff --git a/docs/.buildinfo b/docs/.buildinfo new file mode 100644 index 0000000..e4fe99b --- /dev/null +++ b/docs/.buildinfo @@ -0,0 +1,4 @@ +# Sphinx build info version 1 +# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done. +config: 705fe7e2903f2b9afbf680a1292393b5 +tags: 645f666f9bcd5a90fca523b33c5a78b7 diff --git a/docs/.nojekyll b/docs/.nojekyll new file mode 100644 index 0000000..e69de29 diff --git a/docs/_images/config1.png b/docs/_images/config1.png new file mode 100644 index 0000000..af5ab28 Binary files /dev/null and b/docs/_images/config1.png differ diff --git a/docs/_images/config2.png b/docs/_images/config2.png new file mode 100644 index 0000000..f1fbde6 Binary files /dev/null and b/docs/_images/config2.png differ diff --git a/docs/_images/config3.png b/docs/_images/config3.png new file mode 100644 index 0000000..568e17c Binary files /dev/null and b/docs/_images/config3.png differ diff --git a/docs/_images/config4.png b/docs/_images/config4.png new file mode 100644 index 0000000..d7c9c60 Binary files /dev/null and b/docs/_images/config4.png differ diff --git a/docs/_images/device.png b/docs/_images/device.png new file mode 100644 index 0000000..6d445a0 Binary files /dev/null and b/docs/_images/device.png differ diff --git a/docs/_images/formula1.png b/docs/_images/formula1.png new file mode 100644 index 0000000..dede459 Binary files /dev/null and b/docs/_images/formula1.png differ diff --git a/docs/_images/formula2.png b/docs/_images/formula2.png new file mode 100644 index 0000000..6ed084d Binary files /dev/null and b/docs/_images/formula2.png differ diff --git a/docs/_images/index.png b/docs/_images/index.png new file mode 100644 index 0000000..290f037 Binary files /dev/null and b/docs/_images/index.png differ diff --git a/docs/_sources/backlog.rst.txt b/docs/_sources/backlog.rst.txt new file mode 100644 index 0000000..4fd89b2 --- /dev/null +++ b/docs/_sources/backlog.rst.txt @@ -0,0 +1,16 @@ +Backlog of changes +################## + +Documentation +------------- + +- Updates over OTA (from PC) +- Write contribution instructions + +Code +------------- + +- Support for MQTT +- Support for plato +- Use pre-commit for validating check-in +- Automatic builds via github actions diff --git a/docs/_sources/compiling.rst.txt b/docs/_sources/compiling.rst.txt new file mode 100644 index 0000000..6ebf6cf --- /dev/null +++ b/docs/_sources/compiling.rst.txt @@ -0,0 +1,104 @@ +Compiling the software +----------------------- + +Tools +===== +I use the following tools in order to build and manage the software: + +* Visual Studio Code +* PlatformIO +* Git for Windows +* VSCode plugin: Minify (used to minimise the html files) + +Code Formatting +=============== +I use pre-commit and their cpp style checks to validate the code. Plugin defintions are found in **.pre-commit-config.yaml** + +https://www.pre-commit.com + +.. note:: + + There is not yet any automatic checks since this does not work on Windows. It works if running under WSL2 with Ubuntu. + + +Targets +======= +In the repository there are 3 targets defined + +* gravity-debug; Maximum logging for trouble shooting, deep sleep is disabled. +* gravity-release; Standard release +* gravity-perf; Standard release but contains code for measuring performance + +Source structure +================ +.. list-table:: Directory structure + :widths: 40 60 + :header-rows: 1 + + * - path + - content + * - /bin + - Contains compiled binaries + * - /data + - Directory for flashing device filesystem + * - /doc + - Various external documents used as input + * - /docs + - Folder published to github pages + * - /html + - Source for html files + * - /img + - Images uses in README.md + * - /lib + - External libraries used when compiling + * - /script + - Scripts used in build process + * - /src + - Source code for software + * - /src_docs + - Source code for documentation + * - /stl + - 3d models + * - /test + - Test data for developing html files + + +Options +======= +This is a list of C++ defines that is used to enable/disable functions in the code. + +.. list-table:: Defines + :widths: 40 60 + :header-rows: 1 + + * - define + - description + * - ACTIVATE_OTA + - Enables the OTA functionallity in the code + * - USE_GYRO_TEMP + - Uses temperature from gyro instead of DS18B20 (experimental) + * - SKIP_SLEEPMODE + - THe device never goes into sleep mode, useful when developing. + * - CFG_DISABLE_LOGGING + - Done include verbose logging in Config class. Excessive logging may crash device. + * - GYRO_DISABLE_LOGGING + - Done include verbose logging in Gyro class. Excessive logging may crash device. + * - PUSH_DISABLE_LOGGING + - Done include verbose logging in PushTarget class. Excessive logging may crash device. + * - TSEN_DISABLE_LOGGING + - Done include verbose logging in TempSensor class. Excessive logging may crash device. + * - WEB_DISABLE_LOGGING + - Done include verbose logging in WebServer class. Excessive logging may crash device. + * - MAIN_DISABLE_LOGGING + - Done include verbose logging in Main class. Excessive logging may crash device. + * - USE_LITTLEFS + - Use the new filesystem in Ardurino + * - EMBED_HTML + - Html files are included in code, if not defined they are served from the file system. + * - USER_SSID + - If defined the device will always use this SSID + * - USER_SSID_PWD + - Password to the SSID + * - CFG_APPVER + - Defines the version of the compiled software + diff --git a/docs/_sources/configuration.rst.txt b/docs/_sources/configuration.rst.txt new file mode 100644 index 0000000..31d308a --- /dev/null +++ b/docs/_sources/configuration.rst.txt @@ -0,0 +1,477 @@ +Configuration +----------------------- +The device can operate in two modes and must be in `configuration mode` in order for the web server to be active. + +One of the following conditions will place the device in `configuration mode`: + +- Gyro has not been calibrated +- Sleep mode has been disabled in the web interface +- Placed in horizontal mode 85-90 degrees +- Charger connected >4.15V + +Status +====== + +URL: (http://gravmon.local) + +.. image:: images/index.png + :width: 800 + :alt: Index page + +Configuration is accessed by entering the URL for the device, this will be the mDNS name *device.local* or the IP adress. The following chapter assumes the device name is *gravmon*. + +The main page shows the device readings; gravity, angle, temperature and battery charge. If the checkbox is active then the device will never go into sleep mode. This is useful if +you are collecting angle/tilt for calibration. If this is unchecked the device will change mode as explained before. + +.. note:: + + If you are connected to the device via a serial console (speed: 115200) you can see the connection sequence and get the Unique ID and IP adress from there. + + +Device +====== + +URL: (http://gravmon.local/device) + +.. image:: images/device.png + :width: 800 + :alt: Device Settings + + +* **Version:** + + Installed version of the code and html files. + +* **Device name:** + + This is unique name of the device. + +* **Device ID:** + + This is unique identifier for the device (ESP8266 id), this is required when using the API as an API Key to safeguard against faulty requests. + + +Configuration +============= + +URL: (http://gravmon.local/config) + +Device Setting +************** + +.. image:: images/config1.png + :width: 800 + :alt: Device Settings + +* **Device name:** + + This is unique name for the device. It will be used in pushing data as well as mDNS name on the network (.local) + +* **Temperature format:** + + Choose between Celsius and Farenheight + +* **Interval:** + + This defines how long the device should be sleeping between the readings when in `gravity monitoring` mode. You will also see the values in minutes/seconds to easier set the interval. 900s is a recommended interval. + +.. note:: + + The sleep interval can be set between 10 - 3600 seconds (60 minutes). + +* **Calibration values:** + + These are calibration data for the gyro. Place the device flat on a table and press the button to save the default orientation values. Without this calibration we cannot calculate the correct angle/tilt. + +.. note:: + + The device will **not** go into `gravity monitoring` mode unless calibrated + +Push Settings +************* + +.. image:: images/config2.png + :width: 800 + :alt: Push Settings + +* **HTTP URL 1:** + + Endpoint to send data via http. Format used is standard iSpindle format (see format section). + +* **HTTP URL 2:** + + Endpoint to send data via http. Format used is standard iSpindle format (see format section). + +* **Brewfather URL:** + + Endpoint to send data via http to brewfather. Format used is defined by brewfather (see format section). + +* **Influx DB v2 URL:** + + Endpoint to send data via http to InfluxDB. For format (see format section). + +* **Influx DB v2 Organisation:** + + Name of organisation in Influx. + +* **Influx DB v2 Bucket:** + + Identifier for bucket. + +* **Influx DB v2 Token:** + + Token with write access to bucket. + + +Gravity Settings +**************** + +.. image:: images/config3.png + :width: 800 + :alt: Gravity Settings + +* **Gravity formula:** + + Gravity formula is compatible with standard iSpindle formulas so any existing calculation option can be used. Is updated if the calibration function is used. + +* **Temperature correct gravity:** + + Will apply a temperature calibration formula to the gravity as a second step. + + This is the formula used for temperature calibration (temp is in F). Cal = 20C. + +.. code-block:: + + gravity*((1.00130346-0.000134722124*temp+0.00000204052596*temp^2-0.00000000232820948*temp^3)/(1.00130346-0.000134722124*cal+0.00000204052596*cal^2-0.00000000232820948*cal^3)) + + +Hardware Settings +***************** + +.. image:: images/config4.png + :width: 800 + :alt: Hardware Settings + +* **Voltage factor:** + + Factor used to calcualate the battery voltage. If you get a too low/high voltage you can adjust this value. + +* **Temperature correction:** + + This value will be added to the temperature reading (negative value will reduce temperature reading). + +* **OTA URL:** + + Should point to a URL where the .bin file + version.json file is located. + + For the OTA to work, place the following files (version.json + firmware.bin) at the location that you pointed out in OTA URL. If the version number in the json file is newer than in the + code the update will be done during startup. + + Example; OTA URL (don't forget trailing dash), the name of the file should be firmware.bin + +.. code-block:: + + http://192.168.1.1/firmware/gravmon/ + + + +Create formula +============================= + +.. image:: images/formula1.png + :width: 800 + :alt: Formula data + +Here you can enter up to 5 values (angles + gravity) that is then used to create the formula. Angles equal to zero will be regarded as empty even if there is a gravity reading. + +.. image:: images/formula2.png + :width: 800 + :alt: Formula graph + +Once the formula is created a graph over the entered values and a simulation of the formula will give you a nice overview on how the formula will work. + + +REST API +============================= + +All the API's use a key called ``ID`` which is the unique device id (chip id). This is used as an API key when sending requests to the device. + +GET: /api/config +**************** + +Retrive the current configuation of the device via an HTTP GET command. Payload is in JSON format. + +* ``temp-format`` can be either ``C`` or ``F`` +* ``gravity-format`` is always ``G`` (plato is not yet supported) + +Other parameters are the same as in the configuration guide. + +.. code-block:: json + + { + "mdns": "gravmon", + "id": "ee1bfc", + "ota-url": "http://192.168.1.50:80/firmware/gravmon/", + "temp-format": "C", + "brewfather-push": "http://log.brewfather.net/stream?id=Qwerty", + "http-push": "http://192.168.1.50:9090/api/v1/Qwerty/telemetry", + "http-push2": "http://192.168.1.50/ispindel", + "influxdb2-push": "http://192.168.1.50:8086", + "influxdb2-org": "Qwerty", + "influxdb2-bucket": "Qwerty", + "influxdb2-auth": "Qwerty", + "sleep-interval": 30, + "voltage-factor": 1.59, + "gravity-formula": "0.0*tilt^3+0.0*tilt^2+0.0017978*tilt+0.9436", + "gravity-format": "G", + "temp-adjustment-value": 0, + "gravity-temp-adjustment": false, + "gyro-calibration-data": { + "ax": -330, + "ay": -2249, + "az": 1170, + "gx": 99, + "gy": -6, + "gz": 4 + }, + "angle": 90.93, + "gravity": 1.105, + "battery": 0.04 + } + + +GET: /api/device +**************** + +Retrive the current device settings via an HTTP GET command. Payload is in JSON format. + +.. code-block:: json + + { + "app-name": "GravityMon ", + "app-ver": "0.0.0", + "id": "ee1bfc", + "mdns": "gravmon" + } + + +GET: /api/status +**************** + +Retrive the current device status via an HTTP GET command. Payload is in JSON format. + +* ``temp-format`` can be either ``C`` or ``F`` + +Other parameters are the same as in the configuration guide. + +.. code-block:: json + + { + "id": "ee1bfc", + "angle": 89.86, + "gravity": 1.1052, + "gravity-tempcorr": 1.1031, + "temp-c": 0, + "temp-f": 32, + "battery": 0, + "temp-format": "C", + "sleep-mode": false, + "rssi": -56 + } + + +GET: /api/config/formula +************************ + +Retrive the data used for formula calculation data via an HTTP GET command. Payload is in JSON format. + +* ``a1``-``a4`` are the angles/tilt readings (up to 5 are currently supported) +* ``g1``-``g4`` are the corresponding gravity reaadings (in SG) + +.. code-block:: json + + { + "id": "ee1bfc", + "a1": 22.4, + "a2": 54.4, + "a3": 58, + "a4": 0, + "a5": 0, + "g1": 1.000, + "g2": 1.053, + "g3": 1.062, + "g4": 1, + "g5": 1 + "gravity-formula": "0.0*tilt^3+0.0*tilt^2+0.0017978*tilt+0.9436", + } + + +POST: /api/config/device +************************ + +Used to update device settings via an HTTP POST command. Payload is in JSON format. + +* ``temp-format`` can be either ``C`` or ``F`` + +.. code-block:: json + + { + "id": "ee1bfc", + "mdns": "gravmon", + "temp-format": "C", + "sleep-interval": 30 + } + + +POST: /api/config/push +********************** + +Used to update push settings via an HTTP POST command. Payload is in JSON format. + +.. code-block:: json + + { + "id": "ee1bfc", + "http-push": "http://192.168.1.50/ispindel", + "http-push2": "", + "brewfather-push": "", + "influxdb2-push": "http://192.168.1.50:8086", + "influxdb2-org": "Qwerty", + "influxdb2-bucket": "Qwerty", + "influxdb2-auth": "Qwerty" + } + + +POST: /api/config/gravity +************************* + +Used to update gravity settings via an HTTP POST command. Payload is in JSON format. + +* ``gravity-formula`` keywords ``temp`` and ``tilt`` are supported. + +.. code-block:: json + + { + "id": "ee1bfc", + "gravity-formula": "0.0*tilt^3+0.0*tilt^2+0.0017978*tilt+0.9436", + "gravity-temp-adjustment": "off" + } + + +POST: /api/config/gravity +************************* + +Used to update hardware settings via an HTTP POST command. Payload is in JSON format. + +.. code-block:: json + + { + "id": "ee1bfc", + "voltage-factor": 1.59, + "temp-adjustment": 0, + "ota-url": "http://192.168.1.50/firmware/gravmon/" + } + + +POST: /api/config/formula +************************* + +Used to update formula calculation data via an HTTP POST command. Payload is in JSON format. + +* ``a1``-``a4`` are the angles/tilt readings (up to 5 are currently supported) +* ``g1``-``g4`` are the corresponding gravity reaadings (in SG) + +.. code-block:: json + + { + "id": "ee1bfc", + "a1": 22.4, + "a2": 54.4, + "a3": 58, + "a4": 0, + "a5": 0, + "g1": 1.000, + "g2": 1.053, + "g3": 1.062, + "g4": 1, + "g5": 1 + } + + +Data Formats +============================= + +iSpindle format +*************** + +This is the format used for standard http posts. + +* ``corr-gravity`` is an extended parameter containing a temperature corrected gravity reading. +* ``run-time`` is an extended parameter containing the number of seconds the execution took. + +.. code-block:: json + + { + "name" : "gravmon", + "ID": "2E6753", + "token" : "gravmon", + "interval": 900, + "temperature": 20.5, + "temp-units": "C", + "gravity": 1.0050, + "corr-gravity": 1.0050, + "angle": 45.34, + "battery": 3.67, + "rssi": -12, + "run-time": 6 + } + + +Brewfather format +****************** + +This is the format for Brewfather + + +.. code-block:: json + + { + "name" : "gravmon", + "temp": 20.5, + "temp-unit": "C", + "battery": 3.67, + "gravity": 1.0050, + "gravity_unit": "G", + } + + +Influx DB v2 +************ + +This is the format for InfluxDB v2 + +.. code-block:: + + measurement,host=,device=,temp-format=,gravity-format=SG,gravity=1.0004,corr-gravity=1.0004,angle=45.45,temp=20.1,battery=3.96,rssi=-18 + + +version.json +************ + +Contents version.json. The version is used by the device to check if the this version is newer. The html files will also be downloaded if the are present on the server. This way it's easy to +upgrade to a version that serve the html files from the file system. If they dont exist nothing will happen, the OTA flashing will still work. If the html files are missing from the file system +they can be uploaded manually afterwards. + +.. code-block:: json + + { + "project":"gravmon", + "version":"0.4.10", + "html": [ + "index.min.htm", + "device.min.htm", + "config.min.htm", + "calibration.min.htm", + "about.min.htm" + ] + } diff --git a/docs/_sources/contributing.rst.txt b/docs/_sources/contributing.rst.txt new file mode 100644 index 0000000..7472165 --- /dev/null +++ b/docs/_sources/contributing.rst.txt @@ -0,0 +1,5 @@ +Contributing +------------ + +This section is under construction. + diff --git a/docs/_sources/functionallity.rst.txt b/docs/_sources/functionallity.rst.txt new file mode 100644 index 0000000..e72dbec --- /dev/null +++ b/docs/_sources/functionallity.rst.txt @@ -0,0 +1,75 @@ +Functionallity +============== + +The main differences +-------------------- + +* **Operates in two modes `gravity monitoring` and `configuration mode`** + + In gravity monitoring mode it behaves just like the iSpindle, it wakes up at regular intervals, measure angle/tile, temperature, calculates gravity and pushes the data to defined endpoints. + + In configuration mode the device is always active and the webserver is active. Here you can view the angle/tilt values, change configuration options and more. When in this mode you can also interact with the device + via an REST API so data can be pushed to the device via scripts (see API section for more information)- + + *See the configuration section for more information on how to trigger the configuration mode.* + +* **Can send data to multiple endpoints at once** + + The orignial iSpindle can only have one destination, this sofware will push data to all defined endpoints so in theory you can use them all. However this will consume a lot of battery power so use only as many as needed. + + Currently the device supports the following endpoints: http (2 differnt), influxdb2 and Brewfather + + If you want additional targets please raise a feature request in the github repo. + +* **Build in function to create gravity formulas, so no need for using other tools for this part** + + Another big difference is that this software can create the gravity formula in the device, just enter the angle/gravity data that you have collected. You will also see a graph simulating how the formula would work. + +* **Automatic temperature adjustment of gravity reading** + + If you want to correct gravity based on beer temperature you can do this in the formula but here is a nice feature that can correct the gravity as a second step making this independant of the formula. + +.. note:: + + This feature needs more testing to be validated. + +* **OTA support from local webserver** + + When starting up in configuration mode the device will check for a software update from a local webserver. + +* **DS18B20 temperature adjustments** + + You can adjust the temperature reading of the temperature sensor. + +* **Gyro Movement** + + The software will detect if the gyro is moving and if this is the case it will go back to sleep for 60seconds. This way we should avoid faulty measurements. + +Other features +-------------- + +* Support for Celcius and Farenheigt as temperature formats. + +* Support SG (Plato is not yet supported) + +* Gyro data is read 50 times to ensure good accuracy + +Experimental features +--------------------- + +* Use the temperature sensor in the gyro instead of DS18B20 + + This works fine when the device has time to cool down between measurements and it saves a few milliseconds (reduced battery consumption). My testing shows that this is quite accurate. + There is lots of battery power to save, reading the temp sensor takes almost as long as the gyro. This could reduce the run time by 40-50% and probly extend battery life with the same. + However more testing is required. Might add this as an option in the UI. + +.. note:: + + This is not enabled by default. + +* Performance measurements + + I've also create a small library to measure execution code in some areas of the code that i know is time consuming. This way I can find a good balance between performace and quality. + + *See the compile section for more information.* + diff --git a/docs/_sources/index.rst.txt b/docs/_sources/index.rst.txt new file mode 100644 index 0000000..26e5a68 --- /dev/null +++ b/docs/_sources/index.rst.txt @@ -0,0 +1,121 @@ +.. GravityMon documentation master file, created by + sphinx-quickstart on Wed Jan 5 22:46:42 2022. + You can adapt this file completely to your liking, but it should at least + contain the root `toctree` directive. + +Welcome to GravityMon's documentation! +###################################### + +.. note:: + + Preliminary documentation. This is work in progress. This documentation reflects **v0.5** + + +GravityMon is a replacement firmare for the iSpindle hardware. It's used to measure gravity in beer and show the progress +of fermentation. + +For more information on this topic and function please visit https://www.ispindel.de. + +I started GravityMon because i like to create software and wanted to do some low level programming. I had done a few +projects based on esp8266 and also started to brew beer so this combination was quite natural. + +The hardware design comes from the fantastic iSpindle project so that is not covered in this documentation. + +My approach to this software is a little different from that the original ispindle firmware. The github repository can +be found here; https://github.com/mp-se/gravitymon + +.. note:: + + This software is in the early stages even though its more than one year old so if you find issues, please + open a ticket on github. + + I dont take responsibility for any errors that can cause problems with the use. I have tested v0.4 on 5+ brews + over the last 6 months without any issues. + +The main differences: +--------------------- + +* Operates in two modes `gravity monitoring` and `configuration mode` +* Send data to multiple endpoints when pushing data. +* Automatic temperature adjustment of gravity reading +* OTA support from local webserver +* Build in function to create gravity formulas (*New in v0.5*) + +There are also a experimental features such as: + +* Using the temperature sensor in gyro instead of DS18B20 (faster) +* Performance measurements (used to optimise code) + +**For a complete breakdown see the functionallity section.** + +Credits to +---------- +This software uses the following libraries and without these this would have been much more difficult to acheive: + +* https://github.com/jrowberg/i2cdevlib.git + + This library contains the basic code to interact with the gyro + many more chips. + +* https://github.com/codeplea/tinyexpr + + Proccess the gravity formula and calculate the gravity and various corrections. + +* https://github.com/graphitemaster/incbin + + Include binary files into the code, used to service html files. + +* https://github.com/khoih-prog/ESP_DoubleResetDetector + + Can detect if the reset button is pressed twice, is used to enter WIFI config mode. + +* https://github.com/tzapu/WiFiManager + + Configure wifi settings. + +* https://github.com/thijse/Arduino-Log + + Logging library for handling different loglevels and configure what sent over the serial. + +* https://github.com/bblanchon/ArduinoJson + + Json parser/creator used in configuration files and API's + +* https://github.com/PaulStoffregen/OneWire + + Communication library used for interacting with temperature sensor. + +* https://github.com/milesburton/Arduino-Temperature-Control-Library + + Interaction with the DS18B20 sensor + +* https://github.com/Rotario/arduinoCurveFitting + + Create the gravity formula. + +* https://graphjs.com/ + + Render the graphs in the UI. + +* https://getbootstrap.com/ + + CSS templates for the web page. + + +.. toctree:: + :maxdepth: 2 + :caption: Contents: + + releases + functionallity + installation + configuration + compiling + contributing + backlog + +Indices and tables +================== + +* :ref:`genindex` +* :ref:`modindex` +* :ref:`search` diff --git a/docs/_sources/installation.rst.txt b/docs/_sources/installation.rst.txt new file mode 100644 index 0000000..2193b32 --- /dev/null +++ b/docs/_sources/installation.rst.txt @@ -0,0 +1,45 @@ +Installation +------------ + +Official esptool +================ + +The prefered option for flashing esp8266 device is via the official esptool. Documentation can be found +here; https://docs.espressif.com/projects/esptool/en/latest/esp32/ + +The basic command for flashing is; + +``esptool.py --port COM4 write_flash 0x1000 firmware.bin`` + +In the /bin directory you will find 3 different firmware builds; + +* **firmware.bin** + + This is the standard release build (prefered version) + +* **firmware-perf.bin** + + This version also submits performance data to an influx database with detailed execution times. + +* **firmware-debug.bin** + + Development build. Not recommended for normal use. + +In these versions all the html files are embedded in the binaries. The file system is currently only used for storing +the configuration file. + +If the software becomes so large the html files can be moved to the file system, but this is not enabled by +default (see compiling for details). This approach makes installation much easier and ensure that html files +and code is in sync. + + +Configuring WIFI +================ + +When the device is flashed it will need to have WIFI configuration in order to work. If you have used other software on +the device its possible that wifi settings exist. + +If this is not configured in the device it will create an wirless access point called `GravMon`. Connect to this AP and +enter the SSID and password you want to use. If the web page dont open automatically you can enter the following adress +in the browser: **http://192.168.4.1** + diff --git a/docs/_sources/releases.rst.txt b/docs/_sources/releases.rst.txt new file mode 100644 index 0000000..5e8213d --- /dev/null +++ b/docs/_sources/releases.rst.txt @@ -0,0 +1,22 @@ +Releases +======== + +v0.5.0 (beta) +------------- + +Latest next target version is: **v0.5.0**. This is hosted in the **dev branch**. + +* Added feature to calcuate formula on device +* Total rewrite of documentation +* WIFI settings are now stored in config file +* Defined version numbers for all dependant libraries to avoid updates breaking build. +* Cleanup of code +* Refactor code from C to C++ + +v0.4.0 +------ + +Latest stable development version is: **v0.4.0** + +https://github.com/mp-se/gravitymon/releases/tag/v0.4.0 + diff --git a/docs/_sources/styling.rst.txt b/docs/_sources/styling.rst.txt new file mode 100644 index 0000000..de1ef4e --- /dev/null +++ b/docs/_sources/styling.rst.txt @@ -0,0 +1,58 @@ +Testing formatting +------------------ + +Header 1 +######## + +Header 2 +-------- + +Header 3 +******** + +**BOLD** + +*ITALIC* + +``CODE SAMPLE`` + +1. List +2. List + +* List +* List + +.. list-table:: Table + :widths: 40 60 + :header-rows: 1 + + * - table + - table + * - content + - content + +.. image:: images/formula1.png + :width: 400 + :alt: image + +.. code-block:: objdump + + measurement,host=,device=,temp-format=,gravity-format=SG,gravity=1.0004,corr-gravity=1.0004,angle=45.45,temp=20.1,battery=3.96,rssi=-18 + +.. code-block:: json + + { + "project":"gravmon", + "version":"0.4.10", + "html": [ + "index.min.htm", + "device.min.htm", + "config.min.htm", + "calibration.min.htm", + "about.min.htm" + ] + } + +.. note:: + + Note... diff --git a/docs/_static/basic.css b/docs/_static/basic.css new file mode 100644 index 0000000..603f6a8 --- /dev/null +++ b/docs/_static/basic.css @@ -0,0 +1,905 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: ''; + clear: left; +} + +/* -- relbar ---------------------------------------------------------------- */ + +div.related { + width: 100%; + font-size: 90%; +} + +div.related h3 { + display: none; +} + +div.related ul { + margin: 0; + padding: 0 0 0 10px; + list-style: none; +} + +div.related li { + display: inline; +} + +div.related li.right { + float: right; + margin-right: 5px; +} + +/* -- sidebar --------------------------------------------------------------- */ + +div.sphinxsidebarwrapper { + padding: 10px 5px 0 10px; +} + +div.sphinxsidebar { + float: left; + width: 230px; + margin-left: -100%; + font-size: 90%; + word-wrap: break-word; + overflow-wrap : break-word; +} + +div.sphinxsidebar ul { + list-style: none; +} + +div.sphinxsidebar ul ul, +div.sphinxsidebar ul.want-points { + margin-left: 20px; + list-style: square; +} + +div.sphinxsidebar ul ul { + margin-top: 0; + margin-bottom: 0; +} + +div.sphinxsidebar form { + margin-top: 10px; +} + +div.sphinxsidebar input { + border: 1px solid #98dbcc; + font-family: sans-serif; + font-size: 1em; +} + +div.sphinxsidebar #searchbox form.search { + overflow: hidden; +} + +div.sphinxsidebar #searchbox input[type="text"] { + float: left; + width: 80%; + padding: 0.25em; + box-sizing: border-box; +} + +div.sphinxsidebar #searchbox input[type="submit"] { + float: left; + width: 20%; + border-left: none; + padding: 0.25em; + box-sizing: border-box; +} + + +img { + border: 0; + max-width: 100%; +} + +/* -- search page ----------------------------------------------------------- */ + +ul.search { + margin: 10px 0 0 20px; + padding: 0; +} + +ul.search li { + padding: 5px 0 5px 20px; + background-image: url(file.png); + background-repeat: no-repeat; + background-position: 0 7px; +} + +ul.search li a { + font-weight: bold; +} + +ul.search li p.context { + color: #888; + margin: 2px 0 0 30px; + text-align: left; +} + +ul.keywordmatches li.goodmatch a { + font-weight: bold; +} + +/* -- index page ------------------------------------------------------------ */ + +table.contentstable { + width: 90%; + margin-left: auto; + margin-right: auto; +} + +table.contentstable p.biglink { + line-height: 150%; +} + +a.biglink { + font-size: 1.3em; +} + +span.linkdescr { + font-style: italic; + padding-top: 5px; + font-size: 90%; +} + +/* -- general index --------------------------------------------------------- */ + +table.indextable { + width: 100%; +} + +table.indextable td { + text-align: left; + vertical-align: top; +} + +table.indextable ul { + margin-top: 0; + margin-bottom: 0; + list-style-type: none; +} + +table.indextable > tbody > tr > td > ul { + padding-left: 0em; +} + +table.indextable tr.pcap { + height: 10px; +} + +table.indextable tr.cap { + margin-top: 10px; + background-color: #f2f2f2; +} + +img.toggler { + margin-right: 3px; + margin-top: 3px; + cursor: pointer; +} + +div.modindex-jumpbox { + border-top: 1px solid #ddd; + border-bottom: 1px solid #ddd; + margin: 1em 0 1em 0; + padding: 0.4em; +} + +div.genindex-jumpbox { + border-top: 1px solid #ddd; + border-bottom: 1px solid #ddd; + margin: 1em 0 1em 0; + padding: 0.4em; +} + +/* -- domain module index --------------------------------------------------- */ + +table.modindextable td { + padding: 2px; + border-collapse: collapse; +} + +/* -- general body styles --------------------------------------------------- */ + +div.body { + min-width: 450px; + max-width: 800px; +} + +div.body p, div.body dd, div.body li, div.body blockquote { + -moz-hyphens: auto; + -ms-hyphens: auto; + -webkit-hyphens: auto; + hyphens: auto; +} + +a.headerlink { + visibility: hidden; +} + +a.brackets:before, +span.brackets > a:before{ + content: "["; +} + +a.brackets:after, +span.brackets > a:after { + content: "]"; +} + +h1:hover > a.headerlink, +h2:hover > a.headerlink, +h3:hover > a.headerlink, +h4:hover > a.headerlink, +h5:hover > a.headerlink, +h6:hover > a.headerlink, +dt:hover > a.headerlink, +caption:hover > a.headerlink, +p.caption:hover > a.headerlink, +div.code-block-caption:hover > a.headerlink { + visibility: visible; +} + +div.body p.caption { + text-align: inherit; +} + +div.body td { + text-align: left; +} + +.first { + margin-top: 0 !important; +} + +p.rubric { + margin-top: 30px; + font-weight: bold; +} + +img.align-left, figure.align-left, .figure.align-left, object.align-left { + clear: left; + float: left; + margin-right: 1em; +} + +img.align-right, figure.align-right, .figure.align-right, object.align-right { + clear: right; + float: right; + margin-left: 1em; +} + +img.align-center, figure.align-center, .figure.align-center, object.align-center { + display: block; + margin-left: auto; + margin-right: auto; +} + +img.align-default, figure.align-default, .figure.align-default { + display: block; + margin-left: auto; + margin-right: auto; +} + +.align-left { + text-align: left; +} + +.align-center { + text-align: center; +} + +.align-default { + text-align: center; +} + +.align-right { + text-align: right; +} + +/* -- sidebars -------------------------------------------------------------- */ + +div.sidebar, +aside.sidebar { + margin: 0 0 0.5em 1em; + border: 1px solid #ddb; + padding: 7px; + background-color: #ffe; + width: 40%; + float: right; + clear: right; + overflow-x: auto; +} + +p.sidebar-title { + font-weight: bold; +} + +div.admonition, div.topic, blockquote { + clear: left; +} + +/* -- topics ---------------------------------------------------------------- */ + +div.topic { + border: 1px solid #ccc; + padding: 7px; + margin: 10px 0 10px 0; +} + +p.topic-title { + font-size: 1.1em; + font-weight: bold; + margin-top: 10px; +} + +/* -- admonitions ----------------------------------------------------------- */ + +div.admonition { + margin-top: 10px; + margin-bottom: 10px; + padding: 7px; +} + +div.admonition dt { + font-weight: bold; +} + +p.admonition-title { + margin: 0px 10px 5px 0px; + font-weight: bold; +} + +div.body p.centered { + text-align: center; + margin-top: 25px; +} + +/* -- content of sidebars/topics/admonitions -------------------------------- */ + +div.sidebar > :last-child, +aside.sidebar > :last-child, +div.topic > :last-child, +div.admonition > :last-child { + margin-bottom: 0; +} + +div.sidebar::after, +aside.sidebar::after, +div.topic::after, +div.admonition::after, +blockquote::after { + display: block; + content: ''; + clear: both; +} + +/* -- tables ---------------------------------------------------------------- */ + +table.docutils { + margin-top: 10px; + margin-bottom: 10px; + border: 0; + border-collapse: collapse; +} + +table.align-center { + margin-left: auto; + margin-right: auto; +} + +table.align-default { + margin-left: auto; + margin-right: auto; +} + +table caption span.caption-number { + font-style: italic; +} + +table caption span.caption-text { +} + +table.docutils td, table.docutils th { + padding: 1px 8px 1px 5px; + border-top: 0; + border-left: 0; + border-right: 0; + border-bottom: 1px solid #aaa; +} + +table.footnote td, table.footnote th { + border: 0 !important; +} + +th { + text-align: left; + padding-right: 5px; +} + +table.citation { + border-left: solid 1px gray; + margin-left: 1px; +} + +table.citation td { + border-bottom: none; +} + +th > :first-child, +td > :first-child { + margin-top: 0px; +} + +th > :last-child, +td > :last-child { + margin-bottom: 0px; +} + +/* -- figures --------------------------------------------------------------- */ + +div.figure, figure { + margin: 0.5em; + padding: 0.5em; +} + +div.figure p.caption, figcaption { + padding: 0.3em; +} + +div.figure p.caption span.caption-number, +figcaption span.caption-number { + font-style: italic; +} + +div.figure p.caption span.caption-text, +figcaption span.caption-text { +} + +/* -- field list styles ----------------------------------------------------- */ + +table.field-list td, table.field-list th { + border: 0 !important; +} + +.field-list ul { + margin: 0; + padding-left: 1em; +} + +.field-list p { + margin: 0; +} + +.field-name { + -moz-hyphens: manual; + -ms-hyphens: manual; + -webkit-hyphens: manual; + hyphens: manual; +} + +/* -- hlist styles ---------------------------------------------------------- */ + +table.hlist { + margin: 1em 0; +} + +table.hlist td { + vertical-align: top; +} + +/* -- object description styles --------------------------------------------- */ + +.sig { + font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace; +} + +.sig-name, code.descname { + background-color: transparent; + font-weight: bold; +} + +.sig-name { + font-size: 1.1em; +} + +code.descname { + font-size: 1.2em; +} + +.sig-prename, code.descclassname { + background-color: transparent; +} + +.optional { + font-size: 1.3em; +} + +.sig-paren { + font-size: larger; +} + +.sig-param.n { + font-style: italic; +} + +/* C++ specific styling */ + +.sig-inline.c-texpr, +.sig-inline.cpp-texpr { + font-family: unset; +} + +.sig.c .k, .sig.c .kt, +.sig.cpp .k, .sig.cpp .kt { + color: #0033B3; +} + +.sig.c .m, +.sig.cpp .m { + color: #1750EB; +} + +.sig.c .s, .sig.c .sc, +.sig.cpp .s, .sig.cpp .sc { + color: #067D17; +} + + +/* -- other body styles ----------------------------------------------------- */ + +ol.arabic { + list-style: decimal; +} + +ol.loweralpha { + list-style: lower-alpha; +} + +ol.upperalpha { + list-style: upper-alpha; +} + +ol.lowerroman { + list-style: lower-roman; +} + +ol.upperroman { + list-style: upper-roman; +} + +:not(li) > ol > li:first-child > :first-child, +:not(li) > ul > li:first-child > :first-child { + margin-top: 0px; +} + +:not(li) > ol > li:last-child > :last-child, +:not(li) > ul > li:last-child > :last-child { + margin-bottom: 0px; +} + +ol.simple ol p, +ol.simple ul p, +ul.simple ol p, +ul.simple ul p { + margin-top: 0; +} + +ol.simple > li:not(:first-child) > p, +ul.simple > li:not(:first-child) > p { + margin-top: 0; +} + +ol.simple p, +ul.simple p { + margin-bottom: 0; +} + +dl.footnote > dt, +dl.citation > dt { + float: left; + margin-right: 0.5em; +} + +dl.footnote > dd, +dl.citation > dd { + margin-bottom: 0em; +} + +dl.footnote > dd:after, +dl.citation > dd:after { + content: ""; + clear: both; +} + +dl.field-list { + display: grid; + grid-template-columns: fit-content(30%) auto; +} + +dl.field-list > dt { + font-weight: bold; + word-break: break-word; + padding-left: 0.5em; + padding-right: 5px; +} + +dl.field-list > dt:after { + content: ":"; +} + +dl.field-list > dd { + padding-left: 0.5em; + margin-top: 0em; + margin-left: 0em; + margin-bottom: 0em; +} + +dl { + margin-bottom: 15px; +} + +dd > :first-child { + margin-top: 0px; +} + +dd ul, dd table { + margin-bottom: 10px; +} + +dd { + margin-top: 3px; + margin-bottom: 10px; + margin-left: 30px; +} + +dl > dd:last-child, +dl > dd:last-child > :last-child { + margin-bottom: 0; +} + +dt:target, span.highlighted { + background-color: #fbe54e; +} + +rect.highlighted { + fill: #fbe54e; +} + +dl.glossary dt { + font-weight: bold; + font-size: 1.1em; +} + +.versionmodified { + font-style: italic; +} + +.system-message { + background-color: #fda; + padding: 5px; + border: 3px solid red; +} + +.footnote:target { + background-color: #ffa; +} + +.line-block { + display: block; + margin-top: 1em; + margin-bottom: 1em; +} + +.line-block .line-block { + margin-top: 0; + margin-bottom: 0; + margin-left: 1.5em; +} + +.guilabel, .menuselection { + font-family: sans-serif; +} + +.accelerator { + text-decoration: underline; +} + +.classifier { + font-style: oblique; +} + +.classifier:before { + font-style: normal; + margin: 0 0.5em; + content: ":"; + display: inline-block; +} + +abbr, acronym { + border-bottom: dotted 1px; + cursor: help; +} + +/* -- code displays --------------------------------------------------------- */ + +pre { + overflow: auto; + overflow-y: hidden; /* fixes display issues on Chrome browsers */ +} + +pre, div[class*="highlight-"] { + clear: both; +} + +span.pre { + -moz-hyphens: none; + -ms-hyphens: none; + -webkit-hyphens: none; + hyphens: none; +} + +div[class*="highlight-"] { + margin: 1em 0; +} + +td.linenos pre { + border: 0; + background-color: transparent; + color: #aaa; +} + +table.highlighttable { + display: block; +} + +table.highlighttable tbody { + display: block; +} + +table.highlighttable tr { + display: flex; +} + +table.highlighttable td { + margin: 0; + padding: 0; +} + +table.highlighttable td.linenos { + padding-right: 0.5em; +} + +table.highlighttable td.code { + flex: 1; + overflow: hidden; +} + +.highlight .hll { + display: block; +} + +div.highlight pre, +table.highlighttable pre { + margin: 0; +} + +div.code-block-caption + div { + margin-top: 0; +} + +div.code-block-caption { + margin-top: 1em; + padding: 2px 5px; + font-size: small; +} + +div.code-block-caption code { + background-color: transparent; +} + +table.highlighttable td.linenos, +span.linenos, +div.highlight span.gp { /* gp: Generic.Prompt */ + user-select: none; + -webkit-user-select: text; /* Safari fallback only */ + -webkit-user-select: none; /* Chrome/Safari */ + -moz-user-select: none; /* Firefox */ + -ms-user-select: none; /* IE10+ */ +} + +div.code-block-caption span.caption-number { + padding: 0.1em 0.3em; + font-style: italic; +} + +div.code-block-caption span.caption-text { +} + +div.literal-block-wrapper { + margin: 1em 0; +} + +code.xref, a code { + background-color: transparent; + font-weight: bold; +} + +h1 code, h2 code, h3 code, h4 code, h5 code, h6 code { + background-color: transparent; +} + +.viewcode-link { + float: right; +} + +.viewcode-back { + float: right; + font-family: sans-serif; +} + +div.viewcode-block:target { + margin: -1px -10px; + padding: 0 10px; +} + +/* -- math display ---------------------------------------------------------- */ + +img.math { + vertical-align: middle; +} + +div.body div.math p { + text-align: center; +} + +span.eqno { + float: right; +} + +span.eqno a.headerlink { + position: absolute; + z-index: 1; +} + +div.math:hover a.headerlink { + visibility: visible; +} + +/* -- printout stylesheet --------------------------------------------------- */ + +@media print { + div.document, + div.documentwrapper, + div.bodywrapper { + margin: 0 !important; + width: 100%; + } + + div.sphinxsidebar, + div.related, + div.footer, + #top-link { + display: none; + } +} \ No newline at end of file diff --git a/docs/_static/css/badge_only.css b/docs/_static/css/badge_only.css new file mode 100644 index 0000000..e380325 --- /dev/null +++ b/docs/_static/css/badge_only.css @@ -0,0 +1 @@ +.fa:before{-webkit-font-smoothing:antialiased}.clearfix{*zoom:1}.clearfix:after,.clearfix:before{display:table;content:""}.clearfix:after{clear:both}@font-face{font-family:FontAwesome;font-style:normal;font-weight:400;src:url(fonts/fontawesome-webfont.eot?674f50d287a8c48dc19ba404d20fe713?#iefix) format("embedded-opentype"),url(fonts/fontawesome-webfont.woff2?af7ae505a9eed503f8b8e6982036873e) format("woff2"),url(fonts/fontawesome-webfont.woff?fee66e712a8a08eef5805a46892932ad) format("woff"),url(fonts/fontawesome-webfont.ttf?b06871f281fee6b241d60582ae9369b9) format("truetype"),url(fonts/fontawesome-webfont.svg?912ec66d7572ff821749319396470bde#FontAwesome) format("svg")}.fa:before{font-family:FontAwesome;font-style:normal;font-weight:400;line-height:1}.fa:before,a .fa{text-decoration:inherit}.fa:before,a .fa,li .fa{display:inline-block}li .fa-large:before{width:1.875em}ul.fas{list-style-type:none;margin-left:2em;text-indent:-.8em}ul.fas li .fa{width:.8em}ul.fas li .fa-large:before{vertical-align:baseline}.fa-book:before,.icon-book:before{content:"\f02d"}.fa-caret-down:before,.icon-caret-down:before{content:"\f0d7"}.fa-caret-up:before,.icon-caret-up:before{content:"\f0d8"}.fa-caret-left:before,.icon-caret-left:before{content:"\f0d9"}.fa-caret-right:before,.icon-caret-right:before{content:"\f0da"}.rst-versions{position:fixed;bottom:0;left:0;width:300px;color:#fcfcfc;background:#1f1d1d;font-family:Lato,proxima-nova,Helvetica Neue,Arial,sans-serif;z-index:400}.rst-versions a{color:#2980b9;text-decoration:none}.rst-versions .rst-badge-small{display:none}.rst-versions .rst-current-version{padding:12px;background-color:#272525;display:block;text-align:right;font-size:90%;cursor:pointer;color:#27ae60}.rst-versions .rst-current-version:after{clear:both;content:"";display:block}.rst-versions .rst-current-version .fa{color:#fcfcfc}.rst-versions .rst-current-version .fa-book,.rst-versions .rst-current-version .icon-book{float:left}.rst-versions .rst-current-version.rst-out-of-date{background-color:#e74c3c;color:#fff}.rst-versions .rst-current-version.rst-active-old-version{background-color:#f1c40f;color:#000}.rst-versions.shift-up{height:auto;max-height:100%;overflow-y:scroll}.rst-versions.shift-up .rst-other-versions{display:block}.rst-versions .rst-other-versions{font-size:90%;padding:12px;color:grey;display:none}.rst-versions .rst-other-versions hr{display:block;height:1px;border:0;margin:20px 0;padding:0;border-top:1px solid #413d3d}.rst-versions .rst-other-versions dd{display:inline-block;margin:0}.rst-versions .rst-other-versions dd a{display:inline-block;padding:6px;color:#fcfcfc}.rst-versions.rst-badge{width:auto;bottom:20px;right:20px;left:auto;border:none;max-width:300px;max-height:90%}.rst-versions.rst-badge .fa-book,.rst-versions.rst-badge .icon-book{float:none;line-height:30px}.rst-versions.rst-badge.shift-up .rst-current-version{text-align:right}.rst-versions.rst-badge.shift-up .rst-current-version .fa-book,.rst-versions.rst-badge.shift-up .rst-current-version .icon-book{float:left}.rst-versions.rst-badge>.rst-current-version{width:auto;height:30px;line-height:30px;padding:0 6px;display:block;text-align:center}@media screen and (max-width:768px){.rst-versions{width:85%;display:none}.rst-versions.shift{display:block}} \ No newline at end of file diff --git a/docs/_static/css/fonts/Roboto-Slab-Bold.woff b/docs/_static/css/fonts/Roboto-Slab-Bold.woff new file mode 100644 index 0000000..6cb6000 Binary files /dev/null and b/docs/_static/css/fonts/Roboto-Slab-Bold.woff differ diff --git a/docs/_static/css/fonts/Roboto-Slab-Bold.woff2 b/docs/_static/css/fonts/Roboto-Slab-Bold.woff2 new file mode 100644 index 0000000..7059e23 Binary files /dev/null and b/docs/_static/css/fonts/Roboto-Slab-Bold.woff2 differ diff --git a/docs/_static/css/fonts/Roboto-Slab-Regular.woff b/docs/_static/css/fonts/Roboto-Slab-Regular.woff new file mode 100644 index 0000000..f815f63 Binary files /dev/null and b/docs/_static/css/fonts/Roboto-Slab-Regular.woff differ diff --git a/docs/_static/css/fonts/Roboto-Slab-Regular.woff2 b/docs/_static/css/fonts/Roboto-Slab-Regular.woff2 new file mode 100644 index 0000000..f2c76e5 Binary files /dev/null and b/docs/_static/css/fonts/Roboto-Slab-Regular.woff2 differ diff --git a/docs/_static/css/fonts/fontawesome-webfont.eot b/docs/_static/css/fonts/fontawesome-webfont.eot new file mode 100644 index 0000000..e9f60ca Binary files /dev/null and b/docs/_static/css/fonts/fontawesome-webfont.eot differ diff --git a/docs/_static/css/fonts/fontawesome-webfont.svg b/docs/_static/css/fonts/fontawesome-webfont.svg new file mode 100644 index 0000000..855c845 --- /dev/null +++ b/docs/_static/css/fonts/fontawesome-webfont.svg @@ -0,0 +1,2671 @@ + + + + +Created by FontForge 20120731 at Mon Oct 24 17:37:40 2016 + By ,,, +Copyright Dave Gandy 2016. All rights reserved. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/_static/css/fonts/fontawesome-webfont.ttf b/docs/_static/css/fonts/fontawesome-webfont.ttf new file mode 100644 index 0000000..35acda2 Binary files /dev/null and b/docs/_static/css/fonts/fontawesome-webfont.ttf differ diff --git a/docs/_static/css/fonts/fontawesome-webfont.woff b/docs/_static/css/fonts/fontawesome-webfont.woff new file mode 100644 index 0000000..400014a Binary files /dev/null and b/docs/_static/css/fonts/fontawesome-webfont.woff differ diff --git a/docs/_static/css/fonts/fontawesome-webfont.woff2 b/docs/_static/css/fonts/fontawesome-webfont.woff2 new file mode 100644 index 0000000..4d13fc6 Binary files /dev/null and b/docs/_static/css/fonts/fontawesome-webfont.woff2 differ diff --git a/docs/_static/css/fonts/lato-bold-italic.woff b/docs/_static/css/fonts/lato-bold-italic.woff new file mode 100644 index 0000000..88ad05b Binary files /dev/null and b/docs/_static/css/fonts/lato-bold-italic.woff differ diff --git a/docs/_static/css/fonts/lato-bold-italic.woff2 b/docs/_static/css/fonts/lato-bold-italic.woff2 new file mode 100644 index 0000000..c4e3d80 Binary files /dev/null and b/docs/_static/css/fonts/lato-bold-italic.woff2 differ diff --git a/docs/_static/css/fonts/lato-bold.woff b/docs/_static/css/fonts/lato-bold.woff new file mode 100644 index 0000000..c6dff51 Binary files /dev/null and b/docs/_static/css/fonts/lato-bold.woff differ diff --git a/docs/_static/css/fonts/lato-bold.woff2 b/docs/_static/css/fonts/lato-bold.woff2 new file mode 100644 index 0000000..bb19504 Binary files /dev/null and b/docs/_static/css/fonts/lato-bold.woff2 differ diff --git a/docs/_static/css/fonts/lato-normal-italic.woff b/docs/_static/css/fonts/lato-normal-italic.woff new file mode 100644 index 0000000..76114bc Binary files /dev/null and b/docs/_static/css/fonts/lato-normal-italic.woff differ diff --git a/docs/_static/css/fonts/lato-normal-italic.woff2 b/docs/_static/css/fonts/lato-normal-italic.woff2 new file mode 100644 index 0000000..3404f37 Binary files /dev/null and b/docs/_static/css/fonts/lato-normal-italic.woff2 differ diff --git a/docs/_static/css/fonts/lato-normal.woff b/docs/_static/css/fonts/lato-normal.woff new file mode 100644 index 0000000..ae1307f Binary files /dev/null and b/docs/_static/css/fonts/lato-normal.woff differ diff --git a/docs/_static/css/fonts/lato-normal.woff2 b/docs/_static/css/fonts/lato-normal.woff2 new file mode 100644 index 0000000..3bf9843 Binary files /dev/null and b/docs/_static/css/fonts/lato-normal.woff2 differ diff --git a/docs/_static/css/theme.css b/docs/_static/css/theme.css new file mode 100644 index 0000000..0d9ae7e --- /dev/null +++ b/docs/_static/css/theme.css @@ -0,0 +1,4 @@ +html{box-sizing:border-box}*,:after,:before{box-sizing:inherit}article,aside,details,figcaption,figure,footer,header,hgroup,nav,section{display:block}audio,canvas,video{display:inline-block;*display:inline;*zoom:1}[hidden],audio:not([controls]){display:none}*{-webkit-box-sizing:border-box;-moz-box-sizing:border-box;box-sizing:border-box}html{font-size:100%;-webkit-text-size-adjust:100%;-ms-text-size-adjust:100%}body{margin:0}a:active,a:hover{outline:0}abbr[title]{border-bottom:1px dotted}b,strong{font-weight:700}blockquote{margin:0}dfn{font-style:italic}ins{background:#ff9;text-decoration:none}ins,mark{color:#000}mark{background:#ff0;font-style:italic;font-weight:700}.rst-content code,.rst-content tt,code,kbd,pre,samp{font-family:monospace,serif;_font-family:courier new,monospace;font-size:1em}pre{white-space:pre}q{quotes:none}q:after,q:before{content:"";content:none}small{font-size:85%}sub,sup{font-size:75%;line-height:0;position:relative;vertical-align:baseline}sup{top:-.5em}sub{bottom:-.25em}dl,ol,ul{margin:0;padding:0;list-style:none;list-style-image:none}li{list-style:none}dd{margin:0}img{border:0;-ms-interpolation-mode:bicubic;vertical-align:middle;max-width:100%}svg:not(:root){overflow:hidden}figure,form{margin:0}label{cursor:pointer}button,input,select,textarea{font-size:100%;margin:0;vertical-align:baseline;*vertical-align:middle}button,input{line-height:normal}button,input[type=button],input[type=reset],input[type=submit]{cursor:pointer;-webkit-appearance:button;*overflow:visible}button[disabled],input[disabled]{cursor:default}input[type=search]{-webkit-appearance:textfield;-moz-box-sizing:content-box;-webkit-box-sizing:content-box;box-sizing:content-box}textarea{resize:vertical}table{border-collapse:collapse;border-spacing:0}td{vertical-align:top}.chromeframe{margin:.2em 0;background:#ccc;color:#000;padding:.2em 0}.ir{display:block;border:0;text-indent:-999em;overflow:hidden;background-color:transparent;background-repeat:no-repeat;text-align:left;direction:ltr;*line-height:0}.ir br{display:none}.hidden{display:none!important;visibility:hidden}.visuallyhidden{border:0;clip:rect(0 0 0 0);height:1px;margin:-1px;overflow:hidden;padding:0;position:absolute;width:1px}.visuallyhidden.focusable:active,.visuallyhidden.focusable:focus{clip:auto;height:auto;margin:0;overflow:visible;position:static;width:auto}.invisible{visibility:hidden}.relative{position:relative}big,small{font-size:100%}@media print{body,html,section{background:none!important}*{box-shadow:none!important;text-shadow:none!important;filter:none!important;-ms-filter:none!important}a,a:visited{text-decoration:underline}.ir a:after,a[href^="#"]:after,a[href^="javascript:"]:after{content:""}blockquote,pre{page-break-inside:avoid}thead{display:table-header-group}img,tr{page-break-inside:avoid}img{max-width:100%!important}@page{margin:.5cm}.rst-content .toctree-wrapper>p.caption,h2,h3,p{orphans:3;widows:3}.rst-content .toctree-wrapper>p.caption,h2,h3{page-break-after:avoid}}.btn,.fa:before,.icon:before,.rst-content .admonition,.rst-content .admonition-title:before,.rst-content .admonition-todo,.rst-content .attention,.rst-content .caution,.rst-content .code-block-caption .headerlink:before,.rst-content .danger,.rst-content .eqno .headerlink:before,.rst-content .error,.rst-content .hint,.rst-content .important,.rst-content .note,.rst-content .seealso,.rst-content .tip,.rst-content .warning,.rst-content code.download span:first-child:before,.rst-content dl dt .headerlink:before,.rst-content h1 .headerlink:before,.rst-content h2 .headerlink:before,.rst-content h3 .headerlink:before,.rst-content h4 .headerlink:before,.rst-content h5 .headerlink:before,.rst-content h6 .headerlink:before,.rst-content p.caption .headerlink:before,.rst-content p .headerlink:before,.rst-content table>caption .headerlink:before,.rst-content tt.download span:first-child:before,.wy-alert,.wy-dropdown .caret:before,.wy-inline-validate.wy-inline-validate-danger .wy-input-context:before,.wy-inline-validate.wy-inline-validate-info .wy-input-context:before,.wy-inline-validate.wy-inline-validate-success .wy-input-context:before,.wy-inline-validate.wy-inline-validate-warning .wy-input-context:before,.wy-menu-vertical li.current>a,.wy-menu-vertical li.current>a button.toctree-expand:before,.wy-menu-vertical li.on a,.wy-menu-vertical li.on a button.toctree-expand:before,.wy-menu-vertical li button.toctree-expand:before,.wy-nav-top a,.wy-side-nav-search .wy-dropdown>a,.wy-side-nav-search>a,input[type=color],input[type=date],input[type=datetime-local],input[type=datetime],input[type=email],input[type=month],input[type=number],input[type=password],input[type=search],input[type=tel],input[type=text],input[type=time],input[type=url],input[type=week],select,textarea{-webkit-font-smoothing:antialiased}.clearfix{*zoom:1}.clearfix:after,.clearfix:before{display:table;content:""}.clearfix:after{clear:both}/*! + * Font Awesome 4.7.0 by @davegandy - http://fontawesome.io - @fontawesome + * License - http://fontawesome.io/license (Font: SIL OFL 1.1, CSS: MIT License) + */@font-face{font-family:FontAwesome;src:url(fonts/fontawesome-webfont.eot?674f50d287a8c48dc19ba404d20fe713);src:url(fonts/fontawesome-webfont.eot?674f50d287a8c48dc19ba404d20fe713?#iefix&v=4.7.0) format("embedded-opentype"),url(fonts/fontawesome-webfont.woff2?af7ae505a9eed503f8b8e6982036873e) format("woff2"),url(fonts/fontawesome-webfont.woff?fee66e712a8a08eef5805a46892932ad) format("woff"),url(fonts/fontawesome-webfont.ttf?b06871f281fee6b241d60582ae9369b9) format("truetype"),url(fonts/fontawesome-webfont.svg?912ec66d7572ff821749319396470bde#fontawesomeregular) format("svg");font-weight:400;font-style:normal}.fa,.icon,.rst-content .admonition-title,.rst-content .code-block-caption .headerlink,.rst-content .eqno .headerlink,.rst-content code.download span:first-child,.rst-content dl dt .headerlink,.rst-content h1 .headerlink,.rst-content h2 .headerlink,.rst-content h3 .headerlink,.rst-content h4 .headerlink,.rst-content h5 .headerlink,.rst-content h6 .headerlink,.rst-content p.caption .headerlink,.rst-content p .headerlink,.rst-content table>caption .headerlink,.rst-content tt.download span:first-child,.wy-menu-vertical li.current>a button.toctree-expand,.wy-menu-vertical li.on a button.toctree-expand,.wy-menu-vertical li button.toctree-expand{display:inline-block;font:normal normal normal 14px/1 FontAwesome;font-size:inherit;text-rendering:auto;-webkit-font-smoothing:antialiased;-moz-osx-font-smoothing:grayscale}.fa-lg{font-size:1.33333em;line-height:.75em;vertical-align:-15%}.fa-2x{font-size:2em}.fa-3x{font-size:3em}.fa-4x{font-size:4em}.fa-5x{font-size:5em}.fa-fw{width:1.28571em;text-align:center}.fa-ul{padding-left:0;margin-left:2.14286em;list-style-type:none}.fa-ul>li{position:relative}.fa-li{position:absolute;left:-2.14286em;width:2.14286em;top:.14286em;text-align:center}.fa-li.fa-lg{left:-1.85714em}.fa-border{padding:.2em .25em .15em;border:.08em solid #eee;border-radius:.1em}.fa-pull-left{float:left}.fa-pull-right{float:right}.fa-pull-left.icon,.fa.fa-pull-left,.rst-content .code-block-caption .fa-pull-left.headerlink,.rst-content .eqno .fa-pull-left.headerlink,.rst-content .fa-pull-left.admonition-title,.rst-content code.download span.fa-pull-left:first-child,.rst-content dl dt .fa-pull-left.headerlink,.rst-content h1 .fa-pull-left.headerlink,.rst-content h2 .fa-pull-left.headerlink,.rst-content h3 .fa-pull-left.headerlink,.rst-content h4 .fa-pull-left.headerlink,.rst-content h5 .fa-pull-left.headerlink,.rst-content h6 .fa-pull-left.headerlink,.rst-content p .fa-pull-left.headerlink,.rst-content table>caption .fa-pull-left.headerlink,.rst-content tt.download span.fa-pull-left:first-child,.wy-menu-vertical li.current>a button.fa-pull-left.toctree-expand,.wy-menu-vertical li.on a button.fa-pull-left.toctree-expand,.wy-menu-vertical li button.fa-pull-left.toctree-expand{margin-right:.3em}.fa-pull-right.icon,.fa.fa-pull-right,.rst-content .code-block-caption .fa-pull-right.headerlink,.rst-content .eqno .fa-pull-right.headerlink,.rst-content .fa-pull-right.admonition-title,.rst-content code.download span.fa-pull-right:first-child,.rst-content dl dt .fa-pull-right.headerlink,.rst-content h1 .fa-pull-right.headerlink,.rst-content h2 .fa-pull-right.headerlink,.rst-content h3 .fa-pull-right.headerlink,.rst-content h4 .fa-pull-right.headerlink,.rst-content h5 .fa-pull-right.headerlink,.rst-content h6 .fa-pull-right.headerlink,.rst-content p .fa-pull-right.headerlink,.rst-content table>caption .fa-pull-right.headerlink,.rst-content tt.download span.fa-pull-right:first-child,.wy-menu-vertical li.current>a button.fa-pull-right.toctree-expand,.wy-menu-vertical li.on a button.fa-pull-right.toctree-expand,.wy-menu-vertical li button.fa-pull-right.toctree-expand{margin-left:.3em}.pull-right{float:right}.pull-left{float:left}.fa.pull-left,.pull-left.icon,.rst-content .code-block-caption .pull-left.headerlink,.rst-content .eqno .pull-left.headerlink,.rst-content .pull-left.admonition-title,.rst-content code.download span.pull-left:first-child,.rst-content dl dt .pull-left.headerlink,.rst-content h1 .pull-left.headerlink,.rst-content h2 .pull-left.headerlink,.rst-content h3 .pull-left.headerlink,.rst-content h4 .pull-left.headerlink,.rst-content h5 .pull-left.headerlink,.rst-content h6 .pull-left.headerlink,.rst-content p .pull-left.headerlink,.rst-content table>caption .pull-left.headerlink,.rst-content tt.download span.pull-left:first-child,.wy-menu-vertical li.current>a button.pull-left.toctree-expand,.wy-menu-vertical li.on a button.pull-left.toctree-expand,.wy-menu-vertical li button.pull-left.toctree-expand{margin-right:.3em}.fa.pull-right,.pull-right.icon,.rst-content .code-block-caption .pull-right.headerlink,.rst-content .eqno .pull-right.headerlink,.rst-content .pull-right.admonition-title,.rst-content code.download span.pull-right:first-child,.rst-content dl dt .pull-right.headerlink,.rst-content h1 .pull-right.headerlink,.rst-content h2 .pull-right.headerlink,.rst-content h3 .pull-right.headerlink,.rst-content h4 .pull-right.headerlink,.rst-content h5 .pull-right.headerlink,.rst-content h6 .pull-right.headerlink,.rst-content p .pull-right.headerlink,.rst-content table>caption .pull-right.headerlink,.rst-content tt.download span.pull-right:first-child,.wy-menu-vertical li.current>a button.pull-right.toctree-expand,.wy-menu-vertical li.on a button.pull-right.toctree-expand,.wy-menu-vertical li button.pull-right.toctree-expand{margin-left:.3em}.fa-spin{-webkit-animation:fa-spin 2s linear infinite;animation:fa-spin 2s linear infinite}.fa-pulse{-webkit-animation:fa-spin 1s steps(8) infinite;animation:fa-spin 1s steps(8) infinite}@-webkit-keyframes fa-spin{0%{-webkit-transform:rotate(0deg);transform:rotate(0deg)}to{-webkit-transform:rotate(359deg);transform:rotate(359deg)}}@keyframes fa-spin{0%{-webkit-transform:rotate(0deg);transform:rotate(0deg)}to{-webkit-transform:rotate(359deg);transform:rotate(359deg)}}.fa-rotate-90{-ms-filter:"progid:DXImageTransform.Microsoft.BasicImage(rotation=1)";-webkit-transform:rotate(90deg);-ms-transform:rotate(90deg);transform:rotate(90deg)}.fa-rotate-180{-ms-filter:"progid:DXImageTransform.Microsoft.BasicImage(rotation=2)";-webkit-transform:rotate(180deg);-ms-transform:rotate(180deg);transform:rotate(180deg)}.fa-rotate-270{-ms-filter:"progid:DXImageTransform.Microsoft.BasicImage(rotation=3)";-webkit-transform:rotate(270deg);-ms-transform:rotate(270deg);transform:rotate(270deg)}.fa-flip-horizontal{-ms-filter:"progid:DXImageTransform.Microsoft.BasicImage(rotation=0, mirror=1)";-webkit-transform:scaleX(-1);-ms-transform:scaleX(-1);transform:scaleX(-1)}.fa-flip-vertical{-ms-filter:"progid:DXImageTransform.Microsoft.BasicImage(rotation=2, mirror=1)";-webkit-transform:scaleY(-1);-ms-transform:scaleY(-1);transform:scaleY(-1)}:root .fa-flip-horizontal,:root .fa-flip-vertical,:root .fa-rotate-90,:root .fa-rotate-180,:root .fa-rotate-270{filter:none}.fa-stack{position:relative;display:inline-block;width:2em;height:2em;line-height:2em;vertical-align:middle}.fa-stack-1x,.fa-stack-2x{position:absolute;left:0;width:100%;text-align:center}.fa-stack-1x{line-height:inherit}.fa-stack-2x{font-size:2em}.fa-inverse{color:#fff}.fa-glass:before{content:""}.fa-music:before{content:""}.fa-search:before,.icon-search:before{content:""}.fa-envelope-o:before{content:""}.fa-heart:before{content:""}.fa-star:before{content:""}.fa-star-o:before{content:""}.fa-user:before{content:""}.fa-film:before{content:""}.fa-th-large:before{content:""}.fa-th:before{content:""}.fa-th-list:before{content:""}.fa-check:before{content:""}.fa-close:before,.fa-remove:before,.fa-times:before{content:""}.fa-search-plus:before{content:""}.fa-search-minus:before{content:""}.fa-power-off:before{content:""}.fa-signal:before{content:""}.fa-cog:before,.fa-gear:before{content:""}.fa-trash-o:before{content:""}.fa-home:before,.icon-home:before{content:""}.fa-file-o:before{content:""}.fa-clock-o:before{content:""}.fa-road:before{content:""}.fa-download:before,.rst-content code.download span:first-child:before,.rst-content tt.download span:first-child:before{content:""}.fa-arrow-circle-o-down:before{content:""}.fa-arrow-circle-o-up:before{content:""}.fa-inbox:before{content:""}.fa-play-circle-o:before{content:""}.fa-repeat:before,.fa-rotate-right:before{content:""}.fa-refresh:before{content:""}.fa-list-alt:before{content:""}.fa-lock:before{content:""}.fa-flag:before{content:""}.fa-headphones:before{content:""}.fa-volume-off:before{content:""}.fa-volume-down:before{content:""}.fa-volume-up:before{content:""}.fa-qrcode:before{content:""}.fa-barcode:before{content:""}.fa-tag:before{content:""}.fa-tags:before{content:""}.fa-book:before,.icon-book:before{content:""}.fa-bookmark:before{content:""}.fa-print:before{content:""}.fa-camera:before{content:""}.fa-font:before{content:""}.fa-bold:before{content:""}.fa-italic:before{content:""}.fa-text-height:before{content:""}.fa-text-width:before{content:""}.fa-align-left:before{content:""}.fa-align-center:before{content:""}.fa-align-right:before{content:""}.fa-align-justify:before{content:""}.fa-list:before{content:""}.fa-dedent:before,.fa-outdent:before{content:""}.fa-indent:before{content:""}.fa-video-camera:before{content:""}.fa-image:before,.fa-photo:before,.fa-picture-o:before{content:""}.fa-pencil:before{content:""}.fa-map-marker:before{content:""}.fa-adjust:before{content:""}.fa-tint:before{content:""}.fa-edit:before,.fa-pencil-square-o:before{content:""}.fa-share-square-o:before{content:""}.fa-check-square-o:before{content:""}.fa-arrows:before{content:""}.fa-step-backward:before{content:""}.fa-fast-backward:before{content:""}.fa-backward:before{content:""}.fa-play:before{content:""}.fa-pause:before{content:""}.fa-stop:before{content:""}.fa-forward:before{content:""}.fa-fast-forward:before{content:""}.fa-step-forward:before{content:""}.fa-eject:before{content:""}.fa-chevron-left:before{content:""}.fa-chevron-right:before{content:""}.fa-plus-circle:before{content:""}.fa-minus-circle:before{content:""}.fa-times-circle:before,.wy-inline-validate.wy-inline-validate-danger .wy-input-context:before{content:""}.fa-check-circle:before,.wy-inline-validate.wy-inline-validate-success .wy-input-context:before{content:""}.fa-question-circle:before{content:""}.fa-info-circle:before{content:""}.fa-crosshairs:before{content:""}.fa-times-circle-o:before{content:""}.fa-check-circle-o:before{content:""}.fa-ban:before{content:""}.fa-arrow-left:before{content:""}.fa-arrow-right:before{content:""}.fa-arrow-up:before{content:""}.fa-arrow-down:before{content:""}.fa-mail-forward:before,.fa-share:before{content:""}.fa-expand:before{content:""}.fa-compress:before{content:""}.fa-plus:before{content:""}.fa-minus:before{content:""}.fa-asterisk:before{content:""}.fa-exclamation-circle:before,.rst-content .admonition-title:before,.wy-inline-validate.wy-inline-validate-info .wy-input-context:before,.wy-inline-validate.wy-inline-validate-warning .wy-input-context:before{content:""}.fa-gift:before{content:""}.fa-leaf:before{content:""}.fa-fire:before,.icon-fire:before{content:""}.fa-eye:before{content:""}.fa-eye-slash:before{content:""}.fa-exclamation-triangle:before,.fa-warning:before{content:""}.fa-plane:before{content:""}.fa-calendar:before{content:""}.fa-random:before{content:""}.fa-comment:before{content:""}.fa-magnet:before{content:""}.fa-chevron-up:before{content:""}.fa-chevron-down:before{content:""}.fa-retweet:before{content:""}.fa-shopping-cart:before{content:""}.fa-folder:before{content:""}.fa-folder-open:before{content:""}.fa-arrows-v:before{content:""}.fa-arrows-h:before{content:""}.fa-bar-chart-o:before,.fa-bar-chart:before{content:""}.fa-twitter-square:before{content:""}.fa-facebook-square:before{content:""}.fa-camera-retro:before{content:""}.fa-key:before{content:""}.fa-cogs:before,.fa-gears:before{content:""}.fa-comments:before{content:""}.fa-thumbs-o-up:before{content:""}.fa-thumbs-o-down:before{content:""}.fa-star-half:before{content:""}.fa-heart-o:before{content:""}.fa-sign-out:before{content:""}.fa-linkedin-square:before{content:""}.fa-thumb-tack:before{content:""}.fa-external-link:before{content:""}.fa-sign-in:before{content:""}.fa-trophy:before{content:""}.fa-github-square:before{content:""}.fa-upload:before{content:""}.fa-lemon-o:before{content:""}.fa-phone:before{content:""}.fa-square-o:before{content:""}.fa-bookmark-o:before{content:""}.fa-phone-square:before{content:""}.fa-twitter:before{content:""}.fa-facebook-f:before,.fa-facebook:before{content:""}.fa-github:before,.icon-github:before{content:""}.fa-unlock:before{content:""}.fa-credit-card:before{content:""}.fa-feed:before,.fa-rss:before{content:""}.fa-hdd-o:before{content:""}.fa-bullhorn:before{content:""}.fa-bell:before{content:""}.fa-certificate:before{content:""}.fa-hand-o-right:before{content:""}.fa-hand-o-left:before{content:""}.fa-hand-o-up:before{content:""}.fa-hand-o-down:before{content:""}.fa-arrow-circle-left:before,.icon-circle-arrow-left:before{content:""}.fa-arrow-circle-right:before,.icon-circle-arrow-right:before{content:""}.fa-arrow-circle-up:before{content:""}.fa-arrow-circle-down:before{content:""}.fa-globe:before{content:""}.fa-wrench:before{content:""}.fa-tasks:before{content:""}.fa-filter:before{content:""}.fa-briefcase:before{content:""}.fa-arrows-alt:before{content:""}.fa-group:before,.fa-users:before{content:""}.fa-chain:before,.fa-link:before,.icon-link:before{content:""}.fa-cloud:before{content:""}.fa-flask:before{content:""}.fa-cut:before,.fa-scissors:before{content:""}.fa-copy:before,.fa-files-o:before{content:""}.fa-paperclip:before{content:""}.fa-floppy-o:before,.fa-save:before{content:""}.fa-square:before{content:""}.fa-bars:before,.fa-navicon:before,.fa-reorder:before{content:""}.fa-list-ul:before{content:""}.fa-list-ol:before{content:""}.fa-strikethrough:before{content:""}.fa-underline:before{content:""}.fa-table:before{content:""}.fa-magic:before{content:""}.fa-truck:before{content:""}.fa-pinterest:before{content:""}.fa-pinterest-square:before{content:""}.fa-google-plus-square:before{content:""}.fa-google-plus:before{content:""}.fa-money:before{content:""}.fa-caret-down:before,.icon-caret-down:before,.wy-dropdown .caret:before{content:""}.fa-caret-up:before{content:""}.fa-caret-left:before{content:""}.fa-caret-right:before{content:""}.fa-columns:before{content:""}.fa-sort:before,.fa-unsorted:before{content:""}.fa-sort-desc:before,.fa-sort-down:before{content:""}.fa-sort-asc:before,.fa-sort-up:before{content:""}.fa-envelope:before{content:""}.fa-linkedin:before{content:""}.fa-rotate-left:before,.fa-undo:before{content:""}.fa-gavel:before,.fa-legal:before{content:""}.fa-dashboard:before,.fa-tachometer:before{content:""}.fa-comment-o:before{content:""}.fa-comments-o:before{content:""}.fa-bolt:before,.fa-flash:before{content:""}.fa-sitemap:before{content:""}.fa-umbrella:before{content:""}.fa-clipboard:before,.fa-paste:before{content:""}.fa-lightbulb-o:before{content:""}.fa-exchange:before{content:""}.fa-cloud-download:before{content:""}.fa-cloud-upload:before{content:""}.fa-user-md:before{content:""}.fa-stethoscope:before{content:""}.fa-suitcase:before{content:""}.fa-bell-o:before{content:""}.fa-coffee:before{content:""}.fa-cutlery:before{content:""}.fa-file-text-o:before{content:""}.fa-building-o:before{content:""}.fa-hospital-o:before{content:""}.fa-ambulance:before{content:""}.fa-medkit:before{content:""}.fa-fighter-jet:before{content:""}.fa-beer:before{content:""}.fa-h-square:before{content:""}.fa-plus-square:before{content:""}.fa-angle-double-left:before{content:""}.fa-angle-double-right:before{content:""}.fa-angle-double-up:before{content:""}.fa-angle-double-down:before{content:""}.fa-angle-left:before{content:""}.fa-angle-right:before{content:""}.fa-angle-up:before{content:""}.fa-angle-down:before{content:""}.fa-desktop:before{content:""}.fa-laptop:before{content:""}.fa-tablet:before{content:""}.fa-mobile-phone:before,.fa-mobile:before{content:""}.fa-circle-o:before{content:""}.fa-quote-left:before{content:""}.fa-quote-right:before{content:""}.fa-spinner:before{content:""}.fa-circle:before{content:""}.fa-mail-reply:before,.fa-reply:before{content:""}.fa-github-alt:before{content:""}.fa-folder-o:before{content:""}.fa-folder-open-o:before{content:""}.fa-smile-o:before{content:""}.fa-frown-o:before{content:""}.fa-meh-o:before{content:""}.fa-gamepad:before{content:""}.fa-keyboard-o:before{content:""}.fa-flag-o:before{content:""}.fa-flag-checkered:before{content:""}.fa-terminal:before{content:""}.fa-code:before{content:""}.fa-mail-reply-all:before,.fa-reply-all:before{content:""}.fa-star-half-empty:before,.fa-star-half-full:before,.fa-star-half-o:before{content:""}.fa-location-arrow:before{content:""}.fa-crop:before{content:""}.fa-code-fork:before{content:""}.fa-chain-broken:before,.fa-unlink:before{content:""}.fa-question:before{content:""}.fa-info:before{content:""}.fa-exclamation:before{content:""}.fa-superscript:before{content:""}.fa-subscript:before{content:""}.fa-eraser:before{content:""}.fa-puzzle-piece:before{content:""}.fa-microphone:before{content:""}.fa-microphone-slash:before{content:""}.fa-shield:before{content:""}.fa-calendar-o:before{content:""}.fa-fire-extinguisher:before{content:""}.fa-rocket:before{content:""}.fa-maxcdn:before{content:""}.fa-chevron-circle-left:before{content:""}.fa-chevron-circle-right:before{content:""}.fa-chevron-circle-up:before{content:""}.fa-chevron-circle-down:before{content:""}.fa-html5:before{content:""}.fa-css3:before{content:""}.fa-anchor:before{content:""}.fa-unlock-alt:before{content:""}.fa-bullseye:before{content:""}.fa-ellipsis-h:before{content:""}.fa-ellipsis-v:before{content:""}.fa-rss-square:before{content:""}.fa-play-circle:before{content:""}.fa-ticket:before{content:""}.fa-minus-square:before{content:""}.fa-minus-square-o:before,.wy-menu-vertical li.current>a button.toctree-expand:before,.wy-menu-vertical li.on a button.toctree-expand:before{content:""}.fa-level-up:before{content:""}.fa-level-down:before{content:""}.fa-check-square:before{content:""}.fa-pencil-square:before{content:""}.fa-external-link-square:before{content:""}.fa-share-square:before{content:""}.fa-compass:before{content:""}.fa-caret-square-o-down:before,.fa-toggle-down:before{content:""}.fa-caret-square-o-up:before,.fa-toggle-up:before{content:""}.fa-caret-square-o-right:before,.fa-toggle-right:before{content:""}.fa-eur:before,.fa-euro:before{content:""}.fa-gbp:before{content:""}.fa-dollar:before,.fa-usd:before{content:""}.fa-inr:before,.fa-rupee:before{content:""}.fa-cny:before,.fa-jpy:before,.fa-rmb:before,.fa-yen:before{content:""}.fa-rouble:before,.fa-rub:before,.fa-ruble:before{content:""}.fa-krw:before,.fa-won:before{content:""}.fa-bitcoin:before,.fa-btc:before{content:""}.fa-file:before{content:""}.fa-file-text:before{content:""}.fa-sort-alpha-asc:before{content:""}.fa-sort-alpha-desc:before{content:""}.fa-sort-amount-asc:before{content:""}.fa-sort-amount-desc:before{content:""}.fa-sort-numeric-asc:before{content:""}.fa-sort-numeric-desc:before{content:""}.fa-thumbs-up:before{content:""}.fa-thumbs-down:before{content:""}.fa-youtube-square:before{content:""}.fa-youtube:before{content:""}.fa-xing:before{content:""}.fa-xing-square:before{content:""}.fa-youtube-play:before{content:""}.fa-dropbox:before{content:""}.fa-stack-overflow:before{content:""}.fa-instagram:before{content:""}.fa-flickr:before{content:""}.fa-adn:before{content:""}.fa-bitbucket:before,.icon-bitbucket:before{content:""}.fa-bitbucket-square:before{content:""}.fa-tumblr:before{content:""}.fa-tumblr-square:before{content:""}.fa-long-arrow-down:before{content:""}.fa-long-arrow-up:before{content:""}.fa-long-arrow-left:before{content:""}.fa-long-arrow-right:before{content:""}.fa-apple:before{content:""}.fa-windows:before{content:""}.fa-android:before{content:""}.fa-linux:before{content:""}.fa-dribbble:before{content:""}.fa-skype:before{content:""}.fa-foursquare:before{content:""}.fa-trello:before{content:""}.fa-female:before{content:""}.fa-male:before{content:""}.fa-gittip:before,.fa-gratipay:before{content:""}.fa-sun-o:before{content:""}.fa-moon-o:before{content:""}.fa-archive:before{content:""}.fa-bug:before{content:""}.fa-vk:before{content:""}.fa-weibo:before{content:""}.fa-renren:before{content:""}.fa-pagelines:before{content:""}.fa-stack-exchange:before{content:""}.fa-arrow-circle-o-right:before{content:""}.fa-arrow-circle-o-left:before{content:""}.fa-caret-square-o-left:before,.fa-toggle-left:before{content:""}.fa-dot-circle-o:before{content:""}.fa-wheelchair:before{content:""}.fa-vimeo-square:before{content:""}.fa-try:before,.fa-turkish-lira:before{content:""}.fa-plus-square-o:before,.wy-menu-vertical li button.toctree-expand:before{content:""}.fa-space-shuttle:before{content:""}.fa-slack:before{content:""}.fa-envelope-square:before{content:""}.fa-wordpress:before{content:""}.fa-openid:before{content:""}.fa-bank:before,.fa-institution:before,.fa-university:before{content:""}.fa-graduation-cap:before,.fa-mortar-board:before{content:""}.fa-yahoo:before{content:""}.fa-google:before{content:""}.fa-reddit:before{content:""}.fa-reddit-square:before{content:""}.fa-stumbleupon-circle:before{content:""}.fa-stumbleupon:before{content:""}.fa-delicious:before{content:""}.fa-digg:before{content:""}.fa-pied-piper-pp:before{content:""}.fa-pied-piper-alt:before{content:""}.fa-drupal:before{content:""}.fa-joomla:before{content:""}.fa-language:before{content:""}.fa-fax:before{content:""}.fa-building:before{content:""}.fa-child:before{content:""}.fa-paw:before{content:""}.fa-spoon:before{content:""}.fa-cube:before{content:""}.fa-cubes:before{content:""}.fa-behance:before{content:""}.fa-behance-square:before{content:""}.fa-steam:before{content:""}.fa-steam-square:before{content:""}.fa-recycle:before{content:""}.fa-automobile:before,.fa-car:before{content:""}.fa-cab:before,.fa-taxi:before{content:""}.fa-tree:before{content:""}.fa-spotify:before{content:""}.fa-deviantart:before{content:""}.fa-soundcloud:before{content:""}.fa-database:before{content:""}.fa-file-pdf-o:before{content:""}.fa-file-word-o:before{content:""}.fa-file-excel-o:before{content:""}.fa-file-powerpoint-o:before{content:""}.fa-file-image-o:before,.fa-file-photo-o:before,.fa-file-picture-o:before{content:""}.fa-file-archive-o:before,.fa-file-zip-o:before{content:""}.fa-file-audio-o:before,.fa-file-sound-o:before{content:""}.fa-file-movie-o:before,.fa-file-video-o:before{content:""}.fa-file-code-o:before{content:""}.fa-vine:before{content:""}.fa-codepen:before{content:""}.fa-jsfiddle:before{content:""}.fa-life-bouy:before,.fa-life-buoy:before,.fa-life-ring:before,.fa-life-saver:before,.fa-support:before{content:""}.fa-circle-o-notch:before{content:""}.fa-ra:before,.fa-rebel:before,.fa-resistance:before{content:""}.fa-empire:before,.fa-ge:before{content:""}.fa-git-square:before{content:""}.fa-git:before{content:""}.fa-hacker-news:before,.fa-y-combinator-square:before,.fa-yc-square:before{content:""}.fa-tencent-weibo:before{content:""}.fa-qq:before{content:""}.fa-wechat:before,.fa-weixin:before{content:""}.fa-paper-plane:before,.fa-send:before{content:""}.fa-paper-plane-o:before,.fa-send-o:before{content:""}.fa-history:before{content:""}.fa-circle-thin:before{content:""}.fa-header:before{content:""}.fa-paragraph:before{content:""}.fa-sliders:before{content:""}.fa-share-alt:before{content:""}.fa-share-alt-square:before{content:""}.fa-bomb:before{content:""}.fa-futbol-o:before,.fa-soccer-ball-o:before{content:""}.fa-tty:before{content:""}.fa-binoculars:before{content:""}.fa-plug:before{content:""}.fa-slideshare:before{content:""}.fa-twitch:before{content:""}.fa-yelp:before{content:""}.fa-newspaper-o:before{content:""}.fa-wifi:before{content:""}.fa-calculator:before{content:""}.fa-paypal:before{content:""}.fa-google-wallet:before{content:""}.fa-cc-visa:before{content:""}.fa-cc-mastercard:before{content:""}.fa-cc-discover:before{content:""}.fa-cc-amex:before{content:""}.fa-cc-paypal:before{content:""}.fa-cc-stripe:before{content:""}.fa-bell-slash:before{content:""}.fa-bell-slash-o:before{content:""}.fa-trash:before{content:""}.fa-copyright:before{content:""}.fa-at:before{content:""}.fa-eyedropper:before{content:""}.fa-paint-brush:before{content:""}.fa-birthday-cake:before{content:""}.fa-area-chart:before{content:""}.fa-pie-chart:before{content:""}.fa-line-chart:before{content:""}.fa-lastfm:before{content:""}.fa-lastfm-square:before{content:""}.fa-toggle-off:before{content:""}.fa-toggle-on:before{content:""}.fa-bicycle:before{content:""}.fa-bus:before{content:""}.fa-ioxhost:before{content:""}.fa-angellist:before{content:""}.fa-cc:before{content:""}.fa-ils:before,.fa-shekel:before,.fa-sheqel:before{content:""}.fa-meanpath:before{content:""}.fa-buysellads:before{content:""}.fa-connectdevelop:before{content:""}.fa-dashcube:before{content:""}.fa-forumbee:before{content:""}.fa-leanpub:before{content:""}.fa-sellsy:before{content:""}.fa-shirtsinbulk:before{content:""}.fa-simplybuilt:before{content:""}.fa-skyatlas:before{content:""}.fa-cart-plus:before{content:""}.fa-cart-arrow-down:before{content:""}.fa-diamond:before{content:""}.fa-ship:before{content:""}.fa-user-secret:before{content:""}.fa-motorcycle:before{content:""}.fa-street-view:before{content:""}.fa-heartbeat:before{content:""}.fa-venus:before{content:""}.fa-mars:before{content:""}.fa-mercury:before{content:""}.fa-intersex:before,.fa-transgender:before{content:""}.fa-transgender-alt:before{content:""}.fa-venus-double:before{content:""}.fa-mars-double:before{content:""}.fa-venus-mars:before{content:""}.fa-mars-stroke:before{content:""}.fa-mars-stroke-v:before{content:""}.fa-mars-stroke-h:before{content:""}.fa-neuter:before{content:""}.fa-genderless:before{content:""}.fa-facebook-official:before{content:""}.fa-pinterest-p:before{content:""}.fa-whatsapp:before{content:""}.fa-server:before{content:""}.fa-user-plus:before{content:""}.fa-user-times:before{content:""}.fa-bed:before,.fa-hotel:before{content:""}.fa-viacoin:before{content:""}.fa-train:before{content:""}.fa-subway:before{content:""}.fa-medium:before{content:""}.fa-y-combinator:before,.fa-yc:before{content:""}.fa-optin-monster:before{content:""}.fa-opencart:before{content:""}.fa-expeditedssl:before{content:""}.fa-battery-4:before,.fa-battery-full:before,.fa-battery:before{content:""}.fa-battery-3:before,.fa-battery-three-quarters:before{content:""}.fa-battery-2:before,.fa-battery-half:before{content:""}.fa-battery-1:before,.fa-battery-quarter:before{content:""}.fa-battery-0:before,.fa-battery-empty:before{content:""}.fa-mouse-pointer:before{content:""}.fa-i-cursor:before{content:""}.fa-object-group:before{content:""}.fa-object-ungroup:before{content:""}.fa-sticky-note:before{content:""}.fa-sticky-note-o:before{content:""}.fa-cc-jcb:before{content:""}.fa-cc-diners-club:before{content:""}.fa-clone:before{content:""}.fa-balance-scale:before{content:""}.fa-hourglass-o:before{content:""}.fa-hourglass-1:before,.fa-hourglass-start:before{content:""}.fa-hourglass-2:before,.fa-hourglass-half:before{content:""}.fa-hourglass-3:before,.fa-hourglass-end:before{content:""}.fa-hourglass:before{content:""}.fa-hand-grab-o:before,.fa-hand-rock-o:before{content:""}.fa-hand-paper-o:before,.fa-hand-stop-o:before{content:""}.fa-hand-scissors-o:before{content:""}.fa-hand-lizard-o:before{content:""}.fa-hand-spock-o:before{content:""}.fa-hand-pointer-o:before{content:""}.fa-hand-peace-o:before{content:""}.fa-trademark:before{content:""}.fa-registered:before{content:""}.fa-creative-commons:before{content:""}.fa-gg:before{content:""}.fa-gg-circle:before{content:""}.fa-tripadvisor:before{content:""}.fa-odnoklassniki:before{content:""}.fa-odnoklassniki-square:before{content:""}.fa-get-pocket:before{content:""}.fa-wikipedia-w:before{content:""}.fa-safari:before{content:""}.fa-chrome:before{content:""}.fa-firefox:before{content:""}.fa-opera:before{content:""}.fa-internet-explorer:before{content:""}.fa-television:before,.fa-tv:before{content:""}.fa-contao:before{content:""}.fa-500px:before{content:""}.fa-amazon:before{content:""}.fa-calendar-plus-o:before{content:""}.fa-calendar-minus-o:before{content:""}.fa-calendar-times-o:before{content:""}.fa-calendar-check-o:before{content:""}.fa-industry:before{content:""}.fa-map-pin:before{content:""}.fa-map-signs:before{content:""}.fa-map-o:before{content:""}.fa-map:before{content:""}.fa-commenting:before{content:""}.fa-commenting-o:before{content:""}.fa-houzz:before{content:""}.fa-vimeo:before{content:""}.fa-black-tie:before{content:""}.fa-fonticons:before{content:""}.fa-reddit-alien:before{content:""}.fa-edge:before{content:""}.fa-credit-card-alt:before{content:""}.fa-codiepie:before{content:""}.fa-modx:before{content:""}.fa-fort-awesome:before{content:""}.fa-usb:before{content:""}.fa-product-hunt:before{content:""}.fa-mixcloud:before{content:""}.fa-scribd:before{content:""}.fa-pause-circle:before{content:""}.fa-pause-circle-o:before{content:""}.fa-stop-circle:before{content:""}.fa-stop-circle-o:before{content:""}.fa-shopping-bag:before{content:""}.fa-shopping-basket:before{content:""}.fa-hashtag:before{content:""}.fa-bluetooth:before{content:""}.fa-bluetooth-b:before{content:""}.fa-percent:before{content:""}.fa-gitlab:before,.icon-gitlab:before{content:""}.fa-wpbeginner:before{content:""}.fa-wpforms:before{content:""}.fa-envira:before{content:""}.fa-universal-access:before{content:""}.fa-wheelchair-alt:before{content:""}.fa-question-circle-o:before{content:""}.fa-blind:before{content:""}.fa-audio-description:before{content:""}.fa-volume-control-phone:before{content:""}.fa-braille:before{content:""}.fa-assistive-listening-systems:before{content:""}.fa-american-sign-language-interpreting:before,.fa-asl-interpreting:before{content:""}.fa-deaf:before,.fa-deafness:before,.fa-hard-of-hearing:before{content:""}.fa-glide:before{content:""}.fa-glide-g:before{content:""}.fa-sign-language:before,.fa-signing:before{content:""}.fa-low-vision:before{content:""}.fa-viadeo:before{content:""}.fa-viadeo-square:before{content:""}.fa-snapchat:before{content:""}.fa-snapchat-ghost:before{content:""}.fa-snapchat-square:before{content:""}.fa-pied-piper:before{content:""}.fa-first-order:before{content:""}.fa-yoast:before{content:""}.fa-themeisle:before{content:""}.fa-google-plus-circle:before,.fa-google-plus-official:before{content:""}.fa-fa:before,.fa-font-awesome:before{content:""}.fa-handshake-o:before{content:""}.fa-envelope-open:before{content:""}.fa-envelope-open-o:before{content:""}.fa-linode:before{content:""}.fa-address-book:before{content:""}.fa-address-book-o:before{content:""}.fa-address-card:before,.fa-vcard:before{content:""}.fa-address-card-o:before,.fa-vcard-o:before{content:""}.fa-user-circle:before{content:""}.fa-user-circle-o:before{content:""}.fa-user-o:before{content:""}.fa-id-badge:before{content:""}.fa-drivers-license:before,.fa-id-card:before{content:""}.fa-drivers-license-o:before,.fa-id-card-o:before{content:""}.fa-quora:before{content:""}.fa-free-code-camp:before{content:""}.fa-telegram:before{content:""}.fa-thermometer-4:before,.fa-thermometer-full:before,.fa-thermometer:before{content:""}.fa-thermometer-3:before,.fa-thermometer-three-quarters:before{content:""}.fa-thermometer-2:before,.fa-thermometer-half:before{content:""}.fa-thermometer-1:before,.fa-thermometer-quarter:before{content:""}.fa-thermometer-0:before,.fa-thermometer-empty:before{content:""}.fa-shower:before{content:""}.fa-bath:before,.fa-bathtub:before,.fa-s15:before{content:""}.fa-podcast:before{content:""}.fa-window-maximize:before{content:""}.fa-window-minimize:before{content:""}.fa-window-restore:before{content:""}.fa-times-rectangle:before,.fa-window-close:before{content:""}.fa-times-rectangle-o:before,.fa-window-close-o:before{content:""}.fa-bandcamp:before{content:""}.fa-grav:before{content:""}.fa-etsy:before{content:""}.fa-imdb:before{content:""}.fa-ravelry:before{content:""}.fa-eercast:before{content:""}.fa-microchip:before{content:""}.fa-snowflake-o:before{content:""}.fa-superpowers:before{content:""}.fa-wpexplorer:before{content:""}.fa-meetup:before{content:""}.sr-only{position:absolute;width:1px;height:1px;padding:0;margin:-1px;overflow:hidden;clip:rect(0,0,0,0);border:0}.sr-only-focusable:active,.sr-only-focusable:focus{position:static;width:auto;height:auto;margin:0;overflow:visible;clip:auto}.fa,.icon,.rst-content .admonition-title,.rst-content .code-block-caption .headerlink,.rst-content .eqno .headerlink,.rst-content code.download span:first-child,.rst-content dl dt .headerlink,.rst-content h1 .headerlink,.rst-content h2 .headerlink,.rst-content h3 .headerlink,.rst-content h4 .headerlink,.rst-content h5 .headerlink,.rst-content h6 .headerlink,.rst-content p.caption .headerlink,.rst-content p .headerlink,.rst-content table>caption .headerlink,.rst-content tt.download span:first-child,.wy-dropdown .caret,.wy-inline-validate.wy-inline-validate-danger .wy-input-context,.wy-inline-validate.wy-inline-validate-info .wy-input-context,.wy-inline-validate.wy-inline-validate-success .wy-input-context,.wy-inline-validate.wy-inline-validate-warning .wy-input-context,.wy-menu-vertical li.current>a button.toctree-expand,.wy-menu-vertical li.on a button.toctree-expand,.wy-menu-vertical li button.toctree-expand{font-family:inherit}.fa:before,.icon:before,.rst-content .admonition-title:before,.rst-content .code-block-caption .headerlink:before,.rst-content .eqno .headerlink:before,.rst-content code.download span:first-child:before,.rst-content dl dt .headerlink:before,.rst-content h1 .headerlink:before,.rst-content h2 .headerlink:before,.rst-content h3 .headerlink:before,.rst-content h4 .headerlink:before,.rst-content h5 .headerlink:before,.rst-content h6 .headerlink:before,.rst-content p.caption .headerlink:before,.rst-content p .headerlink:before,.rst-content table>caption .headerlink:before,.rst-content tt.download span:first-child:before,.wy-dropdown .caret:before,.wy-inline-validate.wy-inline-validate-danger .wy-input-context:before,.wy-inline-validate.wy-inline-validate-info .wy-input-context:before,.wy-inline-validate.wy-inline-validate-success .wy-input-context:before,.wy-inline-validate.wy-inline-validate-warning .wy-input-context:before,.wy-menu-vertical li.current>a button.toctree-expand:before,.wy-menu-vertical li.on a button.toctree-expand:before,.wy-menu-vertical li button.toctree-expand:before{font-family:FontAwesome;display:inline-block;font-style:normal;font-weight:400;line-height:1;text-decoration:inherit}.rst-content .code-block-caption a .headerlink,.rst-content .eqno a .headerlink,.rst-content a .admonition-title,.rst-content code.download a span:first-child,.rst-content dl dt a .headerlink,.rst-content h1 a .headerlink,.rst-content h2 a .headerlink,.rst-content h3 a .headerlink,.rst-content h4 a .headerlink,.rst-content h5 a .headerlink,.rst-content h6 a .headerlink,.rst-content p.caption a .headerlink,.rst-content p a .headerlink,.rst-content table>caption a .headerlink,.rst-content tt.download a span:first-child,.wy-menu-vertical li.current>a button.toctree-expand,.wy-menu-vertical li.on a button.toctree-expand,.wy-menu-vertical li a button.toctree-expand,a .fa,a .icon,a .rst-content .admonition-title,a .rst-content .code-block-caption .headerlink,a .rst-content .eqno .headerlink,a .rst-content code.download span:first-child,a .rst-content dl dt .headerlink,a .rst-content h1 .headerlink,a .rst-content h2 .headerlink,a .rst-content h3 .headerlink,a .rst-content h4 .headerlink,a .rst-content h5 .headerlink,a .rst-content h6 .headerlink,a .rst-content p.caption .headerlink,a .rst-content p .headerlink,a .rst-content table>caption .headerlink,a .rst-content tt.download span:first-child,a .wy-menu-vertical li button.toctree-expand{display:inline-block;text-decoration:inherit}.btn .fa,.btn .icon,.btn .rst-content .admonition-title,.btn .rst-content .code-block-caption .headerlink,.btn .rst-content .eqno .headerlink,.btn .rst-content code.download span:first-child,.btn .rst-content dl dt .headerlink,.btn .rst-content h1 .headerlink,.btn .rst-content h2 .headerlink,.btn .rst-content h3 .headerlink,.btn .rst-content h4 .headerlink,.btn .rst-content h5 .headerlink,.btn .rst-content h6 .headerlink,.btn .rst-content p .headerlink,.btn .rst-content table>caption .headerlink,.btn .rst-content tt.download span:first-child,.btn .wy-menu-vertical li.current>a button.toctree-expand,.btn .wy-menu-vertical li.on a button.toctree-expand,.btn .wy-menu-vertical li button.toctree-expand,.nav .fa,.nav .icon,.nav .rst-content .admonition-title,.nav .rst-content .code-block-caption .headerlink,.nav .rst-content .eqno .headerlink,.nav .rst-content code.download span:first-child,.nav .rst-content dl dt .headerlink,.nav .rst-content h1 .headerlink,.nav .rst-content h2 .headerlink,.nav .rst-content h3 .headerlink,.nav .rst-content h4 .headerlink,.nav .rst-content h5 .headerlink,.nav .rst-content h6 .headerlink,.nav .rst-content p .headerlink,.nav .rst-content table>caption .headerlink,.nav .rst-content tt.download span:first-child,.nav .wy-menu-vertical li.current>a button.toctree-expand,.nav .wy-menu-vertical li.on a button.toctree-expand,.nav .wy-menu-vertical li button.toctree-expand,.rst-content .btn .admonition-title,.rst-content .code-block-caption .btn .headerlink,.rst-content .code-block-caption .nav .headerlink,.rst-content .eqno .btn .headerlink,.rst-content .eqno .nav .headerlink,.rst-content .nav .admonition-title,.rst-content code.download .btn span:first-child,.rst-content code.download .nav span:first-child,.rst-content dl dt .btn .headerlink,.rst-content dl dt .nav .headerlink,.rst-content h1 .btn .headerlink,.rst-content h1 .nav .headerlink,.rst-content h2 .btn .headerlink,.rst-content h2 .nav .headerlink,.rst-content h3 .btn .headerlink,.rst-content h3 .nav .headerlink,.rst-content h4 .btn .headerlink,.rst-content h4 .nav .headerlink,.rst-content h5 .btn .headerlink,.rst-content h5 .nav .headerlink,.rst-content h6 .btn .headerlink,.rst-content h6 .nav .headerlink,.rst-content p .btn .headerlink,.rst-content p .nav .headerlink,.rst-content table>caption .btn .headerlink,.rst-content table>caption .nav .headerlink,.rst-content tt.download .btn span:first-child,.rst-content tt.download .nav span:first-child,.wy-menu-vertical li .btn button.toctree-expand,.wy-menu-vertical li.current>a .btn button.toctree-expand,.wy-menu-vertical li.current>a .nav button.toctree-expand,.wy-menu-vertical li .nav button.toctree-expand,.wy-menu-vertical li.on a .btn button.toctree-expand,.wy-menu-vertical li.on a .nav button.toctree-expand{display:inline}.btn .fa-large.icon,.btn .fa.fa-large,.btn .rst-content .code-block-caption .fa-large.headerlink,.btn .rst-content .eqno .fa-large.headerlink,.btn .rst-content .fa-large.admonition-title,.btn .rst-content code.download span.fa-large:first-child,.btn .rst-content dl dt .fa-large.headerlink,.btn .rst-content h1 .fa-large.headerlink,.btn .rst-content h2 .fa-large.headerlink,.btn .rst-content h3 .fa-large.headerlink,.btn .rst-content h4 .fa-large.headerlink,.btn .rst-content h5 .fa-large.headerlink,.btn .rst-content h6 .fa-large.headerlink,.btn .rst-content p .fa-large.headerlink,.btn .rst-content table>caption .fa-large.headerlink,.btn .rst-content tt.download span.fa-large:first-child,.btn .wy-menu-vertical li button.fa-large.toctree-expand,.nav .fa-large.icon,.nav .fa.fa-large,.nav .rst-content .code-block-caption .fa-large.headerlink,.nav .rst-content .eqno .fa-large.headerlink,.nav .rst-content .fa-large.admonition-title,.nav .rst-content code.download span.fa-large:first-child,.nav .rst-content dl dt .fa-large.headerlink,.nav .rst-content h1 .fa-large.headerlink,.nav .rst-content h2 .fa-large.headerlink,.nav .rst-content h3 .fa-large.headerlink,.nav .rst-content h4 .fa-large.headerlink,.nav .rst-content h5 .fa-large.headerlink,.nav .rst-content h6 .fa-large.headerlink,.nav .rst-content p .fa-large.headerlink,.nav .rst-content table>caption .fa-large.headerlink,.nav .rst-content tt.download span.fa-large:first-child,.nav .wy-menu-vertical li button.fa-large.toctree-expand,.rst-content .btn .fa-large.admonition-title,.rst-content .code-block-caption .btn .fa-large.headerlink,.rst-content .code-block-caption .nav .fa-large.headerlink,.rst-content .eqno .btn .fa-large.headerlink,.rst-content .eqno .nav .fa-large.headerlink,.rst-content .nav .fa-large.admonition-title,.rst-content code.download .btn span.fa-large:first-child,.rst-content code.download .nav span.fa-large:first-child,.rst-content dl dt .btn .fa-large.headerlink,.rst-content dl dt .nav .fa-large.headerlink,.rst-content h1 .btn .fa-large.headerlink,.rst-content h1 .nav .fa-large.headerlink,.rst-content h2 .btn .fa-large.headerlink,.rst-content h2 .nav .fa-large.headerlink,.rst-content h3 .btn .fa-large.headerlink,.rst-content h3 .nav .fa-large.headerlink,.rst-content h4 .btn .fa-large.headerlink,.rst-content h4 .nav .fa-large.headerlink,.rst-content h5 .btn .fa-large.headerlink,.rst-content h5 .nav .fa-large.headerlink,.rst-content h6 .btn .fa-large.headerlink,.rst-content h6 .nav .fa-large.headerlink,.rst-content p .btn .fa-large.headerlink,.rst-content p .nav .fa-large.headerlink,.rst-content table>caption .btn .fa-large.headerlink,.rst-content table>caption .nav .fa-large.headerlink,.rst-content tt.download .btn span.fa-large:first-child,.rst-content tt.download .nav span.fa-large:first-child,.wy-menu-vertical li .btn button.fa-large.toctree-expand,.wy-menu-vertical li .nav button.fa-large.toctree-expand{line-height:.9em}.btn .fa-spin.icon,.btn .fa.fa-spin,.btn .rst-content .code-block-caption .fa-spin.headerlink,.btn .rst-content .eqno .fa-spin.headerlink,.btn .rst-content .fa-spin.admonition-title,.btn .rst-content code.download span.fa-spin:first-child,.btn .rst-content dl dt .fa-spin.headerlink,.btn .rst-content h1 .fa-spin.headerlink,.btn .rst-content h2 .fa-spin.headerlink,.btn .rst-content h3 .fa-spin.headerlink,.btn .rst-content h4 .fa-spin.headerlink,.btn .rst-content h5 .fa-spin.headerlink,.btn .rst-content h6 .fa-spin.headerlink,.btn .rst-content p .fa-spin.headerlink,.btn .rst-content table>caption .fa-spin.headerlink,.btn .rst-content tt.download span.fa-spin:first-child,.btn .wy-menu-vertical li button.fa-spin.toctree-expand,.nav .fa-spin.icon,.nav .fa.fa-spin,.nav .rst-content .code-block-caption .fa-spin.headerlink,.nav .rst-content .eqno .fa-spin.headerlink,.nav .rst-content .fa-spin.admonition-title,.nav .rst-content code.download span.fa-spin:first-child,.nav .rst-content dl dt .fa-spin.headerlink,.nav .rst-content h1 .fa-spin.headerlink,.nav .rst-content h2 .fa-spin.headerlink,.nav .rst-content h3 .fa-spin.headerlink,.nav .rst-content h4 .fa-spin.headerlink,.nav .rst-content h5 .fa-spin.headerlink,.nav .rst-content h6 .fa-spin.headerlink,.nav .rst-content p .fa-spin.headerlink,.nav .rst-content table>caption .fa-spin.headerlink,.nav .rst-content tt.download span.fa-spin:first-child,.nav .wy-menu-vertical li button.fa-spin.toctree-expand,.rst-content .btn .fa-spin.admonition-title,.rst-content .code-block-caption .btn .fa-spin.headerlink,.rst-content .code-block-caption .nav .fa-spin.headerlink,.rst-content .eqno .btn .fa-spin.headerlink,.rst-content .eqno .nav .fa-spin.headerlink,.rst-content .nav .fa-spin.admonition-title,.rst-content code.download .btn span.fa-spin:first-child,.rst-content code.download .nav span.fa-spin:first-child,.rst-content dl dt .btn .fa-spin.headerlink,.rst-content dl dt .nav .fa-spin.headerlink,.rst-content h1 .btn .fa-spin.headerlink,.rst-content h1 .nav .fa-spin.headerlink,.rst-content h2 .btn .fa-spin.headerlink,.rst-content h2 .nav .fa-spin.headerlink,.rst-content h3 .btn .fa-spin.headerlink,.rst-content h3 .nav .fa-spin.headerlink,.rst-content h4 .btn .fa-spin.headerlink,.rst-content h4 .nav .fa-spin.headerlink,.rst-content h5 .btn .fa-spin.headerlink,.rst-content h5 .nav .fa-spin.headerlink,.rst-content h6 .btn .fa-spin.headerlink,.rst-content h6 .nav .fa-spin.headerlink,.rst-content p .btn .fa-spin.headerlink,.rst-content p .nav .fa-spin.headerlink,.rst-content table>caption .btn .fa-spin.headerlink,.rst-content table>caption .nav .fa-spin.headerlink,.rst-content tt.download .btn span.fa-spin:first-child,.rst-content tt.download .nav span.fa-spin:first-child,.wy-menu-vertical li .btn button.fa-spin.toctree-expand,.wy-menu-vertical li .nav button.fa-spin.toctree-expand{display:inline-block}.btn.fa:before,.btn.icon:before,.rst-content .btn.admonition-title:before,.rst-content .code-block-caption .btn.headerlink:before,.rst-content .eqno .btn.headerlink:before,.rst-content code.download span.btn:first-child:before,.rst-content dl dt .btn.headerlink:before,.rst-content h1 .btn.headerlink:before,.rst-content h2 .btn.headerlink:before,.rst-content h3 .btn.headerlink:before,.rst-content h4 .btn.headerlink:before,.rst-content h5 .btn.headerlink:before,.rst-content h6 .btn.headerlink:before,.rst-content p .btn.headerlink:before,.rst-content table>caption .btn.headerlink:before,.rst-content tt.download span.btn:first-child:before,.wy-menu-vertical li button.btn.toctree-expand:before{opacity:.5;-webkit-transition:opacity .05s ease-in;-moz-transition:opacity .05s ease-in;transition:opacity .05s ease-in}.btn.fa:hover:before,.btn.icon:hover:before,.rst-content .btn.admonition-title:hover:before,.rst-content .code-block-caption .btn.headerlink:hover:before,.rst-content .eqno .btn.headerlink:hover:before,.rst-content code.download span.btn:first-child:hover:before,.rst-content dl dt .btn.headerlink:hover:before,.rst-content h1 .btn.headerlink:hover:before,.rst-content h2 .btn.headerlink:hover:before,.rst-content h3 .btn.headerlink:hover:before,.rst-content h4 .btn.headerlink:hover:before,.rst-content h5 .btn.headerlink:hover:before,.rst-content h6 .btn.headerlink:hover:before,.rst-content p .btn.headerlink:hover:before,.rst-content table>caption .btn.headerlink:hover:before,.rst-content tt.download span.btn:first-child:hover:before,.wy-menu-vertical li button.btn.toctree-expand:hover:before{opacity:1}.btn-mini .fa:before,.btn-mini .icon:before,.btn-mini .rst-content .admonition-title:before,.btn-mini .rst-content .code-block-caption .headerlink:before,.btn-mini .rst-content .eqno .headerlink:before,.btn-mini .rst-content code.download span:first-child:before,.btn-mini .rst-content dl dt .headerlink:before,.btn-mini .rst-content h1 .headerlink:before,.btn-mini .rst-content h2 .headerlink:before,.btn-mini .rst-content h3 .headerlink:before,.btn-mini .rst-content h4 .headerlink:before,.btn-mini .rst-content h5 .headerlink:before,.btn-mini .rst-content h6 .headerlink:before,.btn-mini .rst-content p .headerlink:before,.btn-mini .rst-content table>caption .headerlink:before,.btn-mini .rst-content tt.download span:first-child:before,.btn-mini .wy-menu-vertical li button.toctree-expand:before,.rst-content .btn-mini .admonition-title:before,.rst-content .code-block-caption .btn-mini .headerlink:before,.rst-content .eqno .btn-mini .headerlink:before,.rst-content code.download .btn-mini span:first-child:before,.rst-content dl dt .btn-mini .headerlink:before,.rst-content h1 .btn-mini .headerlink:before,.rst-content h2 .btn-mini .headerlink:before,.rst-content h3 .btn-mini .headerlink:before,.rst-content h4 .btn-mini .headerlink:before,.rst-content h5 .btn-mini .headerlink:before,.rst-content h6 .btn-mini .headerlink:before,.rst-content p .btn-mini .headerlink:before,.rst-content table>caption .btn-mini .headerlink:before,.rst-content tt.download .btn-mini span:first-child:before,.wy-menu-vertical li .btn-mini button.toctree-expand:before{font-size:14px;vertical-align:-15%}.rst-content .admonition,.rst-content .admonition-todo,.rst-content .attention,.rst-content .caution,.rst-content .danger,.rst-content .error,.rst-content .hint,.rst-content .important,.rst-content .note,.rst-content .seealso,.rst-content .tip,.rst-content .warning,.wy-alert{padding:12px;line-height:24px;margin-bottom:24px;background:#e7f2fa}.rst-content .admonition-title,.wy-alert-title{font-weight:700;display:block;color:#fff;background:#6ab0de;padding:6px 12px;margin:-12px -12px 12px}.rst-content .danger,.rst-content .error,.rst-content .wy-alert-danger.admonition,.rst-content .wy-alert-danger.admonition-todo,.rst-content .wy-alert-danger.attention,.rst-content .wy-alert-danger.caution,.rst-content .wy-alert-danger.hint,.rst-content .wy-alert-danger.important,.rst-content .wy-alert-danger.note,.rst-content .wy-alert-danger.seealso,.rst-content .wy-alert-danger.tip,.rst-content .wy-alert-danger.warning,.wy-alert.wy-alert-danger{background:#fdf3f2}.rst-content .danger .admonition-title,.rst-content .danger .wy-alert-title,.rst-content .error .admonition-title,.rst-content .error .wy-alert-title,.rst-content .wy-alert-danger.admonition-todo .admonition-title,.rst-content .wy-alert-danger.admonition-todo .wy-alert-title,.rst-content .wy-alert-danger.admonition .admonition-title,.rst-content .wy-alert-danger.admonition .wy-alert-title,.rst-content .wy-alert-danger.attention .admonition-title,.rst-content .wy-alert-danger.attention .wy-alert-title,.rst-content .wy-alert-danger.caution .admonition-title,.rst-content .wy-alert-danger.caution .wy-alert-title,.rst-content .wy-alert-danger.hint .admonition-title,.rst-content .wy-alert-danger.hint .wy-alert-title,.rst-content .wy-alert-danger.important .admonition-title,.rst-content .wy-alert-danger.important .wy-alert-title,.rst-content .wy-alert-danger.note .admonition-title,.rst-content .wy-alert-danger.note .wy-alert-title,.rst-content .wy-alert-danger.seealso .admonition-title,.rst-content .wy-alert-danger.seealso .wy-alert-title,.rst-content .wy-alert-danger.tip .admonition-title,.rst-content .wy-alert-danger.tip .wy-alert-title,.rst-content .wy-alert-danger.warning .admonition-title,.rst-content .wy-alert-danger.warning .wy-alert-title,.rst-content .wy-alert.wy-alert-danger .admonition-title,.wy-alert.wy-alert-danger .rst-content .admonition-title,.wy-alert.wy-alert-danger .wy-alert-title{background:#f29f97}.rst-content .admonition-todo,.rst-content .attention,.rst-content .caution,.rst-content .warning,.rst-content .wy-alert-warning.admonition,.rst-content .wy-alert-warning.danger,.rst-content .wy-alert-warning.error,.rst-content .wy-alert-warning.hint,.rst-content .wy-alert-warning.important,.rst-content .wy-alert-warning.note,.rst-content .wy-alert-warning.seealso,.rst-content .wy-alert-warning.tip,.wy-alert.wy-alert-warning{background:#ffedcc}.rst-content .admonition-todo .admonition-title,.rst-content .admonition-todo .wy-alert-title,.rst-content .attention .admonition-title,.rst-content .attention .wy-alert-title,.rst-content .caution .admonition-title,.rst-content .caution .wy-alert-title,.rst-content .warning .admonition-title,.rst-content .warning .wy-alert-title,.rst-content .wy-alert-warning.admonition .admonition-title,.rst-content .wy-alert-warning.admonition .wy-alert-title,.rst-content .wy-alert-warning.danger .admonition-title,.rst-content .wy-alert-warning.danger .wy-alert-title,.rst-content .wy-alert-warning.error .admonition-title,.rst-content .wy-alert-warning.error .wy-alert-title,.rst-content .wy-alert-warning.hint .admonition-title,.rst-content .wy-alert-warning.hint .wy-alert-title,.rst-content .wy-alert-warning.important .admonition-title,.rst-content .wy-alert-warning.important .wy-alert-title,.rst-content .wy-alert-warning.note .admonition-title,.rst-content .wy-alert-warning.note .wy-alert-title,.rst-content .wy-alert-warning.seealso .admonition-title,.rst-content .wy-alert-warning.seealso .wy-alert-title,.rst-content .wy-alert-warning.tip .admonition-title,.rst-content .wy-alert-warning.tip .wy-alert-title,.rst-content .wy-alert.wy-alert-warning .admonition-title,.wy-alert.wy-alert-warning .rst-content .admonition-title,.wy-alert.wy-alert-warning .wy-alert-title{background:#f0b37e}.rst-content .note,.rst-content .seealso,.rst-content .wy-alert-info.admonition,.rst-content .wy-alert-info.admonition-todo,.rst-content .wy-alert-info.attention,.rst-content .wy-alert-info.caution,.rst-content .wy-alert-info.danger,.rst-content .wy-alert-info.error,.rst-content .wy-alert-info.hint,.rst-content .wy-alert-info.important,.rst-content .wy-alert-info.tip,.rst-content .wy-alert-info.warning,.wy-alert.wy-alert-info{background:#e7f2fa}.rst-content .note .admonition-title,.rst-content .note .wy-alert-title,.rst-content .seealso .admonition-title,.rst-content .seealso .wy-alert-title,.rst-content .wy-alert-info.admonition-todo .admonition-title,.rst-content .wy-alert-info.admonition-todo .wy-alert-title,.rst-content .wy-alert-info.admonition .admonition-title,.rst-content .wy-alert-info.admonition .wy-alert-title,.rst-content .wy-alert-info.attention .admonition-title,.rst-content .wy-alert-info.attention .wy-alert-title,.rst-content .wy-alert-info.caution .admonition-title,.rst-content .wy-alert-info.caution .wy-alert-title,.rst-content .wy-alert-info.danger .admonition-title,.rst-content .wy-alert-info.danger .wy-alert-title,.rst-content .wy-alert-info.error .admonition-title,.rst-content .wy-alert-info.error .wy-alert-title,.rst-content .wy-alert-info.hint .admonition-title,.rst-content .wy-alert-info.hint .wy-alert-title,.rst-content .wy-alert-info.important .admonition-title,.rst-content .wy-alert-info.important .wy-alert-title,.rst-content .wy-alert-info.tip .admonition-title,.rst-content .wy-alert-info.tip .wy-alert-title,.rst-content .wy-alert-info.warning .admonition-title,.rst-content .wy-alert-info.warning .wy-alert-title,.rst-content .wy-alert.wy-alert-info .admonition-title,.wy-alert.wy-alert-info .rst-content .admonition-title,.wy-alert.wy-alert-info .wy-alert-title{background:#6ab0de}.rst-content .hint,.rst-content .important,.rst-content .tip,.rst-content .wy-alert-success.admonition,.rst-content .wy-alert-success.admonition-todo,.rst-content .wy-alert-success.attention,.rst-content .wy-alert-success.caution,.rst-content .wy-alert-success.danger,.rst-content .wy-alert-success.error,.rst-content .wy-alert-success.note,.rst-content .wy-alert-success.seealso,.rst-content .wy-alert-success.warning,.wy-alert.wy-alert-success{background:#dbfaf4}.rst-content .hint .admonition-title,.rst-content .hint .wy-alert-title,.rst-content .important .admonition-title,.rst-content .important .wy-alert-title,.rst-content .tip .admonition-title,.rst-content .tip .wy-alert-title,.rst-content .wy-alert-success.admonition-todo .admonition-title,.rst-content .wy-alert-success.admonition-todo .wy-alert-title,.rst-content .wy-alert-success.admonition .admonition-title,.rst-content .wy-alert-success.admonition .wy-alert-title,.rst-content .wy-alert-success.attention .admonition-title,.rst-content .wy-alert-success.attention .wy-alert-title,.rst-content .wy-alert-success.caution .admonition-title,.rst-content .wy-alert-success.caution .wy-alert-title,.rst-content .wy-alert-success.danger .admonition-title,.rst-content .wy-alert-success.danger .wy-alert-title,.rst-content .wy-alert-success.error .admonition-title,.rst-content .wy-alert-success.error .wy-alert-title,.rst-content .wy-alert-success.note .admonition-title,.rst-content .wy-alert-success.note .wy-alert-title,.rst-content .wy-alert-success.seealso .admonition-title,.rst-content .wy-alert-success.seealso .wy-alert-title,.rst-content .wy-alert-success.warning .admonition-title,.rst-content .wy-alert-success.warning .wy-alert-title,.rst-content .wy-alert.wy-alert-success .admonition-title,.wy-alert.wy-alert-success .rst-content .admonition-title,.wy-alert.wy-alert-success .wy-alert-title{background:#1abc9c}.rst-content .wy-alert-neutral.admonition,.rst-content .wy-alert-neutral.admonition-todo,.rst-content .wy-alert-neutral.attention,.rst-content .wy-alert-neutral.caution,.rst-content .wy-alert-neutral.danger,.rst-content .wy-alert-neutral.error,.rst-content .wy-alert-neutral.hint,.rst-content .wy-alert-neutral.important,.rst-content .wy-alert-neutral.note,.rst-content .wy-alert-neutral.seealso,.rst-content .wy-alert-neutral.tip,.rst-content .wy-alert-neutral.warning,.wy-alert.wy-alert-neutral{background:#f3f6f6}.rst-content .wy-alert-neutral.admonition-todo .admonition-title,.rst-content .wy-alert-neutral.admonition-todo .wy-alert-title,.rst-content .wy-alert-neutral.admonition .admonition-title,.rst-content .wy-alert-neutral.admonition .wy-alert-title,.rst-content .wy-alert-neutral.attention .admonition-title,.rst-content .wy-alert-neutral.attention .wy-alert-title,.rst-content .wy-alert-neutral.caution .admonition-title,.rst-content .wy-alert-neutral.caution .wy-alert-title,.rst-content .wy-alert-neutral.danger .admonition-title,.rst-content .wy-alert-neutral.danger .wy-alert-title,.rst-content .wy-alert-neutral.error .admonition-title,.rst-content .wy-alert-neutral.error .wy-alert-title,.rst-content .wy-alert-neutral.hint .admonition-title,.rst-content .wy-alert-neutral.hint .wy-alert-title,.rst-content .wy-alert-neutral.important .admonition-title,.rst-content .wy-alert-neutral.important .wy-alert-title,.rst-content .wy-alert-neutral.note .admonition-title,.rst-content .wy-alert-neutral.note .wy-alert-title,.rst-content .wy-alert-neutral.seealso .admonition-title,.rst-content .wy-alert-neutral.seealso .wy-alert-title,.rst-content .wy-alert-neutral.tip .admonition-title,.rst-content .wy-alert-neutral.tip .wy-alert-title,.rst-content .wy-alert-neutral.warning .admonition-title,.rst-content .wy-alert-neutral.warning .wy-alert-title,.rst-content .wy-alert.wy-alert-neutral .admonition-title,.wy-alert.wy-alert-neutral .rst-content .admonition-title,.wy-alert.wy-alert-neutral .wy-alert-title{color:#404040;background:#e1e4e5}.rst-content .wy-alert-neutral.admonition-todo a,.rst-content .wy-alert-neutral.admonition a,.rst-content .wy-alert-neutral.attention a,.rst-content .wy-alert-neutral.caution a,.rst-content .wy-alert-neutral.danger a,.rst-content .wy-alert-neutral.error a,.rst-content .wy-alert-neutral.hint a,.rst-content .wy-alert-neutral.important a,.rst-content .wy-alert-neutral.note a,.rst-content .wy-alert-neutral.seealso a,.rst-content .wy-alert-neutral.tip a,.rst-content .wy-alert-neutral.warning a,.wy-alert.wy-alert-neutral a{color:#2980b9}.rst-content .admonition-todo p:last-child,.rst-content .admonition p:last-child,.rst-content .attention p:last-child,.rst-content .caution p:last-child,.rst-content .danger p:last-child,.rst-content .error p:last-child,.rst-content .hint p:last-child,.rst-content .important p:last-child,.rst-content .note p:last-child,.rst-content .seealso p:last-child,.rst-content .tip p:last-child,.rst-content .warning p:last-child,.wy-alert p:last-child{margin-bottom:0}.wy-tray-container{position:fixed;bottom:0;left:0;z-index:600}.wy-tray-container li{display:block;width:300px;background:transparent;color:#fff;text-align:center;box-shadow:0 5px 5px 0 rgba(0,0,0,.1);padding:0 24px;min-width:20%;opacity:0;height:0;line-height:56px;overflow:hidden;-webkit-transition:all .3s ease-in;-moz-transition:all .3s ease-in;transition:all .3s ease-in}.wy-tray-container li.wy-tray-item-success{background:#27ae60}.wy-tray-container li.wy-tray-item-info{background:#2980b9}.wy-tray-container li.wy-tray-item-warning{background:#e67e22}.wy-tray-container li.wy-tray-item-danger{background:#e74c3c}.wy-tray-container li.on{opacity:1;height:56px}@media screen and (max-width:768px){.wy-tray-container{bottom:auto;top:0;width:100%}.wy-tray-container li{width:100%}}button{font-size:100%;margin:0;vertical-align:baseline;*vertical-align:middle;cursor:pointer;line-height:normal;-webkit-appearance:button;*overflow:visible}button::-moz-focus-inner,input::-moz-focus-inner{border:0;padding:0}button[disabled]{cursor:default}.btn{display:inline-block;border-radius:2px;line-height:normal;white-space:nowrap;text-align:center;cursor:pointer;font-size:100%;padding:6px 12px 8px;color:#fff;border:1px solid rgba(0,0,0,.1);background-color:#27ae60;text-decoration:none;font-weight:400;font-family:Lato,proxima-nova,Helvetica Neue,Arial,sans-serif;box-shadow:inset 0 1px 2px -1px hsla(0,0%,100%,.5),inset 0 -2px 0 0 rgba(0,0,0,.1);outline-none:false;vertical-align:middle;*display:inline;zoom:1;-webkit-user-drag:none;-webkit-user-select:none;-moz-user-select:none;-ms-user-select:none;user-select:none;-webkit-transition:all .1s linear;-moz-transition:all .1s linear;transition:all .1s linear}.btn-hover{background:#2e8ece;color:#fff}.btn:hover{background:#2cc36b;color:#fff}.btn:focus{background:#2cc36b;outline:0}.btn:active{box-shadow:inset 0 -1px 0 0 rgba(0,0,0,.05),inset 0 2px 0 0 rgba(0,0,0,.1);padding:8px 12px 6px}.btn:visited{color:#fff}.btn-disabled,.btn-disabled:active,.btn-disabled:focus,.btn-disabled:hover,.btn:disabled{background-image:none;filter:progid:DXImageTransform.Microsoft.gradient(enabled = false);filter:alpha(opacity=40);opacity:.4;cursor:not-allowed;box-shadow:none}.btn::-moz-focus-inner{padding:0;border:0}.btn-small{font-size:80%}.btn-info{background-color:#2980b9!important}.btn-info:hover{background-color:#2e8ece!important}.btn-neutral{background-color:#f3f6f6!important;color:#404040!important}.btn-neutral:hover{background-color:#e5ebeb!important;color:#404040}.btn-neutral:visited{color:#404040!important}.btn-success{background-color:#27ae60!important}.btn-success:hover{background-color:#295!important}.btn-danger{background-color:#e74c3c!important}.btn-danger:hover{background-color:#ea6153!important}.btn-warning{background-color:#e67e22!important}.btn-warning:hover{background-color:#e98b39!important}.btn-invert{background-color:#222}.btn-invert:hover{background-color:#2f2f2f!important}.btn-link{background-color:transparent!important;color:#2980b9;box-shadow:none;border-color:transparent!important}.btn-link:active,.btn-link:hover{background-color:transparent!important;color:#409ad5!important;box-shadow:none}.btn-link:visited{color:#9b59b6}.wy-btn-group .btn,.wy-control .btn{vertical-align:middle}.wy-btn-group{margin-bottom:24px;*zoom:1}.wy-btn-group:after,.wy-btn-group:before{display:table;content:""}.wy-btn-group:after{clear:both}.wy-dropdown{position:relative;display:inline-block}.wy-dropdown-active .wy-dropdown-menu{display:block}.wy-dropdown-menu{position:absolute;left:0;display:none;float:left;top:100%;min-width:100%;background:#fcfcfc;z-index:100;border:1px solid #cfd7dd;box-shadow:0 2px 2px 0 rgba(0,0,0,.1);padding:12px}.wy-dropdown-menu>dd>a{display:block;clear:both;color:#404040;white-space:nowrap;font-size:90%;padding:0 12px;cursor:pointer}.wy-dropdown-menu>dd>a:hover{background:#2980b9;color:#fff}.wy-dropdown-menu>dd.divider{border-top:1px solid #cfd7dd;margin:6px 0}.wy-dropdown-menu>dd.search{padding-bottom:12px}.wy-dropdown-menu>dd.search input[type=search]{width:100%}.wy-dropdown-menu>dd.call-to-action{background:#e3e3e3;text-transform:uppercase;font-weight:500;font-size:80%}.wy-dropdown-menu>dd.call-to-action:hover{background:#e3e3e3}.wy-dropdown-menu>dd.call-to-action .btn{color:#fff}.wy-dropdown.wy-dropdown-up .wy-dropdown-menu{bottom:100%;top:auto;left:auto;right:0}.wy-dropdown.wy-dropdown-bubble .wy-dropdown-menu{background:#fcfcfc;margin-top:2px}.wy-dropdown.wy-dropdown-bubble .wy-dropdown-menu a{padding:6px 12px}.wy-dropdown.wy-dropdown-bubble .wy-dropdown-menu a:hover{background:#2980b9;color:#fff}.wy-dropdown.wy-dropdown-left .wy-dropdown-menu{right:0;left:auto;text-align:right}.wy-dropdown-arrow:before{content:" ";border-bottom:5px solid #f5f5f5;border-left:5px solid transparent;border-right:5px solid transparent;position:absolute;display:block;top:-4px;left:50%;margin-left:-3px}.wy-dropdown-arrow.wy-dropdown-arrow-left:before{left:11px}.wy-form-stacked select{display:block}.wy-form-aligned .wy-help-inline,.wy-form-aligned input,.wy-form-aligned label,.wy-form-aligned select,.wy-form-aligned textarea{display:inline-block;*display:inline;*zoom:1;vertical-align:middle}.wy-form-aligned .wy-control-group>label{display:inline-block;vertical-align:middle;width:10em;margin:6px 12px 0 0;float:left}.wy-form-aligned .wy-control{float:left}.wy-form-aligned .wy-control label{display:block}.wy-form-aligned .wy-control select{margin-top:6px}fieldset{margin:0}fieldset,legend{border:0;padding:0}legend{width:100%;white-space:normal;margin-bottom:24px;font-size:150%;*margin-left:-7px}label,legend{display:block}label{margin:0 0 .3125em;color:#333;font-size:90%}input,select,textarea{font-size:100%;margin:0;vertical-align:baseline;*vertical-align:middle}.wy-control-group{margin-bottom:24px;max-width:1200px;margin-left:auto;margin-right:auto;*zoom:1}.wy-control-group:after,.wy-control-group:before{display:table;content:""}.wy-control-group:after{clear:both}.wy-control-group.wy-control-group-required>label:after{content:" *";color:#e74c3c}.wy-control-group .wy-form-full,.wy-control-group .wy-form-halves,.wy-control-group .wy-form-thirds{padding-bottom:12px}.wy-control-group .wy-form-full input[type=color],.wy-control-group .wy-form-full input[type=date],.wy-control-group .wy-form-full input[type=datetime-local],.wy-control-group .wy-form-full input[type=datetime],.wy-control-group .wy-form-full input[type=email],.wy-control-group .wy-form-full input[type=month],.wy-control-group .wy-form-full input[type=number],.wy-control-group .wy-form-full input[type=password],.wy-control-group .wy-form-full input[type=search],.wy-control-group .wy-form-full input[type=tel],.wy-control-group .wy-form-full input[type=text],.wy-control-group .wy-form-full input[type=time],.wy-control-group .wy-form-full input[type=url],.wy-control-group .wy-form-full input[type=week],.wy-control-group .wy-form-full select,.wy-control-group .wy-form-halves input[type=color],.wy-control-group .wy-form-halves input[type=date],.wy-control-group .wy-form-halves input[type=datetime-local],.wy-control-group .wy-form-halves input[type=datetime],.wy-control-group .wy-form-halves input[type=email],.wy-control-group .wy-form-halves input[type=month],.wy-control-group .wy-form-halves input[type=number],.wy-control-group .wy-form-halves input[type=password],.wy-control-group .wy-form-halves input[type=search],.wy-control-group .wy-form-halves input[type=tel],.wy-control-group .wy-form-halves input[type=text],.wy-control-group .wy-form-halves input[type=time],.wy-control-group .wy-form-halves input[type=url],.wy-control-group .wy-form-halves input[type=week],.wy-control-group .wy-form-halves select,.wy-control-group .wy-form-thirds input[type=color],.wy-control-group .wy-form-thirds input[type=date],.wy-control-group .wy-form-thirds input[type=datetime-local],.wy-control-group .wy-form-thirds input[type=datetime],.wy-control-group .wy-form-thirds input[type=email],.wy-control-group .wy-form-thirds input[type=month],.wy-control-group .wy-form-thirds input[type=number],.wy-control-group .wy-form-thirds input[type=password],.wy-control-group .wy-form-thirds input[type=search],.wy-control-group .wy-form-thirds input[type=tel],.wy-control-group .wy-form-thirds input[type=text],.wy-control-group .wy-form-thirds input[type=time],.wy-control-group .wy-form-thirds input[type=url],.wy-control-group .wy-form-thirds input[type=week],.wy-control-group .wy-form-thirds select{width:100%}.wy-control-group .wy-form-full{float:left;display:block;width:100%;margin-right:0}.wy-control-group .wy-form-full:last-child{margin-right:0}.wy-control-group .wy-form-halves{float:left;display:block;margin-right:2.35765%;width:48.82117%}.wy-control-group .wy-form-halves:last-child,.wy-control-group .wy-form-halves:nth-of-type(2n){margin-right:0}.wy-control-group .wy-form-halves:nth-of-type(odd){clear:left}.wy-control-group .wy-form-thirds{float:left;display:block;margin-right:2.35765%;width:31.76157%}.wy-control-group .wy-form-thirds:last-child,.wy-control-group .wy-form-thirds:nth-of-type(3n){margin-right:0}.wy-control-group .wy-form-thirds:nth-of-type(3n+1){clear:left}.wy-control-group.wy-control-group-no-input .wy-control,.wy-control-no-input{margin:6px 0 0;font-size:90%}.wy-control-no-input{display:inline-block}.wy-control-group.fluid-input input[type=color],.wy-control-group.fluid-input input[type=date],.wy-control-group.fluid-input input[type=datetime-local],.wy-control-group.fluid-input input[type=datetime],.wy-control-group.fluid-input input[type=email],.wy-control-group.fluid-input input[type=month],.wy-control-group.fluid-input input[type=number],.wy-control-group.fluid-input input[type=password],.wy-control-group.fluid-input input[type=search],.wy-control-group.fluid-input input[type=tel],.wy-control-group.fluid-input input[type=text],.wy-control-group.fluid-input input[type=time],.wy-control-group.fluid-input input[type=url],.wy-control-group.fluid-input input[type=week]{width:100%}.wy-form-message-inline{padding-left:.3em;color:#666;font-size:90%}.wy-form-message{display:block;color:#999;font-size:70%;margin-top:.3125em;font-style:italic}.wy-form-message p{font-size:inherit;font-style:italic;margin-bottom:6px}.wy-form-message p:last-child{margin-bottom:0}input{line-height:normal}input[type=button],input[type=reset],input[type=submit]{-webkit-appearance:button;cursor:pointer;font-family:Lato,proxima-nova,Helvetica Neue,Arial,sans-serif;*overflow:visible}input[type=color],input[type=date],input[type=datetime-local],input[type=datetime],input[type=email],input[type=month],input[type=number],input[type=password],input[type=search],input[type=tel],input[type=text],input[type=time],input[type=url],input[type=week]{-webkit-appearance:none;padding:6px;display:inline-block;border:1px solid #ccc;font-size:80%;font-family:Lato,proxima-nova,Helvetica Neue,Arial,sans-serif;box-shadow:inset 0 1px 3px #ddd;border-radius:0;-webkit-transition:border .3s linear;-moz-transition:border .3s linear;transition:border .3s linear}input[type=datetime-local]{padding:.34375em .625em}input[disabled]{cursor:default}input[type=checkbox],input[type=radio]{padding:0;margin-right:.3125em;*height:13px;*width:13px}input[type=checkbox],input[type=radio],input[type=search]{-webkit-box-sizing:border-box;-moz-box-sizing:border-box;box-sizing:border-box}input[type=search]::-webkit-search-cancel-button,input[type=search]::-webkit-search-decoration{-webkit-appearance:none}input[type=color]:focus,input[type=date]:focus,input[type=datetime-local]:focus,input[type=datetime]:focus,input[type=email]:focus,input[type=month]:focus,input[type=number]:focus,input[type=password]:focus,input[type=search]:focus,input[type=tel]:focus,input[type=text]:focus,input[type=time]:focus,input[type=url]:focus,input[type=week]:focus{outline:0;outline:thin dotted\9;border-color:#333}input.no-focus:focus{border-color:#ccc!important}input[type=checkbox]:focus,input[type=file]:focus,input[type=radio]:focus{outline:thin dotted #333;outline:1px auto #129fea}input[type=color][disabled],input[type=date][disabled],input[type=datetime-local][disabled],input[type=datetime][disabled],input[type=email][disabled],input[type=month][disabled],input[type=number][disabled],input[type=password][disabled],input[type=search][disabled],input[type=tel][disabled],input[type=text][disabled],input[type=time][disabled],input[type=url][disabled],input[type=week][disabled]{cursor:not-allowed;background-color:#fafafa}input:focus:invalid,select:focus:invalid,textarea:focus:invalid{color:#e74c3c;border:1px solid #e74c3c}input:focus:invalid:focus,select:focus:invalid:focus,textarea:focus:invalid:focus{border-color:#e74c3c}input[type=checkbox]:focus:invalid:focus,input[type=file]:focus:invalid:focus,input[type=radio]:focus:invalid:focus{outline-color:#e74c3c}input.wy-input-large{padding:12px;font-size:100%}textarea{overflow:auto;vertical-align:top;width:100%;font-family:Lato,proxima-nova,Helvetica Neue,Arial,sans-serif}select,textarea{padding:.5em .625em;display:inline-block;border:1px solid #ccc;font-size:80%;box-shadow:inset 0 1px 3px #ddd;-webkit-transition:border .3s linear;-moz-transition:border .3s linear;transition:border .3s linear}select{border:1px solid #ccc;background-color:#fff}select[multiple]{height:auto}select:focus,textarea:focus{outline:0}input[readonly],select[disabled],select[readonly],textarea[disabled],textarea[readonly]{cursor:not-allowed;background-color:#fafafa}input[type=checkbox][disabled],input[type=radio][disabled]{cursor:not-allowed}.wy-checkbox,.wy-radio{margin:6px 0;color:#404040;display:block}.wy-checkbox input,.wy-radio input{vertical-align:baseline}.wy-form-message-inline{display:inline-block;*display:inline;*zoom:1;vertical-align:middle}.wy-input-prefix,.wy-input-suffix{white-space:nowrap;padding:6px}.wy-input-prefix .wy-input-context,.wy-input-suffix .wy-input-context{line-height:27px;padding:0 8px;display:inline-block;font-size:80%;background-color:#f3f6f6;border:1px solid #ccc;color:#999}.wy-input-suffix .wy-input-context{border-left:0}.wy-input-prefix .wy-input-context{border-right:0}.wy-switch{position:relative;display:block;height:24px;margin-top:12px;cursor:pointer}.wy-switch:before{left:0;top:0;width:36px;height:12px;background:#ccc}.wy-switch:after,.wy-switch:before{position:absolute;content:"";display:block;border-radius:4px;-webkit-transition:all .2s ease-in-out;-moz-transition:all .2s ease-in-out;transition:all .2s ease-in-out}.wy-switch:after{width:18px;height:18px;background:#999;left:-3px;top:-3px}.wy-switch span{position:absolute;left:48px;display:block;font-size:12px;color:#ccc;line-height:1}.wy-switch.active:before{background:#1e8449}.wy-switch.active:after{left:24px;background:#27ae60}.wy-switch.disabled{cursor:not-allowed;opacity:.8}.wy-control-group.wy-control-group-error .wy-form-message,.wy-control-group.wy-control-group-error>label{color:#e74c3c}.wy-control-group.wy-control-group-error input[type=color],.wy-control-group.wy-control-group-error input[type=date],.wy-control-group.wy-control-group-error input[type=datetime-local],.wy-control-group.wy-control-group-error input[type=datetime],.wy-control-group.wy-control-group-error input[type=email],.wy-control-group.wy-control-group-error input[type=month],.wy-control-group.wy-control-group-error input[type=number],.wy-control-group.wy-control-group-error input[type=password],.wy-control-group.wy-control-group-error input[type=search],.wy-control-group.wy-control-group-error input[type=tel],.wy-control-group.wy-control-group-error input[type=text],.wy-control-group.wy-control-group-error input[type=time],.wy-control-group.wy-control-group-error input[type=url],.wy-control-group.wy-control-group-error input[type=week],.wy-control-group.wy-control-group-error textarea{border:1px solid #e74c3c}.wy-inline-validate{white-space:nowrap}.wy-inline-validate .wy-input-context{padding:.5em .625em;display:inline-block;font-size:80%}.wy-inline-validate.wy-inline-validate-success .wy-input-context{color:#27ae60}.wy-inline-validate.wy-inline-validate-danger .wy-input-context{color:#e74c3c}.wy-inline-validate.wy-inline-validate-warning .wy-input-context{color:#e67e22}.wy-inline-validate.wy-inline-validate-info .wy-input-context{color:#2980b9}.rotate-90{-webkit-transform:rotate(90deg);-moz-transform:rotate(90deg);-ms-transform:rotate(90deg);-o-transform:rotate(90deg);transform:rotate(90deg)}.rotate-180{-webkit-transform:rotate(180deg);-moz-transform:rotate(180deg);-ms-transform:rotate(180deg);-o-transform:rotate(180deg);transform:rotate(180deg)}.rotate-270{-webkit-transform:rotate(270deg);-moz-transform:rotate(270deg);-ms-transform:rotate(270deg);-o-transform:rotate(270deg);transform:rotate(270deg)}.mirror{-webkit-transform:scaleX(-1);-moz-transform:scaleX(-1);-ms-transform:scaleX(-1);-o-transform:scaleX(-1);transform:scaleX(-1)}.mirror.rotate-90{-webkit-transform:scaleX(-1) rotate(90deg);-moz-transform:scaleX(-1) rotate(90deg);-ms-transform:scaleX(-1) rotate(90deg);-o-transform:scaleX(-1) rotate(90deg);transform:scaleX(-1) rotate(90deg)}.mirror.rotate-180{-webkit-transform:scaleX(-1) rotate(180deg);-moz-transform:scaleX(-1) rotate(180deg);-ms-transform:scaleX(-1) rotate(180deg);-o-transform:scaleX(-1) rotate(180deg);transform:scaleX(-1) rotate(180deg)}.mirror.rotate-270{-webkit-transform:scaleX(-1) rotate(270deg);-moz-transform:scaleX(-1) rotate(270deg);-ms-transform:scaleX(-1) rotate(270deg);-o-transform:scaleX(-1) rotate(270deg);transform:scaleX(-1) rotate(270deg)}@media only screen and (max-width:480px){.wy-form button[type=submit]{margin:.7em 0 0}.wy-form input[type=color],.wy-form input[type=date],.wy-form input[type=datetime-local],.wy-form input[type=datetime],.wy-form input[type=email],.wy-form input[type=month],.wy-form input[type=number],.wy-form input[type=password],.wy-form input[type=search],.wy-form input[type=tel],.wy-form input[type=text],.wy-form input[type=time],.wy-form input[type=url],.wy-form input[type=week],.wy-form label{margin-bottom:.3em;display:block}.wy-form input[type=color],.wy-form input[type=date],.wy-form input[type=datetime-local],.wy-form input[type=datetime],.wy-form input[type=email],.wy-form input[type=month],.wy-form input[type=number],.wy-form input[type=password],.wy-form input[type=search],.wy-form input[type=tel],.wy-form input[type=time],.wy-form input[type=url],.wy-form input[type=week]{margin-bottom:0}.wy-form-aligned .wy-control-group label{margin-bottom:.3em;text-align:left;display:block;width:100%}.wy-form-aligned .wy-control{margin:1.5em 0 0}.wy-form-message,.wy-form-message-inline,.wy-form .wy-help-inline{display:block;font-size:80%;padding:6px 0}}@media screen and (max-width:768px){.tablet-hide{display:none}}@media screen and (max-width:480px){.mobile-hide{display:none}}.float-left{float:left}.float-right{float:right}.full-width{width:100%}.rst-content table.docutils,.rst-content table.field-list,.wy-table{border-collapse:collapse;border-spacing:0;empty-cells:show;margin-bottom:24px}.rst-content table.docutils caption,.rst-content table.field-list caption,.wy-table caption{color:#000;font:italic 85%/1 arial,sans-serif;padding:1em 0;text-align:center}.rst-content table.docutils td,.rst-content table.docutils th,.rst-content table.field-list td,.rst-content table.field-list th,.wy-table td,.wy-table th{font-size:90%;margin:0;overflow:visible;padding:8px 16px}.rst-content table.docutils td:first-child,.rst-content table.docutils th:first-child,.rst-content table.field-list td:first-child,.rst-content table.field-list th:first-child,.wy-table td:first-child,.wy-table th:first-child{border-left-width:0}.rst-content table.docutils thead,.rst-content table.field-list thead,.wy-table thead{color:#000;text-align:left;vertical-align:bottom;white-space:nowrap}.rst-content table.docutils thead th,.rst-content table.field-list thead th,.wy-table thead th{font-weight:700;border-bottom:2px solid #e1e4e5}.rst-content table.docutils td,.rst-content table.field-list td,.wy-table td{background-color:transparent;vertical-align:middle}.rst-content table.docutils td p,.rst-content table.field-list td p,.wy-table td p{line-height:18px}.rst-content table.docutils td p:last-child,.rst-content table.field-list td p:last-child,.wy-table td p:last-child{margin-bottom:0}.rst-content table.docutils .wy-table-cell-min,.rst-content table.field-list .wy-table-cell-min,.wy-table .wy-table-cell-min{width:1%;padding-right:0}.rst-content table.docutils .wy-table-cell-min input[type=checkbox],.rst-content table.field-list .wy-table-cell-min input[type=checkbox],.wy-table .wy-table-cell-min input[type=checkbox]{margin:0}.wy-table-secondary{color:grey;font-size:90%}.wy-table-tertiary{color:grey;font-size:80%}.rst-content table.docutils:not(.field-list) tr:nth-child(2n-1) td,.wy-table-backed,.wy-table-odd td,.wy-table-striped tr:nth-child(2n-1) td{background-color:#f3f6f6}.rst-content table.docutils,.wy-table-bordered-all{border:1px solid #e1e4e5}.rst-content table.docutils td,.wy-table-bordered-all td{border-bottom:1px solid #e1e4e5;border-left:1px solid #e1e4e5}.rst-content table.docutils tbody>tr:last-child td,.wy-table-bordered-all tbody>tr:last-child td{border-bottom-width:0}.wy-table-bordered{border:1px solid #e1e4e5}.wy-table-bordered-rows td{border-bottom:1px solid #e1e4e5}.wy-table-bordered-rows tbody>tr:last-child td{border-bottom-width:0}.wy-table-horizontal td,.wy-table-horizontal th{border-width:0 0 1px;border-bottom:1px solid #e1e4e5}.wy-table-horizontal tbody>tr:last-child td{border-bottom-width:0}.wy-table-responsive{margin-bottom:24px;max-width:100%;overflow:auto}.wy-table-responsive table{margin-bottom:0!important}.wy-table-responsive table td,.wy-table-responsive table th{white-space:nowrap}a{color:#2980b9;text-decoration:none;cursor:pointer}a:hover{color:#3091d1}a:visited{color:#9b59b6}html{height:100%}body,html{overflow-x:hidden}body{font-family:Lato,proxima-nova,Helvetica Neue,Arial,sans-serif;font-weight:400;color:#404040;min-height:100%;background:#edf0f2}.wy-text-left{text-align:left}.wy-text-center{text-align:center}.wy-text-right{text-align:right}.wy-text-large{font-size:120%}.wy-text-normal{font-size:100%}.wy-text-small,small{font-size:80%}.wy-text-strike{text-decoration:line-through}.wy-text-warning{color:#e67e22!important}a.wy-text-warning:hover{color:#eb9950!important}.wy-text-info{color:#2980b9!important}a.wy-text-info:hover{color:#409ad5!important}.wy-text-success{color:#27ae60!important}a.wy-text-success:hover{color:#36d278!important}.wy-text-danger{color:#e74c3c!important}a.wy-text-danger:hover{color:#ed7669!important}.wy-text-neutral{color:#404040!important}a.wy-text-neutral:hover{color:#595959!important}.rst-content .toctree-wrapper>p.caption,h1,h2,h3,h4,h5,h6,legend{margin-top:0;font-weight:700;font-family:Roboto Slab,ff-tisa-web-pro,Georgia,Arial,sans-serif}p{line-height:24px;font-size:16px;margin:0 0 24px}h1{font-size:175%}.rst-content .toctree-wrapper>p.caption,h2{font-size:150%}h3{font-size:125%}h4{font-size:115%}h5{font-size:110%}h6{font-size:100%}hr{display:block;height:1px;border:0;border-top:1px solid #e1e4e5;margin:24px 0;padding:0}.rst-content code,.rst-content tt,code{white-space:nowrap;max-width:100%;background:#fff;border:1px solid #e1e4e5;font-size:75%;padding:0 5px;font-family:SFMono-Regular,Menlo,Monaco,Consolas,Liberation Mono,Courier New,Courier,monospace;color:#e74c3c;overflow-x:auto}.rst-content tt.code-large,code.code-large{font-size:90%}.rst-content .section ul,.rst-content .toctree-wrapper ul,.rst-content section ul,.wy-plain-list-disc,article ul{list-style:disc;line-height:24px;margin-bottom:24px}.rst-content .section ul li,.rst-content .toctree-wrapper ul li,.rst-content section ul li,.wy-plain-list-disc li,article ul li{list-style:disc;margin-left:24px}.rst-content .section ul li p:last-child,.rst-content .section ul li ul,.rst-content .toctree-wrapper ul li p:last-child,.rst-content .toctree-wrapper ul li ul,.rst-content section ul li p:last-child,.rst-content section ul li ul,.wy-plain-list-disc li p:last-child,.wy-plain-list-disc li ul,article ul li p:last-child,article ul li ul{margin-bottom:0}.rst-content .section ul li li,.rst-content .toctree-wrapper ul li li,.rst-content section ul li li,.wy-plain-list-disc li li,article ul li li{list-style:circle}.rst-content .section ul li li li,.rst-content .toctree-wrapper ul li li li,.rst-content section ul li li li,.wy-plain-list-disc li li li,article ul li li li{list-style:square}.rst-content .section ul li ol li,.rst-content .toctree-wrapper ul li ol li,.rst-content section ul li ol li,.wy-plain-list-disc li ol li,article ul li ol li{list-style:decimal}.rst-content .section ol,.rst-content .section ol.arabic,.rst-content .toctree-wrapper ol,.rst-content .toctree-wrapper ol.arabic,.rst-content section ol,.rst-content section ol.arabic,.wy-plain-list-decimal,article ol{list-style:decimal;line-height:24px;margin-bottom:24px}.rst-content .section ol.arabic li,.rst-content .section ol li,.rst-content .toctree-wrapper ol.arabic li,.rst-content .toctree-wrapper ol li,.rst-content section ol.arabic li,.rst-content section ol li,.wy-plain-list-decimal li,article ol li{list-style:decimal;margin-left:24px}.rst-content .section ol.arabic li ul,.rst-content .section ol li p:last-child,.rst-content .section ol li ul,.rst-content .toctree-wrapper ol.arabic li ul,.rst-content .toctree-wrapper ol li p:last-child,.rst-content .toctree-wrapper ol li ul,.rst-content section ol.arabic li ul,.rst-content section ol li p:last-child,.rst-content section ol li ul,.wy-plain-list-decimal li p:last-child,.wy-plain-list-decimal li ul,article ol li p:last-child,article ol li ul{margin-bottom:0}.rst-content .section ol.arabic li ul li,.rst-content .section ol li ul li,.rst-content .toctree-wrapper ol.arabic li ul li,.rst-content .toctree-wrapper ol li ul li,.rst-content section ol.arabic li ul li,.rst-content section ol li ul li,.wy-plain-list-decimal li ul li,article ol li ul li{list-style:disc}.wy-breadcrumbs{*zoom:1}.wy-breadcrumbs:after,.wy-breadcrumbs:before{display:table;content:""}.wy-breadcrumbs:after{clear:both}.wy-breadcrumbs li{display:inline-block}.wy-breadcrumbs li.wy-breadcrumbs-aside{float:right}.wy-breadcrumbs li a{display:inline-block;padding:5px}.wy-breadcrumbs li a:first-child{padding-left:0}.rst-content .wy-breadcrumbs li tt,.wy-breadcrumbs li .rst-content tt,.wy-breadcrumbs li code{padding:5px;border:none;background:none}.rst-content .wy-breadcrumbs li tt.literal,.wy-breadcrumbs li .rst-content tt.literal,.wy-breadcrumbs li code.literal{color:#404040}.wy-breadcrumbs-extra{margin-bottom:0;color:#b3b3b3;font-size:80%;display:inline-block}@media screen and (max-width:480px){.wy-breadcrumbs-extra,.wy-breadcrumbs li.wy-breadcrumbs-aside{display:none}}@media print{.wy-breadcrumbs li.wy-breadcrumbs-aside{display:none}}html{font-size:16px}.wy-affix{position:fixed;top:1.618em}.wy-menu a:hover{text-decoration:none}.wy-menu-horiz{*zoom:1}.wy-menu-horiz:after,.wy-menu-horiz:before{display:table;content:""}.wy-menu-horiz:after{clear:both}.wy-menu-horiz li,.wy-menu-horiz ul{display:inline-block}.wy-menu-horiz li:hover{background:hsla(0,0%,100%,.1)}.wy-menu-horiz li.divide-left{border-left:1px solid #404040}.wy-menu-horiz li.divide-right{border-right:1px solid #404040}.wy-menu-horiz a{height:32px;display:inline-block;line-height:32px;padding:0 16px}.wy-menu-vertical{width:300px}.wy-menu-vertical header,.wy-menu-vertical p.caption{color:#55a5d9;height:32px;line-height:32px;padding:0 1.618em;margin:12px 0 0;display:block;font-weight:700;text-transform:uppercase;font-size:85%;white-space:nowrap}.wy-menu-vertical ul{margin-bottom:0}.wy-menu-vertical li.divide-top{border-top:1px solid #404040}.wy-menu-vertical li.divide-bottom{border-bottom:1px solid #404040}.wy-menu-vertical li.current{background:#e3e3e3}.wy-menu-vertical li.current a{color:grey;border-right:1px solid #c9c9c9;padding:.4045em 2.427em}.wy-menu-vertical li.current a:hover{background:#d6d6d6}.rst-content .wy-menu-vertical li tt,.wy-menu-vertical li .rst-content tt,.wy-menu-vertical li code{border:none;background:inherit;color:inherit;padding-left:0;padding-right:0}.wy-menu-vertical li button.toctree-expand{display:block;float:left;margin-left:-1.2em;line-height:18px;color:#4d4d4d;border:none;background:none;padding:0}.wy-menu-vertical li.current>a,.wy-menu-vertical li.on a{color:#404040;font-weight:700;position:relative;background:#fcfcfc;border:none;padding:.4045em 1.618em}.wy-menu-vertical li.current>a:hover,.wy-menu-vertical li.on a:hover{background:#fcfcfc}.wy-menu-vertical li.current>a:hover button.toctree-expand,.wy-menu-vertical li.on a:hover button.toctree-expand{color:grey}.wy-menu-vertical li.current>a button.toctree-expand,.wy-menu-vertical li.on a button.toctree-expand{display:block;line-height:18px;color:#333}.wy-menu-vertical li.toctree-l1.current>a{border-bottom:1px solid #c9c9c9;border-top:1px solid #c9c9c9}.wy-menu-vertical .toctree-l1.current .toctree-l2>ul,.wy-menu-vertical .toctree-l2.current .toctree-l3>ul,.wy-menu-vertical .toctree-l3.current .toctree-l4>ul,.wy-menu-vertical .toctree-l4.current .toctree-l5>ul,.wy-menu-vertical .toctree-l5.current .toctree-l6>ul,.wy-menu-vertical .toctree-l6.current .toctree-l7>ul,.wy-menu-vertical .toctree-l7.current .toctree-l8>ul,.wy-menu-vertical .toctree-l8.current .toctree-l9>ul,.wy-menu-vertical .toctree-l9.current .toctree-l10>ul,.wy-menu-vertical .toctree-l10.current .toctree-l11>ul{display:none}.wy-menu-vertical .toctree-l1.current .current.toctree-l2>ul,.wy-menu-vertical .toctree-l2.current .current.toctree-l3>ul,.wy-menu-vertical .toctree-l3.current .current.toctree-l4>ul,.wy-menu-vertical .toctree-l4.current .current.toctree-l5>ul,.wy-menu-vertical .toctree-l5.current .current.toctree-l6>ul,.wy-menu-vertical .toctree-l6.current .current.toctree-l7>ul,.wy-menu-vertical .toctree-l7.current .current.toctree-l8>ul,.wy-menu-vertical .toctree-l8.current .current.toctree-l9>ul,.wy-menu-vertical .toctree-l9.current .current.toctree-l10>ul,.wy-menu-vertical .toctree-l10.current .current.toctree-l11>ul{display:block}.wy-menu-vertical li.toctree-l3,.wy-menu-vertical li.toctree-l4{font-size:.9em}.wy-menu-vertical li.toctree-l2 a,.wy-menu-vertical li.toctree-l3 a,.wy-menu-vertical li.toctree-l4 a,.wy-menu-vertical li.toctree-l5 a,.wy-menu-vertical li.toctree-l6 a,.wy-menu-vertical li.toctree-l7 a,.wy-menu-vertical li.toctree-l8 a,.wy-menu-vertical li.toctree-l9 a,.wy-menu-vertical li.toctree-l10 a{color:#404040}.wy-menu-vertical li.toctree-l2 a:hover button.toctree-expand,.wy-menu-vertical li.toctree-l3 a:hover button.toctree-expand,.wy-menu-vertical li.toctree-l4 a:hover button.toctree-expand,.wy-menu-vertical li.toctree-l5 a:hover button.toctree-expand,.wy-menu-vertical li.toctree-l6 a:hover button.toctree-expand,.wy-menu-vertical li.toctree-l7 a:hover button.toctree-expand,.wy-menu-vertical li.toctree-l8 a:hover button.toctree-expand,.wy-menu-vertical li.toctree-l9 a:hover button.toctree-expand,.wy-menu-vertical li.toctree-l10 a:hover button.toctree-expand{color:grey}.wy-menu-vertical li.toctree-l2.current li.toctree-l3>a,.wy-menu-vertical li.toctree-l3.current li.toctree-l4>a,.wy-menu-vertical li.toctree-l4.current li.toctree-l5>a,.wy-menu-vertical li.toctree-l5.current li.toctree-l6>a,.wy-menu-vertical li.toctree-l6.current li.toctree-l7>a,.wy-menu-vertical li.toctree-l7.current li.toctree-l8>a,.wy-menu-vertical li.toctree-l8.current li.toctree-l9>a,.wy-menu-vertical li.toctree-l9.current li.toctree-l10>a,.wy-menu-vertical li.toctree-l10.current li.toctree-l11>a{display:block}.wy-menu-vertical li.toctree-l2.current>a{padding:.4045em 2.427em}.wy-menu-vertical li.toctree-l2.current li.toctree-l3>a{padding:.4045em 1.618em .4045em 4.045em}.wy-menu-vertical li.toctree-l3.current>a{padding:.4045em 4.045em}.wy-menu-vertical li.toctree-l3.current li.toctree-l4>a{padding:.4045em 1.618em .4045em 5.663em}.wy-menu-vertical li.toctree-l4.current>a{padding:.4045em 5.663em}.wy-menu-vertical li.toctree-l4.current li.toctree-l5>a{padding:.4045em 1.618em .4045em 7.281em}.wy-menu-vertical li.toctree-l5.current>a{padding:.4045em 7.281em}.wy-menu-vertical li.toctree-l5.current li.toctree-l6>a{padding:.4045em 1.618em .4045em 8.899em}.wy-menu-vertical li.toctree-l6.current>a{padding:.4045em 8.899em}.wy-menu-vertical li.toctree-l6.current li.toctree-l7>a{padding:.4045em 1.618em .4045em 10.517em}.wy-menu-vertical li.toctree-l7.current>a{padding:.4045em 10.517em}.wy-menu-vertical li.toctree-l7.current li.toctree-l8>a{padding:.4045em 1.618em .4045em 12.135em}.wy-menu-vertical li.toctree-l8.current>a{padding:.4045em 12.135em}.wy-menu-vertical li.toctree-l8.current li.toctree-l9>a{padding:.4045em 1.618em .4045em 13.753em}.wy-menu-vertical li.toctree-l9.current>a{padding:.4045em 13.753em}.wy-menu-vertical li.toctree-l9.current li.toctree-l10>a{padding:.4045em 1.618em .4045em 15.371em}.wy-menu-vertical li.toctree-l10.current>a{padding:.4045em 15.371em}.wy-menu-vertical li.toctree-l10.current li.toctree-l11>a{padding:.4045em 1.618em .4045em 16.989em}.wy-menu-vertical li.toctree-l2.current>a,.wy-menu-vertical li.toctree-l2.current li.toctree-l3>a{background:#c9c9c9}.wy-menu-vertical li.toctree-l2 button.toctree-expand{color:#a3a3a3}.wy-menu-vertical li.toctree-l3.current>a,.wy-menu-vertical li.toctree-l3.current li.toctree-l4>a{background:#bdbdbd}.wy-menu-vertical li.toctree-l3 button.toctree-expand{color:#969696}.wy-menu-vertical li.current ul{display:block}.wy-menu-vertical li ul{margin-bottom:0;display:none}.wy-menu-vertical li ul li a{margin-bottom:0;color:#d9d9d9;font-weight:400}.wy-menu-vertical a{line-height:18px;padding:.4045em 1.618em;display:block;position:relative;font-size:90%;color:#d9d9d9}.wy-menu-vertical a:hover{background-color:#4e4a4a;cursor:pointer}.wy-menu-vertical a:hover button.toctree-expand{color:#d9d9d9}.wy-menu-vertical a:active{background-color:#2980b9;cursor:pointer;color:#fff}.wy-menu-vertical a:active button.toctree-expand{color:#fff}.wy-side-nav-search{display:block;width:300px;padding:.809em;margin-bottom:.809em;z-index:200;background-color:#2980b9;text-align:center;color:#fcfcfc}.wy-side-nav-search input[type=text]{width:100%;border-radius:50px;padding:6px 12px;border-color:#2472a4}.wy-side-nav-search img{display:block;margin:auto auto .809em;height:45px;width:45px;background-color:#2980b9;padding:5px;border-radius:100%}.wy-side-nav-search .wy-dropdown>a,.wy-side-nav-search>a{color:#fcfcfc;font-size:100%;font-weight:700;display:inline-block;padding:4px 6px;margin-bottom:.809em;max-width:100%}.wy-side-nav-search .wy-dropdown>a:hover,.wy-side-nav-search>a:hover{background:hsla(0,0%,100%,.1)}.wy-side-nav-search .wy-dropdown>a img.logo,.wy-side-nav-search>a img.logo{display:block;margin:0 auto;height:auto;width:auto;border-radius:0;max-width:100%;background:transparent}.wy-side-nav-search .wy-dropdown>a.icon img.logo,.wy-side-nav-search>a.icon img.logo{margin-top:.85em}.wy-side-nav-search>div.version{margin-top:-.4045em;margin-bottom:.809em;font-weight:400;color:hsla(0,0%,100%,.3)}.wy-nav .wy-menu-vertical header{color:#2980b9}.wy-nav .wy-menu-vertical a{color:#b3b3b3}.wy-nav .wy-menu-vertical a:hover{background-color:#2980b9;color:#fff}[data-menu-wrap]{-webkit-transition:all .2s ease-in;-moz-transition:all .2s ease-in;transition:all .2s ease-in;position:absolute;opacity:1;width:100%;opacity:0}[data-menu-wrap].move-center{left:0;right:auto;opacity:1}[data-menu-wrap].move-left{right:auto;left:-100%;opacity:0}[data-menu-wrap].move-right{right:-100%;left:auto;opacity:0}.wy-body-for-nav{background:#fcfcfc}.wy-grid-for-nav{position:absolute;width:100%;height:100%}.wy-nav-side{position:fixed;top:0;bottom:0;left:0;padding-bottom:2em;width:300px;overflow-x:hidden;overflow-y:hidden;min-height:100%;color:#9b9b9b;background:#343131;z-index:200}.wy-side-scroll{width:320px;position:relative;overflow-x:hidden;overflow-y:scroll;height:100%}.wy-nav-top{display:none;background:#2980b9;color:#fff;padding:.4045em .809em;position:relative;line-height:50px;text-align:center;font-size:100%;*zoom:1}.wy-nav-top:after,.wy-nav-top:before{display:table;content:""}.wy-nav-top:after{clear:both}.wy-nav-top a{color:#fff;font-weight:700}.wy-nav-top img{margin-right:12px;height:45px;width:45px;background-color:#2980b9;padding:5px;border-radius:100%}.wy-nav-top i{font-size:30px;float:left;cursor:pointer;padding-top:inherit}.wy-nav-content-wrap{margin-left:300px;background:#fcfcfc;min-height:100%}.wy-nav-content{padding:1.618em 3.236em;height:100%;max-width:800px;margin:auto}.wy-body-mask{position:fixed;width:100%;height:100%;background:rgba(0,0,0,.2);display:none;z-index:499}.wy-body-mask.on{display:block}footer{color:grey}footer p{margin-bottom:12px}.rst-content footer span.commit tt,footer span.commit .rst-content tt,footer span.commit code{padding:0;font-family:SFMono-Regular,Menlo,Monaco,Consolas,Liberation Mono,Courier New,Courier,monospace;font-size:1em;background:none;border:none;color:grey}.rst-footer-buttons{*zoom:1}.rst-footer-buttons:after,.rst-footer-buttons:before{width:100%;display:table;content:""}.rst-footer-buttons:after{clear:both}.rst-breadcrumbs-buttons{margin-top:12px;*zoom:1}.rst-breadcrumbs-buttons:after,.rst-breadcrumbs-buttons:before{display:table;content:""}.rst-breadcrumbs-buttons:after{clear:both}#search-results .search li{margin-bottom:24px;border-bottom:1px solid #e1e4e5;padding-bottom:24px}#search-results .search li:first-child{border-top:1px solid #e1e4e5;padding-top:24px}#search-results .search li a{font-size:120%;margin-bottom:12px;display:inline-block}#search-results .context{color:grey;font-size:90%}.genindextable li>ul{margin-left:24px}@media screen and (max-width:768px){.wy-body-for-nav{background:#fcfcfc}.wy-nav-top{display:block}.wy-nav-side{left:-300px}.wy-nav-side.shift{width:85%;left:0}.wy-menu.wy-menu-vertical,.wy-side-nav-search,.wy-side-scroll{width:auto}.wy-nav-content-wrap{margin-left:0}.wy-nav-content-wrap .wy-nav-content{padding:1.618em}.wy-nav-content-wrap.shift{position:fixed;min-width:100%;left:85%;top:0;height:100%;overflow:hidden}}@media screen and (min-width:1100px){.wy-nav-content-wrap{background:rgba(0,0,0,.05)}.wy-nav-content{margin:0;background:#fcfcfc}}@media print{.rst-versions,.wy-nav-side,footer{display:none}.wy-nav-content-wrap{margin-left:0}}.rst-versions{position:fixed;bottom:0;left:0;width:300px;color:#fcfcfc;background:#1f1d1d;font-family:Lato,proxima-nova,Helvetica Neue,Arial,sans-serif;z-index:400}.rst-versions a{color:#2980b9;text-decoration:none}.rst-versions .rst-badge-small{display:none}.rst-versions .rst-current-version{padding:12px;background-color:#272525;display:block;text-align:right;font-size:90%;cursor:pointer;color:#27ae60;*zoom:1}.rst-versions .rst-current-version:after,.rst-versions .rst-current-version:before{display:table;content:""}.rst-versions .rst-current-version:after{clear:both}.rst-content .code-block-caption .rst-versions .rst-current-version .headerlink,.rst-content .eqno .rst-versions .rst-current-version .headerlink,.rst-content .rst-versions .rst-current-version .admonition-title,.rst-content code.download .rst-versions .rst-current-version span:first-child,.rst-content dl dt .rst-versions .rst-current-version .headerlink,.rst-content h1 .rst-versions .rst-current-version .headerlink,.rst-content h2 .rst-versions .rst-current-version .headerlink,.rst-content h3 .rst-versions .rst-current-version .headerlink,.rst-content h4 .rst-versions .rst-current-version .headerlink,.rst-content h5 .rst-versions .rst-current-version .headerlink,.rst-content h6 .rst-versions .rst-current-version .headerlink,.rst-content p .rst-versions .rst-current-version .headerlink,.rst-content table>caption .rst-versions .rst-current-version .headerlink,.rst-content tt.download .rst-versions .rst-current-version span:first-child,.rst-versions .rst-current-version .fa,.rst-versions .rst-current-version .icon,.rst-versions .rst-current-version .rst-content .admonition-title,.rst-versions .rst-current-version .rst-content .code-block-caption .headerlink,.rst-versions .rst-current-version .rst-content .eqno .headerlink,.rst-versions .rst-current-version .rst-content code.download span:first-child,.rst-versions .rst-current-version .rst-content dl dt .headerlink,.rst-versions .rst-current-version .rst-content h1 .headerlink,.rst-versions .rst-current-version .rst-content h2 .headerlink,.rst-versions .rst-current-version .rst-content h3 .headerlink,.rst-versions .rst-current-version .rst-content h4 .headerlink,.rst-versions .rst-current-version .rst-content h5 .headerlink,.rst-versions .rst-current-version .rst-content h6 .headerlink,.rst-versions .rst-current-version .rst-content p .headerlink,.rst-versions .rst-current-version .rst-content table>caption .headerlink,.rst-versions .rst-current-version .rst-content tt.download span:first-child,.rst-versions .rst-current-version .wy-menu-vertical li button.toctree-expand,.wy-menu-vertical li .rst-versions .rst-current-version button.toctree-expand{color:#fcfcfc}.rst-versions .rst-current-version .fa-book,.rst-versions .rst-current-version .icon-book{float:left}.rst-versions .rst-current-version.rst-out-of-date{background-color:#e74c3c;color:#fff}.rst-versions .rst-current-version.rst-active-old-version{background-color:#f1c40f;color:#000}.rst-versions.shift-up{height:auto;max-height:100%;overflow-y:scroll}.rst-versions.shift-up .rst-other-versions{display:block}.rst-versions .rst-other-versions{font-size:90%;padding:12px;color:grey;display:none}.rst-versions .rst-other-versions hr{display:block;height:1px;border:0;margin:20px 0;padding:0;border-top:1px solid #413d3d}.rst-versions .rst-other-versions dd{display:inline-block;margin:0}.rst-versions .rst-other-versions dd a{display:inline-block;padding:6px;color:#fcfcfc}.rst-versions.rst-badge{width:auto;bottom:20px;right:20px;left:auto;border:none;max-width:300px;max-height:90%}.rst-versions.rst-badge .fa-book,.rst-versions.rst-badge .icon-book{float:none;line-height:30px}.rst-versions.rst-badge.shift-up .rst-current-version{text-align:right}.rst-versions.rst-badge.shift-up .rst-current-version .fa-book,.rst-versions.rst-badge.shift-up .rst-current-version .icon-book{float:left}.rst-versions.rst-badge>.rst-current-version{width:auto;height:30px;line-height:30px;padding:0 6px;display:block;text-align:center}@media screen and (max-width:768px){.rst-versions{width:85%;display:none}.rst-versions.shift{display:block}}.rst-content .toctree-wrapper>p.caption,.rst-content h1,.rst-content h2,.rst-content h3,.rst-content h4,.rst-content h5,.rst-content h6{margin-bottom:24px}.rst-content img{max-width:100%;height:auto}.rst-content div.figure,.rst-content figure{margin-bottom:24px}.rst-content div.figure .caption-text,.rst-content figure .caption-text{font-style:italic}.rst-content div.figure p:last-child.caption,.rst-content figure p:last-child.caption{margin-bottom:0}.rst-content div.figure.align-center,.rst-content figure.align-center{text-align:center}.rst-content .section>a>img,.rst-content .section>img,.rst-content section>a>img,.rst-content section>img{margin-bottom:24px}.rst-content abbr[title]{text-decoration:none}.rst-content.style-external-links a.reference.external:after{font-family:FontAwesome;content:"\f08e";color:#b3b3b3;vertical-align:super;font-size:60%;margin:0 .2em}.rst-content blockquote{margin-left:24px;line-height:24px;margin-bottom:24px}.rst-content pre.literal-block{white-space:pre;margin:0;padding:12px;font-family:SFMono-Regular,Menlo,Monaco,Consolas,Liberation Mono,Courier New,Courier,monospace;display:block;overflow:auto}.rst-content div[class^=highlight],.rst-content pre.literal-block{border:1px solid #e1e4e5;overflow-x:auto;margin:1px 0 24px}.rst-content div[class^=highlight] div[class^=highlight],.rst-content pre.literal-block div[class^=highlight]{padding:0;border:none;margin:0}.rst-content div[class^=highlight] td.code{width:100%}.rst-content .linenodiv pre{border-right:1px solid #e6e9ea;margin:0;padding:12px;font-family:SFMono-Regular,Menlo,Monaco,Consolas,Liberation Mono,Courier New,Courier,monospace;user-select:none;pointer-events:none}.rst-content div[class^=highlight] pre{white-space:pre;margin:0;padding:12px;display:block;overflow:auto}.rst-content div[class^=highlight] pre .hll{display:block;margin:0 -12px;padding:0 12px}.rst-content .linenodiv pre,.rst-content div[class^=highlight] pre,.rst-content pre.literal-block{font-family:SFMono-Regular,Menlo,Monaco,Consolas,Liberation Mono,Courier New,Courier,monospace;font-size:12px;line-height:1.4}.rst-content div.highlight .gp,.rst-content div.highlight span.linenos{user-select:none;pointer-events:none}.rst-content div.highlight span.linenos{display:inline-block;padding-left:0;padding-right:12px;margin-right:12px;border-right:1px solid #e6e9ea}.rst-content .code-block-caption{font-style:italic;font-size:85%;line-height:1;padding:1em 0;text-align:center}@media print{.rst-content .codeblock,.rst-content div[class^=highlight],.rst-content div[class^=highlight] pre{white-space:pre-wrap}}.rst-content .admonition,.rst-content .admonition-todo,.rst-content .attention,.rst-content .caution,.rst-content .danger,.rst-content .error,.rst-content .hint,.rst-content .important,.rst-content .note,.rst-content .seealso,.rst-content .tip,.rst-content .warning{clear:both}.rst-content .admonition-todo .last,.rst-content .admonition-todo>:last-child,.rst-content .admonition .last,.rst-content .admonition>:last-child,.rst-content .attention .last,.rst-content .attention>:last-child,.rst-content .caution .last,.rst-content .caution>:last-child,.rst-content .danger .last,.rst-content .danger>:last-child,.rst-content .error .last,.rst-content .error>:last-child,.rst-content .hint .last,.rst-content .hint>:last-child,.rst-content .important .last,.rst-content .important>:last-child,.rst-content .note .last,.rst-content .note>:last-child,.rst-content .seealso .last,.rst-content .seealso>:last-child,.rst-content .tip .last,.rst-content .tip>:last-child,.rst-content .warning .last,.rst-content .warning>:last-child{margin-bottom:0}.rst-content .admonition-title:before{margin-right:4px}.rst-content .admonition table{border-color:rgba(0,0,0,.1)}.rst-content .admonition table td,.rst-content .admonition table th{background:transparent!important;border-color:rgba(0,0,0,.1)!important}.rst-content .section ol.loweralpha,.rst-content .section ol.loweralpha>li,.rst-content .toctree-wrapper ol.loweralpha,.rst-content .toctree-wrapper ol.loweralpha>li,.rst-content section ol.loweralpha,.rst-content section ol.loweralpha>li{list-style:lower-alpha}.rst-content .section ol.upperalpha,.rst-content .section ol.upperalpha>li,.rst-content .toctree-wrapper ol.upperalpha,.rst-content .toctree-wrapper ol.upperalpha>li,.rst-content section ol.upperalpha,.rst-content section ol.upperalpha>li{list-style:upper-alpha}.rst-content .section ol li>*,.rst-content .section ul li>*,.rst-content .toctree-wrapper ol li>*,.rst-content .toctree-wrapper ul li>*,.rst-content section ol li>*,.rst-content section ul li>*{margin-top:12px;margin-bottom:12px}.rst-content .section ol li>:first-child,.rst-content .section ul li>:first-child,.rst-content .toctree-wrapper ol li>:first-child,.rst-content .toctree-wrapper ul li>:first-child,.rst-content section ol li>:first-child,.rst-content section ul li>:first-child{margin-top:0}.rst-content .section ol li>p,.rst-content .section ol li>p:last-child,.rst-content .section ul li>p,.rst-content .section ul li>p:last-child,.rst-content .toctree-wrapper ol li>p,.rst-content .toctree-wrapper ol li>p:last-child,.rst-content .toctree-wrapper ul li>p,.rst-content .toctree-wrapper ul li>p:last-child,.rst-content section ol li>p,.rst-content section ol li>p:last-child,.rst-content section ul li>p,.rst-content section ul li>p:last-child{margin-bottom:12px}.rst-content .section ol li>p:only-child,.rst-content .section ol li>p:only-child:last-child,.rst-content .section ul li>p:only-child,.rst-content .section ul li>p:only-child:last-child,.rst-content .toctree-wrapper ol li>p:only-child,.rst-content .toctree-wrapper ol li>p:only-child:last-child,.rst-content .toctree-wrapper ul li>p:only-child,.rst-content .toctree-wrapper ul li>p:only-child:last-child,.rst-content section ol li>p:only-child,.rst-content section ol li>p:only-child:last-child,.rst-content section ul li>p:only-child,.rst-content section ul li>p:only-child:last-child{margin-bottom:0}.rst-content .section ol li>ol,.rst-content .section ol li>ul,.rst-content .section ul li>ol,.rst-content .section ul li>ul,.rst-content .toctree-wrapper ol li>ol,.rst-content .toctree-wrapper ol li>ul,.rst-content .toctree-wrapper ul li>ol,.rst-content .toctree-wrapper ul li>ul,.rst-content section ol li>ol,.rst-content section ol li>ul,.rst-content section ul li>ol,.rst-content section ul li>ul{margin-bottom:12px}.rst-content .section ol.simple li>*,.rst-content .section ol.simple li ol,.rst-content .section ol.simple li ul,.rst-content .section ul.simple li>*,.rst-content .section ul.simple li ol,.rst-content .section ul.simple li ul,.rst-content .toctree-wrapper ol.simple li>*,.rst-content .toctree-wrapper ol.simple li ol,.rst-content .toctree-wrapper ol.simple li ul,.rst-content .toctree-wrapper ul.simple li>*,.rst-content .toctree-wrapper ul.simple li ol,.rst-content .toctree-wrapper ul.simple li ul,.rst-content section ol.simple li>*,.rst-content section ol.simple li ol,.rst-content section ol.simple li ul,.rst-content section ul.simple li>*,.rst-content section ul.simple li ol,.rst-content section ul.simple li ul{margin-top:0;margin-bottom:0}.rst-content .line-block{margin-left:0;margin-bottom:24px;line-height:24px}.rst-content .line-block .line-block{margin-left:24px;margin-bottom:0}.rst-content .topic-title{font-weight:700;margin-bottom:12px}.rst-content .toc-backref{color:#404040}.rst-content .align-right{float:right;margin:0 0 24px 24px}.rst-content .align-left{float:left;margin:0 24px 24px 0}.rst-content .align-center{margin:auto}.rst-content .align-center:not(table){display:block}.rst-content .code-block-caption .headerlink,.rst-content .eqno .headerlink,.rst-content .toctree-wrapper>p.caption .headerlink,.rst-content dl dt .headerlink,.rst-content h1 .headerlink,.rst-content h2 .headerlink,.rst-content h3 .headerlink,.rst-content h4 .headerlink,.rst-content h5 .headerlink,.rst-content h6 .headerlink,.rst-content p.caption .headerlink,.rst-content p .headerlink,.rst-content table>caption .headerlink{opacity:0;font-size:14px;font-family:FontAwesome;margin-left:.5em}.rst-content .code-block-caption .headerlink:focus,.rst-content .code-block-caption:hover .headerlink,.rst-content .eqno .headerlink:focus,.rst-content .eqno:hover .headerlink,.rst-content .toctree-wrapper>p.caption .headerlink:focus,.rst-content .toctree-wrapper>p.caption:hover .headerlink,.rst-content dl dt .headerlink:focus,.rst-content dl dt:hover .headerlink,.rst-content h1 .headerlink:focus,.rst-content h1:hover .headerlink,.rst-content h2 .headerlink:focus,.rst-content h2:hover .headerlink,.rst-content h3 .headerlink:focus,.rst-content h3:hover .headerlink,.rst-content h4 .headerlink:focus,.rst-content h4:hover .headerlink,.rst-content h5 .headerlink:focus,.rst-content h5:hover .headerlink,.rst-content h6 .headerlink:focus,.rst-content h6:hover .headerlink,.rst-content p.caption .headerlink:focus,.rst-content p.caption:hover .headerlink,.rst-content p .headerlink:focus,.rst-content p:hover .headerlink,.rst-content table>caption .headerlink:focus,.rst-content table>caption:hover .headerlink{opacity:1}.rst-content .btn:focus{outline:2px solid}.rst-content table>caption .headerlink:after{font-size:12px}.rst-content .centered{text-align:center}.rst-content .sidebar{float:right;width:40%;display:block;margin:0 0 24px 24px;padding:24px;background:#f3f6f6;border:1px solid #e1e4e5}.rst-content .sidebar dl,.rst-content .sidebar p,.rst-content .sidebar ul{font-size:90%}.rst-content .sidebar .last,.rst-content .sidebar>:last-child{margin-bottom:0}.rst-content .sidebar .sidebar-title{display:block;font-family:Roboto Slab,ff-tisa-web-pro,Georgia,Arial,sans-serif;font-weight:700;background:#e1e4e5;padding:6px 12px;margin:-24px -24px 24px;font-size:100%}.rst-content .highlighted{background:#f1c40f;box-shadow:0 0 0 2px #f1c40f;display:inline;font-weight:700}.rst-content .citation-reference,.rst-content .footnote-reference{vertical-align:baseline;position:relative;top:-.4em;line-height:0;font-size:90%}.rst-content .hlist{width:100%}.rst-content dl dt span.classifier:before{content:" : "}.rst-content dl dt span.classifier-delimiter{display:none!important}html.writer-html4 .rst-content table.docutils.citation,html.writer-html4 .rst-content table.docutils.footnote{background:none;border:none}html.writer-html4 .rst-content table.docutils.citation td,html.writer-html4 .rst-content table.docutils.citation tr,html.writer-html4 .rst-content table.docutils.footnote td,html.writer-html4 .rst-content table.docutils.footnote tr{border:none;background-color:transparent!important;white-space:normal}html.writer-html4 .rst-content table.docutils.citation td.label,html.writer-html4 .rst-content table.docutils.footnote td.label{padding-left:0;padding-right:0;vertical-align:top}html.writer-html5 .rst-content dl.field-list,html.writer-html5 .rst-content dl.footnote{display:grid;grid-template-columns:max-content auto}html.writer-html5 .rst-content dl.field-list>dt,html.writer-html5 .rst-content dl.footnote>dt{padding-left:1rem}html.writer-html5 .rst-content dl.field-list>dt:after,html.writer-html5 .rst-content dl.footnote>dt:after{content:":"}html.writer-html5 .rst-content dl.field-list>dd,html.writer-html5 .rst-content dl.field-list>dt,html.writer-html5 .rst-content dl.footnote>dd,html.writer-html5 .rst-content dl.footnote>dt{margin-bottom:0}html.writer-html5 .rst-content dl.footnote{font-size:.9rem}html.writer-html5 .rst-content dl.footnote>dt{margin:0 .5rem .5rem 0;line-height:1.2rem;word-break:break-all;font-weight:400}html.writer-html5 .rst-content dl.footnote>dt>span.brackets{margin-right:.5rem}html.writer-html5 .rst-content dl.footnote>dt>span.brackets:before{content:"["}html.writer-html5 .rst-content dl.footnote>dt>span.brackets:after{content:"]"}html.writer-html5 .rst-content dl.footnote>dt>span.fn-backref{font-style:italic}html.writer-html5 .rst-content dl.footnote>dd{margin:0 0 .5rem;line-height:1.2rem}html.writer-html5 .rst-content dl.footnote>dd p,html.writer-html5 .rst-content dl.option-list kbd{font-size:.9rem}.rst-content table.docutils.footnote,html.writer-html4 .rst-content table.docutils.citation,html.writer-html5 .rst-content dl.footnote{color:grey}.rst-content table.docutils.footnote code,.rst-content table.docutils.footnote tt,html.writer-html4 .rst-content table.docutils.citation code,html.writer-html4 .rst-content table.docutils.citation tt,html.writer-html5 .rst-content dl.footnote code,html.writer-html5 .rst-content dl.footnote tt{color:#555}.rst-content .wy-table-responsive.citation,.rst-content .wy-table-responsive.footnote{margin-bottom:0}.rst-content .wy-table-responsive.citation+:not(.citation),.rst-content .wy-table-responsive.footnote+:not(.footnote){margin-top:24px}.rst-content .wy-table-responsive.citation:last-child,.rst-content .wy-table-responsive.footnote:last-child{margin-bottom:24px}.rst-content table.docutils th{border-color:#e1e4e5}html.writer-html5 .rst-content table.docutils th{border:1px solid #e1e4e5}html.writer-html5 .rst-content table.docutils td>p,html.writer-html5 .rst-content table.docutils th>p{line-height:1rem;margin-bottom:0;font-size:.9rem}.rst-content table.docutils td .last,.rst-content table.docutils td .last>:last-child{margin-bottom:0}.rst-content table.field-list,.rst-content table.field-list td{border:none}.rst-content table.field-list td p{font-size:inherit;line-height:inherit}.rst-content table.field-list td>strong{display:inline-block}.rst-content table.field-list .field-name{padding-right:10px;text-align:left;white-space:nowrap}.rst-content table.field-list .field-body{text-align:left}.rst-content code,.rst-content tt{color:#000;font-family:SFMono-Regular,Menlo,Monaco,Consolas,Liberation Mono,Courier New,Courier,monospace;padding:2px 5px}.rst-content code big,.rst-content code em,.rst-content tt big,.rst-content tt em{font-size:100%!important;line-height:normal}.rst-content code.literal,.rst-content tt.literal{color:#e74c3c;white-space:normal}.rst-content code.xref,.rst-content tt.xref,a .rst-content code,a .rst-content tt{font-weight:700;color:#404040}.rst-content kbd,.rst-content pre,.rst-content samp{font-family:SFMono-Regular,Menlo,Monaco,Consolas,Liberation Mono,Courier New,Courier,monospace}.rst-content a code,.rst-content a tt{color:#2980b9}.rst-content dl{margin-bottom:24px}.rst-content dl dt{font-weight:700;margin-bottom:12px}.rst-content dl ol,.rst-content dl p,.rst-content dl table,.rst-content dl ul{margin-bottom:12px}.rst-content dl dd{margin:0 0 12px 24px;line-height:24px}html.writer-html4 .rst-content dl:not(.docutils),html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple){margin-bottom:24px}html.writer-html4 .rst-content dl:not(.docutils)>dt,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple)>dt{display:table;margin:6px 0;font-size:90%;line-height:normal;background:#e7f2fa;color:#2980b9;border-top:3px solid #6ab0de;padding:6px;position:relative}html.writer-html4 .rst-content dl:not(.docutils)>dt:before,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple)>dt:before{color:#6ab0de}html.writer-html4 .rst-content dl:not(.docutils)>dt .headerlink,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple)>dt .headerlink{color:#404040;font-size:100%!important}html.writer-html4 .rst-content dl:not(.docutils) dl:not(.field-list)>dt,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple) dl:not(.field-list)>dt{margin-bottom:6px;border:none;border-left:3px solid #ccc;background:#f0f0f0;color:#555}html.writer-html4 .rst-content dl:not(.docutils) dl:not(.field-list)>dt .headerlink,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple) dl:not(.field-list)>dt .headerlink{color:#404040;font-size:100%!important}html.writer-html4 .rst-content dl:not(.docutils)>dt:first-child,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple)>dt:first-child{margin-top:0}html.writer-html4 .rst-content dl:not(.docutils) code.descclassname,html.writer-html4 .rst-content dl:not(.docutils) code.descname,html.writer-html4 .rst-content dl:not(.docutils) tt.descclassname,html.writer-html4 .rst-content dl:not(.docutils) tt.descname,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple) code.descclassname,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple) code.descname,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple) tt.descclassname,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple) tt.descname{background-color:transparent;border:none;padding:0;font-size:100%!important}html.writer-html4 .rst-content dl:not(.docutils) code.descname,html.writer-html4 .rst-content dl:not(.docutils) tt.descname,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple) code.descname,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple) tt.descname{font-weight:700}html.writer-html4 .rst-content dl:not(.docutils) .optional,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple) .optional{display:inline-block;padding:0 4px;color:#000;font-weight:700}html.writer-html4 .rst-content dl:not(.docutils) .property,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple) .property{display:inline-block;padding-right:8px;max-width:100%}html.writer-html4 .rst-content dl:not(.docutils) .k,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple) .k{font-style:italic}html.writer-html4 .rst-content dl:not(.docutils) .descclassname,html.writer-html4 .rst-content dl:not(.docutils) .descname,html.writer-html4 .rst-content dl:not(.docutils) .sig-name,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple) .descclassname,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple) .descname,html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple) .sig-name{font-family:SFMono-Regular,Menlo,Monaco,Consolas,Liberation Mono,Courier New,Courier,monospace;color:#000}.rst-content .viewcode-back,.rst-content .viewcode-link{display:inline-block;color:#27ae60;font-size:80%;padding-left:24px}.rst-content .viewcode-back{display:block;float:right}.rst-content p.rubric{margin-bottom:12px;font-weight:700}.rst-content code.download,.rst-content tt.download{background:inherit;padding:inherit;font-weight:400;font-family:inherit;font-size:inherit;color:inherit;border:inherit;white-space:inherit}.rst-content code.download span:first-child,.rst-content tt.download span:first-child{-webkit-font-smoothing:subpixel-antialiased}.rst-content code.download span:first-child:before,.rst-content tt.download span:first-child:before{margin-right:4px}.rst-content .guilabel{border:1px solid #7fbbe3;background:#e7f2fa;font-size:80%;font-weight:700;border-radius:4px;padding:2.4px 6px;margin:auto 2px}.rst-content .versionmodified{font-style:italic}@media screen and (max-width:480px){.rst-content .sidebar{width:100%}}span[id*=MathJax-Span]{color:#404040}.math{text-align:center}@font-face{font-family:Lato;src:url(fonts/lato-normal.woff2?bd03a2cc277bbbc338d464e679fe9942) format("woff2"),url(fonts/lato-normal.woff?27bd77b9162d388cb8d4c4217c7c5e2a) format("woff");font-weight:400;font-style:normal;font-display:block}@font-face{font-family:Lato;src:url(fonts/lato-bold.woff2?cccb897485813c7c256901dbca54ecf2) format("woff2"),url(fonts/lato-bold.woff?d878b6c29b10beca227e9eef4246111b) format("woff");font-weight:700;font-style:normal;font-display:block}@font-face{font-family:Lato;src:url(fonts/lato-bold-italic.woff2?0b6bb6725576b072c5d0b02ecdd1900d) format("woff2"),url(fonts/lato-bold-italic.woff?9c7e4e9eb485b4a121c760e61bc3707c) format("woff");font-weight:700;font-style:italic;font-display:block}@font-face{font-family:Lato;src:url(fonts/lato-normal-italic.woff2?4eb103b4d12be57cb1d040ed5e162e9d) format("woff2"),url(fonts/lato-normal-italic.woff?f28f2d6482446544ef1ea1ccc6dd5892) format("woff");font-weight:400;font-style:italic;font-display:block}@font-face{font-family:Roboto Slab;font-style:normal;font-weight:400;src:url(fonts/Roboto-Slab-Regular.woff2?7abf5b8d04d26a2cafea937019bca958) format("woff2"),url(fonts/Roboto-Slab-Regular.woff?c1be9284088d487c5e3ff0a10a92e58c) format("woff");font-display:block}@font-face{font-family:Roboto Slab;font-style:normal;font-weight:700;src:url(fonts/Roboto-Slab-Bold.woff2?9984f4a9bda09be08e83f2506954adbe) format("woff2"),url(fonts/Roboto-Slab-Bold.woff?bed5564a116b05148e3b3bea6fb1162a) format("woff");font-display:block} \ No newline at end of file diff --git a/docs/_static/doctools.js b/docs/_static/doctools.js new file mode 100644 index 0000000..8cbf1b1 --- /dev/null +++ b/docs/_static/doctools.js @@ -0,0 +1,323 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for all documentation. + * + * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + if (DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) { + this.initOnKeyListeners(); + } + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON' && !event.altKey && !event.ctrlKey && !event.metaKey + && !event.shiftKey) { + switch (event.keyCode) { + case 37: // left + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 39: // right + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/docs/_static/documentation_options.js b/docs/_static/documentation_options.js new file mode 100644 index 0000000..25eaf45 --- /dev/null +++ b/docs/_static/documentation_options.js @@ -0,0 +1,12 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '0.5.0', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false +}; \ No newline at end of file diff --git a/docs/_static/file.png b/docs/_static/file.png new file mode 100644 index 0000000..a858a41 Binary files /dev/null and b/docs/_static/file.png differ diff --git a/docs/_static/jquery-3.5.1.js b/docs/_static/jquery-3.5.1.js new file mode 100644 index 0000000..5093733 --- /dev/null +++ b/docs/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Backlog of changes

+
+

Documentation

+
    +

  • Updates over OTA (from PC)

    • +

  • Write contribution instructions

    • +
+
+
+

Code

+
    +

  • Support for MQTT

    • +

  • Support for plato

    • +

  • Use pre-commit for validating check-in

    • +

  • Automatic builds via github actions

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/compiling.html b/docs/compiling.html new file mode 100644 index 0000000..51e526e --- /dev/null +++ b/docs/compiling.html @@ -0,0 +1,258 @@ + + + + + + + Compiling the software — GravityMon 0.5.0 documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Compiling the software

+
+

Tools

+

I use the following tools in order to build and manage the software:

+
    +

  • Visual Studio Code

    • +

  • PlatformIO

    • +

  • Git for Windows

    • +

  • VSCode plugin: Minify (used to minimise the html files)

    • +
+
+
+

Code Formatting

+

I use pre-commit and their cpp style checks to validate the code. Plugin defintions are found in .pre-commit-config.yaml

+

https://www.pre-commit.com

+
+

Note

+

There is not yet any automatic checks since this does not work on Windows. It works if running under WSL2 with Ubuntu.

+
+
+
+

Targets

+

In the repository there are 3 targets defined

+
    +

  • gravity-debug; Maximum logging for trouble shooting, deep sleep is disabled.

    • +

  • gravity-release; Standard release

    • +

  • gravity-perf; Standard release but contains code for measuring performance

    • +
+
+
+

Source structure

+ + ++++ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Directory structure

path

content

/bin

Contains compiled binaries

/data

Directory for flashing device filesystem

/doc

Various external documents used as input

/docs

Folder published to github pages

/html

Source for html files

/img

Images uses in README.md

/lib

External libraries used when compiling

/script

Scripts used in build process

/src

Source code for software

/src_docs

Source code for documentation

/stl

3d models

/test

Test data for developing html files

+
+
+

Options

+

This is a list of C++ defines that is used to enable/disable functions in the code.

+ + ++++ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Defines

define

description

ACTIVATE_OTA

Enables the OTA functionallity in the code

USE_GYRO_TEMP

Uses temperature from gyro instead of DS18B20 (experimental)

SKIP_SLEEPMODE

THe device never goes into sleep mode, useful when developing.

CFG_DISABLE_LOGGING

Done include verbose logging in Config class. Excessive logging may crash device.

GYRO_DISABLE_LOGGING

Done include verbose logging in Gyro class. Excessive logging may crash device.

PUSH_DISABLE_LOGGING

Done include verbose logging in PushTarget class. Excessive logging may crash device.

TSEN_DISABLE_LOGGING

Done include verbose logging in TempSensor class. Excessive logging may crash device.

WEB_DISABLE_LOGGING

Done include verbose logging in WebServer class. Excessive logging may crash device.

MAIN_DISABLE_LOGGING

Done include verbose logging in Main class. Excessive logging may crash device.

USE_LITTLEFS

Use the new filesystem in Ardurino

EMBED_HTML

Html files are included in code, if not defined they are served from the file system.

USER_SSID

If defined the device will always use this SSID

USER_SSID_PWD

Password to the SSID

CFG_APPVER

Defines the version of the compiled software

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/configuration.html b/docs/configuration.html new file mode 100644 index 0000000..cf471bb --- /dev/null +++ b/docs/configuration.html @@ -0,0 +1,569 @@ + + + + + + + Configuration — GravityMon 0.5.0 documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configuration

+

The device can operate in two modes and must be in configuration mode in order for the web server to be active.

+

One of the following conditions will place the device in configuration mode:

+
    +

  • Gyro has not been calibrated

    • +

  • Sleep mode has been disabled in the web interface

    • +

  • Placed in horizontal mode 85-90 degrees

    • +

  • Charger connected >4.15V

    • +
+
+

Status

+

URL: (http://gravmon.local)

+Index page +

Configuration is accessed by entering the URL for the device, this will be the mDNS name device.local or the IP adress. The following chapter assumes the device name is gravmon.

+

The main page shows the device readings; gravity, angle, temperature and battery charge. If the checkbox is active then the device will never go into sleep mode. This is useful if +you are collecting angle/tilt for calibration. If this is unchecked the device will change mode as explained before.

+
+

Note

+

If you are connected to the device via a serial console (speed: 115200) you can see the connection sequence and get the Unique ID and IP adress from there.

+
+
+
+

Device

+

URL: (http://gravmon.local/device)

+Device Settings +
    +

  • Version:

    +
    +

    Installed version of the code and html files.

    +
    +
    • +

  • Device name:

    +
    +

    This is unique name of the device.

    +
    +
    • +

  • Device ID:

    +
    +

    This is unique identifier for the device (ESP8266 id), this is required when using the API as an API Key to safeguard against faulty requests.

    +
    +
    • +
+
+
+

Configuration

+

URL: (http://gravmon.local/config)

+
+

Device Setting

+Device Settings +
    +

  • Device name:

    +
    +

    This is unique name for the device. It will be used in pushing data as well as mDNS name on the network (<name>.local)

    +
    +
    • +

  • Temperature format:

    +
    +

    Choose between Celsius and Farenheight

    +
    +
    • +

  • Interval:

    +
    +

    This defines how long the device should be sleeping between the readings when in gravity monitoring mode. You will also see the values in minutes/seconds to easier set the interval. 900s is a recommended interval.

    +
    +
    • +
+
+

Note

+

The sleep interval can be set between 10 - 3600 seconds (60 minutes).

+
+
    +

  • Calibration values:

    +
    +

    These are calibration data for the gyro. Place the device flat on a table and press the button to save the default orientation values. Without this calibration we cannot calculate the correct angle/tilt.

    +
    +
    • +
+
+

Note

+

The device will not go into gravity monitoring mode unless calibrated

+
+
+
+

Push Settings

+Push Settings +
    +

  • HTTP URL 1:

    +
    +

    Endpoint to send data via http. Format used is standard iSpindle format (see format section).

    +
    +
    • +

  • HTTP URL 2:

    +
    +

    Endpoint to send data via http. Format used is standard iSpindle format (see format section).

    +
    +
    • +

  • Brewfather URL:

    +
    +

    Endpoint to send data via http to brewfather. Format used is defined by brewfather (see format section).

    +
    +
    • +

  • Influx DB v2 URL:

    +
    +

    Endpoint to send data via http to InfluxDB. For format (see format section).

    +
    +
    • +

  • Influx DB v2 Organisation:

    +
    +

    Name of organisation in Influx.

    +
    +
    • +

  • Influx DB v2 Bucket:

    +
    +

    Identifier for bucket.

    +
    +
    • +

  • Influx DB v2 Token:

    +
    +

    Token with write access to bucket.

    +
    +
    • +
+
+
+

Gravity Settings

+Gravity Settings +
    +

  • Gravity formula:

    +
    +

    Gravity formula is compatible with standard iSpindle formulas so any existing calculation option can be used. Is updated if the calibration function is used.

    +
    +
    • +

  • Temperature correct gravity:

    +
    +

    Will apply a temperature calibration formula to the gravity as a second step.

    +

    This is the formula used for temperature calibration (temp is in F). Cal = 20C.

    +
    +
    • +
+
gravity*((1.00130346-0.000134722124*temp+0.00000204052596*temp^2-0.00000000232820948*temp^3)/(1.00130346-0.000134722124*cal+0.00000204052596*cal^2-0.00000000232820948*cal^3))
+
+
+
+
+

Hardware Settings

+Hardware Settings +
    +

  • Voltage factor:

    +
    +

    Factor used to calcualate the battery voltage. If you get a too low/high voltage you can adjust this value.

    +
    +
    • +

  • Temperature correction:

    +
    +

    This value will be added to the temperature reading (negative value will reduce temperature reading).

    +
    +
    • +

  • OTA URL:

    +
    +

    Should point to a URL where the .bin file + version.json file is located.

    +

    For the OTA to work, place the following files (version.json + firmware.bin) at the location that you pointed out in OTA URL. If the version number in the json file is newer than in the +code the update will be done during startup.

    +

    Example; OTA URL (don’t forget trailing dash), the name of the file should be firmware.bin

    +
    +
    • +
+
http://192.168.1.1/firmware/gravmon/
+
+
+
+
+
+

Create formula

+Formula data +

Here you can enter up to 5 values (angles + gravity) that is then used to create the formula. Angles equal to zero will be regarded as empty even if there is a gravity reading.

+Formula graph +

Once the formula is created a graph over the entered values and a simulation of the formula will give you a nice overview on how the formula will work.

+
+
+

REST API

+

All the API’s use a key called ID which is the unique device id (chip id). This is used as an API key when sending requests to the device.

+
+

GET: /api/config

+

Retrive the current configuation of the device via an HTTP GET command. Payload is in JSON format.

+
    +

  • temp-format can be either C or F

    • +

  • gravity-format is always G (plato is not yet supported)

    • +
+

Other parameters are the same as in the configuration guide.

+
{
+   "mdns": "gravmon",
+   "id": "ee1bfc",
+   "ota-url": "http://192.168.1.50:80/firmware/gravmon/",
+   "temp-format": "C",
+   "brewfather-push": "http://log.brewfather.net/stream?id=Qwerty",
+   "http-push": "http://192.168.1.50:9090/api/v1/Qwerty/telemetry",
+   "http-push2": "http://192.168.1.50/ispindel",
+   "influxdb2-push": "http://192.168.1.50:8086",
+   "influxdb2-org": "Qwerty",
+   "influxdb2-bucket": "Qwerty",
+   "influxdb2-auth": "Qwerty",
+   "sleep-interval": 30,
+   "voltage-factor": 1.59,
+   "gravity-formula": "0.0*tilt^3+0.0*tilt^2+0.0017978*tilt+0.9436",
+   "gravity-format": "G",
+   "temp-adjustment-value": 0,
+   "gravity-temp-adjustment": false,
+   "gyro-calibration-data": {
+      "ax": -330,
+      "ay": -2249,
+      "az": 1170,
+      "gx": 99,
+      "gy": -6,
+      "gz": 4
+   },
+   "angle": 90.93,
+   "gravity": 1.105,
+   "battery": 0.04
+}
+
+
+
+
+

GET: /api/device

+

Retrive the current device settings via an HTTP GET command. Payload is in JSON format.

+
{
+   "app-name": "GravityMon ",
+   "app-ver": "0.0.0",
+   "id": "ee1bfc",
+   "mdns": "gravmon"
+}
+
+
+
+
+

GET: /api/status

+

Retrive the current device status via an HTTP GET command. Payload is in JSON format.

+
    +

  • temp-format can be either C or F

    • +
+

Other parameters are the same as in the configuration guide.

+
{
+   "id": "ee1bfc",
+   "angle": 89.86,
+   "gravity": 1.1052,
+   "gravity-tempcorr": 1.1031,
+   "temp-c": 0,
+   "temp-f": 32,
+   "battery": 0,
+   "temp-format": "C",
+   "sleep-mode": false,
+   "rssi": -56
+}
+
+
+
+
+

GET: /api/config/formula

+

Retrive the data used for formula calculation data via an HTTP GET command. Payload is in JSON format.

+
    +

  • a1-a4 are the angles/tilt readings (up to 5 are currently supported)

    • +

  • g1-g4 are the corresponding gravity reaadings (in SG)

    • +
+
{
+   "id": "ee1bfc",
+   "a1": 22.4,
+   "a2": 54.4,
+   "a3": 58,
+   "a4": 0,
+   "a5": 0,
+   "g1": 1.000,
+   "g2": 1.053,
+   "g3": 1.062,
+   "g4": 1,
+   "g5": 1
+   "gravity-formula": "0.0*tilt^3+0.0*tilt^2+0.0017978*tilt+0.9436",
+}
+
+
+
+
+

POST: /api/config/device

+

Used to update device settings via an HTTP POST command. Payload is in JSON format.

+
    +

  • temp-format can be either C or F

    • +
+
{
+   "id": "ee1bfc",
+   "mdns": "gravmon",
+   "temp-format": "C",
+   "sleep-interval": 30
+}
+
+
+
+
+

POST: /api/config/push

+

Used to update push settings via an HTTP POST command. Payload is in JSON format.

+
{
+   "id": "ee1bfc",
+   "http-push": "http://192.168.1.50/ispindel",
+   "http-push2": "",
+   "brewfather-push": "",
+   "influxdb2-push": "http://192.168.1.50:8086",
+   "influxdb2-org": "Qwerty",
+   "influxdb2-bucket": "Qwerty",
+   "influxdb2-auth": "Qwerty"
+}
+
+
+
+
+

POST: /api/config/gravity

+

Used to update gravity settings via an HTTP POST command. Payload is in JSON format.

+
    +

  • gravity-formula keywords temp and tilt are supported.

    • +
+
{
+   "id": "ee1bfc",
+   "gravity-formula": "0.0*tilt^3+0.0*tilt^2+0.0017978*tilt+0.9436",
+   "gravity-temp-adjustment": "off"
+}
+
+
+
+
+

POST: /api/config/gravity

+

Used to update hardware settings via an HTTP POST command. Payload is in JSON format.

+
{
+   "id": "ee1bfc",
+   "voltage-factor": 1.59,
+   "temp-adjustment": 0,
+   "ota-url": "http://192.168.1.50/firmware/gravmon/"
+}
+
+
+
+
+

POST: /api/config/formula

+

Used to update formula calculation data via an HTTP POST command. Payload is in JSON format.

+
    +

  • a1-a4 are the angles/tilt readings (up to 5 are currently supported)

    • +

  • g1-g4 are the corresponding gravity reaadings (in SG)

    • +
+
{
+   "id": "ee1bfc",
+   "a1": 22.4,
+   "a2": 54.4,
+   "a3": 58,
+   "a4": 0,
+   "a5": 0,
+   "g1": 1.000,
+   "g2": 1.053,
+   "g3": 1.062,
+   "g4": 1,
+   "g5": 1
+}
+
+
+
+
+
+

Data Formats

+
+

iSpindle format

+

This is the format used for standard http posts.

+
    +

  • corr-gravity is an extended parameter containing a temperature corrected gravity reading.

    • +

  • run-time is an extended parameter containing the number of seconds the execution took.

    • +
+
{
+   "name" : "gravmon",
+   "ID": "2E6753",
+   "token" : "gravmon",
+   "interval": 900,
+   "temperature": 20.5,
+   "temp-units": "C",
+   "gravity": 1.0050,
+   "corr-gravity": 1.0050,
+   "angle": 45.34,
+   "battery": 3.67,
+   "rssi": -12,
+   "run-time": 6
+}
+
+
+
+
+

Brewfather format

+

This is the format for Brewfather

+
{
+   "name" : "gravmon",
+   "temp": 20.5,
+   "temp-unit": "C",
+   "battery": 3.67,
+   "gravity": 1.0050,
+   "gravity_unit": "G",
+}
+
+
+
+
+

Influx DB v2

+

This is the format for InfluxDB v2

+
measurement,host=<mdns>,device=<id>,temp-format=<C|F>,gravity-format=SG,gravity=1.0004,corr-gravity=1.0004,angle=45.45,temp=20.1,battery=3.96,rssi=-18
+
+
+
+
+

version.json

+

Contents version.json. The version is used by the device to check if the this version is newer. The html files will also be downloaded if the are present on the server. This way it’s easy to +upgrade to a version that serve the html files from the file system. If they dont exist nothing will happen, the OTA flashing will still work. If the html files are missing from the file system +they can be uploaded manually afterwards.

+
{
+   "project":"gravmon",
+   "version":"0.4.10",
+   "html": [
+      "index.min.htm",
+      "device.min.htm",
+      "config.min.htm",
+      "calibration.min.htm",
+      "about.min.htm"
+   ]
+}
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/contributing.html b/docs/contributing.html new file mode 100644 index 0000000..72cb1f5 --- /dev/null +++ b/docs/contributing.html @@ -0,0 +1,111 @@ + + + + + + + Contributing — GravityMon 0.5.0 documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Contributing

+

This section is under construction.

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/functionallity.html b/docs/functionallity.html new file mode 100644 index 0000000..8024d5b --- /dev/null +++ b/docs/functionallity.html @@ -0,0 +1,180 @@ + + + + + + + Functionallity — GravityMon 0.5.0 documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Functionallity

+
+

The main differences

+
    +

  • Operates in two modes `gravity monitoring` and `configuration mode`

    +

    In gravity monitoring mode it behaves just like the iSpindle, it wakes up at regular intervals, measure angle/tile, temperature, calculates gravity and pushes the data to defined endpoints.

    +

    In configuration mode the device is always active and the webserver is active. Here you can view the angle/tilt values, change configuration options and more. When in this mode you can also interact with the device +via an REST API so data can be pushed to the device via scripts (see API section for more information)-

    +

    See the configuration section for more information on how to trigger the configuration mode.

    +
    • +

  • Can send data to multiple endpoints at once

    +

    The orignial iSpindle can only have one destination, this sofware will push data to all defined endpoints so in theory you can use them all. However this will consume a lot of battery power so use only as many as needed.

    +

    Currently the device supports the following endpoints: http (2 differnt), influxdb2 and Brewfather

    +

    If you want additional targets please raise a feature request in the github repo.

    +
    • +

  • Build in function to create gravity formulas, so no need for using other tools for this part

    +

    Another big difference is that this software can create the gravity formula in the device, just enter the angle/gravity data that you have collected. You will also see a graph simulating how the formula would work.

    +
    • +

  • Automatic temperature adjustment of gravity reading

    +

    If you want to correct gravity based on beer temperature you can do this in the formula but here is a nice feature that can correct the gravity as a second step making this independant of the formula.

    +
    • +
+
+

Note

+

This feature needs more testing to be validated.

+
+
    +

  • OTA support from local webserver

    +

    When starting up in configuration mode the device will check for a software update from a local webserver.

    +
    • +

  • DS18B20 temperature adjustments

    +

    You can adjust the temperature reading of the temperature sensor.

    +
    • +

  • Gyro Movement

    +

    The software will detect if the gyro is moving and if this is the case it will go back to sleep for 60seconds. This way we should avoid faulty measurements.

    +
    • +
+
+
+

Other features

+
    +

  • Support for Celcius and Farenheigt as temperature formats.

    • +

  • Support SG (Plato is not yet supported)

    • +

  • Gyro data is read 50 times to ensure good accuracy

    • +
+
+
+

Experimental features

+
    +

  • Use the temperature sensor in the gyro instead of DS18B20

    +

    This works fine when the device has time to cool down between measurements and it saves a few milliseconds (reduced battery consumption). My testing shows that this is quite accurate. +There is lots of battery power to save, reading the temp sensor takes almost as long as the gyro. This could reduce the run time by 40-50% and probly extend battery life with the same. +However more testing is required. Might add this as an option in the UI.

    +
    • +
+
+

Note

+

This is not enabled by default.

+
+
    +

  • Performance measurements

    +

    I’ve also create a small library to measure execution code in some areas of the code that i know is time consuming. This way I can find a good balance between performace and quality.

    +

    See the compile section for more information.

    +
    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/genindex.html b/docs/genindex.html new file mode 100644 index 0000000..5cbd056 --- /dev/null +++ b/docs/genindex.html @@ -0,0 +1,106 @@ + + + + + + Index — GravityMon 0.5.0 documentation + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
  • »
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ +
+ + +
+
+
+ +
+ +
+

© Copyright 2021-2022, Magnus Persson.

+
+ + Built with Sphinx using a + theme + provided by Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/index.html b/docs/index.html new file mode 100644 index 0000000..e8460f7 --- /dev/null +++ b/docs/index.html @@ -0,0 +1,237 @@ + + + + + + + Welcome to GravityMon’s documentation! — GravityMon 0.5.0 documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Welcome to GravityMon’s documentation!

+
+

Note

+

Preliminary documentation. This is work in progress. This documentation reflects v0.5

+
+

GravityMon is a replacement firmare for the iSpindle hardware. It’s used to measure gravity in beer and show the progress +of fermentation.

+

For more information on this topic and function please visit https://www.ispindel.de.

+

I started GravityMon because i like to create software and wanted to do some low level programming. I had done a few +projects based on esp8266 and also started to brew beer so this combination was quite natural.

+

The hardware design comes from the fantastic iSpindle project so that is not covered in this documentation.

+

My approach to this software is a little different from that the original ispindle firmware. The github repository can +be found here; https://github.com/mp-se/gravitymon

+
+

Note

+

This software is in the early stages even though its more than one year old so if you find issues, please +open a ticket on github.

+

I dont take responsibility for any errors that can cause problems with the use. I have tested v0.4 on 5+ brews +over the last 6 months without any issues.

+
+
+

The main differences:

+
    +

  • Operates in two modes gravity monitoring and configuration mode

    • +

  • Send data to multiple endpoints when pushing data.

    • +

  • Automatic temperature adjustment of gravity reading

    • +

  • OTA support from local webserver

    • +

  • Build in function to create gravity formulas (New in v0.5)

    • +
+

There are also a experimental features such as:

+
    +

  • Using the temperature sensor in gyro instead of DS18B20 (faster)

    • +

  • Performance measurements (used to optimise code)

    • +
+

For a complete breakdown see the functionallity section.

+
+
+

Credits to

+

This software uses the following libraries and without these this would have been much more difficult to acheive:

+ +
+

Contents:

+ +
+
+

Indices and tables

+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/installation.html b/docs/installation.html new file mode 100644 index 0000000..99575c4 --- /dev/null +++ b/docs/installation.html @@ -0,0 +1,146 @@ + + + + + + + Installation — GravityMon 0.5.0 documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Installation

+
+

Official esptool

+

The prefered option for flashing esp8266 device is via the official esptool. Documentation can be found +here; https://docs.espressif.com/projects/esptool/en/latest/esp32/

+

The basic command for flashing is;

+

esptool.py --port COM4 write_flash 0x1000 firmware.bin

+

In the /bin directory you will find 3 different firmware builds;

+
    +

  • firmware.bin

    +

    This is the standard release build (prefered version)

    +
    • +

  • firmware-perf.bin

    +

    This version also submits performance data to an influx database with detailed execution times.

    +
    • +

  • firmware-debug.bin

    +

    Development build. Not recommended for normal use.

    +
    • +
+

In these versions all the html files are embedded in the binaries. The file system is currently only used for storing +the configuration file.

+

If the software becomes so large the html files can be moved to the file system, but this is not enabled by +default (see compiling for details). This approach makes installation much easier and ensure that html files +and code is in sync.

+
+
+

Configuring WIFI

+

When the device is flashed it will need to have WIFI configuration in order to work. If you have used other software on +the device its possible that wifi settings exist.

+

If this is not configured in the device it will create an wirless access point called GravMon. Connect to this AP and +enter the SSID and password you want to use. If the web page dont open automatically you can enter the following adress +in the browser: http://192.168.4.1

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/objects.inv b/docs/objects.inv new file mode 100644 index 0000000..dbc415a Binary files /dev/null and b/docs/objects.inv differ diff --git a/docs/releases.html b/docs/releases.html new file mode 100644 index 0000000..8bb2707 --- /dev/null +++ b/docs/releases.html @@ -0,0 +1,132 @@ + + + + + + + Releases — GravityMon 0.5.0 documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Releases

+
+

v0.5.0 (beta)

+

Latest next target version is: v0.5.0. This is hosted in the dev branch.

+
    +

  • Added feature to calcuate formula on device

    • +

  • Total rewrite of documentation

    • +

  • WIFI settings are now stored in config file

    • +

  • Defined version numbers for all dependant libraries to avoid updates breaking build.

    • +

  • Cleanup of code

    • +

  • Refactor code from C to C++

    • +
+
+
+

v0.4.0

+

Latest stable development version is: v0.4.0

+

https://github.com/mp-se/gravitymon/releases/tag/v0.4.0

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/search.html b/docs/search.html new file mode 100644 index 0000000..9cf5151 --- /dev/null +++ b/docs/search.html @@ -0,0 +1,121 @@ + + + + + + Search — GravityMon 0.5.0 documentation + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
  • »
    • +
  • Search
    • +
  • +
    • +
+
+
+
+
+ + + + +
+ +
+ +
+
+
+ +
+ +
+

© Copyright 2021-2022, Magnus Persson.

+
+ + Built with Sphinx using a + theme + provided by Read the Docs. + + +
+
+
+
+
+ + + + + + + + + \ No newline at end of file diff --git a/docs/searchindex.js b/docs/searchindex.js new file mode 100644 index 0000000..fcd4462 --- /dev/null +++ b/docs/searchindex.js @@ -0,0 +1 @@ +Search.setIndex({docnames:["backlog","compiling","configuration","contributing","functionallity","index","installation","releases","styling"],envversion:{"sphinx.domains.c":2,"sphinx.domains.changeset":1,"sphinx.domains.citation":1,"sphinx.domains.cpp":4,"sphinx.domains.index":1,"sphinx.domains.javascript":2,"sphinx.domains.math":2,"sphinx.domains.python":3,"sphinx.domains.rst":2,"sphinx.domains.std":2,sphinx:56},filenames:["backlog.rst","compiling.rst","configuration.rst","contributing.rst","functionallity.rst","index.rst","installation.rst","releases.rst","styling.rst"],objects:{},objnames:{},objtypes:{},terms:{"0":[2,5,8],"000":2,"00000000232820948":2,"00000204052596":2,"000134722124":2,"0004":[2,8],"00130346":2,"0017978":2,"0050":2,"04":2,"053":2,"062":2,"0x1000":6,"1":[2,6],"10":[2,8],"1031":2,"105":2,"1052":2,"115200":2,"1170":2,"12":2,"15v":2,"168":[2,6],"18":[2,8],"192":[2,6],"2":[2,4],"20":[2,8],"20c":2,"22":2,"2249":2,"230":[],"2e6753":2,"3":[1,2,6,8],"30":2,"32":2,"330":2,"34":2,"3600":2,"3d":1,"4":[2,5,6,8],"40":4,"45":[2,8],"5":[2,5],"50":[2,4],"54":2,"56":2,"58":2,"59":2,"6":[2,5],"60":2,"60second":4,"67":2,"80":2,"8086":2,"85":2,"86":2,"89":2,"90":2,"900":2,"9090":2,"93":2,"9436":2,"96":[2,8],"99":2,"break":7,"case":4,"class":1,"default":[2,4,6],"do":[4,5],"function":[1,2,4,5],"long":[2,4],"new":[1,5],For:[2,5],If:[1,2,4,6],In:[1,4,6],Is:2,It:[1,2,5],Not:6,One:2,THe:1,The:[2,6],There:[1,4,5],These:2,Will:2,a1:2,a2:2,a3:2,a4:2,a5:2,about:[2,8],access:[2,6],accur:4,accuraci:4,acheiv:5,action:0,activ:[2,4],activate_ota:1,ad:[2,7],add:4,addit:4,adjust:[2,4,5],adress:[2,6],afterward:2,against:2,all:[2,4,6,7],almost:4,also:[2,4,5,6],alwai:[1,2,4],an:[2,4,6],angl:[2,4,8],ani:[1,2,5],anoth:4,ap:6,api:[4,5],app:2,appli:2,approach:[5,6],ar:[1,2,5,6,7],arduino:5,arduinocurvefit:5,arduinojson:5,ardurino:1,area:4,assum:2,auth:2,automat:[0,1,4,5,6],avoid:[4,7],ax:2,ay:2,az:2,back:4,backlog:5,balanc:4,base:[4,5],basic:[5,6],batteri:[2,4,8],bblanchon:5,becaus:5,becom:6,been:[2,5],beer:[4,5],befor:2,behav:4,beta:5,between:[2,4],big:4,bin:[1,2,6],binari:[1,5,6],block:[],bold:8,branch:7,breakdown:5,brew:5,brewfath:4,browser:6,bucket:2,build:[0,1,4,5,6,7],button:[2,5],c:[1,2,7,8],cal:2,calcual:2,calcuat:7,calcul:[2,4,5],calibr:[2,8],call:[2,6],can:[2,4,5,6],cannot:2,caus:5,celciu:4,celsiu:2,cfg_appver:1,cfg_disable_log:1,chang:[2,4,5],chapter:2,charg:2,charger:2,check:[0,1,2,4],checkbox:2,chip:[2,5],choos:2,cleanup:7,code:[2,4,5,6,7,8],codeplea:5,collect:[2,4],com4:6,com:[1,5,6,7],combin:5,come:5,command:[2,6],commit:[0,1],commun:5,compat:2,compil:[4,5,6],complet:5,condit:2,config:[1,5,7,8],configu:2,configur:[4,5],connect:[2,6],consol:2,construct:3,consum:4,consumpt:4,contain:[1,2,5],content:[1,2,8],contribut:[0,5],control:5,cool:4,corr:[2,8],correct:[2,4,5],correspond:2,could:4,cover:5,cpp:1,crash:1,creat:[4,5,6],creator:5,css:5,current:[2,4,6],dash:2,data:[1,4,5,6],databas:6,de:5,debug:[1,6],deep:1,defin:[2,4,7],defint:1,degre:2,depend:7,descript:1,design:5,destin:4,detail:6,detect:[4,5],dev:7,develop:[1,6,7],devic:[1,4,5,6,7,8],differ:6,differnt:4,difficult:5,directori:6,disabl:[1,2],doc:[1,6],document:[1,6,7],doe:1,don:2,done:[1,2,5],dont:[2,5,6],down:4,download:2,ds18b20:[1,4,5],dure:2,earli:5,easi:2,easier:[2,6],ee1bfc:2,either:2,embed:6,embed_html:1,empti:2,en:6,enabl:[1,4,6],endpoint:[2,4,5],ensur:[4,6],enter:[2,4,5,6],equal:2,error:5,esp32:6,esp8266:[2,5,6],esp:[],esp_doubleresetdetector:5,espressif:6,esptool:5,even:[2,5],exampl:2,excess:1,execut:[2,4,6],exist:[2,6],experiment:[1,5],explain:2,extend:[2,4],extens:[],extern:1,f:[2,8],factor:2,fals:2,fantast:5,farenheight:2,farenheigt:4,faster:5,faulti:[2,4],featur:[5,7],ferment:5,few:[4,5],field:[],file:[1,2,5,6,7],filesystem:1,find:[4,5,6],fine:4,firmar:5,firmwar:[2,5,6],flash:[1,2,6],flat:2,folder:1,follow:[1,2,4,5,6],forget:2,format:[4,5],formula:[4,5,7],found:[1,5,6],from:[0,1,2,4,5,7],functional:[1,5],g1:2,g2:2,g3:2,g4:2,g5:2,g:2,getbootstrap:5,git:[1,5],github:[0,1,4,5,7],give:2,go:[2,4],goe:1,good:4,graph:[2,4,5],graphitemast:5,graphj:5,graviti:[1,4,5,8],gravity_unit:2,gravitymon:[2,7],gravmon:[2,6,8],guid:2,gx:2,gy:2,gyro:[1,2,4,5],gyro_disable_log:1,gz:2,ha:[2,4],had:5,handl:5,happen:2,hardwar:5,have:[4,5,6],header:[],here:[2,4,5,6],high:2,horizont:2,host:[2,7,8],how:[2,4],howev:4,htm:[2,8],html:[1,2,5,6,8],http:[1,2,4,5,6,7],i2cdevlib:5,i:[1,4,5],id:[2,8],identifi:2,imag:1,img:1,incbin:5,includ:[1,5],independ:4,index:[2,5,8],influx:6,influxdb2:[2,4],influxdb:2,inform:[4,5],input:1,instal:[2,5],instead:[1,4,5],instruct:0,interact:[4,5],interfac:2,interv:[2,4],ip:2,ispindel:[2,5],ispindl:[4,5],issu:5,ital:8,its:[5,6],jrowberg:5,json:5,just:4,kei:2,keyword:2,khoih:5,know:4,larg:6,last:5,latest:[6,7],level:5,lib:1,librari:[1,4,5,7],life:4,like:[4,5],list:[1,8],littl:5,local:[2,4,5],locat:2,log:[1,2,5],loglevel:5,lot:4,low:[2,5],mai:1,main:[1,2],main_disable_log:1,make:[4,6],manag:1,mani:[4,5],manual:2,maximum:1,md:1,mdn:[2,8],measur:[1,2,4,5,8],might:4,milesburton:5,millisecond:4,min:[2,8],minifi:1,minimis:1,minut:2,miss:2,mode:[1,2,4,5],model:1,modul:5,monitor:[2,4,5],month:5,more:[4,5],move:[4,6],movement:4,mp:[5,7],mqtt:0,ms:[],much:[5,6],multipl:[4,5],must:2,my:[4,5],name:2,natur:5,need:[4,6],neg:2,net:2,network:2,never:[1,2],newer:2,next:7,nice:[2,4],normal:6,note:8,noth:2,now:7,number:[2,7],off:2,offici:5,old:5,onc:[2,4],one:[4,5],onewir:5,onli:[4,6],open:[5,6],oper:[2,4,5],optimis:5,option:[2,4,5,6],order:[1,2,6],org:2,organis:2,orient:2,origin:5,origni:4,ota:[0,1,2,4,5],other:[2,5,6],out:2,over:[0,2,5],overview:2,page:[1,2,5,6],paramet:2,parser:5,part:4,password:[1,6],path:1,paulstoffregen:5,payload:2,pc:0,perf:[1,6],perform:[1,4,5,6],performac:4,place:2,platformio:1,plato:[0,2,4],pleas:[4,5],plugin:1,point:[2,6],port:6,possibl:6,power:4,pre:[0,1],prefer:6,preliminari:5,present:2,press:[2,5],problem:5,probli:4,proccess:5,process:1,prog:5,program:5,progress:5,project:[2,5,6,8],publis:[],publish:1,push2:2,push:[4,5],push_disable_log:1,pushtarget:1,py:6,qualiti:4,quit:[4,5],qwerti:2,rais:4,raw:[],reaad:2,read:[2,4,5],readm:1,recommend:[2,6],reduc:[2,4],refactor:7,reflect:5,regard:2,regular:4,releas:[1,5,6],render:5,replac:5,repo:4,repositori:[1,5],request:[2,4],requir:[2,4],reset:5,respons:5,rest:[4,5],retriv:2,rewrit:7,rotario:5,rssi:[2,8],run:[1,2,4],runtim:[],s:2,safeguard:2,same:[2,4],sampl:8,save:[2,4],script:[1,4],se:[5,7],search:5,second:[2,4],section:[2,3,4,5],see:[2,4,5,6],send:[2,4,5],sensor:[4,5],sent:5,sequenc:2,serial:[2,5],serv:[1,2],server:2,servic:5,set:[5,6,7],sg:[2,4,8],shoot:1,should:[2,4],show:[2,4,5],simul:[2,4],sinc:1,skip_sleepmod:1,sleep:[1,2,4],small:4,so:[2,4,5,6],softwar:[4,5,6],sofwar:4,some:[4,5],sourc:5,speed:2,src:1,src_doc:1,ssid:[1,6],stabl:7,stage:5,standard:[1,2,6],start:[4,5],startup:2,statu:5,step:[2,4],still:2,stl:1,store:[6,7],stream:2,structur:5,studio:1,style:1,submit:6,support:[0,2,4,5],sync:6,system:[1,2,6],t:2,tabl:2,tag:7,take:[4,5],target:[4,5,7],telemetri:2,temp:[2,4,8],tempcorr:2,temperatur:[1,2,4,5],templat:5,tempsensor:1,test:[1,4,5],than:[2,5],thei:[1,2],them:4,theori:4,thi:[1,2,3,4,5,6,7],thijs:5,though:5,ticket:5,tile:4,tilt:[2,4],time:[2,4,6],tinyexpr:5,token:2,too:2,took:2,tool:[4,5],topic:5,total:7,trail:2,trigger:4,troubl:1,tsen_disable_log:1,twice:5,two:[2,4,5],tzapu:5,ubuntu:1,ui:[4,5],uncheck:2,under:[1,3],uniqu:2,unit:2,unless:2,up:[2,4],updat:[0,2,4,7],upgrad:2,upload:2,url:2,us:[0,1,2,4,5,6],use_gyro_temp:1,use_littlef:1,user_ssid:1,user_ssid_pwd:1,v0:5,v1:2,valid:[0,1,4],valu:[2,4],variou:[1,5],ve:4,ver:2,verbos:1,version:[1,6,7,8],via:[0,2,4,6],view:4,visit:5,visual:1,voltag:2,vscode:1,wa:5,wai:[2,4],wake:4,want:[4,5,6],we:[2,4],web:[2,5,6],web_disable_log:1,webserv:[1,4,5],well:2,what:5,when:[1,2,4,5,6],where:2,which:2,wifi:[5,7],wifimanag:5,window:1,wirless:6,without:[2,5],work:[1,2,4,5,6],would:[4,5],write:[0,2],write_flash:6,wsl2:1,www:[1,5],yaml:1,year:5,yet:[1,2,4],you:[2,4,5,6],zero:2},titles:["Backlog of changes","Compiling the software","Configuration","Contributing","Functionallity","Welcome to GravityMon\u2019s documentation!","Installation","Releases","Testing formatting"],titleterms:{"0":7,"1":8,"2":8,"3":[],"4":7,"5":7,The:[4,5],api:2,backlog:0,beta:7,brewfath:2,chang:0,code:[0,1],compil:1,config:2,configur:[2,6],content:5,contribut:3,creat:2,credit:5,data:2,db:2,defin:1,develop:[],devic:2,differ:[4,5],directori:1,document:[0,5],esptool:6,experiment:4,featur:4,format:[1,2,8],formula:2,functional:4,get:2,graviti:2,gravitymon:5,hardwar:2,header:8,index:[],indic:5,influx:2,instal:6,ispindl:2,json:2,latest:[],main:[4,5],next:[],offici:6,option:1,other:4,page:[],post:2,push:2,releas:7,rest:2,s:5,set:2,softwar:1,sourc:1,stabl:[],statu:2,structur:1,tabl:[5,8],target:1,test:8,tool:1,v0:7,v2:2,version:2,welcom:5,wifi:6}}) \ No newline at end of file diff --git a/docs/styling.html b/docs/styling.html new file mode 100644 index 0000000..300d0b5 --- /dev/null +++ b/docs/styling.html @@ -0,0 +1,160 @@ + + + + + + + Testing formatting — GravityMon 0.5.0 documentation + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Testing formatting

+
+

Header 1

+
+
+
+

Header 2

+

BOLD

+

ITALIC

+

CODE SAMPLE

+
    +

  1. List

    2. +

  2. List

    3. +
+
    +

  • List

    • +

  • List

    • +
+ + ++++ + + + + + + + + + + +
Table

table

table

content

content

+image +
measurement,host=<mdns>,device=<id>,temp-format=<C|F>,gravity-format=SG,gravity=1.0004,corr-gravity=1.0004,angle=45.45,temp=20.1,battery=3.96,rssi=-18
+
+
+
{
+  "project":"gravmon",
+  "version":"0.4.10",
+  "html": [
+      "index.min.htm",
+      "device.min.htm",
+      "config.min.htm",
+      "calibration.min.htm",
+      "about.min.htm"
+  ]
+}
+
+
+
+

Note

+

Note…

+
+
+ + +
+
+
+ +
+ +
+

© Copyright 2021-2022, Magnus Persson.

+
+ + Built with Sphinx using a + theme + provided by Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/data/about.htm b/html/about.htm similarity index 95% rename from data/about.htm rename to html/about.htm index b8bc86b..ed11c18 100644 --- a/data/about.htm +++ b/html/about.htm @@ -31,6 +31,9 @@
  • Configuration
    • +
  • + Calibration +
  • About
    • @@ -73,6 +76,6 @@ -
    (C) Copyright 2021 Magnus Persson
    +
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/html/about.min.htm b/html/about.min.htm new file mode 100644 index 0000000..d590edd --- /dev/null +++ b/html/about.min.htm @@ -0,0 +1 @@ +Beer Gravity Monitor

    Beer Gravity Monitor

    This is a piece of software for the iSpindle hardware and will work in a similar way. No part of this software is copied from the iSpindle project.

    MIT License

    Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/html/calibration.htm b/html/calibration.htm new file mode 100644 index 0000000..7a6e1f8 --- /dev/null +++ b/html/calibration.htm @@ -0,0 +1,346 @@ + + + + + + + Beer Gravity Monitor + + + + + + + + + + + + + +
    + +
    + + + + + +
    + +
    +
    +

    + +

    +
    + +
    +
    +
    + + +
    + Here you can create your gravity formula by entering angles/tilt and the corresponding gravity (SG). These values + will be saved for future use. Angles with 0 (zero) will be skipped. The values below will be used to check the + formula and if the deviation is more than 1.5 SG then the forumla will be rejected. On the bottom of the page you can + see a graph over the entered values + values calcualated by the formula. +
    + +
    + + + +
    + +
    + +
    + +
    +
    + +
    +
    + +
    + +
    + +
    +
    + +
    +
    + +
    + +
    + +
    +
    + +
    +
    + +
    + +
    + +
    +
    + +
    +
    + +
    + +
    + +
    +
    + +
    +
    + +
    +
    + +
    +
    + +
    + + +
    +
    + + +
    +
    +
    +
    +
    +
    +
    +
    + +
    +
    +
    + + + + + + + +
    (C) Copyright 2021-22 Magnus Persson
    + + \ No newline at end of file diff --git a/html/calibration.min.htm b/html/calibration.min.htm new file mode 100644 index 0000000..094932b --- /dev/null +++ b/html/calibration.min.htm @@ -0,0 +1,52 @@ +Beer Gravity Monitor

    Here you can create your gravity formula by entering angles/tilt and the corresponding gravity (SG). These values will be saved for future use. Angles with 0 (zero) will be skipped. The values below will be used to check the formula and if the deviation is more than 1.5 SG then the forumla will be rejected. On the bottom of the page you can see a graph over the entered values + values calcualated by the formula.
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/data/config.htm b/html/config.htm similarity index 99% rename from data/config.htm rename to html/config.htm index 979e766..cf4f1bc 100644 --- a/data/config.htm +++ b/html/config.htm @@ -31,6 +31,9 @@
  • Configuration
    • +
  • + Calibration +
  • About
    • @@ -378,6 +381,6 @@ -
    (C) Copyright 2021 Magnus Persson
    +
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/html/config.min.htm b/html/config.min.htm new file mode 100644 index 0000000..f7bd12c --- /dev/null +++ b/html/config.min.htm @@ -0,0 +1 @@ +Beer Gravity Monitor

    Temperature Format:

    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/data/device.htm b/html/device.htm similarity index 94% rename from data/device.htm rename to html/device.htm index 39acf16..12f7a68 100644 --- a/data/device.htm +++ b/html/device.htm @@ -32,6 +32,9 @@
  • Configuration
    • +
  • + Calibration +
  • About
    • @@ -97,7 +100,7 @@ $('#spinner').show(); $.getJSON(url, function (cfg) { console.log( cfg ); - $("#app-ver").text(cfg["app-ver"] + " (html 0.4.0)"); + $("#app-ver").text(cfg["app-ver"] + " (html 0.5.0)"); $("#mdns").text(cfg["mdns"]); $("#id").text(cfg["id"]); }) @@ -112,6 +115,6 @@ -
    (C) Copyright 2021 Magnus Persson
    +
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/html/device.min.htm b/html/device.min.htm new file mode 100644 index 0000000..228c59f --- /dev/null +++ b/html/device.min.htm @@ -0,0 +1 @@ +Beer Gravity Monitor
    Current version:
    Loading...
    Host name:
    Loading...
    Device ID:
    Loading...
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/data/index.htm b/html/index.htm similarity index 97% rename from data/index.htm rename to html/index.htm index bcd1cd3..052cb1e 100644 --- a/data/index.htm +++ b/html/index.htm @@ -31,6 +31,9 @@
  • Configuration
    • +
  • + Calibration +
  • About
    • @@ -148,6 +151,6 @@ -
    (C) Copyright 2021 Magnus Persson
    +
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/html/index.min.htm b/html/index.min.htm new file mode 100644 index 0000000..1822cec --- /dev/null +++ b/html/index.min.htm @@ -0,0 +1 @@ +Beer Gravity Monitor
    Gravity:
    Loading...
    Temperature:
    Loading...
    Angle/Tilt:
    Loading...
    Battery:
    Loading...
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/data/upload.htm b/html/upload.htm similarity index 92% rename from data/upload.htm rename to html/upload.htm index 94ab51f..ed73a73 100644 --- a/data/upload.htm +++ b/html/upload.htm @@ -74,6 +74,10 @@
    config.min.htm
    Checking...
    +
    +
    calibration.min.htm
    +
    Checking...
    +
    about.min.htm
    Checking...
    @@ -118,11 +122,16 @@ function getUpload() { else $("#device").text("File is missing."); - if( cfg["config"] ) + if( cfg["config"] ) $("#config").text("Completed."); else $("#config").text("File is missing."); + if( cfg["calibration"] ) + $("#calibration").text("Completed."); + else + $("#calibration").text("File is missing."); + if( cfg["about"] ) $("#about").text("Completed."); else @@ -141,6 +150,6 @@ function getUpload() { -
    (C) Copyright 2021 Magnus Persson
    +
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/data/upload.min.htm b/html/upload.min.htm similarity index 63% rename from data/upload.min.htm rename to html/upload.min.htm index 6eaa0d7..1ee94dd 100644 --- a/data/upload.min.htm +++ b/html/upload.min.htm @@ -1 +1 @@ -Beer Gravity Monitor
    The listed files below needs to be uploaded to the FileSystem in order for the GUI to work. You can also flash the LittleFS filesystem but in that case you will loose your device settings. An OTA upgrade will automatically download the files if they are found in the same location as the firmware.bin. This page is a fallback option.

    Once all the files are confirmed, please reboot the device for normal operation.
    index.min.htm
    Checking...
    device.min.htm
    Checking...
    config.min.htm
    Checking...
    about.min.htm
    Checking...
    (C) Copyright 2021 Magnus Persson
    \ No newline at end of file +Beer Gravity Monitor
    The listed files below needs to be uploaded to the FileSystem in order for the GUI to work. You can also flash the LittleFS filesystem but in that case you will loose your device settings. An OTA upgrade will automatically download the files if they are found in the same location as the firmware.bin. This page is a fallback option.

    Once all the files are confirmed, please reboot the device for normal operation.
    index.min.htm
    Checking...
    device.min.htm
    Checking...
    config.min.htm
    Checking...
    calibration.min.htm
    Checking...
    about.min.htm
    Checking...
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/img/config1.png b/img/config1.png deleted file mode 100644 index f10c5a2..0000000 Binary files a/img/config1.png and /dev/null differ diff --git a/img/config2.png b/img/config2.png deleted file mode 100644 index 720bffe..0000000 Binary files a/img/config2.png and /dev/null differ diff --git a/img/config3.png b/img/config3.png deleted file mode 100644 index 4905580..0000000 Binary files a/img/config3.png and /dev/null differ diff --git a/img/config4.png b/img/config4.png deleted file mode 100644 index 12a15ea..0000000 Binary files a/img/config4.png and /dev/null differ diff --git a/img/device.png b/img/device.png deleted file mode 100644 index 154cc56..0000000 Binary files a/img/device.png and /dev/null differ diff --git a/img/index.png b/img/index.png deleted file mode 100644 index ddc079d..0000000 Binary files a/img/index.png and /dev/null differ diff --git a/lib/mpu6050/I2Cdev.cpp b/lib/mpu6050/I2Cdev.cpp index 5525624..892274b 100644 --- a/lib/mpu6050/I2Cdev.cpp +++ b/lib/mpu6050/I2Cdev.cpp @@ -3,6 +3,9 @@ // 2013-06-05 by Jeff Rowberg // // Changelog: +// 2021-09-28 - allow custom Wire object as transaction function argument +// 2020-01-20 - hardija : complete support for Teensy 3.x +// 2015-10-30 - simondlevy : support i2c_t3 for Teensy3.1 // 2013-05-06 - add Francesco Ferrara's Fastwire v0.24 implementation with small modifications // 2013-05-05 - fix issue with writing bit values to words (Sasquatch/Farzanegan) // 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire @@ -87,11 +90,6 @@ THE SOFTWARE. #endif -#ifndef BUFFER_LENGTH -// band-aid fix for platforms without Wire-defined BUFFER_LENGTH (removed from some official implementations) -#define BUFFER_LENGTH 32 -#endif - /** Default constructor. */ I2Cdev::I2Cdev() { @@ -105,9 +103,9 @@ I2Cdev::I2Cdev() { * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (true = success) */ -int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) { +int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout, void *wireObj) { uint8_t b; - uint8_t count = readByte(devAddr, regAddr, &b, timeout); + uint8_t count = readByte(devAddr, regAddr, &b, timeout, wireObj); *data = b & (1 << bitNum); return count; } @@ -120,9 +118,9 @@ int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (true = success) */ -int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) { +int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout, void *wireObj) { uint16_t b; - uint8_t count = readWord(devAddr, regAddr, &b, timeout); + uint8_t count = readWord(devAddr, regAddr, &b, timeout, wireObj); *data = b & (1 << bitNum); return count; } @@ -136,14 +134,14 @@ int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (true = success) */ -int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) { +int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout, void *wireObj) { // 01101001 read byte // 76543210 bit numbers // xxx args: bitStart=4, length=3 // 010 masked // -> 010 shifted uint8_t count, b; - if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) { + if ((count = readByte(devAddr, regAddr, &b, timeout, wireObj)) != 0) { uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); b &= mask; b >>= (bitStart - length + 1); @@ -161,7 +159,7 @@ int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (1 = success, 0 = failure, -1 = timeout) */ -int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) { +int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout, void *wireObj) { // 1101011001101001 read byte // fedcba9876543210 bit numbers // xxx args: bitStart=12, length=3 @@ -169,7 +167,7 @@ int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uin // -> 010 shifted uint8_t count; uint16_t w; - if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) { + if ((count = readWord(devAddr, regAddr, &w, timeout, wireObj)) != 0) { uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1); w &= mask; w >>= (bitStart - length + 1); @@ -185,8 +183,8 @@ int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uin * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (true = success) */ -int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) { - return readBytes(devAddr, regAddr, 1, data, timeout); +int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout, void *wireObj) { + return readBytes(devAddr, regAddr, 1, data, timeout, wireObj); } /** Read single word from a 16-bit device register. @@ -196,8 +194,8 @@ int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (true = success) */ -int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) { - return readWords(devAddr, regAddr, 1, data, timeout); +int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout, void *wireObj) { + return readWords(devAddr, regAddr, 1, data, timeout, wireObj); } /** Read multiple bytes from an 8-bit device register. @@ -208,7 +206,7 @@ int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Number of bytes read (-1 indicates failure) */ -int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) { +int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout, void *wireObj) { #ifdef I2CDEV_SERIAL_DEBUG Serial.print("I2C (0x"); Serial.print(devAddr, HEX); @@ -223,70 +221,72 @@ int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8 uint32_t t1 = millis(); #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) + TwoWire *useWire = &Wire; + if (wireObj) useWire = (TwoWire *)wireObj; #if (ARDUINO < 100) // Arduino v00xx (before v1.0), Wire library // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // so if user requests more than I2CDEVLIB_WIRE_BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once - for (uint8_t k = 0; k < length; k += min((int)length, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.send(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH)); + for (int k = 0; k < length; k += min((int)length, I2CDEVLIB_WIRE_BUFFER_LENGTH)) { + useWire->beginTransmission(devAddr); + useWire->send(regAddr); + useWire->endTransmission(); + useWire->beginTransmission(devAddr); + useWire->requestFrom((uint8_t)devAddr, (uint8_t)min((int)length - k, I2CDEVLIB_WIRE_BUFFER_LENGTH)); - for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) { - data[count] = Wire.receive(); + for (; useWire->available() && (timeout == 0 || millis() - t1 < timeout); count++) { + data[count] = useWire->receive(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); #endif } - Wire.endTransmission(); + useWire->endTransmission(); } #elif (ARDUINO == 100) // Arduino v1.0.0, Wire library // Adds standardized write() and read() stream methods instead of send() and receive() // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // so if user requests more than I2CDEVLIB_WIRE_BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once - for (uint8_t k = 0; k < length; k += min((int)length, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.write(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH)); + for (int k = 0; k < length; k += min((int)length, I2CDEVLIB_WIRE_BUFFER_LENGTH)) { + useWire->beginTransmission(devAddr); + useWire->write(regAddr); + useWire->endTransmission(); + useWire->beginTransmission(devAddr); + useWire->requestFrom((uint8_t)devAddr, (uint8_t)min((int)length - k, I2CDEVLIB_WIRE_BUFFER_LENGTH)); - for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) { - data[count] = Wire.read(); + for (; useWire->available() && (timeout == 0 || millis() - t1 < timeout); count++) { + data[count] = useWire->read(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); #endif } - Wire.endTransmission(); + useWire->endTransmission(); } #elif (ARDUINO > 100) // Arduino v1.0.1+, Wire library // Adds official support for repeated start condition, yay! // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // so if user requests more than I2CDEVLIB_WIRE_BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once - for (uint8_t k = 0; k < length; k += min((int)length, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.write(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH)); + for (int k = 0; k < length; k += min((int)length, I2CDEVLIB_WIRE_BUFFER_LENGTH)) { + useWire->beginTransmission(devAddr); + useWire->write(regAddr); + useWire->endTransmission(); + useWire->beginTransmission(devAddr); + useWire->requestFrom((uint8_t)devAddr, (uint8_t)min((int)length - k, I2CDEVLIB_WIRE_BUFFER_LENGTH)); - for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) { - data[count] = Wire.read(); + for (; useWire->available() && (timeout == 0 || millis() - t1 < timeout); count++) { + data[count] = useWire->read(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); @@ -328,7 +328,7 @@ int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Number of words read (-1 indicates failure) */ -int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) { +int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout, void *wireObj) { #ifdef I2CDEV_SERIAL_DEBUG Serial.print("I2C (0x"); Serial.print(devAddr, HEX); @@ -343,28 +343,30 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1 uint32_t t1 = millis(); #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE + TwoWire *useWire = &Wire; + if (wireObj) useWire = (TwoWire *)wireObj; #if (ARDUINO < 100) // Arduino v00xx (before v1.0), Wire library // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // so if user requests more than I2CDEVLIB_WIRE_BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once - for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.send(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes + for (uint8_t k = 0; k < length * 2; k += min(length * 2, I2CDEVLIB_WIRE_BUFFER_LENGTH)) { + useWire->beginTransmission(devAddr); + useWire->send(regAddr); + useWire->endTransmission(); + useWire->beginTransmission(devAddr); + useWire->requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes bool msb = true; // starts with MSB, then LSB - for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { + for (; useWire->available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { if (msb) { // first byte is bits 15-8 (MSb=15) - data[count] = Wire.receive() << 8; + data[count] = useWire->receive() << 8; } else { // second byte is bits 7-0 (LSb=0) - data[count] |= Wire.receive(); + data[count] |= useWire->receive(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); @@ -374,30 +376,30 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1 msb = !msb; } - Wire.endTransmission(); + useWire->endTransmission(); } #elif (ARDUINO == 100) // Arduino v1.0.0, Wire library // Adds standardized write() and read() stream methods instead of send() and receive() // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // so if user requests more than I2CDEVLIB_WIRE_BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once - for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.write(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes + for (uint8_t k = 0; k < length * 2; k += min(length * 2, I2CDEVLIB_WIRE_BUFFER_LENGTH)) { + useWire->beginTransmission(devAddr); + useWire->write(regAddr); + useWire->endTransmission(); + useWire->beginTransmission(devAddr); + useWire->requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes bool msb = true; // starts with MSB, then LSB - for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { + for (; useWire->available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { if (msb) { // first byte is bits 15-8 (MSb=15) - data[count] = Wire.read() << 8; + data[count] = useWire->read() << 8; } else { // second byte is bits 7-0 (LSb=0) - data[count] |= Wire.read(); + data[count] |= useWire->read(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); @@ -407,30 +409,30 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1 msb = !msb; } - Wire.endTransmission(); + useWire->endTransmission(); } #elif (ARDUINO > 100) // Arduino v1.0.1+, Wire library // Adds official support for repeated start condition, yay! // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // so if user requests more than I2CDEVLIB_WIRE_BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once - for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.write(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes + for (uint8_t k = 0; k < length * 2; k += min(length * 2, I2CDEVLIB_WIRE_BUFFER_LENGTH)) { + useWire->beginTransmission(devAddr); + useWire->write(regAddr); + useWire->endTransmission(); + useWire->beginTransmission(devAddr); + useWire->requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes bool msb = true; // starts with MSB, then LSB - for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { + for (; useWire->available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { if (msb) { // first byte is bits 15-8 (MSb=15) - data[count] = Wire.read() << 8; + data[count] = useWire->read() << 8; } else { // second byte is bits 7-0 (LSb=0) - data[count] |= Wire.read(); + data[count] |= useWire->read(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); @@ -440,7 +442,7 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1 msb = !msb; } - Wire.endTransmission(); + useWire->endTransmission(); } #endif @@ -479,11 +481,11 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1 * @param value New bit value to write * @return Status of operation (true = success) */ -bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) { +bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data, void *wireObj) { uint8_t b; - readByte(devAddr, regAddr, &b); + readByte(devAddr, regAddr, &b, I2Cdev::readTimeout, wireObj); b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum)); - return writeByte(devAddr, regAddr, b); + return writeByte(devAddr, regAddr, b, wireObj); } /** write a single bit in a 16-bit device register. @@ -493,11 +495,11 @@ bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t * @param value New bit value to write * @return Status of operation (true = success) */ -bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) { +bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data, void *wireObj) { uint16_t w; - readWord(devAddr, regAddr, &w); + readWord(devAddr, regAddr, &w, I2Cdev::readTimeout, wireObj); w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum)); - return writeWord(devAddr, regAddr, w); + return writeWord(devAddr, regAddr, w, wireObj); } /** Write multiple bits in an 8-bit device register. @@ -508,7 +510,7 @@ bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_ * @param data Right-aligned value to write * @return Status of operation (true = success) */ -bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) { +bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data, void *wireObj) { // 010 value to write // 76543210 bit numbers // xxx args: bitStart=4, length=3 @@ -517,13 +519,13 @@ bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8 // 10100011 original & ~mask // 10101011 masked | value uint8_t b; - if (readByte(devAddr, regAddr, &b) != 0) { + if (readByte(devAddr, regAddr, &b, I2Cdev::readTimeout, wireObj) != 0) { uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); data <<= (bitStart - length + 1); // shift data into correct position data &= mask; // zero all non-important bits in data b &= ~(mask); // zero all important bits in existing byte b |= data; // combine data with existing byte - return writeByte(devAddr, regAddr, b); + return writeByte(devAddr, regAddr, b, wireObj); } else { return false; } @@ -537,7 +539,7 @@ bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8 * @param data Right-aligned value to write * @return Status of operation (true = success) */ -bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) { +bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data, void *wireObj) { // 010 value to write // fedcba9876543210 bit numbers // xxx args: bitStart=12, length=3 @@ -546,13 +548,13 @@ bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint // 1010001110010110 original & ~mask // 1010101110010110 masked | value uint16_t w; - if (readWord(devAddr, regAddr, &w) != 0) { + if (readWord(devAddr, regAddr, &w, I2Cdev::readTimeout, wireObj) != 0) { uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1); data <<= (bitStart - length + 1); // shift data into correct position data &= mask; // zero all non-important bits in data w &= ~(mask); // zero all important bits in existing word w |= data; // combine data with existing word - return writeWord(devAddr, regAddr, w); + return writeWord(devAddr, regAddr, w, wireObj); } else { return false; } @@ -564,8 +566,8 @@ bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint * @param data New byte value to write * @return Status of operation (true = success) */ -bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) { - return writeBytes(devAddr, regAddr, 1, &data); +bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data, void *wireObj) { + return writeBytes(devAddr, regAddr, 1, &data, wireObj); } /** Write single word to a 16-bit device register. @@ -574,8 +576,8 @@ bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) { * @param data New word value to write * @return Status of operation (true = success) */ -bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) { - return writeWords(devAddr, regAddr, 1, &data); +bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data, void *wireObj) { + return writeWords(devAddr, regAddr, 1, &data, wireObj); } /** Write multiple bytes to an 8-bit device register. @@ -585,7 +587,7 @@ bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) { * @param data Buffer to copy new data from * @return Status of operation (true = success) */ -bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data) { +bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data, void *wireObj) { #ifdef I2CDEV_SERIAL_DEBUG Serial.print("I2C (0x"); Serial.print(devAddr, HEX); @@ -596,14 +598,20 @@ bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_ Serial.print("..."); #endif uint8_t status = 0; + +#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE + TwoWire *useWire = &Wire; + if (wireObj) useWire = (TwoWire *)wireObj; +#endif + #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.beginTransmission(devAddr); - Wire.send((uint8_t) regAddr); // send address + useWire->beginTransmission(devAddr); + useWire->send((uint8_t) regAddr); // send address #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) - Wire.beginTransmission(devAddr); - Wire.write((uint8_t) regAddr); // send address + useWire->beginTransmission(devAddr); + useWire->write((uint8_t) regAddr); // send address #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::beginTransmission(devAddr); Fastwire::write(regAddr); @@ -614,21 +622,21 @@ bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_ if (i + 1 < length) Serial.print(" "); #endif #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.send((uint8_t) data[i]); + useWire->send((uint8_t) data[i]); #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) - Wire.write((uint8_t) data[i]); + useWire->write((uint8_t) data[i]); #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::write((uint8_t) data[i]); #endif } #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.endTransmission(); + useWire->endTransmission(); #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) - status = Wire.endTransmission(); + status = useWire->endTransmission(); #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::stop(); //status = Fastwire::endTransmission(); @@ -646,7 +654,7 @@ bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_ * @param data Buffer to copy new data from * @return Status of operation (true = success) */ -bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data) { +bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data, void *wireObj) { #ifdef I2CDEV_SERIAL_DEBUG Serial.print("I2C (0x"); Serial.print(devAddr, HEX); @@ -657,14 +665,20 @@ bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16 Serial.print("..."); #endif uint8_t status = 0; + +#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE + TwoWire *useWire = &Wire; + if (wireObj) useWire = (TwoWire *)wireObj; +#endif + #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.beginTransmission(devAddr); - Wire.send(regAddr); // send address + useWire->beginTransmission(devAddr); + useWire->send(regAddr); // send address #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) - Wire.beginTransmission(devAddr); - Wire.write(regAddr); // send address + useWire->beginTransmission(devAddr); + useWire->write(regAddr); // send address #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::beginTransmission(devAddr); Fastwire::write(regAddr); @@ -675,13 +689,13 @@ bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16 if (i + 1 < length) Serial.print(" "); #endif #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.send((uint8_t)(data[i] >> 8)); // send MSB - Wire.send((uint8_t)data[i]); // send LSB + useWire->send((uint8_t)(data[i] >> 8)); // send MSB + useWire->send((uint8_t)data[i]); // send LSB #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) - Wire.write((uint8_t)(data[i] >> 8)); // send MSB - Wire.write((uint8_t)data[i]); // send LSB + useWire->write((uint8_t)(data[i] >> 8)); // send MSB + useWire->write((uint8_t)data[i]); // send LSB #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::write((uint8_t)(data[i] >> 8)); // send MSB status = Fastwire::write((uint8_t)data[i]); // send LSB @@ -689,11 +703,11 @@ bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16 #endif } #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.endTransmission(); + useWire->endTransmission(); #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) - status = Wire.endTransmission(); + status = useWire->endTransmission(); #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::stop(); //status = Fastwire::endTransmission(); @@ -753,7 +767,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT; #endif TWSR = 0; // no prescaler => prescaler = 1 - TWBR = ((16000L / khz) - 16) / 2; // change the I2C clock rate + TWBR = F_CPU / 2000 / khz - 8; // change the I2C clock rate TWCR = 1 << TWEN; // enable twi module, no interrupt } @@ -993,7 +1007,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT; TWBR = ((CPU_FREQ / TWI_FREQ) - 16) / 2; // bitrate register // enable twi module, acks, and twi interrupt - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA); + TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWEA); /* TWEN - TWI Enable Bit TWIE - TWI Interrupt Enable @@ -1062,7 +1076,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT; } void twii_SetStart() { - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); + TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWEA) | (1 << TWINT) | (1 << TWSTA); } void twi_write01() { @@ -1145,19 +1159,19 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT; void twi_reply(uint8_t ack) { // transmit master read ready signal, with or without ack if (ack){ - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA); + TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWINT) | (1 << TWEA); } else { - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT); + TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWINT); } } void twi_stop(void) { // send stop condition - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO); + TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWEA) | (1 << TWINT) | (1 << TWSTO); // wait for stop condition to be exectued on bus // TWINT is not set after a stop condition! - while (TWCR & _BV(TWSTO)) { + while (TWCR & (1 << TWSTO)) { continue; } @@ -1167,7 +1181,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT; void twi_releaseBus(void) { // release bus - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT); + TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWEA) | (1 << TWINT); // update twi state twi_state = TWI_READY; diff --git a/lib/mpu6050/I2Cdev.h b/lib/mpu6050/I2Cdev.h index 60c3195..5b59c56 100644 --- a/lib/mpu6050/I2Cdev.h +++ b/lib/mpu6050/I2Cdev.h @@ -3,6 +3,7 @@ // 2013-06-05 by Jeff Rowberg // // Changelog: +// 2021-09-28 - allow custom Wire object as transaction function argument // 2020-01-20 - hardija : complete support for Teensy 3.x // 2015-10-30 - simondlevy : support i2c_t3 for Teensy3.1 // 2013-05-06 - add Francesco Ferrara's Fastwire v0.24 implementation with small modifications @@ -48,6 +49,11 @@ THE SOFTWARE. #ifndef _I2CDEV_H_ #define _I2CDEV_H_ +// ----------------------------------------------------------------------------- +// Enable deprecated pgmspace typedefs in avr-libc +// ----------------------------------------------------------------------------- +#define __PROG_TYPES_COMPAT__ + // ----------------------------------------------------------------------------- // I2C interface implementation setting // ----------------------------------------------------------------------------- @@ -99,10 +105,26 @@ THE SOFTWARE. #endif #ifdef SPARK - #include + #include "application.h" #define ARDUINO 101 + #define BUFFER_LENGTH 32 #endif +#ifndef I2CDEVLIB_WIRE_BUFFER_LENGTH + #if defined(I2C_BUFFER_LENGTH) + // Arduino ESP32 core Wire uses this + #define I2CDEVLIB_WIRE_BUFFER_LENGTH I2C_BUFFER_LENGTH + #elif defined(BUFFER_LENGTH) + // Arduino AVR core Wire and many others use this + #define I2CDEVLIB_WIRE_BUFFER_LENGTH BUFFER_LENGTH + #elif defined(SERIAL_BUFFER_SIZE) + // Arduino SAMD core Wire uses this + #define I2CDEVLIB_WIRE_BUFFER_LENGTH SERIAL_BUFFER_SIZE + #else + // should be a safe fallback, though possibly inefficient + #define I2CDEVLIB_WIRE_BUFFER_LENGTH 32 + #endif +#endif // 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];") #define I2CDEV_DEFAULT_READ_TIMEOUT 1000 @@ -111,23 +133,23 @@ class I2Cdev { public: I2Cdev(); - static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout); + static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); - static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data); - static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data); - static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data); - static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data); - static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data); - static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data); - static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data); - static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data); + static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data, void *wireObj=0); + static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data, void *wireObj=0); + static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data, void *wireObj=0); + static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data, void *wireObj=0); + static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data, void *wireObj=0); + static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data, void *wireObj=0); + static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, void *wireObj=0); + static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, void *wireObj=0); static uint16_t readTimeout; }; @@ -240,7 +262,7 @@ class I2Cdev { /* TWI Status is in TWSR, in the top 5 bits: TWS7 - TWS3 */ - #define TW_STATUS_MASK (_BV(TWS7)|_BV(TWS6)|_BV(TWS5)|_BV(TWS4)|_BV(TWS3)) + #define TW_STATUS_MASK ((1 << TWS7)|(1 << TWS6)|(1 << TWS5)|(1 << TWS4)|(1 << TWS3)) #define TW_STATUS (TWSR & TW_STATUS_MASK) #define TW_START 0x08 #define TW_REP_START 0x10 @@ -275,11 +297,11 @@ class I2Cdev { //#define _SFR_BYTE(sfr) _MMIO_BYTE(_SFR_ADDR(sfr)) #ifndef sbi // set bit - #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) + #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= (1 << bit)) #endif // sbi #ifndef cbi // clear bit - #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) + #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~(1 << bit)) #endif // cbi extern TwoWire Wire; diff --git a/lib/mpu6050/MPU6050.cpp b/lib/mpu6050/MPU6050.cpp index f8c127d..ecdfe04 100644 --- a/lib/mpu6050/MPU6050.cpp +++ b/lib/mpu6050/MPU6050.cpp @@ -4,6 +4,7 @@ // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib // // Changelog: +// 2021-09-27 - split implementations out of header files, finally // 2019-07-08 - Added Auto Calibration routine // ... - ongoing debug release @@ -43,7 +44,7 @@ THE SOFTWARE. * @see MPU6050_ADDRESS_AD0_LOW * @see MPU6050_ADDRESS_AD0_HIGH */ -MPU6050::MPU6050(uint8_t address):devAddr(address) { +MPU6050_Base::MPU6050_Base(uint8_t address, void *wireObj):devAddr(address), wireObj(wireObj) { } /** Power on and prepare for general usage. @@ -53,7 +54,7 @@ MPU6050::MPU6050(uint8_t address):devAddr(address) { * the clock source to use the X Gyro for reference, which is slightly better than * the default internal clock source. */ -void MPU6050::initialize() { +void MPU6050_Base::initialize() { setClockSource(MPU6050_CLOCK_PLL_XGYRO); setFullScaleGyroRange(MPU6050_GYRO_FS_250); setFullScaleAccelRange(MPU6050_ACCEL_FS_2); @@ -64,7 +65,7 @@ void MPU6050::initialize() { * Make sure the device is connected and responds as expected. * @return True if connection is valid, false otherwise */ -bool MPU6050::testConnection() { +bool MPU6050_Base::testConnection() { return getDeviceID() == 0x34; } @@ -76,8 +77,8 @@ bool MPU6050::testConnection() { * the MPU-6000, which does not have a VLOGIC pin. * @return I2C supply voltage level (0=VLOGIC, 1=VDD) */ -uint8_t MPU6050::getAuxVDDIOLevel() { - I2Cdev::readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer); +uint8_t MPU6050_Base::getAuxVDDIOLevel() { + I2Cdev::readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the auxiliary I2C supply voltage level. @@ -86,8 +87,8 @@ uint8_t MPU6050::getAuxVDDIOLevel() { * the MPU-6000, which does not have a VLOGIC pin. * @param level I2C supply voltage level (0=VLOGIC, 1=VDD) */ -void MPU6050::setAuxVDDIOLevel(uint8_t level) { - I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level); +void MPU6050_Base::setAuxVDDIOLevel(uint8_t level) { + I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level, wireObj); } // SMPLRT_DIV register @@ -113,8 +114,8 @@ void MPU6050::setAuxVDDIOLevel(uint8_t level) { * @return Current sample rate * @see MPU6050_RA_SMPLRT_DIV */ -uint8_t MPU6050::getRate() { - I2Cdev::readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer); +uint8_t MPU6050_Base::getRate() { + I2Cdev::readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set gyroscope sample rate divider. @@ -122,8 +123,8 @@ uint8_t MPU6050::getRate() { * @see getRate() * @see MPU6050_RA_SMPLRT_DIV */ -void MPU6050::setRate(uint8_t rate) { - I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate); +void MPU6050_Base::setRate(uint8_t rate) { + I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate, wireObj); } // CONFIG register @@ -155,8 +156,8 @@ void MPU6050::setRate(uint8_t rate) { * * @return FSYNC configuration value */ -uint8_t MPU6050::getExternalFrameSync() { - I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer); +uint8_t MPU6050_Base::getExternalFrameSync() { + I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set external FSYNC configuration. @@ -164,8 +165,8 @@ uint8_t MPU6050::getExternalFrameSync() { * @see MPU6050_RA_CONFIG * @param sync New FSYNC configuration value */ -void MPU6050::setExternalFrameSync(uint8_t sync) { - I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync); +void MPU6050_Base::setExternalFrameSync(uint8_t sync) { + I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync, wireObj); } /** Get digital low-pass filter configuration. * The DLPF_CFG parameter sets the digital low pass filter configuration. It @@ -195,8 +196,8 @@ void MPU6050::setExternalFrameSync(uint8_t sync) { * @see MPU6050_CFG_DLPF_CFG_BIT * @see MPU6050_CFG_DLPF_CFG_LENGTH */ -uint8_t MPU6050::getDLPFMode() { - I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer); +uint8_t MPU6050_Base::getDLPFMode() { + I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set digital low-pass filter configuration. @@ -207,8 +208,8 @@ uint8_t MPU6050::getDLPFMode() { * @see MPU6050_CFG_DLPF_CFG_BIT * @see MPU6050_CFG_DLPF_CFG_LENGTH */ -void MPU6050::setDLPFMode(uint8_t mode) { - I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode); +void MPU6050_Base::setDLPFMode(uint8_t mode) { + I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode, wireObj); } // GYRO_CONFIG register @@ -230,8 +231,8 @@ void MPU6050::setDLPFMode(uint8_t mode) { * @see MPU6050_GCONFIG_FS_SEL_BIT * @see MPU6050_GCONFIG_FS_SEL_LENGTH */ -uint8_t MPU6050::getFullScaleGyroRange() { - I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer); +uint8_t MPU6050_Base::getFullScaleGyroRange() { + I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set full-scale gyroscope range. @@ -242,8 +243,8 @@ uint8_t MPU6050::getFullScaleGyroRange() { * @see MPU6050_GCONFIG_FS_SEL_BIT * @see MPU6050_GCONFIG_FS_SEL_LENGTH */ -void MPU6050::setFullScaleGyroRange(uint8_t range) { - I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range); +void MPU6050_Base::setFullScaleGyroRange(uint8_t range) { + I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range, wireObj); } // SELF TEST FACTORY TRIM VALUES @@ -252,9 +253,9 @@ void MPU6050::setFullScaleGyroRange(uint8_t range) { * @return factory trim value * @see MPU6050_RA_SELF_TEST_X */ -uint8_t MPU6050::getAccelXSelfTestFactoryTrim() { - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, &buffer[0]); - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1]); +uint8_t MPU6050_Base::getAccelXSelfTestFactoryTrim() { + I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, &buffer[0], I2Cdev::readTimeout, wireObj); + I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1], I2Cdev::readTimeout, wireObj); return (buffer[0]>>3) | ((buffer[1]>>4) & 0x03); } @@ -262,9 +263,9 @@ uint8_t MPU6050::getAccelXSelfTestFactoryTrim() { * @return factory trim value * @see MPU6050_RA_SELF_TEST_Y */ -uint8_t MPU6050::getAccelYSelfTestFactoryTrim() { - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, &buffer[0]); - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1]); +uint8_t MPU6050_Base::getAccelYSelfTestFactoryTrim() { + I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, &buffer[0], I2Cdev::readTimeout, wireObj); + I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1], I2Cdev::readTimeout, wireObj); return (buffer[0]>>3) | ((buffer[1]>>2) & 0x03); } @@ -272,8 +273,8 @@ uint8_t MPU6050::getAccelYSelfTestFactoryTrim() { * @return factory trim value * @see MPU6050_RA_SELF_TEST_Z */ -uint8_t MPU6050::getAccelZSelfTestFactoryTrim() { - I2Cdev::readBytes(devAddr, MPU6050_RA_SELF_TEST_Z, 2, buffer); +uint8_t MPU6050_Base::getAccelZSelfTestFactoryTrim() { + I2Cdev::readBytes(devAddr, MPU6050_RA_SELF_TEST_Z, 2, buffer, I2Cdev::readTimeout, wireObj); return (buffer[0]>>3) | (buffer[1] & 0x03); } @@ -281,8 +282,8 @@ uint8_t MPU6050::getAccelZSelfTestFactoryTrim() { * @return factory trim value * @see MPU6050_RA_SELF_TEST_X */ -uint8_t MPU6050::getGyroXSelfTestFactoryTrim() { - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, buffer); +uint8_t MPU6050_Base::getGyroXSelfTestFactoryTrim() { + I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, buffer, I2Cdev::readTimeout, wireObj); return (buffer[0] & 0x1F); } @@ -290,8 +291,8 @@ uint8_t MPU6050::getGyroXSelfTestFactoryTrim() { * @return factory trim value * @see MPU6050_RA_SELF_TEST_Y */ -uint8_t MPU6050::getGyroYSelfTestFactoryTrim() { - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, buffer); +uint8_t MPU6050_Base::getGyroYSelfTestFactoryTrim() { + I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, buffer, I2Cdev::readTimeout, wireObj); return (buffer[0] & 0x1F); } @@ -299,8 +300,8 @@ uint8_t MPU6050::getGyroYSelfTestFactoryTrim() { * @return factory trim value * @see MPU6050_RA_SELF_TEST_Z */ -uint8_t MPU6050::getGyroZSelfTestFactoryTrim() { - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Z, buffer); +uint8_t MPU6050_Base::getGyroZSelfTestFactoryTrim() { + I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Z, buffer, I2Cdev::readTimeout, wireObj); return (buffer[0] & 0x1F); } @@ -310,46 +311,46 @@ uint8_t MPU6050::getGyroZSelfTestFactoryTrim() { * @return Self-test enabled value * @see MPU6050_RA_ACCEL_CONFIG */ -bool MPU6050::getAccelXSelfTest() { - I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer); +bool MPU6050_Base::getAccelXSelfTest() { + I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get self-test enabled setting for accelerometer X axis. * @param enabled Self-test enabled value * @see MPU6050_RA_ACCEL_CONFIG */ -void MPU6050::setAccelXSelfTest(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled); +void MPU6050_Base::setAccelXSelfTest(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled, wireObj); } /** Get self-test enabled value for accelerometer Y axis. * @return Self-test enabled value * @see MPU6050_RA_ACCEL_CONFIG */ -bool MPU6050::getAccelYSelfTest() { - I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer); +bool MPU6050_Base::getAccelYSelfTest() { + I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get self-test enabled value for accelerometer Y axis. * @param enabled Self-test enabled value * @see MPU6050_RA_ACCEL_CONFIG */ -void MPU6050::setAccelYSelfTest(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled); +void MPU6050_Base::setAccelYSelfTest(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled, wireObj); } /** Get self-test enabled value for accelerometer Z axis. * @return Self-test enabled value * @see MPU6050_RA_ACCEL_CONFIG */ -bool MPU6050::getAccelZSelfTest() { - I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer); +bool MPU6050_Base::getAccelZSelfTest() { + I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set self-test enabled value for accelerometer Z axis. * @param enabled Self-test enabled value * @see MPU6050_RA_ACCEL_CONFIG */ -void MPU6050::setAccelZSelfTest(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled); +void MPU6050_Base::setAccelZSelfTest(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled, wireObj); } /** Get full-scale accelerometer range. * The FS_SEL parameter allows setting the full-scale range of the accelerometer @@ -368,16 +369,16 @@ void MPU6050::setAccelZSelfTest(bool enabled) { * @see MPU6050_ACONFIG_AFS_SEL_BIT * @see MPU6050_ACONFIG_AFS_SEL_LENGTH */ -uint8_t MPU6050::getFullScaleAccelRange() { - I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer); +uint8_t MPU6050_Base::getFullScaleAccelRange() { + I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set full-scale accelerometer range. * @param range New full-scale accelerometer range setting * @see getFullScaleAccelRange() */ -void MPU6050::setFullScaleAccelRange(uint8_t range) { - I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range); +void MPU6050_Base::setFullScaleAccelRange(uint8_t range) { + I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range, wireObj); } /** Get the high-pass filter configuration. * The DHPF is a filter module in the path leading to motion detectors (Free @@ -414,8 +415,8 @@ void MPU6050::setFullScaleAccelRange(uint8_t range) { * @see MPU6050_DHPF_RESET * @see MPU6050_RA_ACCEL_CONFIG */ -uint8_t MPU6050::getDHPFMode() { - I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer); +uint8_t MPU6050_Base::getDHPFMode() { + I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the high-pass filter configuration. @@ -424,8 +425,8 @@ uint8_t MPU6050::getDHPFMode() { * @see MPU6050_DHPF_RESET * @see MPU6050_RA_ACCEL_CONFIG */ -void MPU6050::setDHPFMode(uint8_t bandwidth) { - I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth); +void MPU6050_Base::setDHPFMode(uint8_t bandwidth) { + I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth, wireObj); } // FF_THR register @@ -445,8 +446,8 @@ void MPU6050::setDHPFMode(uint8_t bandwidth) { * @return Current free-fall acceleration threshold value (LSB = 2mg) * @see MPU6050_RA_FF_THR */ -uint8_t MPU6050::getFreefallDetectionThreshold() { - I2Cdev::readByte(devAddr, MPU6050_RA_FF_THR, buffer); +uint8_t MPU6050_Base::getFreefallDetectionThreshold() { + I2Cdev::readByte(devAddr, MPU6050_RA_FF_THR, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get free-fall event acceleration threshold. @@ -454,8 +455,8 @@ uint8_t MPU6050::getFreefallDetectionThreshold() { * @see getFreefallDetectionThreshold() * @see MPU6050_RA_FF_THR */ -void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) { - I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold); +void MPU6050_Base::setFreefallDetectionThreshold(uint8_t threshold) { + I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold, wireObj); } // FF_DUR register @@ -477,8 +478,8 @@ void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) { * @return Current free-fall duration threshold value (LSB = 1ms) * @see MPU6050_RA_FF_DUR */ -uint8_t MPU6050::getFreefallDetectionDuration() { - I2Cdev::readByte(devAddr, MPU6050_RA_FF_DUR, buffer); +uint8_t MPU6050_Base::getFreefallDetectionDuration() { + I2Cdev::readByte(devAddr, MPU6050_RA_FF_DUR, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get free-fall event duration threshold. @@ -486,8 +487,8 @@ uint8_t MPU6050::getFreefallDetectionDuration() { * @see getFreefallDetectionDuration() * @see MPU6050_RA_FF_DUR */ -void MPU6050::setFreefallDetectionDuration(uint8_t duration) { - I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration); +void MPU6050_Base::setFreefallDetectionDuration(uint8_t duration) { + I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration, wireObj); } // MOT_THR register @@ -511,8 +512,8 @@ void MPU6050::setFreefallDetectionDuration(uint8_t duration) { * @return Current motion detection acceleration threshold value (LSB = 2mg) * @see MPU6050_RA_MOT_THR */ -uint8_t MPU6050::getMotionDetectionThreshold() { - I2Cdev::readByte(devAddr, MPU6050_RA_MOT_THR, buffer); +uint8_t MPU6050_Base::getMotionDetectionThreshold() { + I2Cdev::readByte(devAddr, MPU6050_RA_MOT_THR, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set motion detection event acceleration threshold. @@ -520,8 +521,8 @@ uint8_t MPU6050::getMotionDetectionThreshold() { * @see getMotionDetectionThreshold() * @see MPU6050_RA_MOT_THR */ -void MPU6050::setMotionDetectionThreshold(uint8_t threshold) { - I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold); +void MPU6050_Base::setMotionDetectionThreshold(uint8_t threshold) { + I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold, wireObj); } // MOT_DUR register @@ -541,8 +542,8 @@ void MPU6050::setMotionDetectionThreshold(uint8_t threshold) { * @return Current motion detection duration threshold value (LSB = 1ms) * @see MPU6050_RA_MOT_DUR */ -uint8_t MPU6050::getMotionDetectionDuration() { - I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DUR, buffer); +uint8_t MPU6050_Base::getMotionDetectionDuration() { + I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DUR, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set motion detection event duration threshold. @@ -550,8 +551,8 @@ uint8_t MPU6050::getMotionDetectionDuration() { * @see getMotionDetectionDuration() * @see MPU6050_RA_MOT_DUR */ -void MPU6050::setMotionDetectionDuration(uint8_t duration) { - I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration); +void MPU6050_Base::setMotionDetectionDuration(uint8_t duration) { + I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration, wireObj); } // ZRMOT_THR register @@ -581,8 +582,8 @@ void MPU6050::setMotionDetectionDuration(uint8_t duration) { * @return Current zero motion detection acceleration threshold value (LSB = 2mg) * @see MPU6050_RA_ZRMOT_THR */ -uint8_t MPU6050::getZeroMotionDetectionThreshold() { - I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer); +uint8_t MPU6050_Base::getZeroMotionDetectionThreshold() { + I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set zero motion detection event acceleration threshold. @@ -590,8 +591,8 @@ uint8_t MPU6050::getZeroMotionDetectionThreshold() { * @see getZeroMotionDetectionThreshold() * @see MPU6050_RA_ZRMOT_THR */ -void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) { - I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold); +void MPU6050_Base::setZeroMotionDetectionThreshold(uint8_t threshold) { + I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold, wireObj); } // ZRMOT_DUR register @@ -612,8 +613,8 @@ void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) { * @return Current zero motion detection duration threshold value (LSB = 64ms) * @see MPU6050_RA_ZRMOT_DUR */ -uint8_t MPU6050::getZeroMotionDetectionDuration() { - I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer); +uint8_t MPU6050_Base::getZeroMotionDetectionDuration() { + I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set zero motion detection event duration threshold. @@ -621,8 +622,8 @@ uint8_t MPU6050::getZeroMotionDetectionDuration() { * @see getZeroMotionDetectionDuration() * @see MPU6050_RA_ZRMOT_DUR */ -void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) { - I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration); +void MPU6050_Base::setZeroMotionDetectionDuration(uint8_t duration) { + I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration, wireObj); } // FIFO_EN register @@ -633,8 +634,8 @@ void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) { * @return Current temperature FIFO enabled value * @see MPU6050_RA_FIFO_EN */ -bool MPU6050::getTempFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getTempFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set temperature FIFO enabled value. @@ -642,8 +643,8 @@ bool MPU6050::getTempFIFOEnabled() { * @see getTempFIFOEnabled() * @see MPU6050_RA_FIFO_EN */ -void MPU6050::setTempFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled); +void MPU6050_Base::setTempFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled, wireObj); } /** Get gyroscope X-axis FIFO enabled value. * When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and @@ -651,8 +652,8 @@ void MPU6050::setTempFIFOEnabled(bool enabled) { * @return Current gyroscope X-axis FIFO enabled value * @see MPU6050_RA_FIFO_EN */ -bool MPU6050::getXGyroFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getXGyroFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set gyroscope X-axis FIFO enabled value. @@ -660,8 +661,8 @@ bool MPU6050::getXGyroFIFOEnabled() { * @see getXGyroFIFOEnabled() * @see MPU6050_RA_FIFO_EN */ -void MPU6050::setXGyroFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled); +void MPU6050_Base::setXGyroFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled, wireObj); } /** Get gyroscope Y-axis FIFO enabled value. * When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and @@ -669,8 +670,8 @@ void MPU6050::setXGyroFIFOEnabled(bool enabled) { * @return Current gyroscope Y-axis FIFO enabled value * @see MPU6050_RA_FIFO_EN */ -bool MPU6050::getYGyroFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getYGyroFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set gyroscope Y-axis FIFO enabled value. @@ -678,8 +679,8 @@ bool MPU6050::getYGyroFIFOEnabled() { * @see getYGyroFIFOEnabled() * @see MPU6050_RA_FIFO_EN */ -void MPU6050::setYGyroFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled); +void MPU6050_Base::setYGyroFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled, wireObj); } /** Get gyroscope Z-axis FIFO enabled value. * When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and @@ -687,8 +688,8 @@ void MPU6050::setYGyroFIFOEnabled(bool enabled) { * @return Current gyroscope Z-axis FIFO enabled value * @see MPU6050_RA_FIFO_EN */ -bool MPU6050::getZGyroFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getZGyroFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set gyroscope Z-axis FIFO enabled value. @@ -696,8 +697,8 @@ bool MPU6050::getZGyroFIFOEnabled() { * @see getZGyroFIFOEnabled() * @see MPU6050_RA_FIFO_EN */ -void MPU6050::setZGyroFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled); +void MPU6050_Base::setZGyroFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled, wireObj); } /** Get accelerometer FIFO enabled value. * When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H, @@ -706,8 +707,8 @@ void MPU6050::setZGyroFIFOEnabled(bool enabled) { * @return Current accelerometer FIFO enabled value * @see MPU6050_RA_FIFO_EN */ -bool MPU6050::getAccelFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getAccelFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set accelerometer FIFO enabled value. @@ -715,8 +716,8 @@ bool MPU6050::getAccelFIFOEnabled() { * @see getAccelFIFOEnabled() * @see MPU6050_RA_FIFO_EN */ -void MPU6050::setAccelFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled); +void MPU6050_Base::setAccelFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled, wireObj); } /** Get Slave 2 FIFO enabled value. * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) @@ -724,8 +725,8 @@ void MPU6050::setAccelFIFOEnabled(bool enabled) { * @return Current Slave 2 FIFO enabled value * @see MPU6050_RA_FIFO_EN */ -bool MPU6050::getSlave2FIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getSlave2FIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Slave 2 FIFO enabled value. @@ -733,8 +734,8 @@ bool MPU6050::getSlave2FIFOEnabled() { * @see getSlave2FIFOEnabled() * @see MPU6050_RA_FIFO_EN */ -void MPU6050::setSlave2FIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled); +void MPU6050_Base::setSlave2FIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled, wireObj); } /** Get Slave 1 FIFO enabled value. * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) @@ -742,8 +743,8 @@ void MPU6050::setSlave2FIFOEnabled(bool enabled) { * @return Current Slave 1 FIFO enabled value * @see MPU6050_RA_FIFO_EN */ -bool MPU6050::getSlave1FIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getSlave1FIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Slave 1 FIFO enabled value. @@ -751,8 +752,8 @@ bool MPU6050::getSlave1FIFOEnabled() { * @see getSlave1FIFOEnabled() * @see MPU6050_RA_FIFO_EN */ -void MPU6050::setSlave1FIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled); +void MPU6050_Base::setSlave1FIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled, wireObj); } /** Get Slave 0 FIFO enabled value. * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) @@ -760,8 +761,8 @@ void MPU6050::setSlave1FIFOEnabled(bool enabled) { * @return Current Slave 0 FIFO enabled value * @see MPU6050_RA_FIFO_EN */ -bool MPU6050::getSlave0FIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getSlave0FIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Slave 0 FIFO enabled value. @@ -769,8 +770,8 @@ bool MPU6050::getSlave0FIFOEnabled() { * @see getSlave0FIFOEnabled() * @see MPU6050_RA_FIFO_EN */ -void MPU6050::setSlave0FIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled); +void MPU6050_Base::setSlave0FIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled, wireObj); } // I2C_MST_CTRL register @@ -790,8 +791,8 @@ void MPU6050::setSlave0FIFOEnabled(bool enabled) { * @return Current multi-master enabled value * @see MPU6050_RA_I2C_MST_CTRL */ -bool MPU6050::getMultiMasterEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer); +bool MPU6050_Base::getMultiMasterEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set multi-master enabled value. @@ -799,8 +800,8 @@ bool MPU6050::getMultiMasterEnabled() { * @see getMultiMasterEnabled() * @see MPU6050_RA_I2C_MST_CTRL */ -void MPU6050::setMultiMasterEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled); +void MPU6050_Base::setMultiMasterEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled, wireObj); } /** Get wait-for-external-sensor-data enabled value. * When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be @@ -813,8 +814,8 @@ void MPU6050::setMultiMasterEnabled(bool enabled) { * @return Current wait-for-external-sensor-data enabled value * @see MPU6050_RA_I2C_MST_CTRL */ -bool MPU6050::getWaitForExternalSensorEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer); +bool MPU6050_Base::getWaitForExternalSensorEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set wait-for-external-sensor-data enabled value. @@ -822,8 +823,8 @@ bool MPU6050::getWaitForExternalSensorEnabled() { * @see getWaitForExternalSensorEnabled() * @see MPU6050_RA_I2C_MST_CTRL */ -void MPU6050::setWaitForExternalSensorEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled); +void MPU6050_Base::setWaitForExternalSensorEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled, wireObj); } /** Get Slave 3 FIFO enabled value. * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) @@ -831,8 +832,8 @@ void MPU6050::setWaitForExternalSensorEnabled(bool enabled) { * @return Current Slave 3 FIFO enabled value * @see MPU6050_RA_MST_CTRL */ -bool MPU6050::getSlave3FIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getSlave3FIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Slave 3 FIFO enabled value. @@ -840,8 +841,8 @@ bool MPU6050::getSlave3FIFOEnabled() { * @see getSlave3FIFOEnabled() * @see MPU6050_RA_MST_CTRL */ -void MPU6050::setSlave3FIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled); +void MPU6050_Base::setSlave3FIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled, wireObj); } /** Get slave read/write transition enabled value. * The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave @@ -853,8 +854,8 @@ void MPU6050::setSlave3FIFOEnabled(bool enabled) { * @return Current slave read/write transition enabled value * @see MPU6050_RA_I2C_MST_CTRL */ -bool MPU6050::getSlaveReadWriteTransitionEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer); +bool MPU6050_Base::getSlaveReadWriteTransitionEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set slave read/write transition enabled value. @@ -862,8 +863,8 @@ bool MPU6050::getSlaveReadWriteTransitionEnabled() { * @see getSlaveReadWriteTransitionEnabled() * @see MPU6050_RA_I2C_MST_CTRL */ -void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled); +void MPU6050_Base::setSlaveReadWriteTransitionEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled, wireObj); } /** Get I2C master clock speed. * I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the @@ -894,16 +895,16 @@ void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) { * @return Current I2C master clock speed * @see MPU6050_RA_I2C_MST_CTRL */ -uint8_t MPU6050::getMasterClockSpeed() { - I2Cdev::readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer); +uint8_t MPU6050_Base::getMasterClockSpeed() { + I2Cdev::readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set I2C master clock speed. * @reparam speed Current I2C master clock speed * @see MPU6050_RA_I2C_MST_CTRL */ -void MPU6050::setMasterClockSpeed(uint8_t speed) { - I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed); +void MPU6050_Base::setMasterClockSpeed(uint8_t speed) { + I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed, wireObj); } // I2C_SLV* registers (Slave 0-3) @@ -949,9 +950,9 @@ void MPU6050::setMasterClockSpeed(uint8_t speed) { * @return Current address for specified slave * @see MPU6050_RA_I2C_SLV0_ADDR */ -uint8_t MPU6050::getSlaveAddress(uint8_t num) { +uint8_t MPU6050_Base::getSlaveAddress(uint8_t num) { if (num > 3) return 0; - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer); + I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the I2C address of the specified slave (0-3). @@ -960,9 +961,9 @@ uint8_t MPU6050::getSlaveAddress(uint8_t num) { * @see getSlaveAddress() * @see MPU6050_RA_I2C_SLV0_ADDR */ -void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) { +void MPU6050_Base::setSlaveAddress(uint8_t num, uint8_t address) { if (num > 3) return; - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address); + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address, wireObj); } /** Get the active internal register for the specified slave (0-3). * Read/write operations for this slave will be done to whatever internal @@ -975,9 +976,9 @@ void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) { * @return Current active register for specified slave * @see MPU6050_RA_I2C_SLV0_REG */ -uint8_t MPU6050::getSlaveRegister(uint8_t num) { +uint8_t MPU6050_Base::getSlaveRegister(uint8_t num) { if (num > 3) return 0; - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer); + I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the active internal register for the specified slave (0-3). @@ -986,9 +987,9 @@ uint8_t MPU6050::getSlaveRegister(uint8_t num) { * @see getSlaveRegister() * @see MPU6050_RA_I2C_SLV0_REG */ -void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) { +void MPU6050_Base::setSlaveRegister(uint8_t num, uint8_t reg) { if (num > 3) return; - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg); + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg, wireObj); } /** Get the enabled value for the specified slave (0-3). * When set to 1, this bit enables Slave 0 for data transfer operations. When @@ -997,9 +998,9 @@ void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) { * @return Current enabled value for specified slave * @see MPU6050_RA_I2C_SLV0_CTRL */ -bool MPU6050::getSlaveEnabled(uint8_t num) { +bool MPU6050_Base::getSlaveEnabled(uint8_t num) { if (num > 3) return 0; - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer); + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the enabled value for the specified slave (0-3). @@ -1008,9 +1009,9 @@ bool MPU6050::getSlaveEnabled(uint8_t num) { * @see getSlaveEnabled() * @see MPU6050_RA_I2C_SLV0_CTRL */ -void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) { +void MPU6050_Base::setSlaveEnabled(uint8_t num, bool enabled) { if (num > 3) return; - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled); + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled, wireObj); } /** Get word pair byte-swapping enabled for the specified slave (0-3). * When set to 1, this bit enables byte swapping. When byte swapping is enabled, @@ -1023,9 +1024,9 @@ void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) { * @return Current word pair byte-swapping enabled value for specified slave * @see MPU6050_RA_I2C_SLV0_CTRL */ -bool MPU6050::getSlaveWordByteSwap(uint8_t num) { +bool MPU6050_Base::getSlaveWordByteSwap(uint8_t num) { if (num > 3) return 0; - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer); + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set word pair byte-swapping enabled for the specified slave (0-3). @@ -1034,9 +1035,9 @@ bool MPU6050::getSlaveWordByteSwap(uint8_t num) { * @see getSlaveWordByteSwap() * @see MPU6050_RA_I2C_SLV0_CTRL */ -void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) { +void MPU6050_Base::setSlaveWordByteSwap(uint8_t num, bool enabled) { if (num > 3) return; - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled); + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled, wireObj); } /** Get write mode for the specified slave (0-3). * When set to 1, the transaction will read or write data only. When cleared to @@ -1048,9 +1049,9 @@ void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) { * @return Current write mode for specified slave (0 = register address + data, 1 = data only) * @see MPU6050_RA_I2C_SLV0_CTRL */ -bool MPU6050::getSlaveWriteMode(uint8_t num) { +bool MPU6050_Base::getSlaveWriteMode(uint8_t num) { if (num > 3) return 0; - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer); + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set write mode for the specified slave (0-3). @@ -1059,9 +1060,9 @@ bool MPU6050::getSlaveWriteMode(uint8_t num) { * @see getSlaveWriteMode() * @see MPU6050_RA_I2C_SLV0_CTRL */ -void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) { +void MPU6050_Base::setSlaveWriteMode(uint8_t num, bool mode) { if (num > 3) return; - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode); + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode, wireObj); } /** Get word pair grouping order offset for the specified slave (0-3). * This sets specifies the grouping order of word pairs received from registers. @@ -1074,9 +1075,9 @@ void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) { * @return Current word pair grouping order offset for specified slave * @see MPU6050_RA_I2C_SLV0_CTRL */ -bool MPU6050::getSlaveWordGroupOffset(uint8_t num) { +bool MPU6050_Base::getSlaveWordGroupOffset(uint8_t num) { if (num > 3) return 0; - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer); + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set word pair grouping order offset for the specified slave (0-3). @@ -1085,9 +1086,9 @@ bool MPU6050::getSlaveWordGroupOffset(uint8_t num) { * @see getSlaveWordGroupOffset() * @see MPU6050_RA_I2C_SLV0_CTRL */ -void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) { +void MPU6050_Base::setSlaveWordGroupOffset(uint8_t num, bool enabled) { if (num > 3) return; - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled); + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled, wireObj); } /** Get number of bytes to read for the specified slave (0-3). * Specifies the number of bytes transferred to and from Slave 0. Clearing this @@ -1096,9 +1097,9 @@ void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) { * @return Number of bytes to read for specified slave * @see MPU6050_RA_I2C_SLV0_CTRL */ -uint8_t MPU6050::getSlaveDataLength(uint8_t num) { +uint8_t MPU6050_Base::getSlaveDataLength(uint8_t num) { if (num > 3) return 0; - I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer); + I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set number of bytes to read for the specified slave (0-3). @@ -1107,9 +1108,9 @@ uint8_t MPU6050::getSlaveDataLength(uint8_t num) { * @see getSlaveDataLength() * @see MPU6050_RA_I2C_SLV0_CTRL */ -void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) { +void MPU6050_Base::setSlaveDataLength(uint8_t num, uint8_t length) { if (num > 3) return; - I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length); + I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length, wireObj); } // I2C_SLV* registers (Slave 4) @@ -1123,8 +1124,8 @@ void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) { * @see getSlaveAddress() * @see MPU6050_RA_I2C_SLV4_ADDR */ -uint8_t MPU6050::getSlave4Address() { - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer); +uint8_t MPU6050_Base::getSlave4Address() { + I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the I2C address of Slave 4. @@ -1132,8 +1133,8 @@ uint8_t MPU6050::getSlave4Address() { * @see getSlave4Address() * @see MPU6050_RA_I2C_SLV4_ADDR */ -void MPU6050::setSlave4Address(uint8_t address) { - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address); +void MPU6050_Base::setSlave4Address(uint8_t address) { + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address, wireObj); } /** Get the active internal register for the Slave 4. * Read/write operations for this slave will be done to whatever internal @@ -1142,8 +1143,8 @@ void MPU6050::setSlave4Address(uint8_t address) { * @return Current active register for Slave 4 * @see MPU6050_RA_I2C_SLV4_REG */ -uint8_t MPU6050::getSlave4Register() { - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer); +uint8_t MPU6050_Base::getSlave4Register() { + I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the active internal register for Slave 4. @@ -1151,8 +1152,8 @@ uint8_t MPU6050::getSlave4Register() { * @see getSlave4Register() * @see MPU6050_RA_I2C_SLV4_REG */ -void MPU6050::setSlave4Register(uint8_t reg) { - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg); +void MPU6050_Base::setSlave4Register(uint8_t reg) { + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg, wireObj); } /** Set new byte to write to Slave 4. * This register stores the data to be written into the Slave 4. If I2C_SLV4_RW @@ -1160,8 +1161,8 @@ void MPU6050::setSlave4Register(uint8_t reg) { * @param data New byte to write to Slave 4 * @see MPU6050_RA_I2C_SLV4_DO */ -void MPU6050::setSlave4OutputByte(uint8_t data) { - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data); +void MPU6050_Base::setSlave4OutputByte(uint8_t data) { + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data, wireObj); } /** Get the enabled value for the Slave 4. * When set to 1, this bit enables Slave 4 for data transfer operations. When @@ -1169,8 +1170,8 @@ void MPU6050::setSlave4OutputByte(uint8_t data) { * @return Current enabled value for Slave 4 * @see MPU6050_RA_I2C_SLV4_CTRL */ -bool MPU6050::getSlave4Enabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer); +bool MPU6050_Base::getSlave4Enabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the enabled value for Slave 4. @@ -1178,8 +1179,8 @@ bool MPU6050::getSlave4Enabled() { * @see getSlave4Enabled() * @see MPU6050_RA_I2C_SLV4_CTRL */ -void MPU6050::setSlave4Enabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled); +void MPU6050_Base::setSlave4Enabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled, wireObj); } /** Get the enabled value for Slave 4 transaction interrupts. * When set to 1, this bit enables the generation of an interrupt signal upon @@ -1190,8 +1191,8 @@ void MPU6050::setSlave4Enabled(bool enabled) { * @return Current enabled value for Slave 4 transaction interrupts. * @see MPU6050_RA_I2C_SLV4_CTRL */ -bool MPU6050::getSlave4InterruptEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer); +bool MPU6050_Base::getSlave4InterruptEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the enabled value for Slave 4 transaction interrupts. @@ -1199,8 +1200,8 @@ bool MPU6050::getSlave4InterruptEnabled() { * @see getSlave4InterruptEnabled() * @see MPU6050_RA_I2C_SLV4_CTRL */ -void MPU6050::setSlave4InterruptEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled); +void MPU6050_Base::setSlave4InterruptEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled, wireObj); } /** Get write mode for Slave 4. * When set to 1, the transaction will read or write data only. When cleared to @@ -1211,8 +1212,8 @@ void MPU6050::setSlave4InterruptEnabled(bool enabled) { * @return Current write mode for Slave 4 (0 = register address + data, 1 = data only) * @see MPU6050_RA_I2C_SLV4_CTRL */ -bool MPU6050::getSlave4WriteMode() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer); +bool MPU6050_Base::getSlave4WriteMode() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set write mode for the Slave 4. @@ -1220,8 +1221,8 @@ bool MPU6050::getSlave4WriteMode() { * @see getSlave4WriteMode() * @see MPU6050_RA_I2C_SLV4_CTRL */ -void MPU6050::setSlave4WriteMode(bool mode) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode); +void MPU6050_Base::setSlave4WriteMode(bool mode) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode, wireObj); } /** Get Slave 4 master delay value. * This configures the reduced access rate of I2C slaves relative to the Sample @@ -1238,8 +1239,8 @@ void MPU6050::setSlave4WriteMode(bool mode) { * @return Current Slave 4 master delay value * @see MPU6050_RA_I2C_SLV4_CTRL */ -uint8_t MPU6050::getSlave4MasterDelay() { - I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer); +uint8_t MPU6050_Base::getSlave4MasterDelay() { + I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Slave 4 master delay value. @@ -1247,8 +1248,8 @@ uint8_t MPU6050::getSlave4MasterDelay() { * @see getSlave4MasterDelay() * @see MPU6050_RA_I2C_SLV4_CTRL */ -void MPU6050::setSlave4MasterDelay(uint8_t delay) { - I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay); +void MPU6050_Base::setSlave4MasterDelay(uint8_t delay) { + I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay, wireObj); } /** Get last available byte read from Slave 4. * This register stores the data read from Slave 4. This field is populated @@ -1256,8 +1257,8 @@ void MPU6050::setSlave4MasterDelay(uint8_t delay) { * @return Last available byte read from to Slave 4 * @see MPU6050_RA_I2C_SLV4_DI */ -uint8_t MPU6050::getSlate4InputByte() { - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer); +uint8_t MPU6050_Base::getSlate4InputByte() { + I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } @@ -1272,8 +1273,8 @@ uint8_t MPU6050::getSlate4InputByte() { * @return FSYNC interrupt status * @see MPU6050_RA_I2C_MST_STATUS */ -bool MPU6050::getPassthroughStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer); +bool MPU6050_Base::getPassthroughStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Slave 4 transaction done status. @@ -1284,8 +1285,8 @@ bool MPU6050::getPassthroughStatus() { * @return Slave 4 transaction done status * @see MPU6050_RA_I2C_MST_STATUS */ -bool MPU6050::getSlave4IsDone() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer); +bool MPU6050_Base::getSlave4IsDone() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get master arbitration lost status. @@ -1295,8 +1296,8 @@ bool MPU6050::getSlave4IsDone() { * @return Master arbitration lost status * @see MPU6050_RA_I2C_MST_STATUS */ -bool MPU6050::getLostArbitration() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer); +bool MPU6050_Base::getLostArbitration() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Slave 4 NACK status. @@ -1306,8 +1307,8 @@ bool MPU6050::getLostArbitration() { * @return Slave 4 NACK interrupt status * @see MPU6050_RA_I2C_MST_STATUS */ -bool MPU6050::getSlave4Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer); +bool MPU6050_Base::getSlave4Nack() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Slave 3 NACK status. @@ -1317,8 +1318,8 @@ bool MPU6050::getSlave4Nack() { * @return Slave 3 NACK interrupt status * @see MPU6050_RA_I2C_MST_STATUS */ -bool MPU6050::getSlave3Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer); +bool MPU6050_Base::getSlave3Nack() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Slave 2 NACK status. @@ -1328,8 +1329,8 @@ bool MPU6050::getSlave3Nack() { * @return Slave 2 NACK interrupt status * @see MPU6050_RA_I2C_MST_STATUS */ -bool MPU6050::getSlave2Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer); +bool MPU6050_Base::getSlave2Nack() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Slave 1 NACK status. @@ -1339,8 +1340,8 @@ bool MPU6050::getSlave2Nack() { * @return Slave 1 NACK interrupt status * @see MPU6050_RA_I2C_MST_STATUS */ -bool MPU6050::getSlave1Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer); +bool MPU6050_Base::getSlave1Nack() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Slave 0 NACK status. @@ -1350,8 +1351,8 @@ bool MPU6050::getSlave1Nack() { * @return Slave 0 NACK interrupt status * @see MPU6050_RA_I2C_MST_STATUS */ -bool MPU6050::getSlave0Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer); +bool MPU6050_Base::getSlave0Nack() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } @@ -1363,8 +1364,8 @@ bool MPU6050::getSlave0Nack() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_INT_LEVEL_BIT */ -bool MPU6050::getInterruptMode() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer); +bool MPU6050_Base::getInterruptMode() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set interrupt logic level mode. @@ -1373,8 +1374,8 @@ bool MPU6050::getInterruptMode() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_INT_LEVEL_BIT */ -void MPU6050::setInterruptMode(bool mode) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode); +void MPU6050_Base::setInterruptMode(bool mode) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode, wireObj); } /** Get interrupt drive mode. * Will be set 0 for push-pull, 1 for open-drain. @@ -1382,8 +1383,8 @@ void MPU6050::setInterruptMode(bool mode) { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_INT_OPEN_BIT */ -bool MPU6050::getInterruptDrive() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer); +bool MPU6050_Base::getInterruptDrive() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set interrupt drive mode. @@ -1392,8 +1393,8 @@ bool MPU6050::getInterruptDrive() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_INT_OPEN_BIT */ -void MPU6050::setInterruptDrive(bool drive) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive); +void MPU6050_Base::setInterruptDrive(bool drive) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive, wireObj); } /** Get interrupt latch mode. * Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared. @@ -1401,8 +1402,8 @@ void MPU6050::setInterruptDrive(bool drive) { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_LATCH_INT_EN_BIT */ -bool MPU6050::getInterruptLatch() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer); +bool MPU6050_Base::getInterruptLatch() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set interrupt latch mode. @@ -1411,8 +1412,8 @@ bool MPU6050::getInterruptLatch() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_LATCH_INT_EN_BIT */ -void MPU6050::setInterruptLatch(bool latch) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch); +void MPU6050_Base::setInterruptLatch(bool latch) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch, wireObj); } /** Get interrupt latch clear mode. * Will be set 0 for status-read-only, 1 for any-register-read. @@ -1420,8 +1421,8 @@ void MPU6050::setInterruptLatch(bool latch) { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT */ -bool MPU6050::getInterruptLatchClear() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer); +bool MPU6050_Base::getInterruptLatchClear() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set interrupt latch clear mode. @@ -1430,8 +1431,8 @@ bool MPU6050::getInterruptLatchClear() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT */ -void MPU6050::setInterruptLatchClear(bool clear) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear); +void MPU6050_Base::setInterruptLatchClear(bool clear) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear, wireObj); } /** Get FSYNC interrupt logic level mode. * @return Current FSYNC interrupt mode (0=active-high, 1=active-low) @@ -1439,8 +1440,8 @@ void MPU6050::setInterruptLatchClear(bool clear) { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT */ -bool MPU6050::getFSyncInterruptLevel() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer); +bool MPU6050_Base::getFSyncInterruptLevel() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set FSYNC interrupt logic level mode. @@ -1449,8 +1450,8 @@ bool MPU6050::getFSyncInterruptLevel() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT */ -void MPU6050::setFSyncInterruptLevel(bool level) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level); +void MPU6050_Base::setFSyncInterruptLevel(bool level) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level, wireObj); } /** Get FSYNC pin interrupt enabled setting. * Will be set 0 for disabled, 1 for enabled. @@ -1458,8 +1459,8 @@ void MPU6050::setFSyncInterruptLevel(bool level) { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT */ -bool MPU6050::getFSyncInterruptEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer); +bool MPU6050_Base::getFSyncInterruptEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set FSYNC pin interrupt enabled setting. @@ -1468,8 +1469,8 @@ bool MPU6050::getFSyncInterruptEnabled() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT */ -void MPU6050::setFSyncInterruptEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled); +void MPU6050_Base::setFSyncInterruptEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled, wireObj); } /** Get I2C bypass enabled status. * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to @@ -1482,8 +1483,8 @@ void MPU6050::setFSyncInterruptEnabled(bool enabled) { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT */ -bool MPU6050::getI2CBypassEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer); +bool MPU6050_Base::getI2CBypassEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set I2C bypass enabled status. @@ -1497,8 +1498,8 @@ bool MPU6050::getI2CBypassEnabled() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT */ -void MPU6050::setI2CBypassEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled); +void MPU6050_Base::setI2CBypassEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled, wireObj); } /** Get reference clock output enabled status. * When this bit is equal to 1, a reference clock output is provided at the @@ -1509,8 +1510,8 @@ void MPU6050::setI2CBypassEnabled(bool enabled) { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_CLKOUT_EN_BIT */ -bool MPU6050::getClockOutputEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer); +bool MPU6050_Base::getClockOutputEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set reference clock output enabled status. @@ -1522,8 +1523,8 @@ bool MPU6050::getClockOutputEnabled() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_CLKOUT_EN_BIT */ -void MPU6050::setClockOutputEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled); +void MPU6050_Base::setClockOutputEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled, wireObj); } // INT_ENABLE register @@ -1535,8 +1536,8 @@ void MPU6050::setClockOutputEnabled(bool enabled) { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_FF_BIT **/ -uint8_t MPU6050::getIntEnabled() { - I2Cdev::readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer); +uint8_t MPU6050_Base::getIntEnabled() { + I2Cdev::readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set full interrupt enabled status. @@ -1547,8 +1548,8 @@ uint8_t MPU6050::getIntEnabled() { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_FF_BIT **/ -void MPU6050::setIntEnabled(uint8_t enabled) { - I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled); +void MPU6050_Base::setIntEnabled(uint8_t enabled) { + I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled, wireObj); } /** Get Free Fall interrupt enabled status. * Will be set 0 for disabled, 1 for enabled. @@ -1556,8 +1557,8 @@ void MPU6050::setIntEnabled(uint8_t enabled) { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_FF_BIT **/ -bool MPU6050::getIntFreefallEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer); +bool MPU6050_Base::getIntFreefallEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Free Fall interrupt enabled status. @@ -1566,8 +1567,8 @@ bool MPU6050::getIntFreefallEnabled() { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_FF_BIT **/ -void MPU6050::setIntFreefallEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled); +void MPU6050_Base::setIntFreefallEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled, wireObj); } /** Get Motion Detection interrupt enabled status. * Will be set 0 for disabled, 1 for enabled. @@ -1575,8 +1576,8 @@ void MPU6050::setIntFreefallEnabled(bool enabled) { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_MOT_BIT **/ -bool MPU6050::getIntMotionEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer); +bool MPU6050_Base::getIntMotionEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Motion Detection interrupt enabled status. @@ -1585,8 +1586,8 @@ bool MPU6050::getIntMotionEnabled() { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_MOT_BIT **/ -void MPU6050::setIntMotionEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled); +void MPU6050_Base::setIntMotionEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled, wireObj); } /** Get Zero Motion Detection interrupt enabled status. * Will be set 0 for disabled, 1 for enabled. @@ -1594,8 +1595,8 @@ void MPU6050::setIntMotionEnabled(bool enabled) { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_ZMOT_BIT **/ -bool MPU6050::getIntZeroMotionEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer); +bool MPU6050_Base::getIntZeroMotionEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Zero Motion Detection interrupt enabled status. @@ -1604,8 +1605,8 @@ bool MPU6050::getIntZeroMotionEnabled() { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_ZMOT_BIT **/ -void MPU6050::setIntZeroMotionEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled); +void MPU6050_Base::setIntZeroMotionEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled, wireObj); } /** Get FIFO Buffer Overflow interrupt enabled status. * Will be set 0 for disabled, 1 for enabled. @@ -1613,8 +1614,8 @@ void MPU6050::setIntZeroMotionEnabled(bool enabled) { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT **/ -bool MPU6050::getIntFIFOBufferOverflowEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer); +bool MPU6050_Base::getIntFIFOBufferOverflowEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set FIFO Buffer Overflow interrupt enabled status. @@ -1623,8 +1624,8 @@ bool MPU6050::getIntFIFOBufferOverflowEnabled() { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT **/ -void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled); +void MPU6050_Base::setIntFIFOBufferOverflowEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled, wireObj); } /** Get I2C Master interrupt enabled status. * This enables any of the I2C Master interrupt sources to generate an @@ -1633,8 +1634,8 @@ void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT **/ -bool MPU6050::getIntI2CMasterEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer); +bool MPU6050_Base::getIntI2CMasterEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set I2C Master interrupt enabled status. @@ -1643,8 +1644,8 @@ bool MPU6050::getIntI2CMasterEnabled() { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT **/ -void MPU6050::setIntI2CMasterEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled); +void MPU6050_Base::setIntI2CMasterEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled, wireObj); } /** Get Data Ready interrupt enabled setting. * This event occurs each time a write operation to all of the sensor registers @@ -1653,8 +1654,8 @@ void MPU6050::setIntI2CMasterEnabled(bool enabled) { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_DATA_RDY_BIT */ -bool MPU6050::getIntDataReadyEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer); +bool MPU6050_Base::getIntDataReadyEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Data Ready interrupt enabled status. @@ -1663,8 +1664,8 @@ bool MPU6050::getIntDataReadyEnabled() { * @see MPU6050_RA_INT_CFG * @see MPU6050_INTERRUPT_DATA_RDY_BIT */ -void MPU6050::setIntDataReadyEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled); +void MPU6050_Base::setIntDataReadyEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled, wireObj); } // INT_STATUS register @@ -1676,8 +1677,8 @@ void MPU6050::setIntDataReadyEnabled(bool enabled) { * @return Current interrupt status * @see MPU6050_RA_INT_STATUS */ -uint8_t MPU6050::getIntStatus() { - I2Cdev::readByte(devAddr, MPU6050_RA_INT_STATUS, buffer); +uint8_t MPU6050_Base::getIntStatus() { + I2Cdev::readByte(devAddr, MPU6050_RA_INT_STATUS, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Free Fall interrupt status. @@ -1687,8 +1688,8 @@ uint8_t MPU6050::getIntStatus() { * @see MPU6050_RA_INT_STATUS * @see MPU6050_INTERRUPT_FF_BIT */ -bool MPU6050::getIntFreefallStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer); +bool MPU6050_Base::getIntFreefallStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Motion Detection interrupt status. @@ -1698,8 +1699,8 @@ bool MPU6050::getIntFreefallStatus() { * @see MPU6050_RA_INT_STATUS * @see MPU6050_INTERRUPT_MOT_BIT */ -bool MPU6050::getIntMotionStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer); +bool MPU6050_Base::getIntMotionStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Zero Motion Detection interrupt status. @@ -1709,8 +1710,8 @@ bool MPU6050::getIntMotionStatus() { * @see MPU6050_RA_INT_STATUS * @see MPU6050_INTERRUPT_ZMOT_BIT */ -bool MPU6050::getIntZeroMotionStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer); +bool MPU6050_Base::getIntZeroMotionStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get FIFO Buffer Overflow interrupt status. @@ -1720,8 +1721,8 @@ bool MPU6050::getIntZeroMotionStatus() { * @see MPU6050_RA_INT_STATUS * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT */ -bool MPU6050::getIntFIFOBufferOverflowStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer); +bool MPU6050_Base::getIntFIFOBufferOverflowStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get I2C Master interrupt status. @@ -1732,8 +1733,8 @@ bool MPU6050::getIntFIFOBufferOverflowStatus() { * @see MPU6050_RA_INT_STATUS * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT */ -bool MPU6050::getIntI2CMasterStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer); +bool MPU6050_Base::getIntI2CMasterStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Data Ready interrupt status. @@ -1743,8 +1744,8 @@ bool MPU6050::getIntI2CMasterStatus() { * @see MPU6050_RA_INT_STATUS * @see MPU6050_INTERRUPT_DATA_RDY_BIT */ -bool MPU6050::getIntDataReadyStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer); +bool MPU6050_Base::getIntDataReadyStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } @@ -1766,7 +1767,11 @@ bool MPU6050::getIntDataReadyStatus() { * @see getRotation() * @see MPU6050_RA_ACCEL_XOUT_H */ -void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz) { +void MPU6050_Base::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz) { + (void)mx; // unused parameter + (void)my; // unused parameter + (void)mz; // unused parameter + getMotion6(ax, ay, az, gx, gy, gz); // TODO: magnetometer integration } @@ -1782,8 +1787,8 @@ void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int * @see getRotation() * @see MPU6050_RA_ACCEL_XOUT_H */ -void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) { - I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer); +void MPU6050_Base::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) { + I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer, I2Cdev::readTimeout, wireObj); *ax = (((int16_t)buffer[0]) << 8) | buffer[1]; *ay = (((int16_t)buffer[2]) << 8) | buffer[3]; *az = (((int16_t)buffer[4]) << 8) | buffer[5]; @@ -1816,10 +1821,10 @@ void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int * 
      * AFS_SEL | Full Scale Range | LSB Sensitivity
  * --------+------------------+----------------
- * 0       | +/- 2g           | 8192 LSB/mg
- * 1       | +/- 4g           | 4096 LSB/mg
- * 2       | +/- 8g           | 2048 LSB/mg
- * 3       | +/- 16g          | 1024 LSB/mg
+ * 0       | +/- 2g           | 16384 LSB/mg
+ * 1       | +/- 4g           | 8192 LSB/mg
+ * 2       | +/- 8g           | 4096 LSB/mg
+ * 3       | +/- 16g          | 2048 LSB/mg
  *
    * * @param x 16-bit signed integer container for X-axis acceleration @@ -1827,8 +1832,8 @@ void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int * @param z 16-bit signed integer container for Z-axis acceleration * @see MPU6050_RA_GYRO_XOUT_H */ -void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z) { - I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer); +void MPU6050_Base::getAcceleration(int16_t* x, int16_t* y, int16_t* z) { + I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer, I2Cdev::readTimeout, wireObj); *x = (((int16_t)buffer[0]) << 8) | buffer[1]; *y = (((int16_t)buffer[2]) << 8) | buffer[3]; *z = (((int16_t)buffer[4]) << 8) | buffer[5]; @@ -1838,8 +1843,8 @@ void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z) { * @see getMotion6() * @see MPU6050_RA_ACCEL_XOUT_H */ -int16_t MPU6050::getAccelerationX() { - I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer); +int16_t MPU6050_Base::getAccelerationX() { + I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } /** Get Y-axis accelerometer reading. @@ -1847,8 +1852,8 @@ int16_t MPU6050::getAccelerationX() { * @see getMotion6() * @see MPU6050_RA_ACCEL_YOUT_H */ -int16_t MPU6050::getAccelerationY() { - I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer); +int16_t MPU6050_Base::getAccelerationY() { + I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } /** Get Z-axis accelerometer reading. @@ -1856,8 +1861,8 @@ int16_t MPU6050::getAccelerationY() { * @see getMotion6() * @see MPU6050_RA_ACCEL_ZOUT_H */ -int16_t MPU6050::getAccelerationZ() { - I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer); +int16_t MPU6050_Base::getAccelerationZ() { + I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } @@ -1867,8 +1872,8 @@ int16_t MPU6050::getAccelerationZ() { * @return Temperature reading in 16-bit 2's complement format * @see MPU6050_RA_TEMP_OUT_H */ -int16_t MPU6050::getTemperature() { - I2Cdev::readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer); +int16_t MPU6050_Base::getTemperature() { + I2Cdev::readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } @@ -1906,8 +1911,8 @@ int16_t MPU6050::getTemperature() { * @see getMotion6() * @see MPU6050_RA_GYRO_XOUT_H */ -void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z) { - I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer); +void MPU6050_Base::getRotation(int16_t* x, int16_t* y, int16_t* z) { + I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer, I2Cdev::readTimeout, wireObj); *x = (((int16_t)buffer[0]) << 8) | buffer[1]; *y = (((int16_t)buffer[2]) << 8) | buffer[3]; *z = (((int16_t)buffer[4]) << 8) | buffer[5]; @@ -1917,8 +1922,8 @@ void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z) { * @see getMotion6() * @see MPU6050_RA_GYRO_XOUT_H */ -int16_t MPU6050::getRotationX() { - I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer); +int16_t MPU6050_Base::getRotationX() { + I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } /** Get Y-axis gyroscope reading. @@ -1926,8 +1931,8 @@ int16_t MPU6050::getRotationX() { * @see getMotion6() * @see MPU6050_RA_GYRO_YOUT_H */ -int16_t MPU6050::getRotationY() { - I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer); +int16_t MPU6050_Base::getRotationY() { + I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } /** Get Z-axis gyroscope reading. @@ -1935,8 +1940,8 @@ int16_t MPU6050::getRotationY() { * @see getMotion6() * @see MPU6050_RA_GYRO_ZOUT_H */ -int16_t MPU6050::getRotationZ() { - I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer); +int16_t MPU6050_Base::getRotationZ() { + I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } @@ -2016,8 +2021,8 @@ int16_t MPU6050::getRotationZ() { * @param position Starting position (0-23) * @return Byte read from register */ -uint8_t MPU6050::getExternalSensorByte(int position) { - I2Cdev::readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer); +uint8_t MPU6050_Base::getExternalSensorByte(int position) { + I2Cdev::readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Read word (2 bytes) from external sensor data registers. @@ -2025,8 +2030,8 @@ uint8_t MPU6050::getExternalSensorByte(int position) { * @return Word read from register * @see getExternalSensorByte() */ -uint16_t MPU6050::getExternalSensorWord(int position) { - I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer); +uint16_t MPU6050_Base::getExternalSensorWord(int position) { + I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer, I2Cdev::readTimeout, wireObj); return (((uint16_t)buffer[0]) << 8) | buffer[1]; } /** Read double word (4 bytes) from external sensor data registers. @@ -2034,8 +2039,8 @@ uint16_t MPU6050::getExternalSensorWord(int position) { * @return Double word read from registers * @see getExternalSensorByte() */ -uint32_t MPU6050::getExternalSensorDWord(int position) { - I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer); +uint32_t MPU6050_Base::getExternalSensorDWord(int position) { + I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer, I2Cdev::readTimeout, wireObj); return (((uint32_t)buffer[0]) << 24) | (((uint32_t)buffer[1]) << 16) | (((uint16_t)buffer[2]) << 8) | buffer[3]; } @@ -2045,8 +2050,8 @@ uint32_t MPU6050::getExternalSensorDWord(int position) { * @return Motion detection status byte * @see MPU6050_RA_MOT_DETECT_STATUS */ -uint8_t MPU6050::getMotionStatus() { - I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DETECT_STATUS, buffer); +uint8_t MPU6050_Base::getMotionStatus() { + I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DETECT_STATUS, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get X-axis negative motion detection interrupt status. @@ -2054,8 +2059,8 @@ uint8_t MPU6050::getMotionStatus() { * @see MPU6050_RA_MOT_DETECT_STATUS * @see MPU6050_MOTION_MOT_XNEG_BIT */ -bool MPU6050::getXNegMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer); +bool MPU6050_Base::getXNegMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get X-axis positive motion detection interrupt status. @@ -2063,8 +2068,8 @@ bool MPU6050::getXNegMotionDetected() { * @see MPU6050_RA_MOT_DETECT_STATUS * @see MPU6050_MOTION_MOT_XPOS_BIT */ -bool MPU6050::getXPosMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer); +bool MPU6050_Base::getXPosMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Y-axis negative motion detection interrupt status. @@ -2072,8 +2077,8 @@ bool MPU6050::getXPosMotionDetected() { * @see MPU6050_RA_MOT_DETECT_STATUS * @see MPU6050_MOTION_MOT_YNEG_BIT */ -bool MPU6050::getYNegMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer); +bool MPU6050_Base::getYNegMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Y-axis positive motion detection interrupt status. @@ -2081,8 +2086,8 @@ bool MPU6050::getYNegMotionDetected() { * @see MPU6050_RA_MOT_DETECT_STATUS * @see MPU6050_MOTION_MOT_YPOS_BIT */ -bool MPU6050::getYPosMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer); +bool MPU6050_Base::getYPosMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Z-axis negative motion detection interrupt status. @@ -2090,8 +2095,8 @@ bool MPU6050::getYPosMotionDetected() { * @see MPU6050_RA_MOT_DETECT_STATUS * @see MPU6050_MOTION_MOT_ZNEG_BIT */ -bool MPU6050::getZNegMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer); +bool MPU6050_Base::getZNegMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Z-axis positive motion detection interrupt status. @@ -2099,8 +2104,8 @@ bool MPU6050::getZNegMotionDetected() { * @see MPU6050_RA_MOT_DETECT_STATUS * @see MPU6050_MOTION_MOT_ZPOS_BIT */ -bool MPU6050::getZPosMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer); +bool MPU6050_Base::getZPosMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get zero motion detection interrupt status. @@ -2108,8 +2113,8 @@ bool MPU6050::getZPosMotionDetected() { * @see MPU6050_RA_MOT_DETECT_STATUS * @see MPU6050_MOTION_MOT_ZRMOT_BIT */ -bool MPU6050::getZeroMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer); +bool MPU6050_Base::getZeroMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } @@ -2123,9 +2128,9 @@ bool MPU6050::getZeroMotionDetected() { * @param data Byte to write * @see MPU6050_RA_I2C_SLV0_DO */ -void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data) { +void MPU6050_Base::setSlaveOutputByte(uint8_t num, uint8_t data) { if (num > 3) return; - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data); + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data, wireObj); } // I2C_MST_DELAY_CTRL register @@ -2138,8 +2143,8 @@ void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data) { * @see MPU6050_RA_I2C_MST_DELAY_CTRL * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT */ -bool MPU6050::getExternalShadowDelayEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer); +bool MPU6050_Base::getExternalShadowDelayEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set external data shadow delay enabled status. @@ -2148,8 +2153,8 @@ bool MPU6050::getExternalShadowDelayEnabled() { * @see MPU6050_RA_I2C_MST_DELAY_CTRL * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT */ -void MPU6050::setExternalShadowDelayEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled); +void MPU6050_Base::setExternalShadowDelayEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled, wireObj); } /** Get slave delay enabled status. * When a particular slave delay is enabled, the rate of access for the that @@ -2169,10 +2174,10 @@ void MPU6050::setExternalShadowDelayEnabled(bool enabled) { * @see MPU6050_RA_I2C_MST_DELAY_CTRL * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT */ -bool MPU6050::getSlaveDelayEnabled(uint8_t num) { +bool MPU6050_Base::getSlaveDelayEnabled(uint8_t num) { // MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc. if (num > 4) return 0; - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer); + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set slave delay enabled status. @@ -2181,8 +2186,8 @@ bool MPU6050::getSlaveDelayEnabled(uint8_t num) { * @see MPU6050_RA_I2C_MST_DELAY_CTRL * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT */ -void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled); +void MPU6050_Base::setSlaveDelayEnabled(uint8_t num, bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled, wireObj); } // SIGNAL_PATH_RESET register @@ -2193,8 +2198,8 @@ void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled) { * @see MPU6050_RA_SIGNAL_PATH_RESET * @see MPU6050_PATHRESET_GYRO_RESET_BIT */ -void MPU6050::resetGyroscopePath() { - I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true); +void MPU6050_Base::resetGyroscopePath() { + I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true, wireObj); } /** Reset accelerometer signal path. * The reset will revert the signal path analog to digital converters and @@ -2202,8 +2207,8 @@ void MPU6050::resetGyroscopePath() { * @see MPU6050_RA_SIGNAL_PATH_RESET * @see MPU6050_PATHRESET_ACCEL_RESET_BIT */ -void MPU6050::resetAccelerometerPath() { - I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true); +void MPU6050_Base::resetAccelerometerPath() { + I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true, wireObj); } /** Reset temperature sensor signal path. * The reset will revert the signal path analog to digital converters and @@ -2211,8 +2216,8 @@ void MPU6050::resetAccelerometerPath() { * @see MPU6050_RA_SIGNAL_PATH_RESET * @see MPU6050_PATHRESET_TEMP_RESET_BIT */ -void MPU6050::resetTemperaturePath() { - I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true); +void MPU6050_Base::resetTemperaturePath() { + I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true, wireObj); } // MOT_DETECT_CTRL register @@ -2231,8 +2236,8 @@ void MPU6050::resetTemperaturePath() { * @see MPU6050_RA_MOT_DETECT_CTRL * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT */ -uint8_t MPU6050::getAccelerometerPowerOnDelay() { - I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer); +uint8_t MPU6050_Base::getAccelerometerPowerOnDelay() { + I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set accelerometer power-on delay. @@ -2241,8 +2246,8 @@ uint8_t MPU6050::getAccelerometerPowerOnDelay() { * @see MPU6050_RA_MOT_DETECT_CTRL * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT */ -void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay) { - I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay); +void MPU6050_Base::setAccelerometerPowerOnDelay(uint8_t delay) { + I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay, wireObj); } /** Get Free Fall detection counter decrement configuration. * Detection is registered by the Free Fall detection module after accelerometer @@ -2270,8 +2275,8 @@ void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay) { * @see MPU6050_RA_MOT_DETECT_CTRL * @see MPU6050_DETECT_FF_COUNT_BIT */ -uint8_t MPU6050::getFreefallDetectionCounterDecrement() { - I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer); +uint8_t MPU6050_Base::getFreefallDetectionCounterDecrement() { + I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Free Fall detection counter decrement configuration. @@ -2280,8 +2285,8 @@ uint8_t MPU6050::getFreefallDetectionCounterDecrement() { * @see MPU6050_RA_MOT_DETECT_CTRL * @see MPU6050_DETECT_FF_COUNT_BIT */ -void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement) { - I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement); +void MPU6050_Base::setFreefallDetectionCounterDecrement(uint8_t decrement) { + I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement, wireObj); } /** Get Motion detection counter decrement configuration. * Detection is registered by the Motion detection module after accelerometer @@ -2306,8 +2311,8 @@ void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement) { * please refer to Registers 29 to 32. * */ -uint8_t MPU6050::getMotionDetectionCounterDecrement() { - I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer); +uint8_t MPU6050_Base::getMotionDetectionCounterDecrement() { + I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Motion detection counter decrement configuration. @@ -2316,8 +2321,8 @@ uint8_t MPU6050::getMotionDetectionCounterDecrement() { * @see MPU6050_RA_MOT_DETECT_CTRL * @see MPU6050_DETECT_MOT_COUNT_BIT */ -void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement) { - I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement); +void MPU6050_Base::setMotionDetectionCounterDecrement(uint8_t decrement) { + I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement, wireObj); } // USER_CTRL register @@ -2330,8 +2335,8 @@ void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement) { * @see MPU6050_RA_USER_CTRL * @see MPU6050_USERCTRL_FIFO_EN_BIT */ -bool MPU6050::getFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set FIFO enabled status. @@ -2340,8 +2345,8 @@ bool MPU6050::getFIFOEnabled() { * @see MPU6050_RA_USER_CTRL * @see MPU6050_USERCTRL_FIFO_EN_BIT */ -void MPU6050::setFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled); +void MPU6050_Base::setFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled, wireObj); } /** Get I2C Master Mode enabled status. * When this mode is enabled, the MPU-60X0 acts as the I2C Master to the @@ -2354,8 +2359,8 @@ void MPU6050::setFIFOEnabled(bool enabled) { * @see MPU6050_RA_USER_CTRL * @see MPU6050_USERCTRL_I2C_MST_EN_BIT */ -bool MPU6050::getI2CMasterModeEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer); +bool MPU6050_Base::getI2CMasterModeEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set I2C Master Mode enabled status. @@ -2364,15 +2369,15 @@ bool MPU6050::getI2CMasterModeEnabled() { * @see MPU6050_RA_USER_CTRL * @see MPU6050_USERCTRL_I2C_MST_EN_BIT */ -void MPU6050::setI2CMasterModeEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled); +void MPU6050_Base::setI2CMasterModeEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled, wireObj); } /** Switch from I2C to SPI mode (MPU-6000 only) * If this is set, the primary SPI interface will be enabled in place of the * disabled primary I2C interface. */ -void MPU6050::switchSPIEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled); +void MPU6050_Base::switchSPIEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled, wireObj); } /** Reset the FIFO. * This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This @@ -2380,8 +2385,8 @@ void MPU6050::switchSPIEnabled(bool enabled) { * @see MPU6050_RA_USER_CTRL * @see MPU6050_USERCTRL_FIFO_RESET_BIT */ -void MPU6050::resetFIFO() { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true); +void MPU6050_Base::resetFIFO() { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true, wireObj); } /** Reset the I2C Master. * This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0. @@ -2389,8 +2394,8 @@ void MPU6050::resetFIFO() { * @see MPU6050_RA_USER_CTRL * @see MPU6050_USERCTRL_I2C_MST_RESET_BIT */ -void MPU6050::resetI2CMaster() { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true); +void MPU6050_Base::resetI2CMaster() { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true, wireObj); } /** Reset all sensor registers and signal paths. * When set to 1, this bit resets the signal paths for all sensors (gyroscopes, @@ -2404,8 +2409,8 @@ void MPU6050::resetI2CMaster() { * @see MPU6050_RA_USER_CTRL * @see MPU6050_USERCTRL_SIG_COND_RESET_BIT */ -void MPU6050::resetSensors() { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true); +void MPU6050_Base::resetSensors() { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true, wireObj); } // PWR_MGMT_1 register @@ -2415,8 +2420,8 @@ void MPU6050::resetSensors() { * @see MPU6050_RA_PWR_MGMT_1 * @see MPU6050_PWR1_DEVICE_RESET_BIT */ -void MPU6050::reset() { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true); +void MPU6050_Base::reset() { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true, wireObj); } /** Get sleep mode status. * Setting the SLEEP bit in the register puts the device into very low power @@ -2429,8 +2434,8 @@ void MPU6050::reset() { * @see MPU6050_RA_PWR_MGMT_1 * @see MPU6050_PWR1_SLEEP_BIT */ -bool MPU6050::getSleepEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer); +bool MPU6050_Base::getSleepEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set sleep mode status. @@ -2439,8 +2444,8 @@ bool MPU6050::getSleepEnabled() { * @see MPU6050_RA_PWR_MGMT_1 * @see MPU6050_PWR1_SLEEP_BIT */ -void MPU6050::setSleepEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled); +void MPU6050_Base::setSleepEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled, wireObj); } /** Get wake cycle enabled status. * When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle @@ -2450,8 +2455,8 @@ void MPU6050::setSleepEnabled(bool enabled) { * @see MPU6050_RA_PWR_MGMT_1 * @see MPU6050_PWR1_CYCLE_BIT */ -bool MPU6050::getWakeCycleEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer); +bool MPU6050_Base::getWakeCycleEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set wake cycle enabled status. @@ -2460,8 +2465,8 @@ bool MPU6050::getWakeCycleEnabled() { * @see MPU6050_RA_PWR_MGMT_1 * @see MPU6050_PWR1_CYCLE_BIT */ -void MPU6050::setWakeCycleEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled); +void MPU6050_Base::setWakeCycleEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled, wireObj); } /** Get temperature sensor enabled status. * Control the usage of the internal temperature sensor. @@ -2474,8 +2479,8 @@ void MPU6050::setWakeCycleEnabled(bool enabled) { * @see MPU6050_RA_PWR_MGMT_1 * @see MPU6050_PWR1_TEMP_DIS_BIT */ -bool MPU6050::getTempSensorEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer); +bool MPU6050_Base::getTempSensorEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0] == 0; // 1 is actually disabled here } /** Set temperature sensor enabled status. @@ -2488,9 +2493,9 @@ bool MPU6050::getTempSensorEnabled() { * @see MPU6050_RA_PWR_MGMT_1 * @see MPU6050_PWR1_TEMP_DIS_BIT */ -void MPU6050::setTempSensorEnabled(bool enabled) { +void MPU6050_Base::setTempSensorEnabled(bool enabled) { // 1 is actually disabled here - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled); + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled, wireObj); } /** Get clock source setting. * @return Current clock source setting @@ -2498,8 +2503,8 @@ void MPU6050::setTempSensorEnabled(bool enabled) { * @see MPU6050_PWR1_CLKSEL_BIT * @see MPU6050_PWR1_CLKSEL_LENGTH */ -uint8_t MPU6050::getClockSource() { - I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer); +uint8_t MPU6050_Base::getClockSource() { + I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set clock source setting. @@ -2532,8 +2537,8 @@ uint8_t MPU6050::getClockSource() { * @see MPU6050_PWR1_CLKSEL_BIT * @see MPU6050_PWR1_CLKSEL_LENGTH */ -void MPU6050::setClockSource(uint8_t source) { - I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source); +void MPU6050_Base::setClockSource(uint8_t source) { + I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source, wireObj); } // PWR_MGMT_2 register @@ -2561,16 +2566,16 @@ void MPU6050::setClockSource(uint8_t source) { * @return Current wake frequency * @see MPU6050_RA_PWR_MGMT_2 */ -uint8_t MPU6050::getWakeFrequency() { - I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer); +uint8_t MPU6050_Base::getWakeFrequency() { + I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set wake frequency in Accel-Only Low Power Mode. * @param frequency New wake frequency * @see MPU6050_RA_PWR_MGMT_2 */ -void MPU6050::setWakeFrequency(uint8_t frequency) { - I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency); +void MPU6050_Base::setWakeFrequency(uint8_t frequency) { + I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency, wireObj); } /** Get X-axis accelerometer standby enabled status. @@ -2579,8 +2584,8 @@ void MPU6050::setWakeFrequency(uint8_t frequency) { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_XA_BIT */ -bool MPU6050::getStandbyXAccelEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer); +bool MPU6050_Base::getStandbyXAccelEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set X-axis accelerometer standby enabled status. @@ -2589,8 +2594,8 @@ bool MPU6050::getStandbyXAccelEnabled() { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_XA_BIT */ -void MPU6050::setStandbyXAccelEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled); +void MPU6050_Base::setStandbyXAccelEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled, wireObj); } /** Get Y-axis accelerometer standby enabled status. * If enabled, the Y-axis will not gather or report data (or use power). @@ -2598,8 +2603,8 @@ void MPU6050::setStandbyXAccelEnabled(bool enabled) { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_YA_BIT */ -bool MPU6050::getStandbyYAccelEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer); +bool MPU6050_Base::getStandbyYAccelEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Y-axis accelerometer standby enabled status. @@ -2608,8 +2613,8 @@ bool MPU6050::getStandbyYAccelEnabled() { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_YA_BIT */ -void MPU6050::setStandbyYAccelEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled); +void MPU6050_Base::setStandbyYAccelEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled, wireObj); } /** Get Z-axis accelerometer standby enabled status. * If enabled, the Z-axis will not gather or report data (or use power). @@ -2617,8 +2622,8 @@ void MPU6050::setStandbyYAccelEnabled(bool enabled) { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_ZA_BIT */ -bool MPU6050::getStandbyZAccelEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer); +bool MPU6050_Base::getStandbyZAccelEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Z-axis accelerometer standby enabled status. @@ -2627,8 +2632,8 @@ bool MPU6050::getStandbyZAccelEnabled() { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_ZA_BIT */ -void MPU6050::setStandbyZAccelEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled); +void MPU6050_Base::setStandbyZAccelEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled, wireObj); } /** Get X-axis gyroscope standby enabled status. * If enabled, the X-axis will not gather or report data (or use power). @@ -2636,8 +2641,8 @@ void MPU6050::setStandbyZAccelEnabled(bool enabled) { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_XG_BIT */ -bool MPU6050::getStandbyXGyroEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer); +bool MPU6050_Base::getStandbyXGyroEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set X-axis gyroscope standby enabled status. @@ -2646,8 +2651,8 @@ bool MPU6050::getStandbyXGyroEnabled() { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_XG_BIT */ -void MPU6050::setStandbyXGyroEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled); +void MPU6050_Base::setStandbyXGyroEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled, wireObj); } /** Get Y-axis gyroscope standby enabled status. * If enabled, the Y-axis will not gather or report data (or use power). @@ -2655,8 +2660,8 @@ void MPU6050::setStandbyXGyroEnabled(bool enabled) { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_YG_BIT */ -bool MPU6050::getStandbyYGyroEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer); +bool MPU6050_Base::getStandbyYGyroEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Y-axis gyroscope standby enabled status. @@ -2665,8 +2670,8 @@ bool MPU6050::getStandbyYGyroEnabled() { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_YG_BIT */ -void MPU6050::setStandbyYGyroEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled); +void MPU6050_Base::setStandbyYGyroEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled, wireObj); } /** Get Z-axis gyroscope standby enabled status. * If enabled, the Z-axis will not gather or report data (or use power). @@ -2674,8 +2679,8 @@ void MPU6050::setStandbyYGyroEnabled(bool enabled) { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_ZG_BIT */ -bool MPU6050::getStandbyZGyroEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer); +bool MPU6050_Base::getStandbyZGyroEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Z-axis gyroscope standby enabled status. @@ -2684,8 +2689,8 @@ bool MPU6050::getStandbyZGyroEnabled() { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_ZG_BIT */ -void MPU6050::setStandbyZGyroEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled); +void MPU6050_Base::setStandbyZGyroEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled, wireObj); } // FIFO_COUNT* registers @@ -2697,8 +2702,8 @@ void MPU6050::setStandbyZGyroEnabled(bool enabled) { * set of sensor data bound to be stored in the FIFO (register 35 and 36). * @return Current FIFO buffer size */ -uint16_t MPU6050::getFIFOCount() { - I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer); +uint16_t MPU6050_Base::getFIFOCount() { + I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer, I2Cdev::readTimeout, wireObj); return (((uint16_t)buffer[0]) << 8) | buffer[1]; } @@ -2729,18 +2734,34 @@ uint16_t MPU6050::getFIFOCount() { * * @return Byte from FIFO buffer */ -uint8_t MPU6050::getFIFOByte() { - I2Cdev::readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer); +uint8_t MPU6050_Base::getFIFOByte() { + I2Cdev::readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) { +void MPU6050_Base::getFIFOBytes(uint8_t *data, uint8_t length) { if(length > 0){ - I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data); + I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data, I2Cdev::readTimeout, wireObj); } else { *data = 0; } } +/** Get timeout to get a packet from FIFO buffer. + * @return Current timeout to get a packet from FIFO buffer + * @see MPU6050_FIFO_DEFAULT_TIMEOUT + */ +uint32_t MPU6050_Base::getFIFOTimeout() { + return fifoTimeout; +} + +/** Set timeout to get a packet from FIFO buffer. + * @param New timeout to get a packet from FIFO buffer + * @see MPU6050_FIFO_DEFAULT_TIMEOUT + */ +void MPU6050_Base::setFIFOTimeout(uint32_t fifoTimeout) { + this->fifoTimeout = fifoTimeout; +} + /** Get latest byte from FIFO buffer no matter how much time has passed. * === GetCurrentFIFOPacket === * ================================================================ @@ -2748,24 +2769,25 @@ void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) { * 2) when recovering from overflow * 0) when no valid data is available * ================================================================ */ - int8_t MPU6050::GetCurrentFIFOPacket(uint8_t *data, uint8_t length) { // overflow proof + int8_t MPU6050_Base::GetCurrentFIFOPacket(uint8_t *data, uint8_t length) { // overflow proof int16_t fifoC; // This section of code is for when we allowed more than 1 packet to be acquired uint32_t BreakTimer = micros(); + bool packetReceived = false; do { if ((fifoC = getFIFOCount()) > length) { if (fifoC > 200) { // if you waited to get the FIFO buffer to > 200 bytes it will take longer to get the last packet in the FIFO Buffer than it will take to reset the buffer and wait for the next to arrive resetFIFO(); // Fixes any overflow corruption fifoC = 0; - while (!(fifoC = getFIFOCount()) && ((micros() - BreakTimer) <= (11000))); // Get Next New Packet + while (!(fifoC = getFIFOCount()) && ((micros() - BreakTimer) <= (getFIFOTimeout()))); // Get Next New Packet } else { //We have more than 1 packet but less than 200 bytes of data in the FIFO Buffer - uint8_t Trash[BUFFER_LENGTH]; + uint8_t Trash[I2CDEVLIB_WIRE_BUFFER_LENGTH]; while ((fifoC = getFIFOCount()) > length) { // Test each time just in case the MPU is writing to the FIFO Buffer fifoC = fifoC - length; // Save the last packet uint16_t RemoveBytes; while (fifoC) { // fifo count will reach zero so this is safe - RemoveBytes = min((int)fifoC, BUFFER_LENGTH); // Buffer Length is different than the packet length this will efficiently clear the buffer + RemoveBytes = (fifoC < I2CDEVLIB_WIRE_BUFFER_LENGTH) ? fifoC : I2CDEVLIB_WIRE_BUFFER_LENGTH; // Buffer Length is different than the packet length this will efficiently clear the buffer getFIFOBytes(Trash, (uint8_t)RemoveBytes); fifoC -= RemoveBytes; } @@ -2774,8 +2796,9 @@ void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) { } if (!fifoC) return 0; // Called too early no data or we timed out after FIFO Reset // We have 1 packet - if ((micros() - BreakTimer) > (11000)) return 0; - } while (fifoC != length); + packetReceived = fifoC == length; + if (!packetReceived && (micros() - BreakTimer) > (getFIFOTimeout())) return 0; + } while (!packetReceived); getFIFOBytes(data, length); //Get 1 packet return 1; } @@ -2785,8 +2808,8 @@ void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) { * @see getFIFOByte() * @see MPU6050_RA_FIFO_R_W */ -void MPU6050::setFIFOByte(uint8_t data) { - I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data); +void MPU6050_Base::setFIFOByte(uint8_t data) { + I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data, wireObj); } // WHO_AM_I register @@ -2798,8 +2821,8 @@ void MPU6050::setFIFOByte(uint8_t data) { * @see MPU6050_WHO_AM_I_BIT * @see MPU6050_WHO_AM_I_LENGTH */ -uint8_t MPU6050::getDeviceID() { - I2Cdev::readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer); +uint8_t MPU6050_Base::getDeviceID() { + I2Cdev::readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Device ID. @@ -2811,238 +2834,238 @@ uint8_t MPU6050::getDeviceID() { * @see MPU6050_WHO_AM_I_BIT * @see MPU6050_WHO_AM_I_LENGTH */ -void MPU6050::setDeviceID(uint8_t id) { - I2Cdev::writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id); +void MPU6050_Base::setDeviceID(uint8_t id) { + I2Cdev::writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id, wireObj); } // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ======== // XG_OFFS_TC register -uint8_t MPU6050::getOTPBankValid() { - I2Cdev::readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer); +uint8_t MPU6050_Base::getOTPBankValid() { + I2Cdev::readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setOTPBankValid(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled); +void MPU6050_Base::setOTPBankValid(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled, wireObj); } -int8_t MPU6050::getXGyroOffsetTC() { - I2Cdev::readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer); +int8_t MPU6050_Base::getXGyroOffsetTC() { + I2Cdev::readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setXGyroOffsetTC(int8_t offset) { - I2Cdev::writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset); +void MPU6050_Base::setXGyroOffsetTC(int8_t offset) { + I2Cdev::writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset, wireObj); } // YG_OFFS_TC register -int8_t MPU6050::getYGyroOffsetTC() { - I2Cdev::readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer); +int8_t MPU6050_Base::getYGyroOffsetTC() { + I2Cdev::readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setYGyroOffsetTC(int8_t offset) { - I2Cdev::writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset); +void MPU6050_Base::setYGyroOffsetTC(int8_t offset) { + I2Cdev::writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset, wireObj); } // ZG_OFFS_TC register -int8_t MPU6050::getZGyroOffsetTC() { - I2Cdev::readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer); +int8_t MPU6050_Base::getZGyroOffsetTC() { + I2Cdev::readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setZGyroOffsetTC(int8_t offset) { - I2Cdev::writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset); +void MPU6050_Base::setZGyroOffsetTC(int8_t offset) { + I2Cdev::writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset, wireObj); } // X_FINE_GAIN register -int8_t MPU6050::getXFineGain() { - I2Cdev::readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer); +int8_t MPU6050_Base::getXFineGain() { + I2Cdev::readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setXFineGain(int8_t gain) { - I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain); +void MPU6050_Base::setXFineGain(int8_t gain) { + I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain, wireObj); } // Y_FINE_GAIN register -int8_t MPU6050::getYFineGain() { - I2Cdev::readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer); +int8_t MPU6050_Base::getYFineGain() { + I2Cdev::readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setYFineGain(int8_t gain) { - I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain); +void MPU6050_Base::setYFineGain(int8_t gain) { + I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain, wireObj); } // Z_FINE_GAIN register -int8_t MPU6050::getZFineGain() { - I2Cdev::readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer); +int8_t MPU6050_Base::getZFineGain() { + I2Cdev::readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setZFineGain(int8_t gain) { - I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain); +void MPU6050_Base::setZFineGain(int8_t gain) { + I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain, wireObj); } // XA_OFFS_* registers -int16_t MPU6050::getXAccelOffset() { +int16_t MPU6050_Base::getXAccelOffset() { uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_XA_OFFS_H:0x77); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::readBytes(devAddr, SaveAddress, 2, buffer); + I2Cdev::readBytes(devAddr, SaveAddress, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } -void MPU6050::setXAccelOffset(int16_t offset) { +void MPU6050_Base::setXAccelOffset(int16_t offset) { uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_XA_OFFS_H:0x77); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::writeWord(devAddr, SaveAddress, offset); + I2Cdev::writeWord(devAddr, SaveAddress, offset, wireObj); } // YA_OFFS_* register -int16_t MPU6050::getYAccelOffset() { +int16_t MPU6050_Base::getYAccelOffset() { uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_YA_OFFS_H:0x7A); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::readBytes(devAddr, SaveAddress, 2, buffer); + I2Cdev::readBytes(devAddr, SaveAddress, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } -void MPU6050::setYAccelOffset(int16_t offset) { +void MPU6050_Base::setYAccelOffset(int16_t offset) { uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_YA_OFFS_H:0x7A); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::writeWord(devAddr, SaveAddress, offset); + I2Cdev::writeWord(devAddr, SaveAddress, offset, wireObj); } // ZA_OFFS_* register -int16_t MPU6050::getZAccelOffset() { +int16_t MPU6050_Base::getZAccelOffset() { uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_ZA_OFFS_H:0x7D); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::readBytes(devAddr, SaveAddress, 2, buffer); + I2Cdev::readBytes(devAddr, SaveAddress, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } -void MPU6050::setZAccelOffset(int16_t offset) { +void MPU6050_Base::setZAccelOffset(int16_t offset) { uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_ZA_OFFS_H:0x7D); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::writeWord(devAddr, SaveAddress, offset); + I2Cdev::writeWord(devAddr, SaveAddress, offset, wireObj); } // XG_OFFS_USR* registers -int16_t MPU6050::getXGyroOffset() { - I2Cdev::readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer); +int16_t MPU6050_Base::getXGyroOffset() { + I2Cdev::readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } -void MPU6050::setXGyroOffset(int16_t offset) { - I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset); +void MPU6050_Base::setXGyroOffset(int16_t offset) { + I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset, wireObj); } // YG_OFFS_USR* register -int16_t MPU6050::getYGyroOffset() { - I2Cdev::readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer); +int16_t MPU6050_Base::getYGyroOffset() { + I2Cdev::readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } -void MPU6050::setYGyroOffset(int16_t offset) { - I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset); +void MPU6050_Base::setYGyroOffset(int16_t offset) { + I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset, wireObj); } // ZG_OFFS_USR* register -int16_t MPU6050::getZGyroOffset() { - I2Cdev::readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer); +int16_t MPU6050_Base::getZGyroOffset() { + I2Cdev::readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } -void MPU6050::setZGyroOffset(int16_t offset) { - I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset); +void MPU6050_Base::setZGyroOffset(int16_t offset) { + I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset, wireObj); } // INT_ENABLE register (DMP functions) -bool MPU6050::getIntPLLReadyEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer); +bool MPU6050_Base::getIntPLLReadyEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setIntPLLReadyEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled); +void MPU6050_Base::setIntPLLReadyEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled, wireObj); } -bool MPU6050::getIntDMPEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer); +bool MPU6050_Base::getIntDMPEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setIntDMPEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled); +void MPU6050_Base::setIntDMPEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled, wireObj); } // DMP_INT_STATUS -bool MPU6050::getDMPInt5Status() { - I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer); +bool MPU6050_Base::getDMPInt5Status() { + I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -bool MPU6050::getDMPInt4Status() { - I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer); +bool MPU6050_Base::getDMPInt4Status() { + I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -bool MPU6050::getDMPInt3Status() { - I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer); +bool MPU6050_Base::getDMPInt3Status() { + I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -bool MPU6050::getDMPInt2Status() { - I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer); +bool MPU6050_Base::getDMPInt2Status() { + I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -bool MPU6050::getDMPInt1Status() { - I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer); +bool MPU6050_Base::getDMPInt1Status() { + I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -bool MPU6050::getDMPInt0Status() { - I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer); +bool MPU6050_Base::getDMPInt0Status() { + I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } // INT_STATUS register (DMP functions) -bool MPU6050::getIntPLLReadyStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer); +bool MPU6050_Base::getIntPLLReadyStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -bool MPU6050::getIntDMPStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer); +bool MPU6050_Base::getIntDMPStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } // USER_CTRL register (DMP functions) -bool MPU6050::getDMPEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer); +bool MPU6050_Base::getDMPEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setDMPEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled); +void MPU6050_Base::setDMPEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled, wireObj); } -void MPU6050::resetDMP() { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true); +void MPU6050_Base::resetDMP() { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true, wireObj); } // BANK_SEL register -void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) { +void MPU6050_Base::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) { bank &= 0x1F; if (userBank) bank |= 0x20; if (prefetchEnabled) bank |= 0x40; - I2Cdev::writeByte(devAddr, MPU6050_RA_BANK_SEL, bank); + I2Cdev::writeByte(devAddr, MPU6050_RA_BANK_SEL, bank, wireObj); } // MEM_START_ADDR register -void MPU6050::setMemoryStartAddress(uint8_t address) { - I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address); +void MPU6050_Base::setMemoryStartAddress(uint8_t address) { + I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address, wireObj); } // MEM_R_W register -uint8_t MPU6050::readMemoryByte() { - I2Cdev::readByte(devAddr, MPU6050_RA_MEM_R_W, buffer); +uint8_t MPU6050_Base::readMemoryByte() { + I2Cdev::readByte(devAddr, MPU6050_RA_MEM_R_W, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::writeMemoryByte(uint8_t data) { - I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_R_W, data); +void MPU6050_Base::writeMemoryByte(uint8_t data) { + I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_R_W, data, wireObj); } -void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) { +void MPU6050_Base::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) { setMemoryBank(bank); setMemoryStartAddress(address); uint8_t chunkSize; @@ -3057,7 +3080,7 @@ void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, ui if (chunkSize > 256 - address) chunkSize = 256 - address; // read the chunk of data as specified - I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i); + I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i, I2Cdev::readTimeout, wireObj); // increase byte index by [chunkSize] i += chunkSize; @@ -3073,7 +3096,7 @@ void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, ui } } } -bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem) { +bool MPU6050_Base::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem) { setMemoryBank(bank); setMemoryStartAddress(address); uint8_t chunkSize; @@ -3101,13 +3124,13 @@ bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t b progBuffer = (uint8_t *)data + i; } - I2Cdev::writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer); + I2Cdev::writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer, wireObj); // verify data if needed if (verify && verifyBuffer) { setMemoryBank(bank); setMemoryStartAddress(address); - I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer); + I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer, I2Cdev::readTimeout, wireObj); if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) { /*Serial.print("Block write verification error, bank "); Serial.print(bank, DEC); @@ -3149,10 +3172,10 @@ bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t b if (useProgMem) free(progBuffer); return true; } -bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) { +bool MPU6050_Base::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) { return writeMemoryBlock(data, dataSize, bank, address, verify, true); } -bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem) { +bool MPU6050_Base::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem) { uint8_t *progBuffer = 0; uint8_t success, special; uint16_t i, j; @@ -3211,7 +3234,7 @@ bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, b //setIntZeroMotionEnabled(true); //setIntFIFOBufferOverflowEnabled(true); //setIntDMPEnabled(true); - I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation + I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32, wireObj); // single operation success = true; } else { @@ -3228,28 +3251,28 @@ bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, b if (useProgMem) free(progBuffer); return true; } -bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) { +bool MPU6050_Base::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) { return writeDMPConfigurationSet(data, dataSize, true); } // DMP_CFG_1 register -uint8_t MPU6050::getDMPConfig1() { - I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer); +uint8_t MPU6050_Base::getDMPConfig1() { + I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setDMPConfig1(uint8_t config) { - I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config); +void MPU6050_Base::setDMPConfig1(uint8_t config) { + I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config, wireObj); } // DMP_CFG_2 register -uint8_t MPU6050::getDMPConfig2() { - I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer); +uint8_t MPU6050_Base::getDMPConfig2() { + I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setDMPConfig2(uint8_t config) { - I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config); +void MPU6050_Base::setDMPConfig2(uint8_t config) { + I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config, wireObj); } @@ -3259,7 +3282,7 @@ void MPU6050::setDMPConfig2(uint8_t config) { /** @brief Fully calibrate Gyro from ZERO in about 6-7 Loops 600-700 readings */ -void MPU6050::CalibrateGyro(uint8_t Loops ) { +void MPU6050_Base::CalibrateGyro(uint8_t Loops ) { double kP = 0.3; double kI = 90; float x; @@ -3273,7 +3296,7 @@ void MPU6050::CalibrateGyro(uint8_t Loops ) { /** @brief Fully calibrate Accel from ZERO in about 6-7 Loops 600-700 readings */ -void MPU6050::CalibrateAccel(uint8_t Loops ) { +void MPU6050_Base::CalibrateAccel(uint8_t Loops ) { float kP = 0.3; float kI = 20; @@ -3284,7 +3307,7 @@ void MPU6050::CalibrateAccel(uint8_t Loops ) { PID( 0x3B, kP, kI, Loops); } -void MPU6050::PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops){ +void MPU6050_Base::PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops){ uint8_t SaveAddress = (ReadAddress == 0x3B)?((getDeviceID() < 0x38 )? 0x06:0x77):0x13; int16_t Data; @@ -3293,10 +3316,12 @@ void MPU6050::PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops){ uint8_t shift =(SaveAddress == 0x77)?3:2; float Error, PTerm, ITerm[3]; int16_t eSample; - uint32_t eSum ; + uint32_t eSum; + uint16_t gravity = 8192; // prevent uninitialized compiler warning + if (ReadAddress == 0x3B) gravity = 16384 >> getFullScaleAccelRange(); Serial.write('>'); for (int i = 0; i < 3; i++) { - I2Cdev::readWords(devAddr, SaveAddress + (i * shift), 1, (uint16_t *)&Data); // reads 1 or more 16 bit integers (Word) + I2Cdev::readWords(devAddr, SaveAddress + (i * shift), 1, (uint16_t *)&Data, I2Cdev::readTimeout, wireObj); // reads 1 or more 16 bit integers (Word) Reading = Data; if(SaveAddress != 0x13){ BitZero[i] = Data & 1; // Capture Bit Zero to properly handle Accelerometer calibration @@ -3310,9 +3335,9 @@ void MPU6050::PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops){ for (int c = 0; c < 100; c++) {// 100 PI Calculations eSum = 0; for (int i = 0; i < 3; i++) { - I2Cdev::readWords(devAddr, ReadAddress + (i * 2), 1, (uint16_t *)&Data); // reads 1 or more 16 bit integers (Word) + I2Cdev::readWords(devAddr, ReadAddress + (i * 2), 1, (uint16_t *)&Data, I2Cdev::readTimeout, wireObj); // reads 1 or more 16 bit integers (Word) Reading = Data; - if ((ReadAddress == 0x3B)&&(i == 2)) Reading -= 16384; //remove Gravity + if ((ReadAddress == 0x3B)&&(i == 2)) Reading -= gravity; //remove Gravity Error = -Reading; eSum += abs(Reading); PTerm = kP * Error; @@ -3321,7 +3346,7 @@ void MPU6050::PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops){ Data = round((PTerm + ITerm[i] ) / 8); //Compute PID Output Data = ((Data)&0xFFFE) |BitZero[i]; // Insert Bit0 Saved at beginning } else Data = round((PTerm + ITerm[i] ) / 4); //Compute PID Output - I2Cdev::writeWords(devAddr, SaveAddress + (i * shift), 1, (uint16_t *)&Data); + I2Cdev::writeWords(devAddr, SaveAddress + (i * shift), 1, (uint16_t *)&Data, wireObj); } if((c == 99) && eSum > 1000){ // Error is still to great to continue c = 0; @@ -3339,33 +3364,32 @@ void MPU6050::PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops){ Data = round((ITerm[i] ) / 8); //Compute PID Output Data = ((Data)&0xFFFE) |BitZero[i]; // Insert Bit0 Saved at beginning } else Data = round((ITerm[i]) / 4); - I2Cdev::writeWords(devAddr, SaveAddress + (i * shift), 1, (uint16_t *)&Data); + I2Cdev::writeWords(devAddr, SaveAddress + (i * shift), 1, (uint16_t *)&Data, wireObj); } } resetFIFO(); resetDMP(); } -#define printfloatx(Name,Variable,Spaces,Precision,EndTxt) { Serial.print(F(Name)); {char S[(Spaces + Precision + 3)];Serial.print(F(" ")); Serial.print(dtostrf((float)Variable,Spaces,Precision ,S));}Serial.print(F(EndTxt)); }//Name,Variable,Spaces,Precision,EndTxt -void MPU6050::PrintActiveOffsets() { +void MPU6050_Base::PrintActiveOffsets() { uint8_t AOffsetRegister = (getDeviceID() < 0x38 )? MPU6050_RA_XA_OFFS_H:0x77; int16_t Data[3]; //Serial.print(F("Offset Register 0x")); //Serial.print(AOffsetRegister>>4,HEX);Serial.print(AOffsetRegister&0x0F,HEX); - Serial.print(F("\n// X Accel Y Accel Z Accel X Gyro Y Gyro Z Gyro\n//OFFSETS ")); - if(AOffsetRegister == 0x06) I2Cdev::readWords(devAddr, AOffsetRegister, 3, (uint16_t *)Data); + Serial.print(F("\n// X Accel Y Accel Z Accel X Gyro Y Gyro Z Gyro\n// OFFSETS ")); + if(AOffsetRegister == 0x06) I2Cdev::readWords(devAddr, AOffsetRegister, 3, (uint16_t *)Data, I2Cdev::readTimeout, wireObj); else { - I2Cdev::readWords(devAddr, AOffsetRegister, 1, (uint16_t *)Data); - I2Cdev::readWords(devAddr, AOffsetRegister+3, 1, (uint16_t *)Data+1); - I2Cdev::readWords(devAddr, AOffsetRegister+6, 1, (uint16_t *)Data+2); + I2Cdev::readWords(devAddr, AOffsetRegister, 1, (uint16_t *)Data, I2Cdev::readTimeout, wireObj); + I2Cdev::readWords(devAddr, AOffsetRegister+3, 1, (uint16_t *)Data+1, I2Cdev::readTimeout, wireObj); + I2Cdev::readWords(devAddr, AOffsetRegister+6, 1, (uint16_t *)Data+2, I2Cdev::readTimeout, wireObj); } // A_OFFSET_H_READ_A_OFFS(Data); - printfloatx("", Data[0], 5, 0, ", "); - printfloatx("", Data[1], 5, 0, ", "); - printfloatx("", Data[2], 5, 0, ", "); - I2Cdev::readWords(devAddr, 0x13, 3, (uint16_t *)Data); + Serial.print((float)Data[0], 5); Serial.print(", "); + Serial.print((float)Data[1], 5); Serial.print(", "); + Serial.print((float)Data[2], 5); Serial.print(", "); + I2Cdev::readWords(devAddr, 0x13, 3, (uint16_t *)Data, I2Cdev::readTimeout, wireObj); // XG_OFFSET_H_READ_OFFS_USR(Data); - printfloatx("", Data[0], 5, 0, ", "); - printfloatx("", Data[1], 5, 0, ", "); - printfloatx("", Data[2], 5, 0, "\n"); + Serial.print((float)Data[0], 5); Serial.print(", "); + Serial.print((float)Data[1], 5); Serial.print(", "); + Serial.print((float)Data[2], 5); Serial.print("\n"); } diff --git a/lib/mpu6050/MPU6050.h b/lib/mpu6050/MPU6050.h index 4be352d..888d4db 100644 --- a/lib/mpu6050/MPU6050.h +++ b/lib/mpu6050/MPU6050.h @@ -4,6 +4,7 @@ // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib // // Changelog: +// 2021/09/27 - split implementations out of header files, finally // ... - ongoing debug release // NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE @@ -38,12 +39,15 @@ THE SOFTWARE. #define _MPU6050_H_ #include "I2Cdev.h" +#include "helper_3dmath.h" // supporting link: http://forum.arduino.cc/index.php?&topic=143444.msg1079517#msg1079517 // also: http://forum.arduino.cc/index.php?&topic=141571.msg1062899#msg1062899s #ifdef __AVR__ #include +#elif defined(ESP32) + #include #else //#define PROGMEM /* empty */ //#define pgm_read_byte(x) (*(x)) @@ -431,11 +435,11 @@ THE SOFTWARE. #define MPU6050_DMP_MEMORY_BANK_SIZE 256 #define MPU6050_DMP_MEMORY_CHUNK_SIZE 16 -// note: DMP code memory blocks defined at end of header file +#define MPU6050_FIFO_DEFAULT_TIMEOUT 11000 -class MPU6050 { +class MPU6050_Base { public: - MPU6050(uint8_t address=MPU6050_DEFAULT_ADDRESS); + MPU6050_Base(uint8_t address=MPU6050_DEFAULT_ADDRESS, void *wireObj=0); void initialize(); bool testConnection(); @@ -717,6 +721,8 @@ class MPU6050 { int8_t GetCurrentFIFOPacket(uint8_t *data, uint8_t length); void setFIFOByte(uint8_t data); void getFIFOBytes(uint8_t *data, uint8_t length); + void setFIFOTimeout(uint32_t fifoTimeout); + uint32_t getFIFOTimeout(); // WHO_AM_I register uint8_t getDeviceID(); @@ -827,215 +833,16 @@ class MPU6050 { void PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops); // Does the math void PrintActiveOffsets(); // See the results of the Calibration - - - // special methods for MotionApps 2.0 implementation - #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20 - - uint8_t dmpInitialize(); - bool dmpPacketAvailable(); - - uint8_t dmpSetFIFORate(uint8_t fifoRate); - uint8_t dmpGetFIFORate(); - uint8_t dmpGetSampleStepSizeMS(); - uint8_t dmpGetSampleFrequency(); - int32_t dmpDecodeTemperature(int8_t tempReg); - - // Register callbacks after a packet of FIFO data is processed - //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); - //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); - uint8_t dmpRunFIFORateProcesses(); - - // Setup FIFO for various output - uint8_t dmpSendQuaternion(uint_fast16_t accuracy); - uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); - uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); - - // Get Fixed Point data from FIFO - uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); - uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); - uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); - uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpSetLinearAccelFilterCoefficient(float coef); - uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); - uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); - uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); - uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); - uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); - uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); - - uint8_t dmpGetEuler(float *data, Quaternion *q); - uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); - - // Get Floating Point data from FIFO - uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); - uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); - - uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); - uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); - - uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); - - uint8_t dmpInitFIFOParam(); - uint8_t dmpCloseFIFO(); - uint8_t dmpSetGyroDataSource(uint8_t source); - uint8_t dmpDecodeQuantizedAccel(); - uint32_t dmpGetGyroSumOfSquare(); - uint32_t dmpGetAccelSumOfSquare(); - void dmpOverrideQuaternion(long *q); - uint16_t dmpGetFIFOPacketSize(); - uint8_t dmpGetCurrentFIFOPacket(uint8_t *data); // overflow proof - #endif - - // special methods for MotionApps 4.1 implementation - #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41 - - uint8_t dmpInitialize(); - bool dmpPacketAvailable(); - - uint8_t dmpSetFIFORate(uint8_t fifoRate); - uint8_t dmpGetFIFORate(); - uint8_t dmpGetSampleStepSizeMS(); - uint8_t dmpGetSampleFrequency(); - int32_t dmpDecodeTemperature(int8_t tempReg); - - // Register callbacks after a packet of FIFO data is processed - //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); - //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); - uint8_t dmpRunFIFORateProcesses(); - - // Setup FIFO for various output - uint8_t dmpSendQuaternion(uint_fast16_t accuracy); - uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); - uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); - - // Get Fixed Point data from FIFO - uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); - uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); - uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); - uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0); - uint8_t dmpSetLinearAccelFilterCoefficient(float coef); - uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); - uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); - uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); - uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); - uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); - uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); - - uint8_t dmpGetEuler(float *data, Quaternion *q); - uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); - - // Get Floating Point data from FIFO - uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); - uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); - - uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); - uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); - - uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); - - uint8_t dmpInitFIFOParam(); - uint8_t dmpCloseFIFO(); - uint8_t dmpSetGyroDataSource(uint8_t source); - uint8_t dmpDecodeQuantizedAccel(); - uint32_t dmpGetGyroSumOfSquare(); - uint32_t dmpGetAccelSumOfSquare(); - void dmpOverrideQuaternion(long *q); - uint16_t dmpGetFIFOPacketSize(); - #endif - - private: + protected: uint8_t devAddr; + void *wireObj; uint8_t buffer[14]; - #if defined(MPU6050_INCLUDE_DMP_MOTIONAPPS20) or defined(MPU6050_INCLUDE_DMP_MOTIONAPPS41) - uint8_t *dmpPacketBuffer; - uint16_t dmpPacketSize; - #endif + uint32_t fifoTimeout = MPU6050_FIFO_DEFAULT_TIMEOUT; }; +#ifndef I2CDEVLIB_MPU6050_TYPEDEF +#define I2CDEVLIB_MPU6050_TYPEDEF +typedef MPU6050_Base MPU6050; +#endif + #endif /* _MPU6050_H_ */ diff --git a/lib/mpu6050/helper_3dmath.h b/lib/mpu6050/helper_3dmath.h new file mode 100644 index 0000000..9ed260e --- /dev/null +++ b/lib/mpu6050/helper_3dmath.h @@ -0,0 +1,216 @@ +// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class, 3D math helper +// 6/5/2012 by Jeff Rowberg +// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib +// +// Changelog: +// 2012-06-05 - add 3D math helper file to DMP6 example sketch + +/* ============================================ +I2Cdev device library code is placed under the MIT license +Copyright (c) 2012 Jeff Rowberg + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. +=============================================== +*/ + +#ifndef _HELPER_3DMATH_H_ +#define _HELPER_3DMATH_H_ + +class Quaternion { + public: + float w; + float x; + float y; + float z; + + Quaternion() { + w = 1.0f; + x = 0.0f; + y = 0.0f; + z = 0.0f; + } + + Quaternion(float nw, float nx, float ny, float nz) { + w = nw; + x = nx; + y = ny; + z = nz; + } + + Quaternion getProduct(Quaternion q) { + // Quaternion multiplication is defined by: + // (Q1 * Q2).w = (w1w2 - x1x2 - y1y2 - z1z2) + // (Q1 * Q2).x = (w1x2 + x1w2 + y1z2 - z1y2) + // (Q1 * Q2).y = (w1y2 - x1z2 + y1w2 + z1x2) + // (Q1 * Q2).z = (w1z2 + x1y2 - y1x2 + z1w2 + return Quaternion( + w*q.w - x*q.x - y*q.y - z*q.z, // new w + w*q.x + x*q.w + y*q.z - z*q.y, // new x + w*q.y - x*q.z + y*q.w + z*q.x, // new y + w*q.z + x*q.y - y*q.x + z*q.w); // new z + } + + Quaternion getConjugate() { + return Quaternion(w, -x, -y, -z); + } + + float getMagnitude() { + return sqrt(w*w + x*x + y*y + z*z); + } + + void normalize() { + float m = getMagnitude(); + w /= m; + x /= m; + y /= m; + z /= m; + } + + Quaternion getNormalized() { + Quaternion r(w, x, y, z); + r.normalize(); + return r; + } +}; + +class VectorInt16 { + public: + int16_t x; + int16_t y; + int16_t z; + + VectorInt16() { + x = 0; + y = 0; + z = 0; + } + + VectorInt16(int16_t nx, int16_t ny, int16_t nz) { + x = nx; + y = ny; + z = nz; + } + + float getMagnitude() { + return sqrt(x*x + y*y + z*z); + } + + void normalize() { + float m = getMagnitude(); + x /= m; + y /= m; + z /= m; + } + + VectorInt16 getNormalized() { + VectorInt16 r(x, y, z); + r.normalize(); + return r; + } + + void rotate(Quaternion *q) { + // http://www.cprogramming.com/tutorial/3d/quaternions.html + // http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm + // http://content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation + // ^ or: http://webcache.googleusercontent.com/search?q=cache:xgJAp3bDNhQJ:content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation&hl=en&gl=us&strip=1 + + // P_out = q * P_in * conj(q) + // - P_out is the output vector + // - q is the orientation quaternion + // - P_in is the input vector (a*aReal) + // - conj(q) is the conjugate of the orientation quaternion (q=[w,x,y,z], q*=[w,-x,-y,-z]) + Quaternion p(0, x, y, z); + + // quaternion multiplication: q * p, stored back in p + p = q -> getProduct(p); + + // quaternion multiplication: p * conj(q), stored back in p + p = p.getProduct(q -> getConjugate()); + + // p quaternion is now [0, x', y', z'] + x = p.x; + y = p.y; + z = p.z; + } + + VectorInt16 getRotated(Quaternion *q) { + VectorInt16 r(x, y, z); + r.rotate(q); + return r; + } +}; + +class VectorFloat { + public: + float x; + float y; + float z; + + VectorFloat() { + x = 0; + y = 0; + z = 0; + } + + VectorFloat(float nx, float ny, float nz) { + x = nx; + y = ny; + z = nz; + } + + float getMagnitude() { + return sqrt(x*x + y*y + z*z); + } + + void normalize() { + float m = getMagnitude(); + x /= m; + y /= m; + z /= m; + } + + VectorFloat getNormalized() { + VectorFloat r(x, y, z); + r.normalize(); + return r; + } + + void rotate(Quaternion *q) { + Quaternion p(0, x, y, z); + + // quaternion multiplication: q * p, stored back in p + p = q -> getProduct(p); + + // quaternion multiplication: p * conj(q), stored back in p + p = p.getProduct(q -> getConjugate()); + + // p quaternion is now [0, x', y', z'] + x = p.x; + y = p.y; + z = p.z; + } + + VectorFloat getRotated(Quaternion *q) { + VectorFloat r(x, y, z); + r.rotate(q); + return r; + } +}; + +#endif /* _HELPER_3DMATH_H_ */ \ No newline at end of file diff --git a/platformio.ini b/platformio.ini index 2527a13..3f4a18d 100644 --- a/platformio.ini +++ b/platformio.ini @@ -15,34 +15,46 @@ include_dir = lib [common_env_data] upload_speed = 921600 monitor_speed = 115200 -platform = espressif8266 +#platform = espressif8266 @ 2.6.3 +platform = espressif8266 @ 3.2.0 framework = arduino board = d1_mini build_unflags = -build_flags = #-O0 -Wl,-Map,output.map +#src_build_flags = -Wunused-variable -Wregister -Wchar-subscripts +build_flags = -D BAUD=${common_env_data.monitor_speed} -D ACTIVATE_OTA #-D USE_GYRO_TEMP # If this is enabled the DS18 will not be used, temp is read from the gyro. #-D DEBUG_ESP_HTTP_CLIENT #-D DEBUG_ESP_HTTP_SERVER #-D DEBUG_ESP_PORT=Serial + #-D DEBUG_ESP_WIFI + #-D DEBUG_ESP_CORE #-D SKIP_SLEEPMODE #-D DOUBLERESETDETECTOR_DEBUG true + -D CFG_DISABLE_LOGGING # Turn off verbose logging for some of the parts (too much will cause a crash) but also add space + -D GYRO_DISABLE_LOGGING + -D PUSH_DISABLE_LOGGING + -D TSEN_DISABLE_LOGGING + -D WEB_DISABLE_LOGGING + #-D MAIN_DISABLE_LOGGING -D USE_LITTLEFS=true - -D EMBED_HTML # If this is not used the html files needs to be on the file system (can be uploaded) + -D EMBED_HTML # If this is not used the html files needs to be on the file system (can be uploaded) -D USER_SSID=\""\"" # =\""myssid\"" -D USER_SSID_PWD=\""\"" # =\""mypwd\"" - -D CFG_APPVER="\"0.4.0\"" -lib_deps = -# https://github.com/jrowberg/i2cdevlib.git # Using local copy of this library - https://github.com/codeplea/tinyexpr - https://github.com/graphitemaster/incbin - https://github.com/khoih-prog/ESP_DoubleResetDetector - https://github.com/tzapu/WiFiManager - https://github.com/thijse/Arduino-Log - https://github.com/bblanchon/ArduinoJson - https://github.com/PaulStoffregen/OneWire - https://github.com/milesburton/Arduino-Temperature-Control-Library + -D CFG_APPVER="\"0.5.0\"" +lib_deps = # Switched to forks for better version control. + # Using local copy of this library + #https://github.com/mp-se/i2cdevlib # https://github.com/jrowberg/i2cdevlib.git + https://github.com/mp-se/tinyexpr # https://github.com/codeplea/tinyexpr + https://github.com/mp-se/incbin # https://github.com/graphitemaster/incbin + https://github.com/mp-se/ESP_DoubleResetDetector#v1.2.1 # https://github.com/khoih-prog/ESP_DoubleResetDetector + https://github.com/mp-se/WiFiManager#2.0.5-beta # https://github.com/tzapu/WiFiManager + https://github.com/mp-se/Arduino-Log#1.1.1 # https://github.com/thijse/Arduino-Log + https://github.com/mp-se/ArduinoJson#v6.18.5 # https://github.com/bblanchon/ArduinoJson + https://github.com/mp-se/OneWire#v2.3.6 # https://github.com/PaulStoffregen/OneWire + https://github.com/mp-se/Arduino-Temperature-Control-Library#3.9.1 # https://github.com/milesburton/Arduino-Temperature-Control-Library + https://github.com/mp-se/arduinoCurveFitting#v1.0.6 # https://github.com/Rotario/arduinoCurveFitting [env:gravity-debug] upload_speed = ${common_env_data.upload_speed} @@ -50,18 +62,24 @@ monitor_speed = ${common_env_data.monitor_speed} framework = ${common_env_data.framework} platform = ${common_env_data.platform} extra_scripts = + script/copy_html.py script/copy_firmware.py script/create_versionjson.py -build_unflags = ${common_env_data.build_unflags} +build_unflags = + ${common_env_data.build_unflags} build_flags = - ${common_env_data.build_flags} - -D COLLECT_PERFDATA # This option will collect runtime data for a few defined methods to measure time, dumped to serial and/or influxdb - -D LOG_LEVEL=6 # Maximum log level for the debug build. + #-D PIO_FRAMEWORK_ARDUINO_ENABLE_EXCEPTIONS + #-D SKIP_SLEEPMODE + ${common_env_data.build_flags} + -D COLLECT_PERFDATA # This option will collect runtime data for a few defined methods to measure time, dumped to serial and/or influxdb + -D LOG_LEVEL=6 # Maximum log level for the debug build. lib_deps = ${common_env_data.lib_deps} -board = ${common_env_data.board} +#board = ${common_env_data.board} +board = nodemcuv2 build_type = debug board_build.filesystem = littlefs +monitor_filters = esp8266_exception_decoder [env:gravity-release] upload_speed = ${common_env_data.upload_speed} @@ -69,6 +87,7 @@ monitor_speed = ${common_env_data.monitor_speed} framework = ${common_env_data.framework} platform = ${common_env_data.platform} extra_scripts = + script/copy_html.py script/copy_firmware.py script/create_versionjson.py build_unflags = ${common_env_data.build_unflags} @@ -87,6 +106,7 @@ monitor_speed = ${common_env_data.monitor_speed} framework = ${common_env_data.framework} platform = ${common_env_data.platform} extra_scripts = + script/copy_html.py script/copy_firmware.py script/create_versionjson.py build_unflags = ${common_env_data.build_unflags} diff --git a/script/copy_html.py b/script/copy_html.py new file mode 100644 index 0000000..4a82414 --- /dev/null +++ b/script/copy_html.py @@ -0,0 +1,31 @@ +Import("env") +import shutil + +print( "Executing custom step " ) +dir = env.GetLaunchDir() +source = dir + "/html/" +target = dir + "/data/" +print( "Copy html-files from " + source + " -> " + target ) + +file = "about.min.htm" +#print( "Copy file: " + source + file + "->" + target + file) +shutil.copyfile( source + file, target + file ) +file = "calibration.min.htm" +#print( "Copy file: " + source + file + "->" + target + file) +shutil.copyfile( source + file, target + file ) +file = "config.min.htm" +#print( "Copy file: " + source + file + "->" + target + file) +shutil.copyfile( source + file, target + file ) +file = "device.min.htm" +#print( "Copy file: " + source + file + "->" + target + file) +shutil.copyfile( source + file, target + file ) +file = "index.min.htm" +#print( "Copy file: " + source + file + "->" + target + file) +shutil.copyfile( source + file, target + file ) +file = "upload.min.htm" +#print( "Copy file: " + source + file + "->" + target + file) +shutil.copyfile( source + file, target + file ) + +#print( "Adding custom build step (copy ./heml/*.min.html to ./data/): ") +#print(env.Dump()) +#env.AddPreAction("buildprog", before_build) diff --git a/script/create_versionjson.py b/script/create_versionjson.py index 2416a3f..5e7d543 100644 --- a/script/create_versionjson.py +++ b/script/create_versionjson.py @@ -36,15 +36,21 @@ def after_build(source, target, env): print( "Copy file : " + source + " -> " + target ) shutil.copyfile( source, target ) + # Copy file 5 + source = dir + "\\data\\calibration.min.htm" + target = dir + "\\bin\\calibration.min.htm" + print( "Copy file : " + source + " -> " + target ) + shutil.copyfile( source, target ) + target = dir + "\\bin\\version.json" ver = get_build_flag_value("CFG_APPVER") print( "Creating version.json" ) f = open( target, "w" ) f.write( "{ \"project\":\"gravmon\", \"version\":" + ver + ", " ) - f.write( " \"html\": [ \"index.min.htm\", \"device.min.htm\", \"config.min.htm\", \"about.min.htm\" ] }" ) + f.write( " \"html\": [ \"index.min.htm\", \"device.min.htm\", \"config.min.htm\", \"calibration.min.htm\", \"about.min.htm\" ] }" ) f.close() print( "Adding custom build step (create json):") -env.AddPreAction("buildprog", after_build) +env.AddPostAction("buildprog", after_build) diff --git a/src/calc.cpp b/src/calc.cpp index e919d7b..e14ced4 100644 --- a/src/calc.cpp +++ b/src/calc.cpp @@ -1,98 +1,203 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#include "calc.h" -#include "helper.h" -#include "config.h" -#include "tinyexpr.h" -#include "tempsensor.h" - -// -// Calculates gravity according to supplied formula, compatible with iSpindle/Fermentrack formula -// -double calculateGravity( double angle, double temp ) { - const char* formula = myConfig.getGravityFormula(); -#if LOG_LEVEL==6 - Log.verbose(F("CALC: Calculating gravity for angle %F, temp %F." CR), angle, temp); - Log.verbose(F("CALC: Formula %s." CR), formula); -#endif - - if( strlen(formula) == 0 ) - return 0.0; - - // Store variable names and pointers. - te_variable vars[] = {{"tilt", &angle}, {"temp", &temp}}; - - int err; - // Compile the expression with variables. - te_expr *expr = te_compile(formula, vars, 2, &err); - - if (expr) { - double g = te_eval(expr); - te_free(expr); - -#if LOG_LEVEL==6 - Log.verbose(F("CALC: Calculated gravity is %F." CR), g); -#endif - return g; - } - - Log.error(F("CALC: Failed to parse expression %d." CR), err); - return 0; -} - -// -// Do a standard gravity temperature correction. This is a simple way to adjust for differnt worth temperatures -// -double gravityTemperatureCorrection( double gravity, double temp, char tempFormat, double calTemp) { -#if LOG_LEVEL==6 - Log.verbose(F("CALC: Adjusting gravity based on temperature, gravity %F, temp %F, calTemp %F." CR), gravity, temp, calTemp); -#endif - - if( tempFormat == 'C') - temp = convertCtoF( temp ); - double calTempF = convertCtoF(calTemp); // calTemp is in C - const char* formula = "gravity*((1.00130346-0.000134722124*temp+0.00000204052596*temp^2-0.00000000232820948*temp^3)/(1.00130346-0.000134722124*cal+0.00000204052596*cal^2-0.00000000232820948*cal^3))"; - - // Store variable names and pointers. - te_variable vars[] = {{"gravity", &gravity}, {"temp", &temp}, {"cal", &calTempF}}; - - int err; - // Compile the expression with variables. - te_expr *expr = te_compile(formula, vars, 3, &err); - - if (expr) { - double g = te_eval(expr); - te_free(expr); - -#if LOG_LEVEL==6 - Log.verbose(F("CALC: Corrected gravity is %F." CR), g); -#endif - return g; - } - - Log.error(F("CALC: Failed to parse expression %d, no correction has been made." CR), err); - return gravity; -} - -// EOF \ No newline at end of file +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#include +#include + +#include +#include +#include +#include + +#define FORMULA_MAX_DEVIATION 1.5 + +// +// Use values to derive a formula +// +int createFormula(RawFormulaData &fd, char *formulaBuffer, + int formulaBufferSize, int order) { + int noAngles = 0; + + // Check how many valid values we have got + if (fd.a[0] > 0 && fd.a[1] > 0 && fd.a[2] > 0 && fd.a[3] > 0 && fd.a[4] > 0) + noAngles = 5; + else if (fd.a[0] > 0 && fd.a[1] > 0 && fd.a[2] > 0 && fd.a[3] > 0) + noAngles = 4; + else if (fd.a[0] > 0 && fd.a[1] > 0 && fd.a[2] > 0) + noAngles = 3; + +#if LOG_LEVEL == 6 + Log.verbose( + F("CALC: Trying to create formula using order = %d, found %d angles" CR), + order, noAngles); +#endif + + if (!noAngles) { + Log.error(F("CALC: Not enough values for deriving formula" CR)); + return ERR_FORMULA_NOTENOUGHVALUES; + } else { + double coeffs[order + 1]; + int ret = fitCurve(order, noAngles, fd.a, fd.g, + sizeof(coeffs) / sizeof(double), coeffs); + + // Returned value is 0 if no error + if (ret == 0) { +#if LOG_LEVEL == 6 + Log.verbose(F("CALC: Finshied processing data points." CR)); +#endif + + // Print the formula based on 'order' + if (order == 4) { + snprintf(formulaBuffer, formulaBufferSize, + "%.8f*tilt^4+%.8f*tilt^3+%.8f*tilt^2+%.8f*tilt+%.8f", + coeffs[0], coeffs[1], coeffs[2], coeffs[3], coeffs[4]); + } else if (order == 3) { + snprintf(formulaBuffer, formulaBufferSize, + "%.8f*tilt^3+%.8f*tilt^2+%.8f*tilt+%.8f", coeffs[0], coeffs[1], + coeffs[2], coeffs[3]); + } else if (order == 2) { + snprintf(formulaBuffer, formulaBufferSize, "%.8f*tilt^2+%.8f*tilt+%.8f", + coeffs[0], coeffs[1], coeffs[2]); + } else { // order == 1 + snprintf(formulaBuffer, formulaBufferSize, "%.8f*tilt+%.8f", coeffs[0], + coeffs[1]); + } + +#if LOG_LEVEL == 6 + Log.verbose(F("CALC: Formula: %s" CR), formulaBuffer); +#endif + + bool valid = true; + + for (int i = 0; i < 5; i++) { + if (fd.a[i] == 0 && valid) break; + + double g = calculateGravity(fd.a[i], 0, formulaBuffer); + double dev = (g - fd.g[i]) < 0 ? (fd.g[i] - g) : (g - fd.g[i]); + + // If the deviation is more than 2 degress we mark it as failed. + if (dev * 1000 > FORMULA_MAX_DEVIATION) valid = false; + } + + if (!valid) { + Log.error(F("CALC: Deviation to large, formula rejected." CR)); + return ERR_FORMULA_UNABLETOFFIND; + } + + Log.info(F("CALC: Found formula '%s'." CR), formulaBuffer); + return 0; + } + } + + Log.error(F("CALC: Internal error finding formula." CR)); + return ERR_FORMULA_INTERNAL; +} + +// +// Calculates gravity according to supplied formula, compatible with +// iSpindle/Fermentrack formula +// +double calculateGravity(double angle, double temp, const char *tempFormula) { + const char *formula = myConfig.getGravityFormula(); + + if (tempFormula != 0) { +#if LOG_LEVEL == 6 + Log.verbose(F("CALC: Using temporary formula." CR)); +#endif + formula = tempFormula; + } + +#if LOG_LEVEL == 6 + Log.verbose(F("CALC: Calculating gravity for angle %F, temp %F." CR), angle, + temp); + Log.verbose(F("CALC: Formula %s." CR), formula); +#endif + + if (strlen(formula) == 0) return 0.0; + + // Store variable names and pointers. + te_variable vars[] = {{"tilt", &angle}, {"temp", &temp}}; + + int err; + // Compile the expression with variables. + te_expr *expr = te_compile(formula, vars, 2, &err); + + if (expr) { + double g = te_eval(expr); + te_free(expr); + +#if LOG_LEVEL == 6 + Log.verbose(F("CALC: Calculated gravity is %F." CR), g); +#endif + return g; + } + + Log.error(F("CALC: Failed to parse expression %d." CR), err); + return 0; +} + +// +// Do a standard gravity temperature correction. This is a simple way to adjust +// for differnt worth temperatures +// +double gravityTemperatureCorrection(double gravity, double temp, + char tempFormat, double calTemp) { +#if LOG_LEVEL == 6 + Log.verbose(F("CALC: Adjusting gravity based on temperature, gravity %F, " + "temp %F, calTemp %F." CR), + gravity, temp, calTemp); +#endif + + if (tempFormat == 'C') temp = convertCtoF(temp); + double calTempF = convertCtoF(calTemp); // calTemp is in C + const char *formula = + "gravity*((1.00130346-0.000134722124*temp+0.00000204052596*temp^2-0." + "00000000232820948*temp^3)/" + "(1.00130346-0.000134722124*cal+0.00000204052596*cal^2-0." + "00000000232820948*cal^3))"; + + // Store variable names and pointers. + te_variable vars[] = { + {"gravity", &gravity}, {"temp", &temp}, {"cal", &calTempF}}; + + int err; + // Compile the expression with variables. + te_expr *expr = te_compile(formula, vars, 3, &err); + + if (expr) { + double g = te_eval(expr); + te_free(expr); + +#if LOG_LEVEL == 6 + Log.verbose(F("CALC: Corrected gravity is %F." CR), g); +#endif + return g; + } + + Log.error( + F("CALC: Failed to parse expression %d, no correction has been made." CR), + err); + return gravity; +} + +// EOF diff --git a/src/calc.h b/src/calc.hpp similarity index 62% rename from src/calc.h rename to src/calc.hpp index 8b07562..a6ea40d 100644 --- a/src/calc.h +++ b/src/calc.hpp @@ -1,36 +1,44 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#ifndef _CALC_H -#define _CALC_H - -// Includes -#include "helper.h" - -// Functions -double calculateGravity( double angle, double temp ); -double gravityTemperatureCorrection( double gravity, double temp, char tempFormat, double calTemp = 20 ); - -#endif // _CALC_H - -// EOF \ No newline at end of file +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#ifndef SRC_CALC_HPP_ +#define SRC_CALC_HPP_ + +// Includes +#include +#include + +#define ERR_FORMULA_NOTENOUGHVALUES -1 +#define ERR_FORMULA_INTERNAL -2 +#define ERR_FORMULA_UNABLETOFFIND -3 + +// Functions +double calculateGravity(double angle, double temp, const char *tempFormula = 0); +double gravityTemperatureCorrection(double gravity, double temp, + char tempFormat, double calTemp = 20); +int createFormula(RawFormulaData &fd, char *formulaBuffer, + int formulaBufferSize, int order); + +#endif // SRC_CALC_HPP_ + +// EOF diff --git a/src/config.cpp b/src/config.cpp index ba66fc1..66c0589 100644 --- a/src/config.cpp +++ b/src/config.cpp @@ -1,268 +1,324 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#include "config.h" -#include "helper.h" -#include - -Config myConfig; - -// -// Create the config class with default settings. -// -Config::Config() { - // Assiging default values - char buf[20]; - sprintf(&buf[0], "%6x", (unsigned int) ESP.getChipId() ); - id = &buf[0]; - sprintf(&buf[0], "" WIFI_MDNS "%s", getID() ); - mDNS = &buf[0]; - setTempFormat('C'); - setGravityFormat('G'); - setSleepInterval(900); // 15 minutes - setVoltageFactor(1.59); // Conversion factor for battery - setTempSensorAdj(0.0); - setGravityTempAdj(false); - gyroCalibration = { 0, 0, 0, 0, 0 ,0 }; - saveNeeded = false; -} - -// -// Populate the json document with all configuration parameters (used in both web and saving to file) -// -void Config::createJson(DynamicJsonDocument& doc) { - doc[ CFG_PARAM_MDNS ] = getMDNS(); - doc[ CFG_PARAM_ID ] = getID(); - doc[ CFG_PARAM_OTA ] = getOtaURL(); - doc[ CFG_PARAM_TEMPFORMAT ] = String( getTempFormat() ); - doc[ CFG_PARAM_PUSH_BREWFATHER ] = getBrewfatherPushUrl(); - doc[ CFG_PARAM_PUSH_HTTP ] = getHttpPushUrl(); - doc[ CFG_PARAM_PUSH_HTTP2 ] = getHttpPushUrl2(); - doc[ CFG_PARAM_PUSH_INFLUXDB2 ] = getInfluxDb2PushUrl(); - doc[ CFG_PARAM_PUSH_INFLUXDB2_ORG ] = getInfluxDb2PushOrg(); - doc[ CFG_PARAM_PUSH_INFLUXDB2_BUCKET ] = getInfluxDb2PushBucket(); - doc[ CFG_PARAM_PUSH_INFLUXDB2_AUTH ] = getInfluxDb2PushToken(); - doc[ CFG_PARAM_SLEEP_INTERVAL ] = getSleepInterval(); -// doc[ CFG_PARAM_PUSH_INTERVAL ] = getSleepInterval(); // TODO: @deprecated - doc[ CFG_PARAM_VOLTAGEFACTOR ] = getVoltageFactor(); - doc[ CFG_PARAM_GRAVITY_FORMULA ] = getGravityFormula(); - doc[ CFG_PARAM_GRAVITY_FORMAT ] = String(getGravityFormat()); - doc[ CFG_PARAM_TEMP_ADJ ] = getTempSensorAdj(); - doc[ CFG_PARAM_GRAVITY_TEMP_ADJ ] = isGravityTempAdj(); - - JsonObject cal = doc.createNestedObject( CFG_PARAM_GYRO_CALIBRATION ); - cal["ax"] = gyroCalibration.ax; - cal["ay"] = gyroCalibration.ay; - cal["az"] = gyroCalibration.az; - cal["gx"] = gyroCalibration.gx; - cal["gy"] = gyroCalibration.gy; - cal["gz"] = gyroCalibration.gz; -} - -// -// Save json document to file -// -bool Config::saveFile() { - if( !saveNeeded ) { -#if LOG_LEVEL==6 - Log.verbose(F("CFG : Skipping save, not needed." CR)); -#endif - return true; - } - -#if LOG_LEVEL==6 - Log.verbose(F("CFG : Saving configuration to file." CR)); -#endif - - File configFile = LittleFS.open(CFG_FILENAME, "w"); - - if (!configFile) { - Log.error(F("CFG : Failed to open file " CFG_FILENAME " for save." CR)); - return false; - } - - DynamicJsonDocument doc(CFG_JSON_BUFSIZE); - createJson( doc ); -#if LOG_LEVEL==6 - serializeJson(doc, Serial); - Serial.print( CR ); -#endif - serializeJson(doc, configFile); - configFile.flush(); - configFile.close(); - - saveNeeded = false; - myConfig.debug(); - Log.notice(F("CFG : Configuration saved to " CFG_FILENAME "." CR)); - return true; -} - -// -// Load config file from disk -// -bool Config::loadFile() { -#if LOG_LEVEL==6 - Log.verbose(F("CFG : Loading configuration from file." CR)); -#endif - - if (!LittleFS.exists(CFG_FILENAME)) { - Log.error(F("CFG : Configuration file does not exist " CFG_FILENAME "." CR)); - return false; - } - - File configFile = LittleFS.open(CFG_FILENAME, "r"); - - if (!configFile) { - Log.error(F("CFG : Failed to open " CFG_FILENAME "." CR)); - return false; - } - - Log.notice(F("CFG : Size of configuration file=%d bytes." CR), configFile.size() ); - - DynamicJsonDocument doc(CFG_JSON_BUFSIZE); - DeserializationError err = deserializeJson(doc, configFile); -#if LOG_LEVEL==6 - serializeJson(doc, Serial); - Serial.print( CR ); -#endif - configFile.close(); - - if( err ) { - Log.error(F("CFG : Failed to parse " CFG_FILENAME " file, Err: %s, %d." CR), err.c_str(), doc.capacity()); - return false; - } - -#if LOG_LEVEL==6 - Log.verbose(F("CFG : Parsed configuration file." CR)); -#endif - if( !doc[ CFG_PARAM_OTA ].isNull() ) - setOtaURL( doc[ CFG_PARAM_OTA ] ); - if( !doc[ CFG_PARAM_MDNS ].isNull() ) - setMDNS( doc[ CFG_PARAM_MDNS ] ); - if( !doc[ CFG_PARAM_TEMPFORMAT ].isNull() ) { - String s = doc[ CFG_PARAM_TEMPFORMAT ]; - setTempFormat( s.charAt(0) ); - } - if( !doc[ CFG_PARAM_PUSH_BREWFATHER ].isNull() ) - setBrewfatherPushUrl( doc[ CFG_PARAM_PUSH_BREWFATHER ] ); - if( !doc[ CFG_PARAM_PUSH_HTTP ].isNull() ) - setHttpPushUrl( doc[ CFG_PARAM_PUSH_HTTP ] ); - if( !doc[ CFG_PARAM_PUSH_HTTP2 ].isNull() ) - setHttpPushUrl2( doc[ CFG_PARAM_PUSH_HTTP2 ] ); - if( !doc[ CFG_PARAM_PUSH_INFLUXDB2 ].isNull() ) - setInfluxDb2PushUrl( doc[ CFG_PARAM_PUSH_INFLUXDB2 ] ); - if( !doc[ CFG_PARAM_PUSH_INFLUXDB2_ORG ].isNull() ) - setInfluxDb2PushOrg( doc[ CFG_PARAM_PUSH_INFLUXDB2_ORG ] ); - if( !doc[ CFG_PARAM_PUSH_INFLUXDB2_BUCKET ].isNull() ) - setInfluxDb2PushBucket( doc[ CFG_PARAM_PUSH_INFLUXDB2_BUCKET ] ); - if( !doc[ CFG_PARAM_PUSH_INFLUXDB2_AUTH ].isNull() ) - setInfluxDb2PushToken( doc[ CFG_PARAM_PUSH_INFLUXDB2_AUTH ] ); - if( !doc[ CFG_PARAM_SLEEP_INTERVAL ].isNull() ) - setSleepInterval( doc[ CFG_PARAM_SLEEP_INTERVAL ].as() ); - if( !doc[ CFG_PARAM_PUSH_INTERVAL ].isNull() ) // TODO: @deprecated - setSleepInterval( doc[ CFG_PARAM_PUSH_INTERVAL ].as() ); // TODO: @deprecated - if( !doc[ CFG_PARAM_VOLTAGEFACTOR ].isNull() ) - setVoltageFactor( doc[ CFG_PARAM_VOLTAGEFACTOR ].as() ); - if( !doc[ CFG_PARAM_GRAVITY_FORMULA ].isNull() ) - setGravityFormula( doc[ CFG_PARAM_GRAVITY_FORMULA ] ); - if( !doc[ CFG_PARAM_GRAVITY_TEMP_ADJ ].isNull() ) - setGravityTempAdj( doc[ CFG_PARAM_GRAVITY_TEMP_ADJ ].as() ); - if( !doc[ CFG_PARAM_GRAVITY_FORMAT ].isNull() ) { - String s = doc[ CFG_PARAM_GRAVITY_FORMAT ]; - setGravityFormat( s.charAt(0) ); - } - if( !doc[ CFG_PARAM_TEMP_ADJ ].isNull() ) - setTempSensorAdj( doc[ CFG_PARAM_TEMP_ADJ ].as() ); - - if( !doc[ CFG_PARAM_GYRO_CALIBRATION ]["ax"].isNull() ) - gyroCalibration.ax = doc[ CFG_PARAM_GYRO_CALIBRATION ]["ax"]; - if( !doc[ CFG_PARAM_GYRO_CALIBRATION ]["ay"].isNull() ) - gyroCalibration.ay = doc[ CFG_PARAM_GYRO_CALIBRATION ]["ay"]; - if( !doc[ CFG_PARAM_GYRO_CALIBRATION ]["az"].isNull() ) - gyroCalibration.az = doc[ CFG_PARAM_GYRO_CALIBRATION ]["az"]; - if( !doc[ CFG_PARAM_GYRO_CALIBRATION ]["gx"].isNull() ) - gyroCalibration.gx = doc[ CFG_PARAM_GYRO_CALIBRATION ]["gx"]; - if( !doc[ CFG_PARAM_GYRO_CALIBRATION ]["gy"].isNull() ) - gyroCalibration.gy = doc[ CFG_PARAM_GYRO_CALIBRATION ]["gy"]; - if( !doc[ CFG_PARAM_GYRO_CALIBRATION ]["gz"].isNull() ) - gyroCalibration.gz = doc[ CFG_PARAM_GYRO_CALIBRATION ]["gz"]; - - myConfig.debug(); - saveNeeded = false; // Reset save flag - Log.notice(F("CFG : Configuration file " CFG_FILENAME " loaded." CR)); - return true; -} - -// -// Check if file system can be mounted, if not we format it. -// -void Config::formatFileSystem() { -#if LOG_LEVEL==6 - Log.verbose(F("CFG : Formating filesystem." CR)); -#endif - LittleFS.format(); -} - -// -// Check if file system can be mounted, if not we format it. -// -void Config::checkFileSystem() { -#if LOG_LEVEL==6 - Log.verbose(F("CFG : Checking if filesystem is valid." CR)); -#endif - - if (LittleFS.begin()) { - Log.notice(F("CFG : Filesystem mounted." CR)); - } else { - Log.error(F("CFG : Unable to mount file system, formatting..." CR)); - LittleFS.format(); - } -} - -// -// Dump the configuration to the serial port -// -void Config::debug() { -#if LOG_LEVEL==6 - Log.verbose(F("CFG : Dumping configration " CFG_FILENAME "." CR)); - Log.verbose(F("CFG : ID; '%s'." CR), getID()); - Log.verbose(F("CFG : mDNS; '%s'." CR), getMDNS() ); - Log.verbose(F("CFG : Sleep interval; %d." CR), getSleepInterval() ); - Log.verbose(F("CFG : OTA; '%s'." CR), getOtaURL() ); - Log.verbose(F("CFG : Temp Format; %c." CR), getTempFormat() ); - Log.verbose(F("CFG : Temp Adj; %F." CR), getTempSensorAdj() ); - Log.verbose(F("CFG : VoltageFactor; %F." CR), getVoltageFactor() ); - Log.verbose(F("CFG : Gravity formula; '%s'." CR), getGravityFormula() ); - Log.verbose(F("CFG : Gravity format; '%c'." CR), getGravityFormat() ); - Log.verbose(F("CFG : Gravity temp adj; %s." CR), isGravityTempAdj()?"true":"false" ); - Log.verbose(F("CFG : Push brewfather; '%s'." CR), getBrewfatherPushUrl() ); - Log.verbose(F("CFG : Push http; '%s'." CR), getHttpPushUrl() ); - Log.verbose(F("CFG : Push http2; '%s'." CR), getHttpPushUrl2() ); - Log.verbose(F("CFG : InfluxDb2; '%s', '%s', '%s', '%s'." CR), getInfluxDb2PushUrl(), getInfluxDb2PushOrg(), - getInfluxDb2PushBucket(), getInfluxDb2PushToken() ); -// Log.verbose(F("CFG : Accel offset\t%d\t%d\t%d" CR), gyroCalibration.ax, gyroCalibration.ay, gyroCalibration.az ); -// Log.verbose(F("CFG : Gyro offset \t%d\t%d\t%d" CR), gyroCalibration.gx, gyroCalibration.gy, gyroCalibration.gz ); -#endif -} - -// EOF \ No newline at end of file +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#include + +#include +#include + +Config myConfig; + +// +// Create the config class with default settings. +// +Config::Config() { + // Assiging default values + char buf[30]; + snprintf(&buf[0], sizeof(buf), "%6x", (unsigned int)ESP.getChipId()); + id = String(&buf[0]); + snprintf(&buf[0], sizeof(buf), "" WIFI_MDNS "%s", getID()); + mDNS = String(&buf[0]); + +#if LOG_LEVEL == 6 && !defined(CFG_DISABLE_LOGGING) + Log.verbose(F("CFG : Created config for %s (%s)." CR), id.c_str(), + mDNS.c_str()); +#endif + + setTempFormat('C'); + setGravityFormat('G'); + setSleepInterval(900); // 15 minutes + setVoltageFactor(1.59); // Conversion factor for battery + setTempSensorAdj(0.0); + setGravityTempAdj(false); + gyroCalibration = {0, 0, 0, 0, 0, 0}; + formulaData = {{0, 0, 0, 0, 0}, {1, 1, 1, 1, 1}}; + saveNeeded = false; +} + +// +// Populate the json document with all configuration parameters (used in both +// web and saving to file) +// +void Config::createJson(DynamicJsonDocument& doc) { + doc[CFG_PARAM_MDNS] = getMDNS(); + doc[CFG_PARAM_ID] = getID(); + doc[CFG_PARAM_OTA] = getOtaURL(); + doc[CFG_PARAM_SSID] = getWifiSSID(); + doc[CFG_PARAM_PASS] = getWifiPass(); + doc[CFG_PARAM_TEMPFORMAT] = String(getTempFormat()); + doc[CFG_PARAM_PUSH_BREWFATHER] = getBrewfatherPushUrl(); + doc[CFG_PARAM_PUSH_HTTP] = getHttpPushUrl(); + doc[CFG_PARAM_PUSH_HTTP2] = getHttpPushUrl2(); + doc[CFG_PARAM_PUSH_INFLUXDB2] = getInfluxDb2PushUrl(); + doc[CFG_PARAM_PUSH_INFLUXDB2_ORG] = getInfluxDb2PushOrg(); + doc[CFG_PARAM_PUSH_INFLUXDB2_BUCKET] = getInfluxDb2PushBucket(); + doc[CFG_PARAM_PUSH_INFLUXDB2_AUTH] = getInfluxDb2PushToken(); + doc[CFG_PARAM_SLEEP_INTERVAL] = getSleepInterval(); + // doc[ CFG_PARAM_PUSH_INTERVAL ] = getSleepInterval(); // + // TODO: @deprecated + doc[CFG_PARAM_VOLTAGEFACTOR] = getVoltageFactor(); + doc[CFG_PARAM_GRAVITY_FORMULA] = getGravityFormula(); + doc[CFG_PARAM_GRAVITY_FORMAT] = String(getGravityFormat()); + doc[CFG_PARAM_TEMP_ADJ] = getTempSensorAdj(); + doc[CFG_PARAM_GRAVITY_TEMP_ADJ] = isGravityTempAdj(); + + JsonObject cal = doc.createNestedObject(CFG_PARAM_GYRO_CALIBRATION); + cal["ax"] = gyroCalibration.ax; + cal["ay"] = gyroCalibration.ay; + cal["az"] = gyroCalibration.az; + cal["gx"] = gyroCalibration.gx; + cal["gy"] = gyroCalibration.gy; + cal["gz"] = gyroCalibration.gz; + + JsonObject cal2 = doc.createNestedObject(CFG_PARAM_FORMULA_DATA); + cal2["a1"] = reduceFloatPrecision(formulaData.a[0], 2); + cal2["a2"] = reduceFloatPrecision(formulaData.a[1], 2); + cal2["a3"] = reduceFloatPrecision(formulaData.a[2], 2); + cal2["a4"] = reduceFloatPrecision(formulaData.a[3], 2); + cal2["a5"] = reduceFloatPrecision(formulaData.a[4], 2); + + cal2["g1"] = reduceFloatPrecision(formulaData.g[0], 4); + cal2["g2"] = reduceFloatPrecision(formulaData.g[1], 4); + cal2["g3"] = reduceFloatPrecision(formulaData.g[2], 4); + cal2["g4"] = reduceFloatPrecision(formulaData.g[3], 4); + cal2["g5"] = reduceFloatPrecision(formulaData.g[4], 4); +} + +// +// Save json document to file +// +bool Config::saveFile() { + if (!saveNeeded) { +#if LOG_LEVEL == 6 && !defined(CFG_DISABLE_LOGGING) + Log.verbose(F("CFG : Skipping save, not needed." CR)); +#endif + return true; + } + +#if LOG_LEVEL == 6 && !defined(CFG_DISABLE_LOGGING) + Log.verbose(F("CFG : Saving configuration to file." CR)); +#endif + + File configFile = LittleFS.open(CFG_FILENAME, "w"); + + if (!configFile) { + Log.error(F("CFG : Failed to open file " CFG_FILENAME " for save." CR)); + return false; + } + + DynamicJsonDocument doc(CFG_JSON_BUFSIZE); + createJson(doc); + +#if LOG_LEVEL == 6 && !defined(CFG_DISABLE_LOGGING) + serializeJson(doc, Serial); + Serial.print(CR); +#endif + + serializeJson(doc, configFile); + configFile.flush(); + configFile.close(); + + saveNeeded = false; + myConfig.debug(); + Log.notice(F("CFG : Configuration saved to " CFG_FILENAME "." CR)); + return true; +} + +// +// Load config file from disk +// +bool Config::loadFile() { +#if LOG_LEVEL == 6 && !defined(CFG_DISABLE_LOGGING) + Log.verbose(F("CFG : Loading configuration from file." CR)); +#endif + + if (!LittleFS.exists(CFG_FILENAME)) { + Log.error( + F("CFG : Configuration file does not exist " CFG_FILENAME "." CR)); + return false; + } + + File configFile = LittleFS.open(CFG_FILENAME, "r"); + + if (!configFile) { + Log.error(F("CFG : Failed to open " CFG_FILENAME "." CR)); + return false; + } + + Log.notice(F("CFG : Size of configuration file=%d bytes." CR), + configFile.size()); + + DynamicJsonDocument doc(CFG_JSON_BUFSIZE); + DeserializationError err = deserializeJson(doc, configFile); +#if LOG_LEVEL == 6 + serializeJson(doc, Serial); + Serial.print(CR); +#endif + configFile.close(); + + if (err) { + Log.error(F("CFG : Failed to parse " CFG_FILENAME " file, Err: %s, %d." CR), + err.c_str(), doc.capacity()); + return false; + } + +#if LOG_LEVEL == 6 + Log.verbose(F("CFG : Parsed configuration file." CR)); +#endif + if (!doc[CFG_PARAM_OTA].isNull()) setOtaURL(doc[CFG_PARAM_OTA]); + if (!doc[CFG_PARAM_MDNS].isNull()) setMDNS(doc[CFG_PARAM_MDNS]); + if (!doc[CFG_PARAM_SSID].isNull()) setWifiSSID(doc[CFG_PARAM_SSID]); + if (!doc[CFG_PARAM_PASS].isNull()) setWifiPass(doc[CFG_PARAM_PASS]); + if (!doc[CFG_PARAM_TEMPFORMAT].isNull()) { + String s = doc[CFG_PARAM_TEMPFORMAT]; + setTempFormat(s.charAt(0)); + } + if (!doc[CFG_PARAM_PUSH_BREWFATHER].isNull()) + setBrewfatherPushUrl(doc[CFG_PARAM_PUSH_BREWFATHER]); + if (!doc[CFG_PARAM_PUSH_HTTP].isNull()) + setHttpPushUrl(doc[CFG_PARAM_PUSH_HTTP]); + if (!doc[CFG_PARAM_PUSH_HTTP2].isNull()) + setHttpPushUrl2(doc[CFG_PARAM_PUSH_HTTP2]); + if (!doc[CFG_PARAM_PUSH_INFLUXDB2].isNull()) + setInfluxDb2PushUrl(doc[CFG_PARAM_PUSH_INFLUXDB2]); + if (!doc[CFG_PARAM_PUSH_INFLUXDB2_ORG].isNull()) + setInfluxDb2PushOrg(doc[CFG_PARAM_PUSH_INFLUXDB2_ORG]); + if (!doc[CFG_PARAM_PUSH_INFLUXDB2_BUCKET].isNull()) + setInfluxDb2PushBucket(doc[CFG_PARAM_PUSH_INFLUXDB2_BUCKET]); + if (!doc[CFG_PARAM_PUSH_INFLUXDB2_AUTH].isNull()) + setInfluxDb2PushToken(doc[CFG_PARAM_PUSH_INFLUXDB2_AUTH]); + if (!doc[CFG_PARAM_SLEEP_INTERVAL].isNull()) + setSleepInterval(doc[CFG_PARAM_SLEEP_INTERVAL].as()); + if (!doc[CFG_PARAM_PUSH_INTERVAL].isNull()) // TODO: @deprecated + setSleepInterval( + doc[CFG_PARAM_PUSH_INTERVAL].as()); // TODO: @deprecated + if (!doc[CFG_PARAM_VOLTAGEFACTOR].isNull()) + setVoltageFactor(doc[CFG_PARAM_VOLTAGEFACTOR].as()); + if (!doc[CFG_PARAM_GRAVITY_FORMULA].isNull()) + setGravityFormula(doc[CFG_PARAM_GRAVITY_FORMULA]); + if (!doc[CFG_PARAM_GRAVITY_TEMP_ADJ].isNull()) + setGravityTempAdj(doc[CFG_PARAM_GRAVITY_TEMP_ADJ].as()); + if (!doc[CFG_PARAM_GRAVITY_FORMAT].isNull()) { + String s = doc[CFG_PARAM_GRAVITY_FORMAT]; + setGravityFormat(s.charAt(0)); + } + if (!doc[CFG_PARAM_TEMP_ADJ].isNull()) + setTempSensorAdj(doc[CFG_PARAM_TEMP_ADJ].as()); + + if (!doc[CFG_PARAM_GYRO_CALIBRATION]["ax"].isNull()) + gyroCalibration.ax = doc[CFG_PARAM_GYRO_CALIBRATION]["ax"]; + if (!doc[CFG_PARAM_GYRO_CALIBRATION]["ay"].isNull()) + gyroCalibration.ay = doc[CFG_PARAM_GYRO_CALIBRATION]["ay"]; + if (!doc[CFG_PARAM_GYRO_CALIBRATION]["az"].isNull()) + gyroCalibration.az = doc[CFG_PARAM_GYRO_CALIBRATION]["az"]; + if (!doc[CFG_PARAM_GYRO_CALIBRATION]["gx"].isNull()) + gyroCalibration.gx = doc[CFG_PARAM_GYRO_CALIBRATION]["gx"]; + if (!doc[CFG_PARAM_GYRO_CALIBRATION]["gy"].isNull()) + gyroCalibration.gy = doc[CFG_PARAM_GYRO_CALIBRATION]["gy"]; + if (!doc[CFG_PARAM_GYRO_CALIBRATION]["gz"].isNull()) + gyroCalibration.gz = doc[CFG_PARAM_GYRO_CALIBRATION]["gz"]; + + if (!doc[CFG_PARAM_FORMULA_DATA]["a1"].isNull()) + formulaData.a[0] = doc[CFG_PARAM_FORMULA_DATA]["a1"].as(); + if (!doc[CFG_PARAM_FORMULA_DATA]["a2"].isNull()) + formulaData.a[1] = doc[CFG_PARAM_FORMULA_DATA]["a2"].as(); + if (!doc[CFG_PARAM_FORMULA_DATA]["a3"].isNull()) + formulaData.a[2] = doc[CFG_PARAM_FORMULA_DATA]["a3"].as(); + if (!doc[CFG_PARAM_FORMULA_DATA]["a4"].isNull()) + formulaData.a[3] = doc[CFG_PARAM_FORMULA_DATA]["a4"].as(); + if (!doc[CFG_PARAM_FORMULA_DATA]["a5"].isNull()) + formulaData.a[4] = doc[CFG_PARAM_FORMULA_DATA]["a5"].as(); + + if (!doc[CFG_PARAM_FORMULA_DATA]["g1"].isNull()) + formulaData.g[0] = doc[CFG_PARAM_FORMULA_DATA]["g1"].as(); + if (!doc[CFG_PARAM_FORMULA_DATA]["g2"].isNull()) + formulaData.g[1] = doc[CFG_PARAM_FORMULA_DATA]["g2"].as(); + if (!doc[CFG_PARAM_FORMULA_DATA]["g3"].isNull()) + formulaData.g[2] = doc[CFG_PARAM_FORMULA_DATA]["g3"].as(); + if (!doc[CFG_PARAM_FORMULA_DATA]["g4"].isNull()) + formulaData.g[3] = doc[CFG_PARAM_FORMULA_DATA]["g4"].as(); + if (!doc[CFG_PARAM_FORMULA_DATA]["g5"].isNull()) + formulaData.g[4] = doc[CFG_PARAM_FORMULA_DATA]["g5"]; + + myConfig.debug(); + saveNeeded = false; // Reset save flag + Log.notice(F("CFG : Configuration file " CFG_FILENAME " loaded." CR)); + return true; +} + +// +// Check if file system can be mounted, if not we format it. +// +void Config::formatFileSystem() { + Log.notice(F("CFG : Formating filesystem." CR)); + LittleFS.format(); +} + +// +// Check if file system can be mounted, if not we format it. +// +void Config::checkFileSystem() { +#if LOG_LEVEL == 6 && !defined(CFG_DISABLE_LOGGING) + Log.verbose(F("CFG : Checking if filesystem is valid." CR)); +#endif + + if (LittleFS.begin()) { + Log.notice(F("CFG : Filesystem mounted." CR)); + } else { + Log.error(F("CFG : Unable to mount file system, formatting..." CR)); + LittleFS.format(); + } +} + +// +// Dump the configuration to the serial port +// +void Config::debug() { +#if LOG_LEVEL == 6 && !defined(CFG_DISABLE_LOGGING) + Log.verbose(F("CFG : Dumping configration " CFG_FILENAME "." CR)); + Log.verbose(F("CFG : ID; '%s'." CR), getID()); + Log.verbose(F("CFG : WIFI; '%s', '%s'." CR), getWifiSSID(), getWifiPass()); + Log.verbose(F("CFG : mDNS; '%s'." CR), getMDNS()); + Log.verbose(F("CFG : Sleep interval; %d." CR), getSleepInterval()); + Log.verbose(F("CFG : OTA; '%s'." CR), getOtaURL()); + Log.verbose(F("CFG : Temp Format; %c." CR), getTempFormat()); + Log.verbose(F("CFG : Temp Adj; %F." CR), getTempSensorAdj()); + Log.verbose(F("CFG : VoltageFactor; %F." CR), getVoltageFactor()); + Log.verbose(F("CFG : Gravity formula; '%s'." CR), getGravityFormula()); + Log.verbose(F("CFG : Gravity format; '%c'." CR), getGravityFormat()); + Log.verbose(F("CFG : Gravity temp adj; %s." CR), + isGravityTempAdj() ? "true" : "false"); + Log.verbose(F("CFG : Push brewfather; '%s'." CR), getBrewfatherPushUrl()); + Log.verbose(F("CFG : Push http; '%s'." CR), getHttpPushUrl()); + Log.verbose(F("CFG : Push http2; '%s'." CR), getHttpPushUrl2()); + Log.verbose(F("CFG : InfluxDb2; '%s', '%s', '%s', '%s'." CR), + getInfluxDb2PushUrl(), getInfluxDb2PushOrg(), + getInfluxDb2PushBucket(), getInfluxDb2PushToken()); + // Log.verbose(F("CFG : Accel offset\t%d\t%d\t%d" CR), gyroCalibration.ax, + // gyroCalibration.ay, gyroCalibration.az ); Log.verbose(F("CFG : Gyro offset + // \t%d\t%d\t%d" CR), gyroCalibration.gx, gyroCalibration.gy, + // gyroCalibration.gz ); +#endif +} + +// EOF diff --git a/src/config.h b/src/config.h deleted file mode 100644 index cf3e8a7..0000000 --- a/src/config.h +++ /dev/null @@ -1,206 +0,0 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#ifndef _CONFIG_H -#define _CONFIG_H - -// Includes -#include "helper.h" -#include -#include -#include - -// defintions -#define CFG_JSON_BUFSIZE 2000 - -#define CFG_APPNAME "GravityMon " // Name of firmware -#define CFG_FILENAME "/gravitymon.json" // Name of config file - -#define WIFI_DEFAULT_SSID "GravityMon" // Name of created SSID -#define WIFI_DEFAULT_PWD "password" // Password for created SSID -#define WIFI_MDNS "gravitymon" // Prefix for MDNS name -#define WIFI_PORTAL_TIMEOUT 120 // Number of seconds until the config portal is closed - -// These are used in API + Savefile -#define CFG_PARAM_ID "id" -#define CFG_PARAM_MDNS "mdns" // Device name -#define CFG_PARAM_OTA "ota-url" // Base URL for OTA -#define CFG_PARAM_PUSH_BREWFATHER "brewfather-push" // URL (brewfather format) -#define CFG_PARAM_PUSH_HTTP "http-push" // URL (iSpindle format) -#define CFG_PARAM_PUSH_HTTP2 "http-push2" // URL (iSpindle format) -#define CFG_PARAM_PUSH_INFLUXDB2 "influxdb2-push" // URL -#define CFG_PARAM_PUSH_INFLUXDB2_ORG "influxdb2-org" // URL -#define CFG_PARAM_PUSH_INFLUXDB2_BUCKET "influxdb2-bucket" // URL -#define CFG_PARAM_PUSH_INFLUXDB2_AUTH "influxdb2-auth" // URL -#define CFG_PARAM_SLEEP_INTERVAL "sleep-interval" // Sleep interval -// TODO: @deprecated setting -#define CFG_PARAM_PUSH_INTERVAL "push-interval" // Time between push -#define CFG_PARAM_TEMPFORMAT "temp-format" // C or F -#define CFG_PARAM_VOLTAGEFACTOR "voltage-factor" // Factor to calculate the battery voltage -#define CFG_PARAM_GRAVITY_FORMULA "gravity-formula" // Formula for calculating gravity -#define CFG_PARAM_GRAVITY_FORMAT "gravity-format" // Gravity format G or P -#define CFG_PARAM_GRAVITY_TEMP_ADJ "gravity-temp-adjustment" // True/False. Adjust gravity for temperature -#define CFG_PARAM_TEMP_ADJ "temp-adjustment-value" // Correction value for temp sensor -#define CFG_PARAM_GYRO_CALIBRATION "gyro-calibration-data" // READ ONLY - -// These are used in API's -#define CFG_PARAM_APP_NAME "app-name" -#define CFG_PARAM_APP_VER "app-ver" -#define CFG_PARAM_ANGLE "angle" -#define CFG_PARAM_GRAVITY "gravity" -#define CFG_PARAM_TEMP_C "temp-c" -#define CFG_PARAM_TEMP_F "temp-f" -#define CFG_PARAM_BATTERY "battery" -#define CFG_PARAM_SLEEP_MODE "sleep-mode" -#define CFG_PARAM_RSSI "rssi" - -// Used for holding sensordata or sensoroffsets -struct RawGyroData { - int16_t ax; // Raw Acceleration - int16_t ay; - int16_t az; - - int16_t gx; // Raw Position - int16_t gy; - int16_t gz; - - int16_t temp; // Only for information (temperature of chip) -}; - -// Main configuration class -class Config { - private: - bool saveNeeded; - - // Device configuration - String id; - String mDNS; - String otaURL; - char tempFormat; // C, F - float voltageFactor; - float tempSensorAdj; // This value will be added to the read sensor value - int sleepInterval; - - // Push target settings - String brewfatherPushUrl; // URL For brewfather - - String httpPushUrl; // URL 1 for standard http - String httpPushUrl2; // URL 2 for standard http - - String influxDb2Url; // URL for InfluxDB v2 - String influxDb2Org; // Organisation for InfluxDB v2 - String influxDb2Bucket; // Bucket for InfluxDB v2 - String influxDb2Token; // Auth Token for InfluxDB v2 - - // Gravity and temperature calculations - String gravityFormula; - bool gravityTempAdj; // true, false - char gravityFormat; // G, P - - // Gyro calibration data - RawGyroData gyroCalibration; // Holds the gyro calibration constants (6 * int16_t) - - void debug(); - void formatFileSystem(); - - public: - Config(); - const char* getID() { return id.c_str(); }; - - const char* getMDNS() { return mDNS.c_str(); } - void setMDNS( String s ) { mDNS = s; saveNeeded = true; } - - const char* getOtaURL() { return otaURL.c_str(); } - void setOtaURL( String s ) { otaURL = s; saveNeeded = true; } - bool isOtaActive() { return otaURL.length()?true:false; } - - // Brewfather - const char* getBrewfatherPushUrl() { return brewfatherPushUrl.c_str(); } - void setBrewfatherPushUrl( String s ) { brewfatherPushUrl = s; saveNeeded = true; } - bool isBrewfatherActive() { return brewfatherPushUrl.length()?true:false; } - - // Standard HTTP - const char* getHttpPushUrl() { return httpPushUrl.c_str(); } - void setHttpPushUrl( String s ) { httpPushUrl = s; saveNeeded = true; } - bool isHttpActive() { return httpPushUrl.length()?true:false; } - const char* getHttpPushUrl2() { return httpPushUrl2.c_str(); } - void setHttpPushUrl2( String s ) { httpPushUrl2 = s; saveNeeded = true; } - bool isHttpActive2() { return httpPushUrl2.length()?true:false; } - - // InfluxDB2 - const char* getInfluxDb2PushUrl() { return influxDb2Url.c_str(); } - void setInfluxDb2PushUrl( String s ) { influxDb2Url = s; saveNeeded = true; } - bool isInfluxDb2Active() { return influxDb2Url.length()?true:false; } - const char* getInfluxDb2PushOrg() { return influxDb2Org.c_str(); } - void setInfluxDb2PushOrg( String s ) { influxDb2Org = s; saveNeeded = true; } - const char* getInfluxDb2PushBucket() { return influxDb2Bucket.c_str(); } - void setInfluxDb2PushBucket( String s ) { influxDb2Bucket = s; saveNeeded = true; } - const char* getInfluxDb2PushToken() { return influxDb2Token.c_str(); } - void setInfluxDb2PushToken( String s ) { influxDb2Token = s; saveNeeded = true; } - - int getSleepInterval() { return sleepInterval; } - void setSleepInterval( int v ) { sleepInterval = v; saveNeeded = true; } - void setSleepInterval( String s ) { sleepInterval = s.toInt(); saveNeeded = true; } - - char getTempFormat() { return tempFormat; } - void setTempFormat( char c ) { tempFormat = c; saveNeeded = true; } - bool isTempC() { return tempFormat=='C'?false:true; }; - bool isTempF() { return tempFormat=='F'?false:true; }; - - float getVoltageFactor() { return voltageFactor; } - void setVoltageFactor( float f ) { voltageFactor = f; saveNeeded = true; } - void setVoltageFactor( String s ) { voltageFactor = s.toFloat(); saveNeeded = true; } - - float getTempSensorAdj() { return tempSensorAdj; } - void setTempSensorAdj( float f ) { tempSensorAdj = f; saveNeeded = true; } - void setTempSensorAdj( String s ) { tempSensorAdj = s.toFloat(); saveNeeded = true; } - - const char* getGravityFormula() { return gravityFormula.c_str(); } - void setGravityFormula( String s ) { gravityFormula = s; saveNeeded = true; } - - bool isGravityTempAdj() { return gravityTempAdj; } - void setGravityTempAdj( bool b ) { gravityTempAdj = b; saveNeeded = true; } - - char getGravityFormat() { return gravityFormat; } - void setGravityFormat( char c ) { gravityFormat = c; saveNeeded = true; } - bool isGravitySG() { return gravityFormat=='G'?false:true; }; - bool isGravityPlato() { return gravityFormat=='P'?false:true; }; - - const RawGyroData& getGyroCalibration() { return gyroCalibration; } - void setGyroCalibration( const RawGyroData &r ) { gyroCalibration = r; saveNeeded = true; } - - // IO functions - void createJson(DynamicJsonDocument& doc); - bool saveFile(); - bool loadFile(); - void checkFileSystem(); - bool isSaveNeeded() { return saveNeeded; }; - void setSaveNeeded() { saveNeeded = true; }; -}; - -// Global instance created -extern Config myConfig; - -#endif // _CONFIG_H - -// EOF \ No newline at end of file diff --git a/src/config.hpp b/src/config.hpp new file mode 100644 index 0000000..82abb34 --- /dev/null +++ b/src/config.hpp @@ -0,0 +1,309 @@ +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#ifndef SRC_CONFIG_HPP_ +#define SRC_CONFIG_HPP_ + +// Includes +#include +#include +#include + +#include + +// defintions +#define CFG_JSON_BUFSIZE 3192 + +#define CFG_APPNAME "GravityMon " // Name of firmware +#define CFG_FILENAME "/gravitymon.json" // Name of config file + +#define WIFI_DEFAULT_SSID "GravityMon" // Name of created SSID +#define WIFI_DEFAULT_PWD "password" // Password for created SSID +#define WIFI_MDNS "gravitymon" // Prefix for MDNS name +#define WIFI_PORTAL_TIMEOUT \ + 120 // Number of seconds until the config portal is closed + +// These are used in API + Savefile +#define CFG_PARAM_ID "id" +#define CFG_PARAM_MDNS "mdns" // Device name +#define CFG_PARAM_OTA "ota-url" // Base URL for OTA +#define CFG_PARAM_SSID "wifi-ssid" // WIFI +#define CFG_PARAM_PASS "wifi-pass" // WIFI + +#define CFG_PARAM_PUSH_BREWFATHER "brewfather-push" // URL (brewfather format) +#define CFG_PARAM_PUSH_HTTP "http-push" // URL (iSpindle format) +#define CFG_PARAM_PUSH_HTTP2 "http-push2" // URL (iSpindle format) +#define CFG_PARAM_PUSH_INFLUXDB2 "influxdb2-push" // URL +#define CFG_PARAM_PUSH_INFLUXDB2_ORG "influxdb2-org" // URL +#define CFG_PARAM_PUSH_INFLUXDB2_BUCKET "influxdb2-bucket" // URL +#define CFG_PARAM_PUSH_INFLUXDB2_AUTH "influxdb2-auth" // URL +#define CFG_PARAM_SLEEP_INTERVAL "sleep-interval" // Sleep interval +// TODO: @deprecated setting +#define CFG_PARAM_PUSH_INTERVAL "push-interval" // Time between push +#define CFG_PARAM_TEMPFORMAT "temp-format" // C or F +#define CFG_PARAM_VOLTAGEFACTOR \ + "voltage-factor" // Factor to calculate the battery voltage +#define CFG_PARAM_GRAVITY_FORMULA \ + "gravity-formula" // Formula for calculating gravity +#define CFG_PARAM_GRAVITY_FORMAT "gravity-format" // Gravity format G or P +#define CFG_PARAM_GRAVITY_TEMP_ADJ \ + "gravity-temp-adjustment" // True/False. Adjust gravity for temperature +#define CFG_PARAM_TEMP_ADJ \ + "temp-adjustment-value" // Correction value for temp sensor +#define CFG_PARAM_GYRO_CALIBRATION "gyro-calibration-data" // READ ONLY + +#define CFG_PARAM_FORMULA_DATA \ + "formula-calculation-data" // Raw data for the formula calculation + +// These are used in API's +#define CFG_PARAM_APP_NAME "app-name" +#define CFG_PARAM_APP_VER "app-ver" +#define CFG_PARAM_ANGLE "angle" +#define CFG_PARAM_GRAVITY "gravity" +#define CFG_PARAM_TEMP_C "temp-c" +#define CFG_PARAM_TEMP_F "temp-f" +#define CFG_PARAM_BATTERY "battery" +#define CFG_PARAM_SLEEP_MODE "sleep-mode" +#define CFG_PARAM_RSSI "rssi" + +// Used for holding sensordata or sensoroffsets +struct RawGyroData { + int16_t ax; // Raw Acceleration + int16_t ay; + int16_t az; + + int16_t gx; // Raw Position + int16_t gy; + int16_t gz; + + int16_t temp; // Only for information (temperature of chip) +}; + +// Used for holding formulaData (used for calculating formula on device) +struct RawFormulaData { + double a[5]; + double g[5]; +}; + +// Main configuration class +class Config { + private: + bool saveNeeded; + + // Device configuration + String id; + String mDNS; + String otaURL; + char tempFormat; // C, F + float voltageFactor; + float tempSensorAdj; // This value will be added to the read sensor value + int sleepInterval; + + // Wifi Config + String wifiSSID; + String wifiPASS; + + // Push target settings + String brewfatherPushUrl; // URL For brewfather + + String httpPushUrl; // URL 1 for standard http + String httpPushUrl2; // URL 2 for standard http + + String influxDb2Url; // URL for InfluxDB v2 + String influxDb2Org; // Organisation for InfluxDB v2 + String influxDb2Bucket; // Bucket for InfluxDB v2 + String influxDb2Token; // Auth Token for InfluxDB v2 + + // Gravity and temperature calculations + String gravityFormula; + bool gravityTempAdj; // true, false + char gravityFormat; // G, P + + // Gyro calibration data + RawGyroData + gyroCalibration; // Holds the gyro calibration constants (6 * int16_t) + RawFormulaData formulaData; // Used for creating formula + + void debug(); + void formatFileSystem(); + + public: + Config(); + const char* getID() { return id.c_str(); } + + const char* getMDNS() { return mDNS.c_str(); } + void setMDNS(String s) { + mDNS = s; + saveNeeded = true; + } + + const char* getOtaURL() { return otaURL.c_str(); } + void setOtaURL(String s) { + otaURL = s; + saveNeeded = true; + } + bool isOtaActive() { return otaURL.length() ? true : false; } + + const char* getWifiSSID() { return wifiSSID.c_str(); } + void setWifiSSID(String s) { + wifiSSID = s; + saveNeeded = true; + } + const char* getWifiPass() { return wifiPASS.c_str(); } + void setWifiPass(String s) { + wifiPASS = s; + saveNeeded = true; + } + + // Brewfather + const char* getBrewfatherPushUrl() { return brewfatherPushUrl.c_str(); } + void setBrewfatherPushUrl(String s) { + brewfatherPushUrl = s; + saveNeeded = true; + } + bool isBrewfatherActive() { + return brewfatherPushUrl.length() ? true : false; + } + + // Standard HTTP + const char* getHttpPushUrl() { return httpPushUrl.c_str(); } + void setHttpPushUrl(String s) { + httpPushUrl = s; + saveNeeded = true; + } + bool isHttpActive() { return httpPushUrl.length() ? true : false; } + const char* getHttpPushUrl2() { return httpPushUrl2.c_str(); } + void setHttpPushUrl2(String s) { + httpPushUrl2 = s; + saveNeeded = true; + } + bool isHttpActive2() { return httpPushUrl2.length() ? true : false; } + + // InfluxDB2 + const char* getInfluxDb2PushUrl() { return influxDb2Url.c_str(); } + void setInfluxDb2PushUrl(String s) { + influxDb2Url = s; + saveNeeded = true; + } + bool isInfluxDb2Active() { return influxDb2Url.length() ? true : false; } + const char* getInfluxDb2PushOrg() { return influxDb2Org.c_str(); } + void setInfluxDb2PushOrg(String s) { + influxDb2Org = s; + saveNeeded = true; + } + const char* getInfluxDb2PushBucket() { return influxDb2Bucket.c_str(); } + void setInfluxDb2PushBucket(String s) { + influxDb2Bucket = s; + saveNeeded = true; + } + const char* getInfluxDb2PushToken() { return influxDb2Token.c_str(); } + void setInfluxDb2PushToken(String s) { + influxDb2Token = s; + saveNeeded = true; + } + + int getSleepInterval() { return sleepInterval; } + void setSleepInterval(int v) { + sleepInterval = v; + saveNeeded = true; + } + void setSleepInterval(String s) { + sleepInterval = s.toInt(); + saveNeeded = true; + } + + char getTempFormat() { return tempFormat; } + void setTempFormat(char c) { + tempFormat = c; + saveNeeded = true; + } + bool isTempC() { return tempFormat == 'C' ? false : true; } + bool isTempF() { return tempFormat == 'F' ? false : true; } + + float getVoltageFactor() { return voltageFactor; } + void setVoltageFactor(float f) { + voltageFactor = f; + saveNeeded = true; + } + void setVoltageFactor(String s) { + voltageFactor = s.toFloat(); + saveNeeded = true; + } + + float getTempSensorAdj() { return tempSensorAdj; } + void setTempSensorAdj(float f) { + tempSensorAdj = f; + saveNeeded = true; + } + void setTempSensorAdj(String s) { + tempSensorAdj = s.toFloat(); + saveNeeded = true; + } + + const char* getGravityFormula() { return gravityFormula.c_str(); } + void setGravityFormula(String s) { + gravityFormula = s; + saveNeeded = true; + } + + bool isGravityTempAdj() { return gravityTempAdj; } + void setGravityTempAdj(bool b) { + gravityTempAdj = b; + saveNeeded = true; + } + + char getGravityFormat() { return gravityFormat; } + void setGravityFormat(char c) { + gravityFormat = c; + saveNeeded = true; + } + bool isGravitySG() { return gravityFormat == 'G' ? false : true; } + bool isGravityPlato() { return gravityFormat == 'P' ? false : true; } + + const RawGyroData& getGyroCalibration() { return gyroCalibration; } + void setGyroCalibration(const RawGyroData& r) { + gyroCalibration = r; + saveNeeded = true; + } + + const RawFormulaData& getFormulaData() { return formulaData; } + void setFormulaData(const RawFormulaData& r) { + formulaData = r; + saveNeeded = true; + } + + // IO functions + void createJson(DynamicJsonDocument& doc); + bool saveFile(); + bool loadFile(); + void checkFileSystem(); + bool isSaveNeeded() { return saveNeeded; } + void setSaveNeeded() { saveNeeded = true; } +}; + +// Global instance created +extern Config myConfig; + +#endif // SRC_CONFIG_HPP_ + +// EOF diff --git a/src/gyro.cpp b/src/gyro.cpp index f00b99d..f0c30e1 100644 --- a/src/gyro.cpp +++ b/src/gyro.cpp @@ -1,359 +1,409 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#include "gyro.h" -#include "helper.h" - -GyroSensor myGyro; - -#define GYRO_USE_INTERRUPT // Use interrupt to detect when new sample is ready -#define SENSOR_MOVING_THREASHOLD 500 -#define SENSOR_READ_COUNT 50 -#define SENSOR_READ_DELAY 3150 // us, empirical, to hold sampling to 200 Hz - -#define GYRO_SHOW_MINMAX // Will calculate the min/max values when doing calibration -//#define GYRO_CALIBRATE_STARTUP // Will calibrate sensor at startup - -// -// Initialize the sensor chip. -// -bool GyroSensor::setup() { -#if LOG_LEVEL==6 - Log.verbose(F("GYRO: Setting up hardware." CR)); -#endif - Wire.begin(D3, D4); - Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties - accelgyro.initialize(); - - if( !accelgyro.testConnection() ) { - Log.error(F("GYRO: Failed to connect to MPU6050 (gyro)." CR)); - sensorConnected = false; - } else { - - Log.notice(F("GYRO: Connected to MPU6050 (gyro)." CR)); - sensorConnected = true; - - // Configure the sensor - accelgyro.setTempSensorEnabled(true); - //accelgyro.setFullScaleAccelRange(MPU6050_ACCEL_FS_2); // Set in .initalize() - //accelgyro.setFullScaleGyroRange(MPU6050_GYRO_FS_250); // Set in .initalize() - accelgyro.setDLPFMode(MPU6050_DLPF_BW_5); -#if defined( GYRO_USE_INTERRUPT ) - // Alternative method to read data, let the MPU signal when sampling is done. - accelgyro.setRate(17); - accelgyro.setInterruptDrive(1); - accelgyro.setInterruptMode(1); - accelgyro.setInterruptLatch(0); - accelgyro.setIntDataReadyEnabled(true); -#endif - -#if defined ( GYRO_CALIBRATE_STARTUP ) - // Run the calibration at start, useful for testing. - calibrateSensor(); -#endif - - // Once we have calibration values stored we just apply them from the config. - calibrationOffset = myConfig.getGyroCalibration(); - applyCalibration(); - } - - return sensorConnected; -} - -// -// Set sensor in sleep mode to conserve battery -// -void GyroSensor::enterSleep() { -#if LOG_LEVEL==6 - Log.verbose(F("GYRO: Setting up hardware." CR)); -#endif - accelgyro.setSleepEnabled( true ); -} - -// -// Do a number of reads to get a more stable value. -// -void GyroSensor::readSensor(RawGyroData &raw, const int noIterations, const int delayTime) { - RawGyroDataL average = { 0, 0, 0, 0, 0, 0 }; - -#if LOG_LEVEL==6 - Log.verbose(F("GYRO: Reading sensor with %d iterations %d us delay." CR), noIterations, delayTime ); -#endif - - // Set some initial values -#if defined( GYRO_SHOW_MINMAX ) - RawGyroData min, max; - //accelgyro.getRotation( &min.gx, &min.gy, &min.gz ); - accelgyro.getAcceleration( &min.ax, &min.ay, &min.az ); - min.temp = accelgyro.getTemperature(); - max = min; -#endif - for(int cnt = 0; cnt < noIterations ; cnt ++) { - -#if defined( GYRO_USE_INTERRUPT ) - while( accelgyro.getIntDataReadyStatus() == 0) { - delayMicroseconds( 1 ); - } -#endif - - //accelgyro.getRotation( &raw.gx, &raw.gy, &raw.gz ); - //accelgyro.getAcceleration( &raw.ax, &raw.ay, &raw.az ); - accelgyro.getMotion6(&raw.ax, &raw.ay, &raw.az, &raw.gx, &raw.gy, &raw.gz); - raw.temp = accelgyro.getTemperature(); - - average.ax += raw.ax; - average.ay += raw.ay; - average.az += raw.az; - average.gx += raw.gx; - average.gy += raw.gy; - average.gz += raw.gz; - average.temp += raw.temp; - - // Log what the minium value is -#if defined( GYRO_SHOW_MINMAX ) - if( raw.ax < min.ax ) min.ax = raw.ax; - if( raw.ay < min.ay ) min.ay = raw.ay; - if( raw.az < min.az ) min.az = raw.az; - if( raw.gx < min.gx ) min.gx = raw.gx; - if( raw.gy < min.gy ) min.gy = raw.gy; - if( raw.gz < min.gz ) min.gz = raw.gz; - if( raw.temp < min.temp ) min.temp = raw.temp; - - // Log what the maximum value is - if( raw.ax > max.ax ) max.ax = raw.ax; - if( raw.ay > max.ay ) max.ay = raw.ay; - if( raw.az > max.az ) max.az = raw.az; - if( raw.gx > max.gx ) max.gx = raw.gx; - if( raw.gy > max.gy ) max.gy = raw.gy; - if( raw.gz > max.gz ) max.gz = raw.gz; - if( raw.temp > max.temp ) max.temp = raw.temp; -#endif - -#if !defined( GYRO_USE_INTERRUPT ) - delayMicroseconds( delayTime ); -#endif - } - - raw.ax = average.ax/noIterations; - raw.ay = average.ay/noIterations; - raw.az = average.az/noIterations; - raw.gx = average.gx/noIterations; - raw.gy = average.gy/noIterations; - raw.gz = average.gz/noIterations; - raw.temp = average.temp/noIterations; - -#if LOG_LEVEL==6 - #if defined( GYRO_SHOW_MINMAX ) - Log.verbose(F("GYRO: Min \t%d\t%d\t%d\t%d\t%d\t%d\t%d." CR), min.ax, min.ay, min.az, min.gx, min.gy, min.gz, min.temp ); - Log.verbose(F("GYRO: Max \t%d\t%d\t%d\t%d\t%d\t%d\t%d." CR), max.ax, max.ay, max.az, max.gx, max.gy, max.gz, max.temp ); - #endif - Log.verbose(F("GYRO: Average\t%d\t%d\t%d\t%d\t%d\t%d\t%d." CR), raw.ax, raw.ay, raw.az, raw.gx, raw.gy, raw.gz, raw.temp ); - //Log.verbose(F("GYRO: Result \t%d\t%d\t%d\t%d\t%d\t%d." CR), average.ax/noIterations, average.ay/noIterations, average.az/noIterations, - // average.gx/noIterations, average.gy/noIterations, average.gz/noIterations ); -#endif -} - -// -// Calcuate the angles (tilt) -// -float GyroSensor::calculateAngle(RawGyroData &raw) { -#if LOG_LEVEL==6 - Log.verbose(F("GYRO: Calculating the angle." CR) ); -#endif - - // Smooth out the readings to we can have a more stable angle/tilt. - // ------------------------------------------------------------------------------------------------------------ - // Accelerometer full scale range of +/- 2g with Sensitivity Scale Factor of 16,384 LSB(Count)/g. - // Gyroscope full scale range of +/- 250 °/s with Sensitivity Scale Factor of 131 LSB (Count)/°/s. - float ax = ((float) raw.ax)/16384, - ay = ((float) raw.ay)/16384, - az = ((float) raw.az)/16384; - - // Source: https://www.nxp.com/docs/en/application-note/AN3461.pdf - float v = (acos( ay / sqrt( ax*ax + ay*ay + az*az ) ) *180.0 / PI); - //Log.notice(F("GYRO: angle = %F." CR), v ); - //double v = (acos( raw.az / sqrt( raw.ax*raw.ax + raw.ay*raw.ay + raw.az*raw.az ) ) *180.0 / PI); - //Log.notice(F("GYRO: angle = %F." CR), v ); - -#if LOG_LEVEL==6 - Log.verbose(F("GYRO: angle = %F." CR), v ); -#endif - return v; -} - -// -// Check if the values are high that indicate that the sensor is moving. -// -bool GyroSensor::isSensorMoving(RawGyroData &raw) { -#if LOG_LEVEL==6 - Log.verbose(F("GYRO: Checking for sensor movement." CR) ); -#endif - - int x = abs(raw.gx), y = abs(raw.gy), z = abs(raw.gz); - - if( x>SENSOR_MOVING_THREASHOLD || y>SENSOR_MOVING_THREASHOLD || z>SENSOR_MOVING_THREASHOLD ) { - Log.notice(F("GYRO: Movement detected (%d)\t%d\t%d\t%d." CR), SENSOR_MOVING_THREASHOLD, x, y, z); - return true; - } - - return false; -} - -// -// Read the tilt angle from the gyro. -// -bool GyroSensor::read() { -#if LOG_LEVEL==6 - Log.verbose(F("GYRO: Getting new gyro position." CR) ); -#endif - - readSensor( lastGyroData, SENSOR_READ_COUNT, SENSOR_READ_DELAY ); // Last param is unused if GYRO_USE_INTERRUPT is defined. - - // If the sensor is unstable we return false to signal we dont have valid value - if( isSensorMoving(lastGyroData) ) { - Log.notice(F("GYRO: Sensor is moving." CR) ); - validValue = false; - } else { - validValue = true; - angle = calculateAngle( lastGyroData ); - //Log.notice(F("GYRO: Sensor values %d,%d,%d\t%F" CR), raw.ax, raw.ay, raw.az, angle ); - } - - sensorTemp = ((float) lastGyroData.temp) / 340 + 36.53; - - // The first read value is close to the DS18 value according to my tests, if more reads are - // done then the gyro temp will increase to much - if( initialSensorTemp == INVALID_TEMPERATURE ) - initialSensorTemp = sensorTemp; - - return validValue; -} - -// -// Dump the stored calibration values. -// -void GyroSensor::dumpCalibration() { -#if LOG_LEVEL==6 - Log.verbose(F("GYRO: Accel offset\t%d\t%d\t%d" CR), calibrationOffset.ax, calibrationOffset.ay, calibrationOffset.az ); - Log.verbose(F("GYRO: Gyro offset \t%d\t%d\t%d" CR), calibrationOffset.gx, calibrationOffset.gy, calibrationOffset.gz ); -#endif -} - -// -// Update the sensor with out calculated offsets. -// -void GyroSensor::applyCalibration() { -#if LOG_LEVEL==6 - Log.verbose(F("GYRO: Applying calibration offsets to sensor." CR) ); -#endif - if( ( calibrationOffset.ax + calibrationOffset.ay + calibrationOffset.az + calibrationOffset.gx + calibrationOffset.gy + calibrationOffset.gz ) == 0 ) { - Log.error(F("GYRO: No valid calibraion values exist, aborting." CR) ); - return; - } - - accelgyro.setXAccelOffset( calibrationOffset.ax ); - accelgyro.setYAccelOffset( calibrationOffset.ay ); - accelgyro.setZAccelOffset( calibrationOffset.az ); - accelgyro.setXGyroOffset( calibrationOffset.gx ); - accelgyro.setYGyroOffset( calibrationOffset.gy ); - accelgyro.setZGyroOffset( calibrationOffset.gz ); -} - -// -// Calculate the offsets for calibration. -// -void GyroSensor::calibrateSensor() { -#if LOG_LEVEL==6 - Log.verbose(F("GYRO: Calibrating sensor" CR) ); -#endif - //accelgyro.PrintActiveOffsets(); - //Serial.print( CR ); - - accelgyro.setDLPFMode(MPU6050_DLPF_BW_5); - accelgyro.CalibrateAccel(6); // 6 = 600 readings - accelgyro.CalibrateGyro(6); - - accelgyro.PrintActiveOffsets(); - Serial.print( CR ); - - calibrationOffset.ax = accelgyro.getXAccelOffset(); - calibrationOffset.ay = accelgyro.getYAccelOffset(); - calibrationOffset.az = accelgyro.getZAccelOffset(); - calibrationOffset.gx = accelgyro.getXGyroOffset(); - calibrationOffset.gy = accelgyro.getYGyroOffset(); - calibrationOffset.gz = accelgyro.getZGyroOffset(); - - // Save the calibrated values - myConfig.setGyroCalibration( calibrationOffset ); - myConfig.saveFile(); -} - -// -// Calibrate the device. -// -void GyroSensor::debug() { -#if LOG_LEVEL==6 - Log.verbose(F("GYRO: Debug - Clock src %d." CR), accelgyro.getClockSource() ); - Log.verbose(F("GYRO: Debug - Device ID %d." CR), accelgyro.getDeviceID() ); - Log.verbose(F("GYRO: Debug - DHPF Mode %d." CR), accelgyro.getDHPFMode() ); - Log.verbose(F("GYRO: Debug - DMP on %s." CR), accelgyro.getDMPEnabled()?"on":"off" ); - Log.verbose(F("GYRO: Debug - Acc range %d." CR), accelgyro.getFullScaleAccelRange() ); - Log.verbose(F("GYRO: Debug - Gyr range %d." CR), accelgyro.getFullScaleGyroRange() ); - Log.verbose(F("GYRO: Debug - Int %s." CR), accelgyro.getIntEnabled()?"on":"off" ); - Log.verbose(F("GYRO: Debug - Clock %d." CR), accelgyro.getMasterClockSpeed() ); - Log.verbose(F("GYRO: Debug - Rate %d." CR), accelgyro.getRate() ); - Log.verbose(F("GYRO: Debug - Gyro range %d." CR), accelgyro.getFullScaleGyroRange() ); -// Log.verbose(F("GYRO: Debug - I2C bypass %s." CR), accelgyro.getI2CBypassEnabled()?"on":"off" ); -// Log.verbose(F("GYRO: Debug - I2C master %s." CR), accelgyro.getI2CMasterModeEnabled()?"on":"off" ); - Log.verbose(F("GYRO: Debug - Acc FactX %d." CR), accelgyro.getAccelXSelfTestFactoryTrim() ); - Log.verbose(F("GYRO: Debug - Acc FactY %d." CR), accelgyro.getAccelYSelfTestFactoryTrim() ); - Log.verbose(F("GYRO: Debug - Acc FactZ %d." CR), accelgyro.getAccelZSelfTestFactoryTrim() ); - Log.verbose(F("GYRO: Debug - Gyr FactX %d." CR), accelgyro.getGyroXSelfTestFactoryTrim() ); - Log.verbose(F("GYRO: Debug - Gyr FactY %d." CR), accelgyro.getGyroYSelfTestFactoryTrim() ); - Log.verbose(F("GYRO: Debug - Gyr FactZ %d." CR), accelgyro.getGyroZSelfTestFactoryTrim() ); - - switch( accelgyro.getFullScaleAccelRange() ) { - case 0: - Log.verbose(F("GYRO: Debug - Accel range +/- 2g." CR)); - break; - case 1: - Log.verbose(F("GYRO: Debug - Accel range +/- 4g." CR)); - break; - case 2: - Log.verbose(F("GYRO: Debug - Accel range +/- 8g." CR)); - break; - case 3: - Log.verbose(F("GYRO: Debug - Accel range +/- 16g." CR)); - break; - } - - Log.verbose(F("GYRO: Debug - Acc OffX %d\t%d." CR), accelgyro.getXAccelOffset(), calibrationOffset.az ); - Log.verbose(F("GYRO: Debug - Acc OffY %d\t%d." CR), accelgyro.getYAccelOffset(), calibrationOffset.ay ); - Log.verbose(F("GYRO: Debug - Acc OffZ %d\t%d." CR), accelgyro.getZAccelOffset(), calibrationOffset.az ); - Log.verbose(F("GYRO: Debug - Gyr OffX %d\t%d." CR), accelgyro.getXGyroOffset(), calibrationOffset.gx ); - Log.verbose(F("GYRO: Debug - Gyr OffY %d\t%d." CR), accelgyro.getYGyroOffset(), calibrationOffset.gy ); - Log.verbose(F("GYRO: Debug - Gyr OffZ %d\t%d." CR), accelgyro.getZGyroOffset(), calibrationOffset.gz ); -#endif -} - -// EOF \ No newline at end of file +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#include +#include + +GyroSensor myGyro; + +#define GYRO_USE_INTERRUPT // Use interrupt to detect when new sample is ready +#define SENSOR_MOVING_THREASHOLD 500 +#define SENSOR_READ_COUNT 50 +#define SENSOR_READ_DELAY 3150 // us, empirical, to hold sampling to 200 Hz + +#define GYRO_SHOW_MINMAX // Will calculate the min/max values when doing + // calibration +// #define GYRO_CALIBRATE_STARTUP // Will calibrate sensor at startup + +// +// Initialize the sensor chip. +// +bool GyroSensor::setup() { +#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING) + Log.verbose(F("GYRO: Setting up hardware." CR)); +#endif + Wire.begin(D3, D4); + Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having + // compilation difficulties + accelgyro.initialize(); + + if (!accelgyro.testConnection()) { + Log.error(F("GYRO: Failed to connect to MPU6050 (gyro)." CR)); + sensorConnected = false; + } else { +#if !defined(GYRO_DISABLE_LOGGING) + Log.notice(F("GYRO: Connected to MPU6050 (gyro)." CR)); +#endif + sensorConnected = true; + + // Configure the sensor + accelgyro.setTempSensorEnabled(true); + // accelgyro.setFullScaleAccelRange(MPU6050_ACCEL_FS_2); // Set in + // .initalize() accelgyro.setFullScaleGyroRange(MPU6050_GYRO_FS_250); // + // Set in .initalize() + accelgyro.setDLPFMode(MPU6050_DLPF_BW_5); +#if defined(GYRO_USE_INTERRUPT) + // Alternative method to read data, let the MPU signal when sampling is + // done. + accelgyro.setRate(17); + accelgyro.setInterruptDrive(1); + accelgyro.setInterruptMode(1); + accelgyro.setInterruptLatch(0); + accelgyro.setIntDataReadyEnabled(true); +#endif + +#if defined(GYRO_CALIBRATE_STARTUP) + // Run the calibration at start, useful for testing. + calibrateSensor(); +#endif + + // Once we have calibration values stored we just apply them from the + // config. + calibrationOffset = myConfig.getGyroCalibration(); + applyCalibration(); + } + return sensorConnected; +} + +// +// Set sensor in sleep mode to conserve battery +// +void GyroSensor::enterSleep() { +#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING) + Log.verbose(F("GYRO: Setting up hardware." CR)); +#endif + accelgyro.setSleepEnabled(true); +} + +// +// Do a number of reads to get a more stable value. +// +void GyroSensor::readSensor(RawGyroData &raw, const int noIterations, + const int delayTime) { + RawGyroDataL average = {0, 0, 0, 0, 0, 0}; + +#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING) + Log.verbose(F("GYRO: Reading sensor with %d iterations %d us delay." CR), + noIterations, delayTime); +#endif + + // Set some initial values +#if defined(GYRO_SHOW_MINMAX) + RawGyroData min, max; + // accelgyro.getRotation( &min.gx, &min.gy, &min.gz ); + accelgyro.getAcceleration(&min.ax, &min.ay, &min.az); + min.temp = accelgyro.getTemperature(); + max = min; +#endif + for (int cnt = 0; cnt < noIterations; cnt++) { +#if defined(GYRO_USE_INTERRUPT) + while (accelgyro.getIntDataReadyStatus() == 0) { + delayMicroseconds(1); + } +#endif + + // accelgyro.getRotation( &raw.gx, &raw.gy, &raw.gz ); + // accelgyro.getAcceleration( &raw.ax, &raw.ay, &raw.az ); + accelgyro.getMotion6(&raw.ax, &raw.ay, &raw.az, &raw.gx, &raw.gy, &raw.gz); + raw.temp = accelgyro.getTemperature(); + + average.ax += raw.ax; + average.ay += raw.ay; + average.az += raw.az; + average.gx += raw.gx; + average.gy += raw.gy; + average.gz += raw.gz; + average.temp += raw.temp; + + // Log what the minium value is +#if defined(GYRO_SHOW_MINMAX) + if (raw.ax < min.ax) min.ax = raw.ax; + if (raw.ay < min.ay) min.ay = raw.ay; + if (raw.az < min.az) min.az = raw.az; + if (raw.gx < min.gx) min.gx = raw.gx; + if (raw.gy < min.gy) min.gy = raw.gy; + if (raw.gz < min.gz) min.gz = raw.gz; + if (raw.temp < min.temp) min.temp = raw.temp; + + // Log what the maximum value is + if (raw.ax > max.ax) max.ax = raw.ax; + if (raw.ay > max.ay) max.ay = raw.ay; + if (raw.az > max.az) max.az = raw.az; + if (raw.gx > max.gx) max.gx = raw.gx; + if (raw.gy > max.gy) max.gy = raw.gy; + if (raw.gz > max.gz) max.gz = raw.gz; + if (raw.temp > max.temp) max.temp = raw.temp; +#endif + +#if !defined(GYRO_USE_INTERRUPT) + delayMicroseconds(delayTime); +#endif + } + + raw.ax = average.ax / noIterations; + raw.ay = average.ay / noIterations; + raw.az = average.az / noIterations; + raw.gx = average.gx / noIterations; + raw.gy = average.gy / noIterations; + raw.gz = average.gz / noIterations; + raw.temp = average.temp / noIterations; + +#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING) +#if defined(GYRO_SHOW_MINMAX) + Log.verbose(F("GYRO: Min \t%d\t%d\t%d\t%d\t%d\t%d\t%d." CR), min.ax, + min.ay, min.az, min.gx, min.gy, min.gz, min.temp); + Log.verbose(F("GYRO: Max \t%d\t%d\t%d\t%d\t%d\t%d\t%d." CR), max.ax, + max.ay, max.az, max.gx, max.gy, max.gz, max.temp); +#endif + Log.verbose(F("GYRO: Average\t%d\t%d\t%d\t%d\t%d\t%d\t%d." CR), raw.ax, + raw.ay, raw.az, raw.gx, raw.gy, raw.gz, raw.temp); + // Log.verbose(F("GYRO: Result \t%d\t%d\t%d\t%d\t%d\t%d." CR), + // average.ax/noIterations, average.ay/noIterations, average.az/noIterations, + // average.gx/noIterations, + // average.gy/noIterations, + // average.gz/noIterations + // ); +#endif +} + +// +// Calcuate the angles (tilt) +// +float GyroSensor::calculateAngle(RawGyroData &raw) { +#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING) + Log.verbose(F("GYRO: Calculating the angle." CR)); +#endif + + // Smooth out the readings to we can have a more stable angle/tilt. + // ------------------------------------------------------------------------------------------------------------ + // Accelerometer full scale range of +/- 2g with Sensitivity Scale Factor of + // 16,384 LSB(Count)/g. Gyroscope full scale range of +/- 250 °/s with + // Sensitivity Scale Factor of 131 LSB (Count)/°/s. + float ax = (static_cast(raw.ax)) / 16384, + ay = (static_cast(raw.ay)) / 16384, + az = (static_cast(raw.az)) / 16384; + + // Source: https://www.nxp.com/docs/en/application-note/AN3461.pdf + float v = (acos(ay / sqrt(ax * ax + ay * ay + az * az)) * 180.0 / PI); + // Log.notice(F("GYRO: angle = %F." CR), v ); + // double v = (acos( raw.az / sqrt( raw.ax*raw.ax + raw.ay*raw.ay + + // raw.az*raw.az ) ) *180.0 / PI); Log.notice(F("GYRO: angle = %F." CR), v ); + +#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING) + Log.verbose(F("GYRO: angle = %F." CR), v); +#endif + return v; +} + +// +// Check if the values are high that indicate that the sensor is moving. +// +bool GyroSensor::isSensorMoving(RawGyroData &raw) { +#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING) + Log.verbose(F("GYRO: Checking for sensor movement." CR)); +#endif + + int x = abs(raw.gx), y = abs(raw.gy), z = abs(raw.gz); + + if (x > SENSOR_MOVING_THREASHOLD || y > SENSOR_MOVING_THREASHOLD || + z > SENSOR_MOVING_THREASHOLD) { + Log.notice(F("GYRO: Movement detected (%d)\t%d\t%d\t%d." CR), + SENSOR_MOVING_THREASHOLD, x, y, z); + return true; + } + + return false; +} + +// +// Read the tilt angle from the gyro. +// +bool GyroSensor::read() { +#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING) + Log.verbose(F("GYRO: Getting new gyro position." CR)); +#endif + + if (!sensorConnected) return false; + + readSensor(lastGyroData, SENSOR_READ_COUNT, + SENSOR_READ_DELAY); // Last param is unused if GYRO_USE_INTERRUPT + // is defined. + + // If the sensor is unstable we return false to signal we dont have valid + // value + if (isSensorMoving(lastGyroData)) { +#if !defined(GYRO_DISABLE_LOGGING) + Log.notice(F("GYRO: Sensor is moving." CR)); +#endif + validValue = false; + } else { + validValue = true; + angle = calculateAngle(lastGyroData); +#if !defined(GYRO_DISABLE_LOGGING) + Log.notice(F("GYRO: Sensor values %d,%d,%d\t%F" CR), lastGyroData.ax, + lastGyroData.ay, lastGyroData.az, angle); +#endif + } + + sensorTemp = (static_cast(lastGyroData.temp)) / 340 + 36.53; + + // The first read value is close to the DS18 value according to my tests, if + // more reads are done then the gyro temp will increase to much + if (initialSensorTemp == INVALID_TEMPERATURE) initialSensorTemp = sensorTemp; + + return validValue; +} + +// +// Dump the stored calibration values. +// +void GyroSensor::dumpCalibration() { +#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING) + Log.verbose(F("GYRO: Accel offset\t%d\t%d\t%d" CR), calibrationOffset.ax, + calibrationOffset.ay, calibrationOffset.az); + Log.verbose(F("GYRO: Gyro offset \t%d\t%d\t%d" CR), calibrationOffset.gx, + calibrationOffset.gy, calibrationOffset.gz); +#endif +} + +// +// Update the sensor with out calculated offsets. +// +void GyroSensor::applyCalibration() { +#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING) + Log.verbose(F("GYRO: Applying calibration offsets to sensor." CR)); +#endif + + if ((calibrationOffset.ax + calibrationOffset.ay + calibrationOffset.az + + calibrationOffset.gx + calibrationOffset.gy + calibrationOffset.gz) == + 0) { + Log.error(F("GYRO: No valid calibraion values exist, aborting." CR)); + return; + } + + accelgyro.setXAccelOffset(calibrationOffset.ax); + accelgyro.setYAccelOffset(calibrationOffset.ay); + accelgyro.setZAccelOffset(calibrationOffset.az); + accelgyro.setXGyroOffset(calibrationOffset.gx); + accelgyro.setYGyroOffset(calibrationOffset.gy); + accelgyro.setZGyroOffset(calibrationOffset.gz); +} + +// +// Calculate the offsets for calibration. +// +void GyroSensor::calibrateSensor() { +#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING) + Log.verbose(F("GYRO: Calibrating sensor" CR)); +#endif + // accelgyro.PrintActiveOffsets(); + // Serial.print( CR ); + + accelgyro.setDLPFMode(MPU6050_DLPF_BW_5); + accelgyro.CalibrateAccel(6); // 6 = 600 readings + accelgyro.CalibrateGyro(6); + + accelgyro.PrintActiveOffsets(); + Serial.print(CR); + + calibrationOffset.ax = accelgyro.getXAccelOffset(); + calibrationOffset.ay = accelgyro.getYAccelOffset(); + calibrationOffset.az = accelgyro.getZAccelOffset(); + calibrationOffset.gx = accelgyro.getXGyroOffset(); + calibrationOffset.gy = accelgyro.getYGyroOffset(); + calibrationOffset.gz = accelgyro.getZGyroOffset(); + + // Save the calibrated values + myConfig.setGyroCalibration(calibrationOffset); + myConfig.saveFile(); +} + +// +// Calibrate the device. +// +void GyroSensor::debug() { +#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING) + Log.verbose(F("GYRO: Debug - Clock src %d." CR), + accelgyro.getClockSource()); + Log.verbose(F("GYRO: Debug - Device ID %d." CR), accelgyro.getDeviceID()); + Log.verbose(F("GYRO: Debug - DHPF Mode %d." CR), accelgyro.getDHPFMode()); + Log.verbose(F("GYRO: Debug - DMP on %s." CR), + accelgyro.getDMPEnabled() ? "on" : "off"); + Log.verbose(F("GYRO: Debug - Acc range %d." CR), + accelgyro.getFullScaleAccelRange()); + Log.verbose(F("GYRO: Debug - Gyr range %d." CR), + accelgyro.getFullScaleGyroRange()); + Log.verbose(F("GYRO: Debug - Int %s." CR), + accelgyro.getIntEnabled() ? "on" : "off"); + Log.verbose(F("GYRO: Debug - Clock %d." CR), + accelgyro.getMasterClockSpeed()); + Log.verbose(F("GYRO: Debug - Rate %d." CR), accelgyro.getRate()); + Log.verbose(F("GYRO: Debug - Gyro range %d." CR), + accelgyro.getFullScaleGyroRange()); + // Log.verbose(F("GYRO: Debug - I2C bypass %s." CR), + // accelgyro.getI2CBypassEnabled()?"on":"off" ); Log.verbose(F("GYRO: Debug - + // I2C master %s." CR), accelgyro.getI2CMasterModeEnabled()?"on":"off" ); + Log.verbose(F("GYRO: Debug - Acc FactX %d." CR), + accelgyro.getAccelXSelfTestFactoryTrim()); + Log.verbose(F("GYRO: Debug - Acc FactY %d." CR), + accelgyro.getAccelYSelfTestFactoryTrim()); + Log.verbose(F("GYRO: Debug - Acc FactZ %d." CR), + accelgyro.getAccelZSelfTestFactoryTrim()); + Log.verbose(F("GYRO: Debug - Gyr FactX %d." CR), + accelgyro.getGyroXSelfTestFactoryTrim()); + Log.verbose(F("GYRO: Debug - Gyr FactY %d." CR), + accelgyro.getGyroYSelfTestFactoryTrim()); + Log.verbose(F("GYRO: Debug - Gyr FactZ %d." CR), + accelgyro.getGyroZSelfTestFactoryTrim()); + + switch (accelgyro.getFullScaleAccelRange()) { + case 0: + Log.verbose(F("GYRO: Debug - Accel range +/- 2g." CR)); + break; + case 1: + Log.verbose(F("GYRO: Debug - Accel range +/- 4g." CR)); + break; + case 2: + Log.verbose(F("GYRO: Debug - Accel range +/- 8g." CR)); + break; + case 3: + Log.verbose(F("GYRO: Debug - Accel range +/- 16g." CR)); + break; + } + + Log.verbose(F("GYRO: Debug - Acc OffX %d\t%d." CR), + accelgyro.getXAccelOffset(), calibrationOffset.az); + Log.verbose(F("GYRO: Debug - Acc OffY %d\t%d." CR), + accelgyro.getYAccelOffset(), calibrationOffset.ay); + Log.verbose(F("GYRO: Debug - Acc OffZ %d\t%d." CR), + accelgyro.getZAccelOffset(), calibrationOffset.az); + Log.verbose(F("GYRO: Debug - Gyr OffX %d\t%d." CR), + accelgyro.getXGyroOffset(), calibrationOffset.gx); + Log.verbose(F("GYRO: Debug - Gyr OffY %d\t%d." CR), + accelgyro.getYGyroOffset(), calibrationOffset.gy); + Log.verbose(F("GYRO: Debug - Gyr OffZ %d\t%d." CR), + accelgyro.getZGyroOffset(), calibrationOffset.gz); +#endif +} + +// EOF diff --git a/src/gyro.h b/src/gyro.h deleted file mode 100644 index 89633c9..0000000 --- a/src/gyro.h +++ /dev/null @@ -1,87 +0,0 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#ifndef _GYRO_H -#define _GYRO_H - -#define I2CDEV_IMPLEMENTATION I2CDEV_ARDUINO_WIRE -//#define I2CDEV_IMPLEMENTATION I2CDEV_BUILTIN_SBWIRE - -// Includes -#include -#include "MPU6050.h" -#include "config.h" - -// Classes -struct RawGyroDataL { // Used for average multiple readings - long ax; // Raw Acceleration - long ay; - long az; - - long gx; // Raw Position - long gy; - long gz; - - long temp; // Only for information (temperature of chip) -}; - -#define INVALID_TEMPERATURE -273 - -class GyroSensor { - private: - MPU6050 accelgyro; - bool sensorConnected = false; - bool validValue = false; - float angle = 0; - float sensorTemp = 0; - float initialSensorTemp = INVALID_TEMPERATURE; - RawGyroData calibrationOffset; - RawGyroData lastGyroData; - - void debug(); - void applyCalibration(); - void dumpCalibration(); - void readSensor(RawGyroData &raw, const int noIterations = 100, const int delayTime = 1); - bool isSensorMoving(RawGyroData &raw); - float calculateAngle(RawGyroData &raw); - - public: - bool setup(); - bool read(); - void calibrateSensor(); - - const RawGyroData& getLastGyroData() { return lastGyroData; } - float getAngle() { return angle; }; - float getSensorTempC() { return sensorTemp; }; - float getInitialSensorTempC() { return initialSensorTemp; }; - bool isConnected() { return sensorConnected; }; - bool hasValue() { return validValue; }; - void enterSleep(); -}; - -// Global instance created -extern GyroSensor myGyro; - -#endif // _GYRO_H - -// EOF \ No newline at end of file diff --git a/src/gyro.hpp b/src/gyro.hpp new file mode 100644 index 0000000..5d01859 --- /dev/null +++ b/src/gyro.hpp @@ -0,0 +1,89 @@ +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#ifndef SRC_GYRO_HPP_ +#define SRC_GYRO_HPP_ + +#define I2CDEV_IMPLEMENTATION I2CDEV_ARDUINO_WIRE +// #define I2CDEV_IMPLEMENTATION I2CDEV_BUILTIN_SBWIRE + +// Includes +#include +#include + +#include + +// Classes +struct RawGyroDataL { // Used for average multiple readings + int32_t ax; // Raw Acceleration + int32_t ay; + int32_t az; + + int32_t gx; // Raw Position + int32_t gy; + int32_t gz; + + int32_t temp; // Only for information (temperature of chip) +}; + +#define INVALID_TEMPERATURE -273 + +class GyroSensor { + private: + MPU6050 accelgyro; + bool sensorConnected = false; + bool validValue = false; + float angle = 0; + float sensorTemp = 0; + float initialSensorTemp = INVALID_TEMPERATURE; + RawGyroData calibrationOffset; + RawGyroData lastGyroData; + + void debug(); + void applyCalibration(); + void dumpCalibration(); + void readSensor(RawGyroData &raw, const int noIterations = 100, + const int delayTime = 1); + bool isSensorMoving(RawGyroData &raw); + float calculateAngle(RawGyroData &raw); + + public: + bool setup(); + bool read(); + void calibrateSensor(); + + const RawGyroData &getLastGyroData() { return lastGyroData; } + float getAngle() { return angle; } + float getSensorTempC() { return sensorTemp; } + float getInitialSensorTempC() { return initialSensorTemp; } + bool isConnected() { return sensorConnected; } + bool hasValue() { return validValue; } + void enterSleep(); +}; + +// Global instance created +extern GyroSensor myGyro; + +#endif // SRC_GYRO_HPP_ + +// EOF diff --git a/src/helper.cpp b/src/helper.cpp index 737b15e..accfaf2 100644 --- a/src/helper.cpp +++ b/src/helper.cpp @@ -1,256 +1,272 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#include "helper.h" -#include "config.h" -#include "gyro.h" -#include "tempsensor.h" -#include -#include - -SerialDebug mySerial; -BatteryVoltage myBatteryVoltage; - -// -// Print the heap information. -// -void printHeap() { -#if LOG_LEVEL==6 - Log.verbose(F("HELP: Heap %d kb, HeapFrag %d %%, FreeSketch %d kb." CR), ESP.getFreeHeap()/1024, ESP.getHeapFragmentation(), ESP.getFreeSketchSpace()/1024 ); -#endif -} - -// -// Enter deep sleep for the defined duration (Argument is seconds) -// -void deepSleep(int t) { -#if LOG_LEVEL==6 - Log.verbose(F("HELP: Entering sleep mode for %ds." CR), t ); -#endif - uint64_t wake = t * 1000000; - ESP.deepSleep( wake ); -} - -// -// Print the build options used -// -void printBuildOptions() { - Log.notice( F("Build options: %s LOGLEVEL %d " -#ifdef SKIP_SLEEPMODE - "SKIP_SLEEP " -#endif -#ifdef EMBED_HTML - "EMBED_HTML " -#endif -#ifdef COLLECT_PERFDATA - "PERFDATA " -#endif -#ifdef ACTIVATE_OTA - "OTA " -#endif - CR), CFG_APPVER, LOG_LEVEL ); -} - -// -// Configure serial debug output -// -SerialDebug::SerialDebug(const long serialSpeed) { - // Start serial with auto-detected rate (default to defined BAUD) - Serial.flush(); - Serial.begin(serialSpeed); - - getLog()->begin(LOG_LEVEL, &Serial, true); - getLog()->setPrefix(printTimestamp); - getLog()->notice(F("SDBG: Serial logging started at %l." CR), serialSpeed); -} - -// -// Print the timestamp (ms since start of device) -// -void printTimestamp(Print* _logOutput, int _logLevel) { - char c[12]; - sprintf(c, "%10lu ", millis()); - _logOutput->print(c); -} - -// -// Read and calculate the battery voltage -// -void BatteryVoltage::read() { - // The analog pin can only handle 3.3V maximum voltage so we need to reduce the voltage (from max 5V) - float factor = myConfig.getVoltageFactor(); // Default value is 1.63 - int v = analogRead( A0 ); - batteryLevel = ((3.3/1023)*v)*factor; -#if LOG_LEVEL==6 - Log.verbose(F("BATT: Reading voltage level. Factor=%F Value=%d, Voltage=%F." CR), factor, v, batteryLevel ); -#endif -} - -#if defined( COLLECT_PERFDATA ) - -PerfLogging myPerfLogging; - -// -// Clear the current cache -// -void PerfLogging::clear() { - // Clear the measurements - if( first == 0 ) - return; - - PerfEntry* pe = first; - - do { - pe->max = 0; - pe->start = 0; - pe->end = 0; - pe->mA = 0; - pe->V = 0; - pe = pe->next; - } while( pe != 0 ); -} - -// -// Start measuring this performance point -// -void PerfLogging::start( const char* key ) { - PerfEntry* pe = add( key ); - pe->start = millis(); -} - -// -// Finalize measuring of this performance point -// -void PerfLogging::stop( const char* key ) { - PerfEntry* pe = find( key ); - - if( pe != 0 ) { - pe->end = millis(); - - unsigned long t = pe->end - pe->start; - - if( t > pe->max ) - pe->max = t; - } -} - -// -// Print the collected performance data -// -void PerfLogging::print() { - PerfEntry* pe = first; - - while( pe != 0 ) { - //Log.notice( F("PERF: %s=%l ms (%l, %l)" CR), pe->key, (pe->end - pe->start), pe->start, pe->end ); - Log.notice( F("PERF: %s %lms" CR), pe->key, pe->max ); - pe = pe->next; - } -} - -// -// Push collected performance data to influx (use influx configuration) -// -void PerfLogging::pushInflux() { - if( !myConfig.isInfluxDb2Active() ) - return; - - WiFiClient client; - HTTPClient http; - String serverPath = String(myConfig.getInfluxDb2PushUrl()) + "/api/v2/write?org=" + - String(myConfig.getInfluxDb2PushOrg()) + "&bucket=" + - String(myConfig.getInfluxDb2PushBucket()); - - http.begin( client, serverPath); - - // Create body for influxdb2, format used - // key,host=mdns value=0.0 - String body; - - // Create the payload with performance data. - // ------------------------------------------------------------------------------------------ - PerfEntry* pe = first; - char buf[100]; - sprintf( &buf[0], "perf,host=%s,device=%s ", myConfig.getMDNS(), myConfig.getID() ); - body += &buf[0]; - - while( pe != 0 ) { - if( pe->max ) { - if( pe->next ) - sprintf( &buf[0], "%s=%ld,", pe->key, pe->max); - else - sprintf( &buf[0], "%s=%ld", pe->key, pe->max); - - body += &buf[0]; - } - pe = pe->next; - } - - // Create the payload with debug data for validating sensor stability - // ------------------------------------------------------------------------------------------ - sprintf( &buf[0], "\ndebug,host=%s,device=%s ", myConfig.getMDNS(), myConfig.getID() ); - body += &buf[0]; - sprintf( &buf[0], "angle=%.4f,gyro-ax=%d,gyro-ay=%d,gyro-az=%d,gyro-temp=%.2f,ds-temp=%.2f", myGyro.getAngle(), myGyro.getLastGyroData().ax, - myGyro.getLastGyroData().ay, myGyro.getLastGyroData().az, myGyro.getSensorTempC(), myTempSensor.getTempC() ); - body += &buf[0]; - -// Log.notice(F("PERF: data %s." CR), body.c_str() ); - -#if LOG_LEVEL==6 - Log.verbose(F("PERF: url %s." CR), serverPath.c_str()); - Log.verbose(F("PERF: data %s." CR), body.c_str() ); -#endif - - // Send HTTP POST request - String auth = "Token " + String( myConfig.getInfluxDb2PushToken() ); - http.addHeader(F("Authorization"), auth.c_str() ); - int httpResponseCode = http.POST(body); - - if (httpResponseCode==204) { - Log.notice(F("PERF: InfluxDB2 push performance data successful, response=%d" CR), httpResponseCode); - } else { - Log.error(F("PERF: InfluxDB2 push performance data failed, response=%d" CR), httpResponseCode); - } - - http.end(); -} - -#endif // COLLECT_PERFDATA - -// -// Convert float to formatted string with n decimals. Buffer should be at least 10 chars. -// -char* convertFloatToString( float f, char *buffer, int dec ) { - dtostrf(f, 6, dec, buffer); - return buffer; -} - -// -// Reduce precision to n decimals -// -float reduceFloatPrecision( float f, int dec ) { - char buffer[5]; - dtostrf(f, 6, dec, &buffer[0]); - return atof(&buffer[0]); -} - -// EOF \ No newline at end of file +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#include +#include + +#include +#include +#include +#include + +SerialDebug mySerial; +BatteryVoltage myBatteryVoltage; + +// +// Print the heap information. +// +void printHeap() { +#if LOG_LEVEL == 6 + Log.verbose(F("HELP: Heap %d kb, HeapFrag %d %%, FreeSketch %d kb." CR), + ESP.getFreeHeap() / 1024, ESP.getHeapFragmentation(), + ESP.getFreeSketchSpace() / 1024); +#endif +} + +// +// Enter deep sleep for the defined duration (Argument is seconds) +// +void deepSleep(int t) { +#if LOG_LEVEL == 6 + Log.verbose(F("HELP: Entering sleep mode for %ds." CR), t); +#endif + uint32_t wake = t * 1000000; + ESP.deepSleep(wake); +} + +// +// Print the build options used +// +void printBuildOptions() { + Log.notice(F("Build options: %s LOGLEVEL %d " +#ifdef SKIP_SLEEPMODE + "SKIP_SLEEP " +#endif +#ifdef EMBED_HTML + "EMBED_HTML " +#endif +#ifdef COLLECT_PERFDATA + "PERFDATA " +#endif +#ifdef ACTIVATE_OTA + "OTA " +#endif + CR), + CFG_APPVER, LOG_LEVEL); +} + +// +// Configure serial debug output +// +SerialDebug::SerialDebug(const uint32_t serialSpeed) { + // Start serial with auto-detected rate (default to defined BAUD) + Serial.flush(); + Serial.begin(serialSpeed); + + getLog()->begin(LOG_LEVEL, &Serial, true); + getLog()->setPrefix(printTimestamp); + getLog()->notice(F("SDBG: Serial logging started at %u." CR), serialSpeed); +} + +// +// Print the timestamp (ms since start of device) +// +void printTimestamp(Print* _logOutput, int _logLevel) { + char c[12]; + snprintf(c, sizeof(c), "%10lu ", millis()); + _logOutput->print(c); +} + +// +// Read and calculate the battery voltage +// +void BatteryVoltage::read() { + // The analog pin can only handle 3.3V maximum voltage so we need to reduce + // the voltage (from max 5V) + float factor = myConfig.getVoltageFactor(); // Default value is 1.63 + int v = analogRead(A0); + batteryLevel = ((3.3 / 1023) * v) * factor; +#if LOG_LEVEL == 6 + Log.verbose( + F("BATT: Reading voltage level. Factor=%F Value=%d, Voltage=%F." CR), + factor, v, batteryLevel); +#endif +} + +#if defined(COLLECT_PERFDATA) + +PerfLogging myPerfLogging; + +// +// Clear the current cache +// +void PerfLogging::clear() { + // Clear the measurements + if (first == 0) return; + + PerfEntry* pe = first; + + do { + pe->max = 0; + pe->start = 0; + pe->end = 0; + pe->mA = 0; + pe->V = 0; + pe = pe->next; + } while (pe != 0); +} + +// +// Start measuring this performance point +// +void PerfLogging::start(const char* key) { + PerfEntry* pe = add(key); + pe->start = millis(); +} + +// +// Finalize measuring of this performance point +// +void PerfLogging::stop(const char* key) { + PerfEntry* pe = find(key); + + if (pe != 0) { + pe->end = millis(); + + uint32_t t = pe->end - pe->start; + + if (t > pe->max) pe->max = t; + } +} + +// +// Print the collected performance data +// +void PerfLogging::print() { + PerfEntry* pe = first; + + while (pe != 0) { + // Log.notice( F("PERF: %s=%l ms (%l, %l)" CR), pe->key, (pe->end - + // pe->start), pe->start, pe->end ); + Log.notice(F("PERF: %s %ums" CR), pe->key, pe->max); + pe = pe->next; + } +} + +// +// Push collected performance data to influx (use influx configuration) +// +void PerfLogging::pushInflux() { + if (!myConfig.isInfluxDb2Active()) return; + + WiFiClient client; + HTTPClient http; + String serverPath = + String(myConfig.getInfluxDb2PushUrl()) + + "/api/v2/write?org=" + String(myConfig.getInfluxDb2PushOrg()) + + "&bucket=" + String(myConfig.getInfluxDb2PushBucket()); + + http.begin(client, serverPath); + + // Create body for influxdb2, format used + // key,host=mdns value=0.0 + String body; + + // Create the payload with performance data. + // ------------------------------------------------------------------------------------------ + PerfEntry* pe = first; + char buf[100]; + snprintf(&buf[0], sizeof(buf), "perf,host=%s,device=%s ", myConfig.getMDNS(), + myConfig.getID()); + body += &buf[0]; + + while (pe != 0) { + if (pe->max) { + if (pe->next) + snprintf(&buf[0], sizeof(buf), "%s=%u,", pe->key, pe->max); + else + snprintf(&buf[0], sizeof(buf), "%s=%u", pe->key, pe->max); + + body += &buf[0]; + } + pe = pe->next; + } + + // Create the payload with debug data for validating sensor stability + // ------------------------------------------------------------------------------------------ + snprintf(&buf[0], sizeof(buf), "\ndebug,host=%s,device=%s ", + myConfig.getMDNS(), myConfig.getID()); + body += &buf[0]; + snprintf( + &buf[0], sizeof(buf), + "angle=%.4f,gyro-ax=%d,gyro-ay=%d,gyro-az=%d,gyro-temp=%.2f,ds-temp=%.2f", + myGyro.getAngle(), myGyro.getLastGyroData().ax, + myGyro.getLastGyroData().ay, myGyro.getLastGyroData().az, + myGyro.getSensorTempC(), myTempSensor.getTempC()); + body += &buf[0]; + + // Log.notice(F("PERF: data %s." CR), body.c_str() ); + +#if LOG_LEVEL == 6 + Log.verbose(F("PERF: url %s." CR), serverPath.c_str()); + Log.verbose(F("PERF: data %s." CR), body.c_str()); +#endif + + // Send HTTP POST request + String auth = "Token " + String(myConfig.getInfluxDb2PushToken()); + http.addHeader(F("Authorization"), auth.c_str()); + int httpResponseCode = http.POST(body); + + if (httpResponseCode == 204) { + Log.notice( + F("PERF: InfluxDB2 push performance data successful, response=%d" CR), + httpResponseCode); + } else { + Log.error(F("PERF: InfluxDB2 push performance data failed, response=%d" CR), + httpResponseCode); + } + + http.end(); +} + +#endif // COLLECT_PERFDATA + +// +// Convert float to formatted string with n decimals. Buffer should be at least +// 10 chars. +// +char* convertFloatToString(float f, char* buffer, int dec) { + dtostrf(f, 6, dec, buffer); + return buffer; +} + +// +// Reduce precision to n decimals +// +float reduceFloatPrecision(float f, int dec) { + char buffer[5]; + dtostrf(f, 6, dec, &buffer[0]); + return atof(&buffer[0]); +} + +// EOF diff --git a/src/helper.h b/src/helper.h deleted file mode 100644 index 8bd4f02..0000000 --- a/src/helper.h +++ /dev/null @@ -1,156 +0,0 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#ifndef _HELPER_H -#define _HELPER_H - -// Includes -#include - -// Sleep mode -void deepSleep(int t); - -// Show build options -void printBuildOptions(); - -// Float to String -char* convertFloatToString( float f, char* buf, int dec = 2); -float reduceFloatPrecision( float f, int dec = 2 ); - -// Logging via serial -void printTimestamp(Print* _logOutput, int _logLevel); -void printNewline(Print* _logOutput); -void printHeap(); - -// Classes -class SerialDebug { - public: - SerialDebug(const long serialSpeed = 115200L); - static Logging* getLog() { return &Log; }; -}; - -class BatteryVoltage { - private: - float batteryLevel; - - public: - void read(); - float getVoltage() { return batteryLevel; }; -}; - -#if defined( COLLECT_PERFDATA ) - -class PerfLogging { - private: - struct PerfEntry { - unsigned long start; // millis() - unsigned long end; // millis() - unsigned long max; // max time in ms - const char* key; // measurement - - PerfEntry* next; // Next in the linked list - - float mA; // Power consumption - float V; // Power consumption - }; - - PerfEntry* first = 0; - bool measurePower = false; - - PerfEntry* find( const char* k ) { - if( first == 0 ) - return 0; - - PerfEntry* pe = first; - - while( strcmp( k, pe->key ) != 0 ) { - if( pe->next == 0 ) - return 0; - - pe = pe->next; - } - return pe; - }; - - PerfEntry* add( const char* k ) { - if( first == 0 ) { - first = new PerfEntry(); - first->key = k; - first->next = 0; - first->max = 0; - return first; - } - - PerfEntry* pe = first; - - while( strcmp( k, pe->key ) != 0 ) { - if( pe->next == 0 ) { - pe->next = new PerfEntry(); - pe->next->key = k; - pe->next->max = 0; - pe->next->next = 0; - return pe->next; - } - - pe = pe->next; - } - - return pe; - }; - - public: - void clear(); - void start( const char* key ); - void stop( const char* key ); - void print(); - void pushInflux(); -}; - -extern PerfLogging myPerfLogging; - -// Use these to collect performance data from various parts of the code -#define LOG_PERF_START(s) myPerfLogging.start(s) -#define LOG_PERF_STOP(s) myPerfLogging.stop(s) -//#define LOG_PERF_PRINT() myPerfLogging.print() -#define LOG_PERF_PRINT() -#define LOG_PERF_CLEAR() myPerfLogging.clear() -#define LOG_PERF_PUSH() myPerfLogging.pushInflux() - -#else - -// These will disable the performance collection function -#define LOG_PERF_START(s) -#define LOG_PERF_STOP(s) -#define LOG_PERF_PRINT() -#define LOG_PERF_CLEAR() -#define LOG_PERF_PUSH() - -#endif // COLLECT_PERFDATA - -// Global instance created -extern SerialDebug mySerial; -extern BatteryVoltage myBatteryVoltage; - -#endif // _HELPER_H - -// EOF \ No newline at end of file diff --git a/src/helper.hpp b/src/helper.hpp new file mode 100644 index 0000000..072d8f1 --- /dev/null +++ b/src/helper.hpp @@ -0,0 +1,153 @@ +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#ifndef SRC_HELPER_HPP_ +#define SRC_HELPER_HPP_ + +// Includes +#include + +// Sleep mode +void deepSleep(int t); + +// Show build options +void printBuildOptions(); + +// Float to String +char* convertFloatToString(float f, char* buf, int dec = 2); +float reduceFloatPrecision(float f, int dec = 2); + +// Logging via serial +void printTimestamp(Print* _logOutput, int _logLevel); +void printNewline(Print* _logOutput); +void printHeap(); + +// Classes +class SerialDebug { + public: + explicit SerialDebug(const uint32_t serialSpeed = 115200L); + static Logging* getLog() { return &Log; } +}; + +class BatteryVoltage { + private: + float batteryLevel; + + public: + void read(); + float getVoltage() { return batteryLevel; } +}; + +#if defined(COLLECT_PERFDATA) + +class PerfLogging { + private: + struct PerfEntry { + uint32_t start; // millis() + uint32_t end; // millis() + uint32_t max; // max time in ms + const char* key; // measurement + + PerfEntry* next; // Next in the linked list + + float mA; // Power consumption + float V; // Power consumption + }; + + PerfEntry* first = 0; + bool measurePower = false; + + PerfEntry* find(const char* k) { + if (first == 0) return 0; + + PerfEntry* pe = first; + + while (strcmp(k, pe->key) != 0) { + if (pe->next == 0) return 0; + pe = pe->next; + } + return pe; + } + + PerfEntry* add(const char* k) { + if (first == 0) { + first = new PerfEntry(); + first->key = k; + first->next = 0; + first->max = 0; + return first; + } + + PerfEntry* pe = first; + + while (strcmp(k, pe->key) != 0) { + if (pe->next == 0) { + pe->next = new PerfEntry(); + pe->next->key = k; + pe->next->max = 0; + pe->next->next = 0; + return pe->next; + } + + pe = pe->next; + } + + return pe; + } + + public: + void clear(); + void start(const char* key); + void stop(const char* key); + void print(); + void pushInflux(); +}; + +extern PerfLogging myPerfLogging; + +// Use these to collect performance data from various parts of the code +#define LOG_PERF_START(s) myPerfLogging.start(s) +#define LOG_PERF_STOP(s) myPerfLogging.stop(s) +// #define LOG_PERF_PRINT() myPerfLogging.print() +#define LOG_PERF_PRINT() +#define LOG_PERF_CLEAR() myPerfLogging.clear() +#define LOG_PERF_PUSH() myPerfLogging.pushInflux() + +#else + +// These will disable the performance collection function +#define LOG_PERF_START(s) +#define LOG_PERF_STOP(s) +#define LOG_PERF_PRINT() +#define LOG_PERF_CLEAR() +#define LOG_PERF_PUSH() + +#endif // COLLECT_PERFDATA + +// Global instance created +extern SerialDebug mySerial; +extern BatteryVoltage myBatteryVoltage; + +#endif // SRC_HELPER_HPP_ + +// EOF diff --git a/src/main.cpp b/src/main.cpp index a4a9cfe..741f32c 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -1,279 +1,307 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#include "helper.h" -#include "gyro.h" -#include "config.h" -#include "wifi.h" -#include "webserver.h" -#include "calc.h" -#include "tempsensor.h" -#include "pushtarget.h" -#include - -// Settings for double reset detector. -#define ESP8266_DRD_USE_RTC true -#define DRD_TIMEOUT 2 -#define DRD_ADDRESS 0 -#include -DoubleResetDetector *drd; - -// Define constats for this program -#if LOG_LEVEL==6 -const int interval = 1000; // ms, time to wait between changes to output -bool sleepModeAlwaysSkip = true; // Web interface can override normal behaviour -#else -const int interval = 200; // ms, time to wait between changes to output -bool sleepModeAlwaysSkip = false; // Web interface can override normal behaviour -#endif -unsigned long loopMillis = 0; // Used for main loop to run the code every _interval_ -unsigned long runtimeMillis; // Used to calculate the total time since start/wakeup -unsigned long stableGyroMillis; // Used to calculate the total time since last stable gyro reading -bool sleepModeActive = false; -bool goToSleep = false; -int loopCounter = 0; - -// -// Check if we should be in sleep mode -// -void checkSleepMode( float angle, float volt ) { - -#if defined( SKIP_SLEEPMODE ) - sleepModeActive = false; - Log.verbose(F("MAIN: Skipping sleep mode (SKIP_SLEEPMODE is defined)." CR) ); - return; -#endif - - const RawGyroData &g = myConfig.getGyroCalibration(); - - // Will not enter sleep mode if: no calibration data - if( g.ax==0 && g.ay==0 && g.az==0 && g.gx==0 && g.gy==0 && g.gz==0 ) { - Log.notice(F("MAIN: Missing calibration data, so forcing webserver to be active." CR) ); - sleepModeAlwaysSkip = true; - } - - if( sleepModeAlwaysSkip ) { - Log.notice(F("MAIN: Sleep mode disabled from web interface." CR) ); - sleepModeActive = false; - return; - } - - // Will not enter sleep mode if: charger is connected - sleepModeActive = (volt<4.15 && (angle>85 && angle<95)) || (volt>4.15) ? false : true; - - // sleep mode active when flat - //sleepModeActive = ( angle<85 && angle>5 ) ? true : false; -#if LOG_LEVEL==6 - Log.verbose(F("MAIN: Deep sleep mode %s (angle=%F volt=%F)." CR), sleepModeActive ? "true":"false", angle, volt ); -#endif -} - -// -// Setup -// -void setup() { - LOG_PERF_START("run-time"); - LOG_PERF_START("main-setup"); - runtimeMillis = millis(); - - drd = new DoubleResetDetector(DRD_TIMEOUT, DRD_ADDRESS); - bool dt = drd->detectDoubleReset(); -#if LOG_LEVEL==6 - Log.verbose(F("Main: Reset reason %s." CR), ESP.getResetInfo().c_str() ); -#endif - // Main startup - Log.notice(F("Main: Started setup for %s." CR), String( ESP.getChipId(), HEX).c_str() ); - printBuildOptions(); - - LOG_PERF_START("main-config-load"); - myConfig.checkFileSystem(); - myConfig.loadFile(); - LOG_PERF_STOP("main-config-load"); - - // Setup watchdog - ESP.wdtDisable(); - ESP.wdtEnable( interval*2 ); - - LOG_PERF_START("main-temp-setup"); - myTempSensor.setup(); - LOG_PERF_STOP("main-temp-setup"); - - // Setup Gyro - //LOG_PERF_START("main-gyro-setup"); // Takes less than 5ms, so skip this measurment - if( !myGyro.setup() ) - Log.error(F("Main: Failed to initialize the gyro." CR)); - //LOG_PERF_STOP("main-gyro-setup"); - - if( dt ) - Log.notice(F("Main: Detected doubletap on reset." CR)); - - LOG_PERF_START("main-wifi-connect"); - myWifi.connect( dt ); // This will return false if unable to connect to wifi, will be handled in loop() - LOG_PERF_STOP("main-wifi-connect"); - - LOG_PERF_START("main-gyro-read"); - myGyro.read(); - LOG_PERF_STOP("main-gyro-read"); - - LOG_PERF_START("main-batt-read"); - myBatteryVoltage.read(); - LOG_PERF_STOP("main-batt-read"); - checkSleepMode( myGyro.getAngle(), myBatteryVoltage.getVoltage() ); - - if( myWifi.isConnected() ) { -#if defined( ACTIVATE_OTA ) - LOG_PERF_START("main-wifi-ota"); - if( !sleepModeActive && myWifi.checkFirmwareVersion() ) { - myWifi.updateFirmware(); - } - LOG_PERF_STOP("main-wifi-ota"); -#endif - if( !sleepModeActive ) { - //LOG_PERF_START("main-webserver-setup"); // Takes less than 4ms , so skip this measurment - myWebServer.setupWebServer(); - //LOG_PERF_STOP("main-webserver-setup"); - } - } - - LOG_PERF_STOP("main-setup"); - Log.notice(F("Main: Setup completed." CR)); - stableGyroMillis = millis(); // Put it here so we dont include time for wifi connection -} - -// -// Main loops -// -void loop() { - drd->loop(); - - if( sleepModeActive || abs( (long) (millis() - loopMillis)) > interval ) { - float angle = 0; - float volt = myBatteryVoltage.getVoltage(); - //float sensorTemp = 0; - loopCounter++; -#if LOG_LEVEL==6 - Log.verbose(F("Main: Entering main loop." CR) ); -#endif - // Process the sensor values and push data to targets. - // ------------------------------------------------------------------------------------------------ - // If we dont get any readings we just skip this and try again the next interval. - // - if( myGyro.hasValue() ) { - angle = myGyro.getAngle(); // Gyro angle - - stableGyroMillis = millis(); // Reset timer - - LOG_PERF_START("loop-temp-read"); - float temp = myTempSensor.getTempC(); - LOG_PERF_STOP("loop-temp-read"); - - //LOG_PERF_START("loop-gravity-calc"); // Takes less than 2ms , so skip this measurment - float gravity = calculateGravity( angle, temp ); - //LOG_PERF_STOP("loop-gravity-calc"); - - //LOG_PERF_START("loop-gravity-corr"); // Takes less than 2ms , so skip this measurment - // Use default correction temperature of 20C - float corrGravity = gravityTemperatureCorrection( gravity, temp, myConfig.getTempFormat() ); - //LOG_PERF_STOP("loop-gravity-corr"); - -#if LOG_LEVEL==6 - Log.verbose(F("Main: Sensor values gyro angle=%F, temp=%F, gravity=%F, corr=%F." CR), angle, temp, gravity, corrGravity ); -#endif - // Limit the printout when sleep mode is not active. - if( loopCounter%10 == 0 || sleepModeActive ) { - Log.notice(F("Main: angle=%F, temp=%F, gravity=%F, corrGravity=%F, batt=%F." CR), angle, temp, gravity, corrGravity ,volt ); - } - - LOG_PERF_START("loop-push"); - myPushTarget.send( angle, gravity, corrGravity, temp, (millis()-runtimeMillis)/1000, sleepModeActive ); // Force the transmission if we are going to sleep - LOG_PERF_STOP("loop-push"); - - // If we have completed the update lets go to sleep - if( sleepModeActive ) - goToSleep = true; - } else { - Log.error(F("Main: No gyro value." CR) ); - } - -#if LOG_LEVEL==6 - Log.verbose(F("Main: Sleep mode not active." CR) ); -#endif - int sleepInterval = myConfig.getSleepInterval(); - - // If we didnt get a wifi connection, we enter sleep for a short time to conserve battery. - // ------------------------------------------------------------------------------------------------ - // - if( !myWifi.isConnected() ) { // no connection to wifi - Log.notice(F("MAIN: No connection to wifi established, sleeping for 60s." CR) ); - sleepInterval = 60; // 60s - goToSleep = true; - } - - // If the sensor is moving and we are not getting a clear reading, we enter sleep for a short time to conserve battery. - // ------------------------------------------------------------------------------------------------ - // - if( sleepModeActive && ((millis()-stableGyroMillis)>10000L) ) { // 10s since last stable gyro reading - Log.notice(F("MAIN: Unable to get a stable reading for 10s, sleeping for 60s." CR) ); - sleepInterval = 60; // 60s - goToSleep = true; - } - - // Enter sleep mode if the conditions are right - // ------------------------------------------------------------------------------------------------ - // - if( goToSleep ) { - Log.notice(F("MAIN: Entering deep sleep for %d s, run time %l s, battery=%F V." CR), sleepInterval, (millis()-runtimeMillis)/1000, volt ); - LittleFS.end(); - myGyro.enterSleep(); - drd->stop(); - LOG_PERF_STOP("run-time"); - LOG_PERF_PUSH(); - delay(100); - deepSleep( sleepInterval ); - } - - // If we are running in normal mode we just continue - // ------------------------------------------------------------------------------------------------ - // Do these checks if we are running in normal mode (not sleep mode) - // - checkSleepMode( angle, volt ); - - LOG_PERF_START("loop-gyro-read"); - myGyro.read(); - LOG_PERF_STOP("loop-gyro-read"); - - //LOG_PERF_START("loop-batt-read"); // Takes less than 2ms , so skip this measurment - myBatteryVoltage.read(); - //LOG_PERF_STOP("loop-batt-read"); - - loopMillis = millis(); -#if LOG_LEVEL==6 - Log.verbose(F("Main: Heap %d kb FreeSketch %d kb." CR), ESP.getFreeHeap()/1024, ESP.getFreeSketchSpace()/1024 ); - Log.verbose(F("Main: HeapFrag %d %%." CR), ESP.getHeapFragmentation() ); -#endif - } - - myWebServer.loop(); -} - -// EOF \ No newline at end of file +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +// Settings for double reset detector. +#define ESP8266_DRD_USE_RTC true +#define DRD_TIMEOUT 2 +#define DRD_ADDRESS 0 +#include +DoubleResetDetector *drd; + +// Define constats for this program +#ifdef DEACTIVATE_SLEEPMODE +const int interval = 1000; // ms, time to wait between changes to output +bool sleepModeAlwaysSkip = true; // Web interface can override normal behaviour +#else +const int interval = 200; // ms, time to wait between changes to output +bool sleepModeAlwaysSkip = + false; // Web interface can override normal behaviour +#endif +uint32_t loopMillis = 0; // Used for main loop to run the code every _interval_ +uint32_t runtimeMillis; // Used to calculate the total time since start/wakeup +uint32_t stableGyroMillis; // Used to calculate the total time since last + // stable gyro reading +bool sleepModeActive = false; +bool goToSleep = false; +int loopCounter = 0; + +// +// Check if we should be in sleep mode +// +void checkSleepMode(float angle, float volt) { +#if defined(SKIP_SLEEPMODE) + sleepModeActive = false; + Log.verbose(F("MAIN: Skipping sleep mode (SKIP_SLEEPMODE is defined)." CR)); + return; +#endif + + const RawGyroData &g = myConfig.getGyroCalibration(); + + // Will not enter sleep mode if: no calibration data + if (g.ax == 0 && g.ay == 0 && g.az == 0 && g.gx == 0 && g.gy == 0 && + g.gz == 0) { + Log.notice( + F("MAIN: Missing calibration data, so forcing webserver to be " + "active." CR)); + sleepModeAlwaysSkip = true; + } + + if (sleepModeAlwaysSkip) { + Log.notice(F("MAIN: Sleep mode disabled from web interface." CR)); + sleepModeActive = false; + return; + } + + // Will not enter sleep mode if: charger is connected + sleepModeActive = (volt < 4.15 && (angle > 85 && angle < 95)) || (volt > 4.15) + ? false + : true; + + // sleep mode active when flat + // sleepModeActive = ( angle<85 && angle>5 ) ? true : false; + Log.notice(F("MAIN: Deep sleep mode %s (angle=%F volt=%F)." CR), + sleepModeActive ? "true" : "false", angle, volt); +} + +// +// Setup +// +void setup() { + LOG_PERF_START("run-time"); + LOG_PERF_START("main-setup"); + runtimeMillis = millis(); + + drd = new DoubleResetDetector(DRD_TIMEOUT, DRD_ADDRESS); + bool dt = drd->detectDoubleReset(); +#if LOG_LEVEL == 6 && !defined(MAIN_DISABLE_LOGGING) + delay(3000); // Wait a few seconds when using debug version so that serial is + // started. + Log.verbose(F("Main: Reset reason %s." CR), ESP.getResetInfo().c_str()); +#endif + // Main startup + Log.notice(F("Main: Started setup for %s." CR), + String(ESP.getChipId(), HEX).c_str()); + printBuildOptions(); + + LOG_PERF_START("main-config-load"); + myConfig.checkFileSystem(); + myConfig.loadFile(); + LOG_PERF_STOP("main-config-load"); + + // Setup watchdog + ESP.wdtDisable(); + ESP.wdtEnable(interval * 2); + + if (dt) { + Log.notice(F("Main: Detected doubletap on reset. Reset reason=%s" CR), + ESP.getResetReason().c_str()); + } + +#ifdef SKIP_SLEEPMODE + // If we are running in debug more we skip this part. makes is hard to debug + // in case of crash/watchdog reset + dt = false; +#endif + + LOG_PERF_START("main-wifi-connect"); + myWifi.connect(dt); // This will return false if unable to connect to wifi, + // will be handled in loop() + LOG_PERF_STOP("main-wifi-connect"); + + LOG_PERF_START("main-temp-setup"); + myTempSensor.setup(); + LOG_PERF_STOP("main-temp-setup"); + + if (!myGyro.setup()) // Takes less than 5ms, so skip this + Log.error(F("Main: Failed to initialize the gyro." CR)); + + LOG_PERF_START("main-gyro-read"); + myGyro.read(); + LOG_PERF_STOP("main-gyro-read"); + + myBatteryVoltage + .read(); // Takes less than 1ms, so skip this measuring time on this + checkSleepMode(myGyro.getAngle(), myBatteryVoltage.getVoltage()); + + if (myWifi.isConnected()) { +#if defined(ACTIVATE_OTA) + LOG_PERF_START("main-wifi-ota"); + if (!sleepModeActive && myWifi.checkFirmwareVersion()) { + myWifi.updateFirmware(); + } + LOG_PERF_STOP("main-wifi-ota"); +#endif + if (!sleepModeActive) { + myWebServer + .setupWebServer(); // Takes less than 4ms, so skip this measurement + } + } + + LOG_PERF_STOP("main-setup"); + Log.notice(F("Main: Setup completed." CR)); + stableGyroMillis = + millis(); // Put it here so we dont include time for wifi connection +} + +// +// Main loops +// +void loop() { + drd->loop(); + + if (sleepModeActive || abs((int32_t)(millis() - loopMillis)) > interval) { + float angle = 0; + float volt = myBatteryVoltage.getVoltage(); + loopCounter++; + +#if LOG_LEVEL == 6 && !defined(MAIN_DISABLE_LOGGING) + Log.verbose(F("Main: Entering main loop." CR)); +#endif + + // Process the sensor values and push data to targets. + // ------------------------------------------------------------------------------------------------ + // If we dont get any readings we just skip this and try again the next + // interval. + // + if (myGyro.hasValue()) { + angle = myGyro.getAngle(); // Gyro angle + + stableGyroMillis = millis(); // Reset timer + + LOG_PERF_START("loop-temp-read"); + float temp = myTempSensor.getTempC(); + LOG_PERF_STOP("loop-temp-read"); + + float gravity = calculateGravity( + angle, temp); // Takes less than 2ms , so skip this measurment + float corrGravity = gravityTemperatureCorrection( + gravity, temp, myConfig.getTempFormat()); // Takes less than 2ms , so + // skip this measurment + +#if LOG_LEVEL == 6 && !defined(MAIN_DISABLE_LOGGING) + Log.verbose(F("Main: Sensor values gyro angle=%F, temp=%F, gravity=%F, " + "corr=%F." CR), + angle, temp, gravity, corrGravity); +#endif + + // Limit the printout when sleep mode is not active. + if (loopCounter % 10 == 0 || sleepModeActive) { + Log.notice(F("Main: angle=%F, temp=%F, gravity=%F, corrGravity=%F, " + "batt=%F." CR), + angle, temp, gravity, corrGravity, volt); + } + + LOG_PERF_START("loop-push"); + myPushTarget.send( + angle, gravity, corrGravity, temp, (millis() - runtimeMillis) / 1000, + sleepModeActive); // Force the transmission if we are going to sleep + LOG_PERF_STOP("loop-push"); + + // If we have completed the update lets go to sleep + if (sleepModeActive) goToSleep = true; + } else { + Log.error(F("Main: No gyro value." CR)); + } + +#if LOG_LEVEL == 6 && !defined(MAIN_DISABLE_LOGGING) + Log.verbose(F("Main: Sleep mode not active." CR)); +#endif + + int sleepInterval = myConfig.getSleepInterval(); + + // If we didnt get a wifi connection, we enter sleep for a short time to + // conserve battery. + // ------------------------------------------------------------------------------------------------ + // + if (!myWifi.isConnected()) { // no connection to wifi + Log.notice( + F("MAIN: No connection to wifi established, sleeping for 60s." CR)); + sleepInterval = 60; // 60s + goToSleep = true; + } + + // If the sensor is moving and we are not getting a clear reading, we enter + // sleep for a short time to conserve battery. + // ------------------------------------------------------------------------------------------------ + // + if (sleepModeActive && ((millis() - stableGyroMillis) > + 10000L)) { // 10s since last stable gyro reading + Log.notice( + F("MAIN: Unable to get a stable reading for 10s, sleeping for " + "60s." CR)); + sleepInterval = 60; // 60s + goToSleep = true; + } + + // Enter sleep mode if the conditions are right + // ------------------------------------------------------------------------------------------------ + // + if (goToSleep && !sleepModeAlwaysSkip) { + Log.notice(F("MAIN: Entering deep sleep for %d s, run time %l s, " + "battery=%F V." CR), + sleepInterval, (millis() - runtimeMillis) / 1000, volt); + LittleFS.end(); + myGyro.enterSleep(); + drd->stop(); + LOG_PERF_STOP("run-time"); + LOG_PERF_PUSH(); + delay(100); + deepSleep(sleepInterval); + } + + // If we are running in normal mode we just continue + // ------------------------------------------------------------------------------------------------ + // Do these checks if we are running in normal mode (not sleep mode) + // + checkSleepMode(angle, volt); + + LOG_PERF_START("loop-gyro-read"); + myGyro.read(); + LOG_PERF_STOP("loop-gyro-read"); + + myBatteryVoltage.read(); // Takes less than 2ms , so skip this measurment + + loopMillis = millis(); +#if LOG_LEVEL == 6 && !defined(MAIN_DISABLE_LOGGING) + Log.verbose(F("Main: Heap %d kb FreeSketch %d kb HeapFrag %d %%." CR), + ESP.getFreeHeap() / 1024, ESP.getFreeSketchSpace() / 1024, + ESP.getHeapFragmentation()); +#endif + LOG_PERF_PUSH(); + } + + myWebServer.loop(); +} + +// EOF diff --git a/src/pushtarget.cpp b/src/pushtarget.cpp index 9dcc709..85e3fcd 100644 --- a/src/pushtarget.cpp +++ b/src/pushtarget.cpp @@ -1,226 +1,257 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#include "pushtarget.h" -#include "config.h" -#include "gyro.h" // For testing the tempsensor in the gyro - -PushTarget myPushTarget; - -// -// Send the pressure value -// -void PushTarget::send(float angle, float gravity, float corrGravity, float temp, float runTime, bool force ) { - unsigned long timePassed = abs( (long) (millis() - ms) ); - unsigned long interval = myConfig.getSleepInterval()*1000; - - if( ( timePassed < interval ) && !force) { -#if LOG_LEVEL==6 - Log.verbose(F("PUSH: Timer has not expired %l vs %l." CR), timePassed, interval ); -#endif - return; - } - -#if LOG_LEVEL==6 - Log.verbose(F("PUSH: Sending data." CR) ); -#endif - ms = millis(); - - if( myConfig.isBrewfatherActive() ) { - LOG_PERF_START("push-brewfather"); - sendBrewfather( angle, gravity, corrGravity, temp ); - LOG_PERF_STOP("push-brewfather"); - } - - if( myConfig.isHttpActive() ) { - LOG_PERF_START("push-http"); - sendHttp( myConfig.getHttpPushUrl(), angle, gravity, corrGravity, temp, runTime ); - LOG_PERF_STOP("push-http"); - } - - if( myConfig.isHttpActive2() ) { - LOG_PERF_START("push-http2"); - sendHttp( myConfig.getHttpPushUrl2(), angle, gravity, corrGravity, temp, runTime ); - LOG_PERF_STOP("push-http2"); - } - - if( myConfig.isInfluxDb2Active() ) { - LOG_PERF_START("push-influxdb2"); - sendInfluxDb2( angle, gravity, corrGravity, temp, runTime ); - LOG_PERF_STOP("push-influxdb2"); - } -} - -// -// Send to influx db v2 -// -void PushTarget::sendInfluxDb2(float angle, float gravity, float corrGravity, float temp, float runTime) { - Log.notice(F("PUSH: Sending values to influxdb2 angle=%F, gravity=%F, temp=%F." CR), angle, gravity, temp ); - - WiFiClient client; - HTTPClient http; - String serverPath = String(myConfig.getInfluxDb2PushUrl()) + "/api/v2/write?org=" + - String(myConfig.getInfluxDb2PushOrg()) + "&bucket=" + - String(myConfig.getInfluxDb2PushBucket()); - - http.begin( client, serverPath); - - // Create body for influxdb2 - char buf[1024]; - sprintf( &buf[0], "measurement,host=%s,device=%s,temp-format=%c,gravity-format=%s " - "gravity=%.4f,corr-gravity=%.4f,angle=%.2f,temp=%.2f,battery=%.2f,rssi=%d,temp2=%.2f\n", - // TODO: Add support for plato format - myConfig.getMDNS(), myConfig.getID(), myConfig.getTempFormat(), "SG", - myConfig.isGravityTempAdj() ? corrGravity : gravity, - corrGravity, angle, temp, myBatteryVoltage.getVoltage(), WiFi.RSSI(), myGyro.getSensorTempC() ); // For comparing gyro tempsensor vs DSB1820 - -#if LOG_LEVEL==6 - Log.verbose(F("PUSH: url %s." CR), serverPath.c_str()); - Log.verbose(F("PUSH: data %s." CR), &buf[0] ); -#endif - - // Send HTTP POST request - String auth = "Token " + String( myConfig.getInfluxDb2PushToken() ); - http.addHeader(F("Authorization"), auth.c_str() ); - int httpResponseCode = http.POST(&buf[0]); - - if (httpResponseCode==204) { - Log.notice(F("PUSH: InfluxDB2 push successful, response=%d" CR), httpResponseCode); - } else { - Log.error(F("PUSH: InfluxDB2 push failed, response=%d" CR), httpResponseCode); - } - - http.end(); -} - -// -// Send data to brewfather -// -void PushTarget::sendBrewfather(float angle, float gravity, float corrGravity, float temp ) { - Log.notice(F("PUSH: Sending values to brewfather angle=%F, gravity=%F, temp=%F." CR), angle, gravity, temp ); - - DynamicJsonDocument doc(300); - // - // { - // "name": "YourDeviceName", // Required field, this will be the ID in Brewfather - // "temp": 20.32, - // "aux_temp": 15.61, // Fridge Temp - // "ext_temp": 6.51, // Room Temp - // "temp_unit": "C", // C, F, K - // "gravity": 1.042, - // "gravity_unit": "G", // G, P - // "pressure": 10, - // "pressure_unit": "PSI", // PSI, BAR, KPA - // "ph": 4.12, - // "bpm": 123, // Bubbles Per Minute - // "comment": "Hello World", - // "beer": "Pale Ale" - // "battery": 4.98 - // } - // - doc["name"] = myConfig.getMDNS(); - doc["temp"] = reduceFloatPrecision( temp, 1); - doc["temp_unit"] = String( myConfig.getTempFormat() ); - doc["battery"] = reduceFloatPrecision( myBatteryVoltage.getVoltage(), 2 ); - // TODO: Add support for plato format - doc["gravity"] = reduceFloatPrecision( myConfig.isGravityTempAdj() ? corrGravity : gravity, 4 ); - doc["gravity_unit"] = myConfig.isGravitySG()?"G":"P"; - - WiFiClient client; - HTTPClient http; - String serverPath = myConfig.getBrewfatherPushUrl(); - - // Your Domain name with URL path or IP address with path - http.begin( client, serverPath); - String json; - serializeJson(doc, json); -#if LOG_LEVEL==6 - Log.verbose(F("PUSH: url %s." CR), serverPath.c_str()); - Log.verbose(F("PUSH: json %s." CR), json.c_str()); -#endif - - // Send HTTP POST request - http.addHeader(F("Content-Type"), F("application/json") ); - int httpResponseCode = http.POST(json); - - if (httpResponseCode==200) { - Log.notice(F("PUSH: Brewfather push successful, response=%d" CR), httpResponseCode); - } else { - Log.error(F("PUSH: Brewfather push failed, response=%d" CR), httpResponseCode); - } - - http.end(); -} - -// -// Send data to http target -// -void PushTarget::sendHttp( String serverPath, float angle, float gravity, float corrGravity, float temp, float runTime ) { - Log.notice(F("PUSH: Sending values to http angle=%F, gravity=%F, temp=%F." CR), angle, gravity, temp ); - - DynamicJsonDocument doc(256); - - // Use iSpindle format for compatibility - doc["name"] = myConfig.getMDNS(); - doc["ID"] = myConfig.getID(); - doc["token"] = "gravmon"; - doc["interval"] = myConfig.getSleepInterval(); - doc["temperature"] = reduceFloatPrecision( temp, 1 ); - doc["temp-units"] = String( myConfig.getTempFormat() ); - // TODO: Add support for plato format - doc["gravity"] = reduceFloatPrecision( myConfig.isGravityTempAdj() ? corrGravity : gravity, 4 ); - doc["corr-gravity"] = reduceFloatPrecision( corrGravity, 4 ); - doc["angle"] = reduceFloatPrecision( angle, 2); - doc["battery"] = reduceFloatPrecision( myBatteryVoltage.getVoltage(), 2 ); - doc["rssi"] = WiFi.RSSI(); - - // Some additional information - doc["gravity-units"] = "SG"; - doc["run-time"] = reduceFloatPrecision( runTime, 2 ); - - WiFiClient client; - HTTPClient http; - - // Your Domain name with URL path or IP address with path - http.begin( client, serverPath); - String json; - serializeJson(doc, json); -#if LOG_LEVEL==6 - Log.verbose(F("PUSH: url %s." CR), serverPath.c_str()); - Log.verbose(F("PUSH: json %s." CR), json.c_str()); -#endif - - // Send HTTP POST request - http.addHeader(F("Content-Type"), F("application/json") ); - int httpResponseCode = http.POST(json); - - if (httpResponseCode==200) { - Log.notice(F("PUSH: HTTP push successful, response=%d" CR), httpResponseCode); - } else { - Log.error(F("PUSH: HTTP push failed, response=%d" CR), httpResponseCode); - } - - http.end(); -} - -// EOF \ No newline at end of file +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#include +#include +#include + +PushTarget myPushTarget; + +// +// Send the pressure value +// +void PushTarget::send(float angle, float gravity, float corrGravity, float temp, + float runTime, bool force) { + uint32_t timePassed = abs((int32_t)(millis() - ms)); + uint32_t interval = myConfig.getSleepInterval() * 1000; + + if ((timePassed < interval) && !force) { +#if LOG_LEVEL == 6 && !defined(PUSH_DISABLE_LOGGING) + Log.verbose(F("PUSH: Timer has not expired %l vs %l." CR), timePassed, + interval); +#endif + return; + } + +#if LOG_LEVEL == 6 && !defined(PUSH_DISABLE_LOGGING) + Log.verbose(F("PUSH: Sending data." CR)); +#endif + + ms = millis(); + + if (myConfig.isBrewfatherActive()) { + LOG_PERF_START("push-brewfather"); + sendBrewfather(angle, gravity, corrGravity, temp); + LOG_PERF_STOP("push-brewfather"); + } + + if (myConfig.isHttpActive()) { + LOG_PERF_START("push-http"); + sendHttp(myConfig.getHttpPushUrl(), angle, gravity, corrGravity, temp, + runTime); + LOG_PERF_STOP("push-http"); + } + + if (myConfig.isHttpActive2()) { + LOG_PERF_START("push-http2"); + sendHttp(myConfig.getHttpPushUrl2(), angle, gravity, corrGravity, temp, + runTime); + LOG_PERF_STOP("push-http2"); + } + + if (myConfig.isInfluxDb2Active()) { + LOG_PERF_START("push-influxdb2"); + sendInfluxDb2(angle, gravity, corrGravity, temp, runTime); + LOG_PERF_STOP("push-influxdb2"); + } +} + +// +// Send to influx db v2 +// +void PushTarget::sendInfluxDb2(float angle, float gravity, float corrGravity, + float temp, float runTime) { +#if !defined(PUSH_DISABLE_LOGGING) + Log.notice( + F("PUSH: Sending values to influxdb2 angle=%F, gravity=%F, temp=%F." CR), + angle, gravity, temp); +#endif + + WiFiClient client; + HTTPClient http; + String serverPath = + String(myConfig.getInfluxDb2PushUrl()) + + "/api/v2/write?org=" + String(myConfig.getInfluxDb2PushOrg()) + + "&bucket=" + String(myConfig.getInfluxDb2PushBucket()); + + http.begin(client, serverPath); + + // Create body for influxdb2 + char buf[1024]; + snprintf( + &buf[0], sizeof(buf), + "measurement,host=%s,device=%s,temp-format=%c,gravity-format=%s " + "gravity=%.4f,corr-gravity=%.4f,angle=%.2f,temp=%.2f,battery=%.2f,rssi=%" + "d,temp2=%.2f\n", + // TODO: Add support for plato format + myConfig.getMDNS(), myConfig.getID(), myConfig.getTempFormat(), "SG", + myConfig.isGravityTempAdj() ? corrGravity : gravity, corrGravity, angle, + temp, myBatteryVoltage.getVoltage(), WiFi.RSSI(), + myGyro.getSensorTempC()); // For comparing gyro tempsensor vs DSB1820 + +#if LOG_LEVEL == 6 && !defined(PUSH_DISABLE_LOGGING) + Log.verbose(F("PUSH: url %s." CR), serverPath.c_str()); + Log.verbose(F("PUSH: data %s." CR), &buf[0]); +#endif + + // Send HTTP POST request + String auth = "Token " + String(myConfig.getInfluxDb2PushToken()); + http.addHeader(F("Authorization"), auth.c_str()); + int httpResponseCode = http.POST(&buf[0]); + + if (httpResponseCode == 204) { + Log.notice(F("PUSH: InfluxDB2 push successful, response=%d" CR), + httpResponseCode); + } else { + Log.error(F("PUSH: InfluxDB2 push failed, response=%d" CR), + httpResponseCode); + } + + http.end(); +} + +// +// Send data to brewfather +// +void PushTarget::sendBrewfather(float angle, float gravity, float corrGravity, + float temp) { +#if !defined(PUSH_DISABLE_LOGGING) + Log.notice( + F("PUSH: Sending values to brewfather angle=%F, gravity=%F, temp=%F." CR), + angle, gravity, temp); +#endif + + DynamicJsonDocument doc(300); + // + // { + // "name": "YourDeviceName", // Required field, this will be the ID in + // Brewfather "temp": 20.32, "aux_temp": 15.61, // Fridge Temp + // "ext_temp": 6.51, // Room Temp + // "temp_unit": "C", // C, F, K + // "gravity": 1.042, + // "gravity_unit": "G", // G, P + // "pressure": 10, + // "pressure_unit": "PSI", // PSI, BAR, KPA + // "ph": 4.12, + // "bpm": 123, // Bubbles Per Minute + // "comment": "Hello World", + // "beer": "Pale Ale" + // "battery": 4.98 + // } + // + doc["name"] = myConfig.getMDNS(); + doc["temp"] = reduceFloatPrecision(temp, 1); + doc["temp_unit"] = String(myConfig.getTempFormat()); + doc["battery"] = reduceFloatPrecision(myBatteryVoltage.getVoltage(), 2); + // TODO: Add support for plato format + doc["gravity"] = reduceFloatPrecision( + myConfig.isGravityTempAdj() ? corrGravity : gravity, 4); + doc["gravity_unit"] = myConfig.isGravitySG() ? "G" : "P"; + + WiFiClient client; + HTTPClient http; + String serverPath = myConfig.getBrewfatherPushUrl(); + + // Your Domain name with URL path or IP address with path + http.begin(client, serverPath); + String json; + serializeJson(doc, json); +#if LOG_LEVEL == 6 && !defined(PUSH_DISABLE_LOGGING) + Log.verbose(F("PUSH: url %s." CR), serverPath.c_str()); + Log.verbose(F("PUSH: json %s." CR), json.c_str()); +#endif + + // Send HTTP POST request + http.addHeader(F("Content-Type"), F("application/json")); + int httpResponseCode = http.POST(json); + + if (httpResponseCode == 200) { + Log.notice(F("PUSH: Brewfather push successful, response=%d" CR), + httpResponseCode); + } else { + Log.error(F("PUSH: Brewfather push failed, response=%d" CR), + httpResponseCode); + } + + http.end(); +} + +// +// Send data to http target +// +void PushTarget::sendHttp(String serverPath, float angle, float gravity, + float corrGravity, float temp, float runTime) { +#if !defined(PUSH_DISABLE_LOGGING) + Log.notice( + F("PUSH: Sending values to http angle=%F, gravity=%F, temp=%F." CR), + angle, gravity, temp); +#endif + + DynamicJsonDocument doc(256); + + // Use iSpindle format for compatibility + doc["name"] = myConfig.getMDNS(); + doc["ID"] = myConfig.getID(); + doc["token"] = "gravmon"; + doc["interval"] = myConfig.getSleepInterval(); + doc["temperature"] = reduceFloatPrecision(temp, 1); + doc["temp-units"] = String(myConfig.getTempFormat()); + // TODO: Add support for plato format + doc["gravity"] = reduceFloatPrecision( + myConfig.isGravityTempAdj() ? corrGravity : gravity, 4); + doc["corr-gravity"] = reduceFloatPrecision(corrGravity, 4); + doc["angle"] = reduceFloatPrecision(angle, 2); + doc["battery"] = reduceFloatPrecision(myBatteryVoltage.getVoltage(), 2); + doc["rssi"] = WiFi.RSSI(); + + // Some additional information + doc["gravity-units"] = "SG"; + doc["run-time"] = reduceFloatPrecision(runTime, 2); + + WiFiClient client; + HTTPClient http; + + // Your Domain name with URL path or IP address with path + http.begin(client, serverPath); + String json; + serializeJson(doc, json); +#if LOG_LEVEL == 6 && !defined(PUSH_DISABLE_LOGGING) + Log.verbose(F("PUSH: url %s." CR), serverPath.c_str()); + Log.verbose(F("PUSH: json %s." CR), json.c_str()); +#endif + + // Send HTTP POST request + http.addHeader(F("Content-Type"), F("application/json")); + int httpResponseCode = http.POST(json); + + if (httpResponseCode == 200) { + Log.notice(F("PUSH: HTTP push successful, response=%d" CR), + httpResponseCode); + } else { + Log.error(F("PUSH: HTTP push failed, response=%d" CR), httpResponseCode); + } + + http.end(); +} + +// EOF diff --git a/src/pushtarget.h b/src/pushtarget.hpp similarity index 61% rename from src/pushtarget.h rename to src/pushtarget.hpp index d05d64b..221e0eb 100644 --- a/src/pushtarget.h +++ b/src/pushtarget.hpp @@ -1,53 +1,57 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#ifndef _PUSHTARGET_H -#define _PUSHTARGET_H - -// Includes -#include "helper.h" - -#include -#include -#include -#include - -// Classes -class PushTarget { - private: - unsigned long ms; // Used to check that we do not post to often - - void sendBrewfather(float angle, float gravity, float corrGravity, float temp ); - void sendHttp(String serverPath, float angle, float gravity, float corrGravity, float temp, float runTime); - void sendInfluxDb2(float angle, float gravity, float corrGravity, float temp, float runTime); - - public: - PushTarget() { ms = millis(); } - void send(float angle, float gravity, float corrGravity, float temp, float runTime, bool force = false ); -}; - -extern PushTarget myPushTarget; - -#endif // _PUSHTARGET_H - -// EOF \ No newline at end of file +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#ifndef SRC_PUSHTARGET_HPP_ +#define SRC_PUSHTARGET_HPP_ + +// Includes +#include +#include +#include +#include + +#include + +// Classes +class PushTarget { + private: + uint32_t ms; // Used to check that we do not post to often + + void sendBrewfather(float angle, float gravity, float corrGravity, + float temp); + void sendHttp(String serverPath, float angle, float gravity, + float corrGravity, float temp, float runTime); + void sendInfluxDb2(float angle, float gravity, float corrGravity, float temp, + float runTime); + + public: + PushTarget() { ms = millis(); } + void send(float angle, float gravity, float corrGravity, float temp, + float runTime, bool force = false); +}; + +extern PushTarget myPushTarget; + +#endif // SRC_PUSHTARGET_HPP_ + +// EOF diff --git a/src/resources.cpp b/src/resources.cpp index b62e9a3..f4b93e7 100644 --- a/src/resources.cpp +++ b/src/resources.cpp @@ -1,41 +1,43 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#include - -#if defined( EMBED_HTML ) - -// Using minify to reduce memory usage. Reducing RAM memory usage with about 7% -INCBIN(IndexHtm, "data/index.min.htm" ); -INCBIN(DeviceHtm, "data/device.min.htm" ); -INCBIN(ConfigHtm, "data/config.min.htm" ); -INCBIN(AboutHtm, "data/about.min.htm" ); - -#else - -// Minium web interface for uploading htm files -INCBIN(UploadHtm, "data/upload.min.htm" ); - -#endif - -// EOF \ No newline at end of file +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#define INCBIN_OUTPUT_SECTION ".irom.text" +#include + +#if defined(EMBED_HTML) + +// Using minify to reduce memory usage. Reducing RAM memory usage with about 7% +INCBIN(IndexHtm, "data/index.min.htm"); +INCBIN(DeviceHtm, "data/device.min.htm"); +INCBIN(ConfigHtm, "data/config.min.htm"); +INCBIN(CalibrationHtm, "data/calibration.min.htm"); +INCBIN(AboutHtm, "data/about.min.htm"); + +#else + +// Minium web interface for uploading htm files +INCBIN(UploadHtm, "data/upload.min.htm"); + +#endif + +// EOF diff --git a/src/tempsensor.cpp b/src/tempsensor.cpp index f3e907e..885a1ee 100644 --- a/src/tempsensor.cpp +++ b/src/tempsensor.cpp @@ -1,132 +1,135 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#include "tempsensor.h" -#include "helper.h" -#include "config.h" -#include "gyro.h" -#include -#include -#include - -// -// Conversion between C and F -// -float convertCtoF( float t ) { - return (t * 1.8 ) + 32.0; -} - -#if !defined( USE_GYRO_TEMP ) -OneWire myOneWire(D6); -DallasTemperature mySensors(&myOneWire); -#define TEMPERATURE_PRECISION 9 -#endif - -TempSensor myTempSensor; - -// -// Setup temp sensors -// -void TempSensor::setup() { - -#if defined( SIMULATE_TEMP ) - hasSensors = true; - return; -#endif - -#if defined( USE_GYRO_TEMP ) - Log.notice(F("TSEN: Using temperature from gyro." CR)); -#else - // This code is used to read the DS18 temp sensor - if( mySensors.getDS18Count() ) - return; - -#if LOG_LEVEL==6 - Log.verbose(F("TSEN: Looking for temp sensors." CR)); -#endif - mySensors.begin(); - - if( mySensors.getDS18Count() ) { - Log.notice(F("TSEN: Found %d temperature sensor(s)." CR), mySensors.getDS18Count()); - mySensors.setResolution(TEMPERATURE_PRECISION); - } -#endif - - float t = myConfig.getTempSensorAdj(); - - // Set the temp sensor adjustment values - if( myConfig.isTempC() ) { - tempSensorAdjF = t * 1.8; // Convert the adjustment value to C - tempSensorAdjC = t; - } else { - tempSensorAdjF = t; - tempSensorAdjC = t * 0.556; // Convert the adjustent value to F - } - -#if LOG_LEVEL==6 - Log.verbose(F("TSEN: Adjustment values for temp sensor %F C, %F F." CR), tempSensorAdjC, tempSensorAdjF ); -#endif -} - -// -// Retrieving value from sensor, value is in Celcius -// -float TempSensor::getValue() { -#if defined( SIMULATE_TEMP ) - return 21; -#endif - -#if defined( USE_GYRO_TEMP ) - // When using the gyro temperature only the first read value will be accurate so we will use this for processing. - //LOG_PERF_START("temp-get"); - float c = myGyro.getInitialSensorTempC(); - //LOG_PERF_STOP("temp-get"); - hasSensor = true; - return c; -#if LOG_LEVEL==6 - Log.verbose(F("TSEN: Reciving temp value for gyro sensor %F C." CR), c); -#endif -#else - // Read the sensors - //LOG_PERF_START("temp-request"); - mySensors.requestTemperatures(); - //LOG_PERF_STOP("temp-request"); - - float c = 0; - - if( mySensors.getDS18Count() >= 1) { - //LOG_PERF_START("temp-get"); - c = mySensors.getTempCByIndex(0); - //LOG_PERF_STOP("temp-get"); - -#if LOG_LEVEL==6 - Log.verbose(F("TSEN: Reciving temp value for sensor %F C." CR), c); -#endif - hasSensor = true; - } - - return c; -#endif -} - -// EOF \ No newline at end of file +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#include +#include +#include + +#include +#include +#include +#include + +// +// Conversion between C and F +// +float convertCtoF(float t) { return (t * 1.8) + 32.0; } + +#if !defined(USE_GYRO_TEMP) +OneWire myOneWire(D6); +DallasTemperature mySensors(&myOneWire); +#define TEMPERATURE_PRECISION 9 +#endif + +TempSensor myTempSensor; + +// +// Setup temp sensors +// +void TempSensor::setup() { +#if defined(SIMULATE_TEMP) + hasSensors = true; + return; +#endif + +#if defined(USE_GYRO_TEMP) + Log.notice(F("TSEN: Using temperature from gyro." CR)); +#else +#if LOG_LEVEL == 6 && !defined(TSEN_DISABLE_LOGGING) + Log.verbose(F("TSEN: Looking for temp sensors." CR)); +#endif + mySensors.begin(); + + if (mySensors.getDS18Count()) { +#if !defined(TSEN_DISABLE_LOGGING) + Log.notice(F("TSEN: Found %d temperature sensor(s)." CR), + mySensors.getDS18Count()); +#endif + mySensors.setResolution(TEMPERATURE_PRECISION); + } +#endif + + float t = myConfig.getTempSensorAdj(); + + // Set the temp sensor adjustment values + if (myConfig.isTempC()) { + tempSensorAdjF = t * 1.8; // Convert the adjustment value to C + tempSensorAdjC = t; + } else { + tempSensorAdjF = t; + tempSensorAdjC = t * 0.556; // Convert the adjustent value to F + } + +#if LOG_LEVEL == 6 && !defined(TSEN_DISABLE_LOGGING) + Log.verbose(F("TSEN: Adjustment values for temp sensor %F C, %F F." CR), + tempSensorAdjC, tempSensorAdjF); +#endif +} + +// +// Retrieving value from sensor, value is in Celcius +// +float TempSensor::getValue() { +#if defined(SIMULATE_TEMP) + return 21; +#endif + +#if defined(USE_GYRO_TEMP) + // When using the gyro temperature only the first read value will be accurate + // so we will use this for processing. LOG_PERF_START("temp-get"); + float c = myGyro.getInitialSensorTempC(); + // LOG_PERF_STOP("temp-get"); + hasSensor = true; + return c; +#if LOG_LEVEL == 6 && !defined(TSEN_DISABLE_LOGGING) + Log.verbose(F("TSEN: Reciving temp value for gyro sensor %F C." CR), c); +#endif +#else + // If we dont have sensors just return 0 + if (!mySensors.getDS18Count()) { + Log.error(F("TSEN: No temperature sensors found. Skipping read." CR)); + return -273; + } + + // Read the sensors + // LOG_PERF_START("temp-request"); + mySensors.requestTemperatures(); + // LOG_PERF_STOP("temp-request"); + + float c = 0; + + if (mySensors.getDS18Count() >= 1) { + // LOG_PERF_START("temp-get"); + c = mySensors.getTempCByIndex(0); + // LOG_PERF_STOP("temp-get"); + +#if LOG_LEVEL == 6 && !defined(TSEN_DISABLE_LOGGING) + Log.verbose(F("TSEN: Reciving temp value for sensor %F C." CR), c); +#endif + hasSensor = true; + } + return c; +#endif +} + +// EOF diff --git a/src/tempsensor.h b/src/tempsensor.hpp similarity index 69% rename from src/tempsensor.h rename to src/tempsensor.hpp index 4e400ea..471a349 100644 --- a/src/tempsensor.h +++ b/src/tempsensor.hpp @@ -1,50 +1,50 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#ifndef _TEMPSENSOR_H -#define _TEMPSENSOR_H - -// definitions -float convertCtoF( float t ); - -// classes -class TempSensor { - private: - bool hasSensor = false; - float tempSensorAdjF = 0; - float tempSensorAdjC = 0; - float getValue(); - - public: - void setup(); - bool isSensorAttached() { return hasSensor; }; - float getTempC() { return getValue() + tempSensorAdjC; } - float getTempF() { return convertCtoF(getValue()) + tempSensorAdjF; }; -}; - -// Global instance created -extern TempSensor myTempSensor; - -#endif // _TEMPSENSOR_H - -// EOF \ No newline at end of file +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#ifndef SRC_TEMPSENSOR_HPP_ +#define SRC_TEMPSENSOR_HPP_ + +// definitions +float convertCtoF(float t); + +// classes +class TempSensor { + private: + bool hasSensor = false; + float tempSensorAdjF = 0; + float tempSensorAdjC = 0; + float getValue(); + + public: + void setup(); + bool isSensorAttached() { return hasSensor; } + float getTempC() { return getValue() + tempSensorAdjC; } + float getTempF() { return convertCtoF(getValue()) + tempSensorAdjF; } +}; + +// Global instance created +extern TempSensor myTempSensor; + +#endif // SRC_TEMPSENSOR_HPP_ + +// EOF diff --git a/src/webserver.cpp b/src/webserver.cpp index ef50e31..560a2dc 100644 --- a/src/webserver.cpp +++ b/src/webserver.cpp @@ -1,542 +1,724 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#include "webserver.h" -#include "config.h" -#include "helper.h" -#include "gyro.h" -#include "calc.h" -#include "tempsensor.h" -#include -#include -#include -#include -#include -#include - -// Binary resouces -#if defined( EMBED_HTML ) -INCBIN_EXTERN(IndexHtm); -INCBIN_EXTERN(DeviceHtm); -INCBIN_EXTERN(ConfigHtm); -INCBIN_EXTERN(AboutHtm); -#else -INCBIN_EXTERN(UploadHtm); -#endif - -WebServer myWebServer; // My wrapper class fr webserver functions -ESP8266WebServer server(80); - -extern bool sleepModeActive; -extern bool sleepModeAlwaysSkip; - -// -// Callback from webServer when / has been accessed. -// -void webHandleDevice() { - LOG_PERF_START("webserver-api-device"); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/config." CR)); -#endif - DynamicJsonDocument doc(100); - doc[ CFG_PARAM_ID ] = myConfig.getID(); - doc[ CFG_PARAM_APP_NAME ] = CFG_APPNAME; - doc[ CFG_PARAM_APP_VER ] = CFG_APPVER; - doc[ CFG_PARAM_MDNS ] = myConfig.getMDNS(); -#if LOG_LEVEL==6 - serializeJson(doc, Serial); - Serial.print( CR ); -#endif - String out; - serializeJson(doc, out); - server.send(200, "application/json", out.c_str() ); - LOG_PERF_STOP("webserver-api-device"); -} - -// -// Callback from webServer when / has been accessed. -// -void webHandleConfig() { - LOG_PERF_START("webserver-api-config"); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/config." CR)); -#endif - DynamicJsonDocument doc(CFG_JSON_BUFSIZE); - myConfig.createJson( doc ); - - double angle = myGyro.getAngle(); - double temp = myTempSensor.getTempC(); - double gravity = calculateGravity( angle, temp ); - - doc[ CFG_PARAM_ANGLE ] = reduceFloatPrecision( angle); - if( myConfig.isGravityTempAdj() ) - doc[ CFG_PARAM_GRAVITY ] = reduceFloatPrecision( gravityTemperatureCorrection( gravity, temp, myConfig.getTempFormat() ), 4); - else - doc[ CFG_PARAM_GRAVITY ] = reduceFloatPrecision( gravity, 4); - doc[ CFG_PARAM_BATTERY ] = reduceFloatPrecision( myBatteryVoltage.getVoltage()); - -#if LOG_LEVEL==6 - serializeJson(doc, Serial); - Serial.print( CR ); -#endif - String out; - serializeJson(doc, out); - server.send(200, "application/json", out.c_str() ); - LOG_PERF_STOP("webserver-api-config"); -} - -// -// Callback from webServer when / has been accessed. -// -void webHandleUpload() { - LOG_PERF_START("webserver-api-upload"); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/upload." CR)); -#endif - Log.notice(F("WEB : webServer callback for /api/upload." CR)); - DynamicJsonDocument doc(100); - - doc[ "index" ] = myWebServer.checkHtmlFile( WebServer::HTML_INDEX ); - doc[ "device" ] = myWebServer.checkHtmlFile( WebServer::HTML_DEVICE ); - doc[ "config" ] = myWebServer.checkHtmlFile( WebServer::HTML_CONFIG ); - doc[ "about" ] = myWebServer.checkHtmlFile( WebServer::HTML_ABOUT ); - -#if LOG_LEVEL==6 - serializeJson(doc, Serial); - Serial.print( CR ); -#endif - String out; - serializeJson(doc, out); - server.send(200, "application/json", out.c_str() ); - LOG_PERF_STOP("webserver-api-upload"); -} - -// -// Callback from webServer when / has been accessed. -// -File uploadFile; - -void webHandleUploadFile() { - LOG_PERF_START("webserver-api-upload-file"); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/upload/file." CR)); -#endif - HTTPUpload& upload = server.upload(); - String f = upload.filename; - bool validFilename = false; - - if( f.equalsIgnoreCase("index.min.htm") || f.equalsIgnoreCase("device.min.htm") || - f.equalsIgnoreCase("config.min.htm") || f.equalsIgnoreCase("about.min.htm") ) { - validFilename = true; - } - - Log.notice(F("WEB : webServer callback for /api/upload, receiving file %s, valid=%s." CR), f.c_str(), validFilename?"yes":"no"); - - if(upload.status == UPLOAD_FILE_START) { - Log.notice(F("WEB : Start upload." CR) ); - if( validFilename ) - uploadFile = LittleFS.open( f, "w"); - } else if(upload.status == UPLOAD_FILE_WRITE) { - Log.notice(F("WEB : Writing upload." CR) ); - if(uploadFile) - uploadFile.write(upload.buf, upload.currentSize); // Write the received bytes to the file - } else if(upload.status == UPLOAD_FILE_END){ - Log.notice(F("WEB : Finish upload." CR) ); - if(uploadFile) { - uploadFile.close(); - Log.notice(F("WEB : File uploaded %d bytes." CR), upload.totalSize); - } - server.sendHeader("Location","/"); - server.send(303); - } else { - server.send(500, "text/plain", "Couldn't create file."); - } - LOG_PERF_STOP("webserver-api-upload-file"); -} - -// -// Callback from webServer when / has been accessed. -// -void webHandleCalibrate() { - LOG_PERF_START("webserver-api-calibrate"); - String id = server.arg( CFG_PARAM_ID ); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/calibrate." CR)); -#endif - if( !id.equalsIgnoreCase( myConfig.getID() ) ) { - Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); - server.send(400, "text/plain", "Invalid ID."); - LOG_PERF_STOP("webserver-api-calibrate"); - return; - } - myGyro.calibrateSensor(); - server.send(200, "text/plain", "Device calibrated" ); - LOG_PERF_STOP("webserver-api-calibrate"); -} - -// -// Callback from webServer when / has been accessed. -// -void webHandleFactoryReset() { - String id = server.arg( CFG_PARAM_ID ); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/factory." CR)); -#endif - if( !id.compareTo( myConfig.getID() ) ) { - server.send(200, "text/plain", "Doing reset..."); - LittleFS.remove(CFG_FILENAME); - LittleFS.end(); - delay(500); - ESP.reset(); - } else { - server.send(400, "text/plain", "Unknown ID."); - } -} - -// -// Callback from webServer when / has been accessed. -// -void webHandleStatus() { - LOG_PERF_START("webserver-api-status"); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/status." CR)); -#endif - DynamicJsonDocument doc(256); - - double angle = myGyro.getAngle(); - double temp = myTempSensor.getTempC(); - double gravity = calculateGravity( angle, temp ); - - doc[ CFG_PARAM_ID ] = myConfig.getID(); - doc[ CFG_PARAM_ANGLE ] = reduceFloatPrecision( angle); - if( myConfig.isGravityTempAdj() ) - doc[ CFG_PARAM_GRAVITY ] = reduceFloatPrecision( gravityTemperatureCorrection( gravity, temp, myConfig.getTempFormat() ), 4); - else - doc[ CFG_PARAM_GRAVITY ] = reduceFloatPrecision( gravity, 4); - doc[ CFG_PARAM_TEMP_C ] = reduceFloatPrecision( temp, 1); - doc[ CFG_PARAM_TEMP_F ] = reduceFloatPrecision( myTempSensor.getTempF(), 1); - doc[ CFG_PARAM_BATTERY ] = reduceFloatPrecision( myBatteryVoltage.getVoltage()); - doc[ CFG_PARAM_TEMPFORMAT ] = String( myConfig.getTempFormat() ); - doc[ CFG_PARAM_SLEEP_MODE ] = sleepModeAlwaysSkip; - doc[ CFG_PARAM_RSSI ] = WiFi.RSSI(); -#if LOG_LEVEL==6 - serializeJson(doc, Serial); - Serial.print( CR ); -#endif - String out; - serializeJson(doc, out); - server.send(200, "application/json", out.c_str() ); - LOG_PERF_STOP("webserver-api-status"); -} - -// -// Callback from webServer when / has been accessed. -// -void webHandleClearWIFI() { - String id = server.arg( CFG_PARAM_ID ); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/clearwifi." CR)); -#endif - if( !id.compareTo( myConfig.getID() ) ) { - server.send(200, "text/plain", "Clearing WIFI credentials and doing reset..."); - delay(1000); - WiFi.disconnect(); // Clear credentials - ESP.reset(); - } else { - server.send(400, "text/plain", "Unknown ID."); - } -} - -// -// Used to force the device to never sleep. -// -void webHandleStatusSleepmode() { - LOG_PERF_START("webserver-api-sleepmode"); - String id = server.arg( CFG_PARAM_ID ); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/status/sleepmode." CR) ); -#endif - if( !id.equalsIgnoreCase( myConfig.getID() ) ) { - Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); - server.send(400, "text/plain", "Invalid ID."); - LOG_PERF_STOP("webserver-api-sleepmode"); - return; - } -#if LOG_LEVEL==6 - Log.verbose(F("WEB : sleep-mode=%s." CR), server.arg( CFG_PARAM_SLEEP_MODE ).c_str() ); -#endif - if( server.arg( CFG_PARAM_SLEEP_MODE ).equalsIgnoreCase( "true" ) ) - sleepModeAlwaysSkip = true; - else - sleepModeAlwaysSkip = false; - server.send(200, "text/plain", "Sleep mode updated" ); - LOG_PERF_STOP("webserver-api-sleepmode"); -} - -// -// Update device settings. -// -void webHandleConfigDevice() { - LOG_PERF_START("webserver-api-config-device"); - String id = server.arg( CFG_PARAM_ID ); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/config/device." CR) ); -#endif - if( !id.equalsIgnoreCase( myConfig.getID() ) ) { - Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); - server.send(400, "text/plain", "Invalid ID."); - LOG_PERF_STOP("webserver-api-config-device"); - return; - } -#if LOG_LEVEL==6 - Log.verbose(F("WEB : mdns=%s, temp-format=%s." CR), server.arg( CFG_PARAM_MDNS ).c_str(), server.arg( CFG_PARAM_TEMPFORMAT ).c_str() ); -#endif - myConfig.setMDNS( server.arg( CFG_PARAM_MDNS ).c_str() ); - myConfig.setTempFormat( server.arg( CFG_PARAM_TEMPFORMAT ).charAt(0) ); - myConfig.setSleepInterval( server.arg( CFG_PARAM_SLEEP_INTERVAL ).c_str() ); - myConfig.saveFile(); - server.sendHeader("Location", "/config.htm#collapseOne", true); - server.send(302, "text/plain", "Device config updated" ); - LOG_PERF_STOP("webserver-api-config-device"); -} - -// -// Update push settings. -// -void webHandleConfigPush() { - LOG_PERF_START("webserver-api-config-push"); - String id = server.arg( CFG_PARAM_ID ); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/config/push." CR) ); -#endif - if( !id.equalsIgnoreCase( myConfig.getID() ) ) { - Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); - server.send(400, "text/plain", "Invalid ID."); - LOG_PERF_STOP("webserver-api-config-push"); - return; - } -#if LOG_LEVEL==6 - Log.verbose(F("WEB : http=%s,%s, bf=%s influx2=%s, %s, %s, %s." CR), server.arg( CFG_PARAM_PUSH_HTTP ).c_str(), - server.arg( CFG_PARAM_PUSH_HTTP2 ).c_str(), server.arg( CFG_PARAM_PUSH_BREWFATHER ).c_str(), - server.arg( CFG_PARAM_PUSH_INFLUXDB2 ).c_str(), server.arg( CFG_PARAM_PUSH_INFLUXDB2_ORG ).c_str(), - server.arg( CFG_PARAM_PUSH_INFLUXDB2_BUCKET ).c_str(), server.arg( CFG_PARAM_PUSH_INFLUXDB2_AUTH ).c_str() - ); -#endif - myConfig.setHttpPushUrl( server.arg( CFG_PARAM_PUSH_HTTP ).c_str() ); - myConfig.setHttpPushUrl2( server.arg( CFG_PARAM_PUSH_HTTP2 ).c_str() ); - myConfig.setBrewfatherPushUrl( server.arg( CFG_PARAM_PUSH_BREWFATHER ).c_str() ); - myConfig.setInfluxDb2PushUrl( server.arg( CFG_PARAM_PUSH_INFLUXDB2 ).c_str() ); - myConfig.setInfluxDb2PushOrg( server.arg( CFG_PARAM_PUSH_INFLUXDB2_ORG ).c_str() ); - myConfig.setInfluxDb2PushBucket( server.arg( CFG_PARAM_PUSH_INFLUXDB2_BUCKET ).c_str() ); - myConfig.setInfluxDb2PushToken( server.arg( CFG_PARAM_PUSH_INFLUXDB2_AUTH ).c_str() ); - myConfig.saveFile(); - server.sendHeader("Location", "/config.htm#collapseTwo", true); - server.send(302, "text/plain", "Push config updated" ); - LOG_PERF_STOP("webserver-api-config-push"); -} - -// -// Update gravity settings. -// -void webHandleConfigGravity() { - LOG_PERF_START("webserver-api-config-gravity"); - String id = server.arg( CFG_PARAM_ID ); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/config/gravity." CR) ); -#endif - if( !id.equalsIgnoreCase( myConfig.getID() ) ) { - Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); - server.send(400, "text/plain", "Invalid ID."); - LOG_PERF_STOP("webserver-api-config-gravity"); - return; - } -#if LOG_LEVEL==6 - Log.verbose(F("WEB : formula=%s, temp-corr=%s." CR), server.arg( CFG_PARAM_GRAVITY_FORMULA ).c_str(), server.arg( CFG_PARAM_GRAVITY_TEMP_ADJ ).c_str() ); -#endif - myConfig.setGravityFormula( server.arg( CFG_PARAM_GRAVITY_FORMULA ).c_str() ); - myConfig.setGravityTempAdj( server.arg( CFG_PARAM_GRAVITY_TEMP_ADJ ).equalsIgnoreCase( "on" ) ? true:false); - myConfig.saveFile(); - server.sendHeader("Location", "/config.htm#collapseThree", true); - server.send(302, "text/plain", "Gravity config updated" ); - LOG_PERF_STOP("webserver-api-config-gravity"); -} - -// -// Update hardware settings. -// -void webHandleConfigHardware() { - LOG_PERF_START("webserver-api-config-hardware"); - String id = server.arg( CFG_PARAM_ID ); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/config/hardware." CR) ); -#endif - if( !id.equalsIgnoreCase( myConfig.getID() ) ) { - Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); - server.send(400, "text/plain", "Invalid ID."); - LOG_PERF_STOP("webserver-api-config-hardware"); - return; - } -#if LOG_LEVEL==6 - Log.verbose(F("WEB : vf=%s, tempadj=%s, ota=%s." CR), server.arg( CFG_PARAM_VOLTAGEFACTOR ).c_str(), server.arg( CFG_PARAM_TEMP_ADJ ).c_str(), server.arg( CFG_PARAM_OTA ).c_str() ); -#endif - myConfig.setVoltageFactor( server.arg( CFG_PARAM_VOLTAGEFACTOR ).toFloat() ); - myConfig.setTempSensorAdj( server.arg( CFG_PARAM_TEMP_ADJ ).toFloat() ); - myConfig.setOtaURL( server.arg( CFG_PARAM_OTA ).c_str() ); - myConfig.saveFile(); - server.sendHeader("Location", "/config.htm#collapseFour", true); - server.send(302, "text/plain", "Hardware config updated" ); - LOG_PERF_STOP("webserver-api-config-hardware"); -} - -// -// Helper function to check if files exist on file system. -// -const char* WebServer::getHtmlFileName( HtmlFile item ) { -#if LOG_LEVEL==6 - Log.verbose(F("WEB : Looking up filename for %d." CR), item); -#endif - switch( item ) { - case HTML_INDEX: - return "index.min.htm"; - case HTML_DEVICE: - return "device.min.htm"; - case HTML_CONFIG: - return "config.min.htm"; - case HTML_ABOUT: - return "about.min.htm"; - } - - return ""; -} - -// -// Helper function to check if files exist on file system. -// -bool WebServer::checkHtmlFile( HtmlFile item ) { - const char *fn = getHtmlFileName( item ); - -#if LOG_LEVEL==6 - Log.verbose(F("WEB : Checking for file %s." CR), fn ); -#endif - - // TODO: We might need to add more checks here like zero file size etc. But for now we only check if the file exist. - - return LittleFS.exists( fn ); -} - -// -// Setup the Web Server callbacks and start it -// -bool WebServer::setupWebServer() { - Log.notice(F("WEB : Configuring web server." CR)); - - MDNS.begin( myConfig.getMDNS() ); - MDNS.addService("http", "tcp", 80); - - // Static content -#if defined( EMBED_HTML ) - server.on("/",[]() { - server.send_P(200, "text/html", (const char*) gIndexHtmData, gIndexHtmSize ); - } ); - server.on("/index.htm",[]() { - server.send_P(200, "text/html", (const char*) gIndexHtmData, gIndexHtmSize ); - } ); - server.on("/device.htm",[]() { - server.send_P(200, "text/html", (const char*) gDeviceHtmData, gDeviceHtmSize ); - } ); - server.on("/config.htm",[]() { - server.send_P(200, "text/html", (const char*) gConfigHtmData, gConfigHtmSize ); - } ); - server.on("/about.htm",[]() { - server.send_P(200, "text/html", (const char*) gAboutHtmData, gAboutHtmSize ); - } ); -#else - // Show files in the filessytem at startup - - FSInfo fs; - LittleFS.info(fs); - Log.notice( F("WEB : File system Total=%d, Used=%d." CR), fs.totalBytes, fs.usedBytes ); - Dir dir = LittleFS.openDir("/"); - while( dir.next() ) { - Log.notice( F("WEB : File=%s, %d bytes" CR), dir.fileName().c_str(), dir.fileSize() ); - } - - // Check if the html files exist, if so serve them, else show the static upload page. - if( checkHtmlFile( HTML_INDEX ) && checkHtmlFile( HTML_DEVICE ) && checkHtmlFile( HTML_CONFIG ) && checkHtmlFile( HTML_ABOUT ) ) { - Log.notice(F("WEB : All html files exist, starting in normal mode." CR)); - - server.serveStatic("/", LittleFS, "/index.min.htm" ); - server.serveStatic("/index.htm", LittleFS, "/index.min.htm" ); - server.serveStatic("/device.htm", LittleFS, "/device.min.htm" ); - server.serveStatic("/config.htm", LittleFS, "/config.min.htm" ); - server.serveStatic("/about.htm", LittleFS, "/about.min.htm" ); - - // Also add the static upload view in case we we have issues that needs to be fixed. - server.on("/upload.htm",[]() { - server.send_P(200, "text/html", (const char*) gUploadHtmData, gUploadHtmSize ); - } ); - } else { - Log.error(F("WEB : Missing html files, starting with upload UI." CR)); - - server.on("/",[]() { - server.send_P(200, "text/html", (const char*) gUploadHtmData, gUploadHtmSize ); - } ); - } -#endif - - // Dynamic content - server.on("/api/config", HTTP_GET, webHandleConfig); // Get config.json - server.on("/api/device", HTTP_GET, webHandleDevice); // Get device.json - server.on("/api/calibrate", HTTP_POST, webHandleCalibrate); // Run calibration routine (param id) - server.on("/api/factory", HTTP_GET, webHandleFactoryReset); // Reset the device - server.on("/api/status", HTTP_GET, webHandleStatus); // Get the status.json - server.on("/api/clearwifi", HTTP_GET, webHandleClearWIFI); // Clear wifi settings - server.on("/api/upload", HTTP_GET, webHandleUpload); // Get upload.json - - server.on("/api/upload", HTTP_POST, [](){ server.send(200); }, webHandleUploadFile); // File upload data - server.on("/api/status/sleepmode", HTTP_POST, webHandleStatusSleepmode); // Change sleep mode - server.on("/api/config/device", HTTP_POST, webHandleConfigDevice); // Change device settings - server.on("/api/config/push", HTTP_POST, webHandleConfigPush); // Change push settings - server.on("/api/config/gravity", HTTP_POST, webHandleConfigGravity); // Change gravity settings - server.on("/api/config/hardware", HTTP_POST, webHandleConfigHardware); // Change hardware settings - - server.onNotFound( []() { - Log.error(F("WEB : URL not found %s received." CR), server.uri().c_str()); - server.send(404, "text/plain", F("URL not found") ); - } ); - - server.begin(); - Log.notice(F("WEB : Web server started." CR)); - return true; -} - -// -// called from main loop -// -void WebServer::loop() { - // Dont put serial debug output in this call - server.handleClient(); - MDNS.update(); -} - -// EOF \ No newline at end of file +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#include +#include + +#include +#include +#include +#include +#include +#include + +WebServer myWebServer; // My wrapper class fr webserver functions +extern bool sleepModeActive; +extern bool sleepModeAlwaysSkip; + +// +// Callback from webServer when / has been accessed. +// +void WebServer::webHandleDevice() { + LOG_PERF_START("webserver-api-device"); +#if LOG_LEVEL == 6 && !defined(WEB_DISABLE_LOGGING) + Log.verbose(F("WEB : webServer callback for /api/config." CR)); +#endif + + DynamicJsonDocument doc(100); + doc[CFG_PARAM_ID] = myConfig.getID(); + doc[CFG_PARAM_APP_NAME] = CFG_APPNAME; + doc[CFG_PARAM_APP_VER] = CFG_APPVER; + doc[CFG_PARAM_MDNS] = myConfig.getMDNS(); +#if LOG_LEVEL == 6 + serializeJson(doc, Serial); + Serial.print(CR); +#endif + String out; + serializeJson(doc, out); + server->send(200, "application/json", out.c_str()); + LOG_PERF_STOP("webserver-api-device"); +} + +// +// Callback from webServer when / has been accessed. +// +void WebServer::webHandleConfig() { + LOG_PERF_START("webserver-api-config"); + Log.notice(F("WEB : webServer callback for /api/config." CR)); + + DynamicJsonDocument doc(CFG_JSON_BUFSIZE); + myConfig.createJson(doc); + + double angle = myGyro.getAngle(); + double temp = myTempSensor.getTempC(); + double gravity = calculateGravity(angle, temp); + + doc[CFG_PARAM_ANGLE] = reduceFloatPrecision(angle); + if (myConfig.isGravityTempAdj()) + doc[CFG_PARAM_GRAVITY] = reduceFloatPrecision( + gravityTemperatureCorrection(gravity, temp, myConfig.getTempFormat()), + 4); + else + doc[CFG_PARAM_GRAVITY] = reduceFloatPrecision(gravity, 4); + doc[CFG_PARAM_BATTERY] = reduceFloatPrecision(myBatteryVoltage.getVoltage()); + +#if LOG_LEVEL == 6 && !defined(WEB_DISABLE_LOGGING) + serializeJson(doc, Serial); + Serial.print(CR); +#endif + + String out; + serializeJson(doc, out); + server->send(200, "application/json", out.c_str()); + LOG_PERF_STOP("webserver-api-config"); +} + +// +// Callback from webServer when / has been accessed. +// +void WebServer::webHandleUpload() { + LOG_PERF_START("webserver-api-upload"); + Log.notice(F("WEB : webServer callback for /api/upload." CR)); + DynamicJsonDocument doc(100); + + doc["index"] = myWebServer.checkHtmlFile(WebServer::HTML_INDEX); + doc["device"] = myWebServer.checkHtmlFile(WebServer::HTML_DEVICE); + doc["config"] = myWebServer.checkHtmlFile(WebServer::HTML_CONFIG); + doc["calibration"] = myWebServer.checkHtmlFile(WebServer::HTML_CALIBRATION); + doc["about"] = myWebServer.checkHtmlFile(WebServer::HTML_ABOUT); + +#if LOG_LEVEL == 6 && !defined(WEB_DISABLE_LOGGING) + serializeJson(doc, Serial); + Serial.print(CR); +#endif + + String out; + serializeJson(doc, out); + server->send(200, "application/json", out.c_str()); + LOG_PERF_STOP("webserver-api-upload"); +} + +// +// Callback from webServer when / has been accessed. +// +void WebServer::webHandleUploadFile() { + LOG_PERF_START("webserver-api-upload-file"); + Log.notice(F("WEB : webServer callback for /api/upload/file." CR)); + HTTPUpload& upload = server->upload(); + String f = upload.filename; + bool validFilename = false; + + if (f.equalsIgnoreCase("index.min.htm") || + f.equalsIgnoreCase("device.min.htm") || + f.equalsIgnoreCase("calibration.min.htm") || + f.equalsIgnoreCase("config.min.htm") || + f.equalsIgnoreCase("about.min.htm")) { + validFilename = true; + } + +#if LOG_LEVEL == 6 && !defined(WEB_DISABLE_LOGGING) + Log.debug(F("WEB : webServer callback for /api/upload, receiving file %s, " + "valid=%s." CR), + f.c_str(), validFilename ? "yes" : "no"); +#endif + + if (upload.status == UPLOAD_FILE_START) { + Log.notice(F("WEB : Start upload." CR)); + if (validFilename) uploadFile = LittleFS.open(f, "w"); + } else if (upload.status == UPLOAD_FILE_WRITE) { + Log.notice(F("WEB : Writing upload." CR)); + if (uploadFile) + uploadFile.write( + upload.buf, + upload.currentSize); // Write the received bytes to the file + } else if (upload.status == UPLOAD_FILE_END) { + Log.notice(F("WEB : Finish upload." CR)); + if (uploadFile) { + uploadFile.close(); + Log.notice(F("WEB : File uploaded %d bytes." CR), upload.totalSize); + } + server->sendHeader("Location", "/"); + server->send(303); + } else { + server->send(500, "text/plain", "Couldn't create file."); + } + LOG_PERF_STOP("webserver-api-upload-file"); +} + +// +// Callback from webServer when / has been accessed. +// +void WebServer::webHandleCalibrate() { + LOG_PERF_START("webserver-api-calibrate"); + String id = server->arg(CFG_PARAM_ID); + Log.notice(F("WEB : webServer callback for /api/calibrate." CR)); + + if (!id.equalsIgnoreCase(myConfig.getID())) { + Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), + myConfig.getID()); + server->send(400, "text/plain", "Invalid ID."); + LOG_PERF_STOP("webserver-api-calibrate"); + return; + } + myGyro.calibrateSensor(); + server->send(200, "text/plain", "Device calibrated"); + LOG_PERF_STOP("webserver-api-calibrate"); +} + +// +// Callback from webServer when / has been accessed. +// +void WebServer::webHandleFactoryReset() { + String id = server->arg(CFG_PARAM_ID); + Log.notice(F("WEB : webServer callback for /api/factory." CR)); + + if (!id.compareTo(myConfig.getID())) { + server->send(200, "text/plain", "Doing reset..."); + LittleFS.remove(CFG_FILENAME); + LittleFS.end(); + delay(500); + ESP.reset(); + } else { + server->send(400, "text/plain", "Unknown ID."); + } +} + +// +// Callback from webServer when / has been accessed. +// +void WebServer::webHandleStatus() { + LOG_PERF_START("webserver-api-status"); + Log.notice(F("WEB : webServer callback for /api/status." CR)); + + DynamicJsonDocument doc(256); + + double angle = myGyro.getAngle(); + double temp = myTempSensor.getTempC(); + double gravity = calculateGravity(angle, temp); + + doc[CFG_PARAM_ID] = myConfig.getID(); + doc[CFG_PARAM_ANGLE] = reduceFloatPrecision(angle); + if (myConfig.isGravityTempAdj()) + doc[CFG_PARAM_GRAVITY] = reduceFloatPrecision( + gravityTemperatureCorrection(gravity, temp, myConfig.getTempFormat()), + 4); + else + doc[CFG_PARAM_GRAVITY] = reduceFloatPrecision(gravity, 4); + doc[CFG_PARAM_TEMP_C] = reduceFloatPrecision(temp, 1); + doc[CFG_PARAM_TEMP_F] = reduceFloatPrecision(myTempSensor.getTempF(), 1); + doc[CFG_PARAM_BATTERY] = reduceFloatPrecision(myBatteryVoltage.getVoltage()); + doc[CFG_PARAM_TEMPFORMAT] = String(myConfig.getTempFormat()); + doc[CFG_PARAM_SLEEP_MODE] = sleepModeAlwaysSkip; + doc[CFG_PARAM_RSSI] = WiFi.RSSI(); + +#if LOG_LEVEL == 6 && !defined(WEB_DISABLE_LOGGING) + serializeJson(doc, Serial); + Serial.print(CR); +#endif + + String out; + serializeJson(doc, out); + server->send(200, "application/json", out.c_str()); + LOG_PERF_STOP("webserver-api-status"); +} + +// +// Callback from webServer when / has been accessed. +// +void WebServer::webHandleClearWIFI() { + String id = server->arg(CFG_PARAM_ID); + Log.notice(F("WEB : webServer callback for /api/clearwifi." CR)); + + if (!id.compareTo(myConfig.getID())) { + server->send(200, "text/plain", + "Clearing WIFI credentials and doing reset..."); + delay(1000); + WiFi.disconnect(); // Clear credentials + ESP.reset(); + } else { + server->send(400, "text/plain", "Unknown ID."); + } +} + +// +// Used to force the device to never sleep. +// +void WebServer::webHandleStatusSleepmode() { + LOG_PERF_START("webserver-api-sleepmode"); + String id = server->arg(CFG_PARAM_ID); + Log.notice(F("WEB : webServer callback for /api/status/sleepmode." CR)); + + if (!id.equalsIgnoreCase(myConfig.getID())) { + Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), + myConfig.getID()); + server->send(400, "text/plain", "Invalid ID."); + LOG_PERF_STOP("webserver-api-sleepmode"); + return; + } + +#if LOG_LEVEL == 6 && !defined(WEB_DISABLE_LOGGING) + Log.verbose(F("WEB : sleep-mode=%s." CR), + server->arg(CFG_PARAM_SLEEP_MODE).c_str()); +#endif + + if (server->arg(CFG_PARAM_SLEEP_MODE).equalsIgnoreCase("true")) + sleepModeAlwaysSkip = true; + else + sleepModeAlwaysSkip = false; + server->send(200, "text/plain", "Sleep mode updated"); + LOG_PERF_STOP("webserver-api-sleepmode"); +} + +// +// Update device settings. +// +void WebServer::webHandleConfigDevice() { + LOG_PERF_START("webserver-api-config-device"); + String id = server->arg(CFG_PARAM_ID); + Log.notice(F("WEB : webServer callback for /api/config/device." CR)); + + if (!id.equalsIgnoreCase(myConfig.getID())) { + Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), + myConfig.getID()); + server->send(400, "text/plain", "Invalid ID."); + LOG_PERF_STOP("webserver-api-config-device"); + return; + } + +#if LOG_LEVEL == 6 && !defined(WEB_DISABLE_LOGGING) + Log.verbose(F("WEB : mdns=%s, temp-format=%s." CR), + server->arg(CFG_PARAM_MDNS).c_str(), + server->arg(CFG_PARAM_TEMPFORMAT).c_str()); +#endif + + myConfig.setMDNS(server->arg(CFG_PARAM_MDNS).c_str()); + myConfig.setTempFormat(server->arg(CFG_PARAM_TEMPFORMAT).charAt(0)); + myConfig.setSleepInterval(server->arg(CFG_PARAM_SLEEP_INTERVAL).c_str()); + myConfig.saveFile(); + server->sendHeader("Location", "/config.htm#collapseOne", true); + server->send(302, "text/plain", "Device config updated"); + LOG_PERF_STOP("webserver-api-config-device"); +} + +// +// Update push settings. +// +void WebServer::webHandleConfigPush() { + LOG_PERF_START("webserver-api-config-push"); + String id = server->arg(CFG_PARAM_ID); + Log.notice(F("WEB : webServer callback for /api/config/push." CR)); + + if (!id.equalsIgnoreCase(myConfig.getID())) { + Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), + myConfig.getID()); + server->send(400, "text/plain", "Invalid ID."); + LOG_PERF_STOP("webserver-api-config-push"); + return; + } +#if LOG_LEVEL == 6 && !defined(WEB_DISABLE_LOGGING) + Log.verbose(F("WEB : http=%s,%s, bf=%s influx2=%s, %s, %s, %s." CR), + server->arg(CFG_PARAM_PUSH_HTTP).c_str(), + server->arg(CFG_PARAM_PUSH_HTTP2).c_str(), + server->arg(CFG_PARAM_PUSH_BREWFATHER).c_str(), + server->arg(CFG_PARAM_PUSH_INFLUXDB2).c_str(), + server->arg(CFG_PARAM_PUSH_INFLUXDB2_ORG).c_str(), + server->arg(CFG_PARAM_PUSH_INFLUXDB2_BUCKET).c_str(), + server->arg(CFG_PARAM_PUSH_INFLUXDB2_AUTH).c_str()); +#endif + + myConfig.setHttpPushUrl(server->arg(CFG_PARAM_PUSH_HTTP).c_str()); + myConfig.setHttpPushUrl2(server->arg(CFG_PARAM_PUSH_HTTP2).c_str()); + myConfig.setBrewfatherPushUrl(server->arg(CFG_PARAM_PUSH_BREWFATHER).c_str()); + myConfig.setInfluxDb2PushUrl(server->arg(CFG_PARAM_PUSH_INFLUXDB2).c_str()); + myConfig.setInfluxDb2PushOrg( + server->arg(CFG_PARAM_PUSH_INFLUXDB2_ORG).c_str()); + myConfig.setInfluxDb2PushBucket( + server->arg(CFG_PARAM_PUSH_INFLUXDB2_BUCKET).c_str()); + myConfig.setInfluxDb2PushToken( + server->arg(CFG_PARAM_PUSH_INFLUXDB2_AUTH).c_str()); + myConfig.saveFile(); + server->sendHeader("Location", "/config.htm#collapseTwo", true); + server->send(302, "text/plain", "Push config updated"); + LOG_PERF_STOP("webserver-api-config-push"); +} + +// +// Update gravity settings. +// +void WebServer::webHandleConfigGravity() { + LOG_PERF_START("webserver-api-config-gravity"); + String id = server->arg(CFG_PARAM_ID); + Log.notice(F("WEB : webServer callback for /api/config/gravity." CR)); + + if (!id.equalsIgnoreCase(myConfig.getID())) { + Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), + myConfig.getID()); + server->send(400, "text/plain", "Invalid ID."); + LOG_PERF_STOP("webserver-api-config-gravity"); + return; + } + +#if LOG_LEVEL == 6 && !defined(WEB_DISABLE_LOGGING) + Log.verbose(F("WEB : formula=%s, temp-corr=%s." CR), + server->arg(CFG_PARAM_GRAVITY_FORMULA).c_str(), + server->arg(CFG_PARAM_GRAVITY_TEMP_ADJ).c_str()); +#endif + + myConfig.setGravityFormula(server->arg(CFG_PARAM_GRAVITY_FORMULA).c_str()); + myConfig.setGravityTempAdj( + server->arg(CFG_PARAM_GRAVITY_TEMP_ADJ).equalsIgnoreCase("on") ? true + : false); + myConfig.saveFile(); + server->sendHeader("Location", "/config.htm#collapseThree", true); + server->send(302, "text/plain", "Gravity config updated"); + LOG_PERF_STOP("webserver-api-config-gravity"); +} + +// +// Update hardware settings. +// +void WebServer::webHandleConfigHardware() { + LOG_PERF_START("webserver-api-config-hardware"); + String id = server->arg(CFG_PARAM_ID); + Log.notice(F("WEB : webServer callback for /api/config/hardware." CR)); + + if (!id.equalsIgnoreCase(myConfig.getID())) { + Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), + myConfig.getID()); + server->send(400, "text/plain", "Invalid ID."); + LOG_PERF_STOP("webserver-api-config-hardware"); + return; + } + +#if LOG_LEVEL == 6 && !defined(WEB_DISABLE_LOGGING) + Log.verbose(F("WEB : vf=%s, tempadj=%s, ota=%s." CR), + server->arg(CFG_PARAM_VOLTAGEFACTOR).c_str(), + server->arg(CFG_PARAM_TEMP_ADJ).c_str(), + server->arg(CFG_PARAM_OTA).c_str()); +#endif + + myConfig.setVoltageFactor(server->arg(CFG_PARAM_VOLTAGEFACTOR).toFloat()); + myConfig.setTempSensorAdj(server->arg(CFG_PARAM_TEMP_ADJ).toFloat()); + myConfig.setOtaURL(server->arg(CFG_PARAM_OTA).c_str()); + myConfig.saveFile(); + server->sendHeader("Location", "/config.htm#collapseFour", true); + server->send(302, "text/plain", "Hardware config updated"); + LOG_PERF_STOP("webserver-api-config-hardware"); +} + +// +// Callback from webServer when / has been accessed. +// +void WebServer::webHandleFormulaRead() { + LOG_PERF_START("webserver-api-formula-read"); + Log.notice(F("WEB : webServer callback for /api/formula/get." CR)); + + DynamicJsonDocument doc(250); + const RawFormulaData& fd = myConfig.getFormulaData(); + +#if LOG_LEVEL == 6 && !defined(WEB_DISABLE_LOGGING) + Log.verbose(F("WEB : %F %F %F %F %F." CR), fd.a[0], fd.a[1], fd.a[2], fd.a[3], + fd.a[4]); + Log.verbose(F("WEB : %F %F %F %F %F." CR), fd.g[0], fd.g[1], fd.g[2], fd.g[3], + fd.g[4]); +#endif + + doc[CFG_PARAM_ID] = myConfig.getID(); + doc[CFG_PARAM_ANGLE] = reduceFloatPrecision(myGyro.getAngle()); + + switch (lastFormulaCreateError) { + case ERR_FORMULA_INTERNAL: + doc[CFG_PARAM_GRAVITY_FORMULA] = "Internal error creating formula."; + break; + case ERR_FORMULA_NOTENOUGHVALUES: + doc[CFG_PARAM_GRAVITY_FORMULA] = "Not enough values to create formula."; + break; + case ERR_FORMULA_UNABLETOFFIND: + doc[CFG_PARAM_GRAVITY_FORMULA] = + "Unable to find an accurate formula based on input."; + break; + default: + doc[CFG_PARAM_GRAVITY_FORMULA] = myConfig.getGravityFormula(); + break; + } + + doc["a1"] = reduceFloatPrecision(fd.a[0], 2); + doc["a2"] = reduceFloatPrecision(fd.a[1], 2); + doc["a3"] = reduceFloatPrecision(fd.a[2], 2); + doc["a4"] = reduceFloatPrecision(fd.a[3], 2); + doc["a5"] = reduceFloatPrecision(fd.a[4], 2); + + doc["g1"] = reduceFloatPrecision(fd.g[0], 4); + doc["g2"] = reduceFloatPrecision(fd.g[1], 4); + doc["g3"] = reduceFloatPrecision(fd.g[2], 4); + doc["g4"] = reduceFloatPrecision(fd.g[3], 4); + doc["g5"] = reduceFloatPrecision(fd.g[4], 4); + +#if LOG_LEVEL == 6 && !defined(WEB_DISABLE_LOGGING) + serializeJson(doc, Serial); + Serial.print(CR); +#endif + + String out; + serializeJson(doc, out); + server->send(200, "application/json", out.c_str()); + LOG_PERF_STOP("webserver-api-formula-read"); +} + +// +// Update hardware settings. +// +void WebServer::webHandleFormulaWrite() { + LOG_PERF_START("webserver-api-formula-write"); + String id = server->arg(CFG_PARAM_ID); + Log.notice(F("WEB : webServer callback for /api/formula/post." CR)); + + if (!id.equalsIgnoreCase(myConfig.getID())) { + Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), + myConfig.getID()); + server->send(400, "text/plain", "Invalid ID."); + LOG_PERF_STOP("webserver-api-formula-write"); + return; + } + +#if LOG_LEVEL == 6 && !defined(WEB_DISABLE_LOGGING) + Log.verbose(F("WEB : angles=%F,%F,%F,%F,%F." CR), server->arg("a1").toFloat(), + server->arg("a2").toFloat(), server->arg("a3").toFloat(), + server->arg("a4").toFloat(), server->arg("a5").toFloat()); + Log.verbose(F("WEB : gravity=%F,%F,%F,%F,%F." CR), + server->arg("g1").toFloat(), server->arg("g2").toFloat(), + server->arg("g3").toFloat(), server->arg("g4").toFloat(), + server->arg("g5").toFloat()); +#endif + + RawFormulaData fd; + fd.a[0] = server->arg("a1").toDouble(); + fd.a[1] = server->arg("a2").toDouble(); + fd.a[2] = server->arg("a3").toDouble(); + fd.a[3] = server->arg("a4").toDouble(); + fd.a[4] = server->arg("a5").toDouble(); + fd.g[0] = server->arg("g1").toDouble(); + fd.g[1] = server->arg("g2").toDouble(); + fd.g[2] = server->arg("g3").toDouble(); + fd.g[3] = server->arg("g4").toDouble(); + fd.g[4] = server->arg("g5").toDouble(); + myConfig.setFormulaData(fd); + + int e; + char buf[100]; + + e = createFormula(fd, &buf[0], sizeof(buf), 2); + + if (e) { + // If we fail with order=2 try with 3 + Log.warning(F("WEB : Failed to find formula with order 3." CR), e); + e = createFormula(fd, &buf[0], sizeof(buf), 3); + } + + if (e) { + // If we fail with order=3 try with 4 + Log.warning(F("WEB : Failed to find formula with order 4." CR), e); + e = createFormula(fd, &buf[0], sizeof(buf), 4); + } + + if (e) { + // If we fail with order=4 then we mark it as failed + Log.error( + F("WEB : Unable to find formula based on provided values err=%d." CR), + e); + lastFormulaCreateError = e; + } else { + // Save the formula as succesful + Log.info(F("WEB : Found valid formula: '%s'" CR), &buf[0]); + myConfig.setGravityFormula(buf); + lastFormulaCreateError = 0; + } + + myConfig.saveFile(); + server->sendHeader("Location", "/calibration.htm", true); + server->send(302, "text/plain", "Formula updated"); + LOG_PERF_STOP("webserver-api-formula-write"); +} +// +// Helper function to check if files exist on file system. +// +const char* WebServer::getHtmlFileName(HtmlFile item) { + Log.notice(F("WEB : Looking up filename for %d." CR), item); + + switch (item) { + case HTML_INDEX: + return "index.min.htm"; + case HTML_DEVICE: + return "device.min.htm"; + case HTML_CONFIG: + return "config.min.htm"; + case HTML_CALIBRATION: + return "calibration.min.htm"; + case HTML_ABOUT: + return "about.min.htm"; + } + + return ""; +} + +// +// Helper function to check if files exist on file system. +// +bool WebServer::checkHtmlFile(HtmlFile item) { + const char* fn = getHtmlFileName(item); + +#if LOG_LEVEL == 6 && !defined(WEB_DISABLE_LOGGING) + Log.verbose(F("WEB : Checking for file %s." CR), fn); +#endif + + // TODO: We might need to add more checks here like zero file size etc. But + // for now we only check if the file exist. + + return LittleFS.exists(fn); +} + +// +// Handler for page not found +// +void WebServer::webHandlePageNotFound() { + Log.error(F("WEB : URL not found %s received." CR), server->uri().c_str()); + server->send(404, "text/plain", F("URL not found")); +} + +// +// Setup the Web Server callbacks and start it +// +bool WebServer::setupWebServer() { + Log.notice(F("WEB : Configuring web server." CR)); + + server = new ESP8266WebServer(); + + MDNS.begin(myConfig.getMDNS()); + MDNS.addService("http", "tcp", 80); + + // Static content +#if defined(EMBED_HTML) + server->on("/", std::bind(&WebServer::webReturnIndexHtm, this)); + server->on("/index.htm", std::bind(&WebServer::webReturnIndexHtm, this)); + server->on("/device.htm", std::bind(&WebServer::webReturnDeviceHtm, this)); + server->on("/config.htm", std::bind(&WebServer::webReturnConfigHtm, this)); + server->on("/calibration.htm", + std::bind(&WebServer::webReturnCalibrationHtm, this)); + server->on("/about.htm", std::bind(&WebServer::webReturnAboutHtm, this)); +#else + // Show files in the filessytem at startup + + FSInfo fs; + LittleFS.info(fs); + Log.notice(F("WEB : File system Total=%d, Used=%d." CR), fs.totalBytes, + fs.usedBytes); + Dir dir = LittleFS.openDir("/"); + while (dir.next()) { + Log.notice(F("WEB : File=%s, %d bytes" CR), dir.fileName().c_str(), + dir.fileSize()); + } + + // Check if the html files exist, if so serve them, else show the static + // upload page. + if (checkHtmlFile(HTML_INDEX) && checkHtmlFile(HTML_DEVICE) && + checkHtmlFile(HTML_CONFIG) && checkHtmlFile(HTML_CALIBRATION) && + checkHtmlFile(HTML_ABOUT)) { + Log.notice(F("WEB : All html files exist, starting in normal mode." CR)); + + server->serveStatic("/", LittleFS, "/index.min.htm"); + server->serveStatic("/index.htm", LittleFS, "/index.min.htm"); + server->serveStatic("/device.htm", LittleFS, "/device.min.htm"); + server->serveStatic("/config.htm", LittleFS, "/config.min.htm"); + server->serveStatic("/about.htm", LittleFS, "/about.min.htm"); + server->serveStatic("/calibration.htm", LittleFS, "/calibration.min.htm"); + + // Also add the static upload view in case we we have issues that needs to + // be fixed. + server->on("/upload.htm", std::bind(&WebServer::webReturnUploadHtm, this)); + } else { + Log.error(F("WEB : Missing html files, starting with upload UI." CR)); + server->on("/", std::bind(&WebServer::webReturnUploadHtm, this)); + } +#endif + + // Dynamic content + server->on("/api/config", HTTP_GET, + std::bind(&WebServer::webHandleConfig, this)); // Get config.json + server->on("/api/device", HTTP_GET, + std::bind(&WebServer::webHandleDevice, this)); // Get device.json + server->on("/api/formula", HTTP_GET, + std::bind(&WebServer::webHandleFormulaRead, + this)); // Get formula.json (calibration page) + server->on("/api/formula", HTTP_POST, + std::bind(&WebServer::webHandleFormulaWrite, + this)); // Get formula.json (calibration page) + server->on("/api/calibrate", HTTP_POST, + std::bind(&WebServer::webHandleCalibrate, + this)); // Run calibration routine (param id) + server->on( + "/api/factory", HTTP_GET, + std::bind(&WebServer::webHandleFactoryReset, this)); // Reset the device + server->on( + "/api/status", HTTP_GET, + std::bind(&WebServer::webHandleStatus, this)); // Get the status.json + server->on( + "/api/clearwifi", HTTP_GET, + std::bind(&WebServer::webHandleClearWIFI, this)); // Clear wifi settings + server->on("/api/upload", HTTP_GET, + std::bind(&WebServer::webHandleUpload, this)); // Get upload.json + + server->on( + "/api/upload", HTTP_POST, std::bind(&WebServer::webReturnOK, this), + std::bind(&WebServer::webHandleUploadFile, this)); // File upload data + server->on("/api/status/sleepmode", HTTP_POST, + std::bind(&WebServer::webHandleStatusSleepmode, + this)); // Change sleep mode + server->on("/api/config/device", HTTP_POST, + std::bind(&WebServer::webHandleConfigDevice, + this)); // Change device settings + server->on("/api/config/push", HTTP_POST, + std::bind(&WebServer::webHandleConfigPush, + this)); // Change push settings + server->on("/api/config/gravity", HTTP_POST, + std::bind(&WebServer::webHandleConfigGravity, + this)); // Change gravity settings + server->on("/api/config/hardware", HTTP_POST, + std::bind(&WebServer::webHandleConfigHardware, + this)); // Change hardware settings + + server->onNotFound(std::bind(&WebServer::webHandlePageNotFound, this)); + server->begin(); + Log.notice(F("WEB : Web server started." CR)); + return true; +} + +// +// called from main loop +// +void WebServer::loop() { + // Dont put serial debug output in this call + server->handleClient(); + MDNS.update(); +} + +// EOF diff --git a/src/webserver.h b/src/webserver.h deleted file mode 100644 index 5252055..0000000 --- a/src/webserver.h +++ /dev/null @@ -1,50 +0,0 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#ifndef _WEBSERVER_H -#define _WEBSERVER_H - -// Include - -// classes -class WebServer { - public: - enum HtmlFile { - HTML_INDEX = 0, - HTML_DEVICE = 1, - HTML_CONFIG = 2, - HTML_ABOUT = 3 - }; - - bool setupWebServer(); - void loop(); - bool checkHtmlFile( HtmlFile item ); - const char* getHtmlFileName( HtmlFile item ); -}; - -// Global instance created -extern WebServer myWebServer; - -#endif // _WEBSERVER_H - -// EOF \ No newline at end of file diff --git a/src/webserver.hpp b/src/webserver.hpp new file mode 100644 index 0000000..9051d23 --- /dev/null +++ b/src/webserver.hpp @@ -0,0 +1,116 @@ +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#ifndef SRC_WEBSERVER_HPP_ +#define SRC_WEBSERVER_HPP_ + +// Include +#include +#include +#include +#include + +// Binary resouces +#if defined(EMBED_HTML) +INCBIN_EXTERN(IndexHtm); +INCBIN_EXTERN(DeviceHtm); +INCBIN_EXTERN(ConfigHtm); +INCBIN_EXTERN(CalibrationHtm); +INCBIN_EXTERN(AboutHtm); +#else +INCBIN_EXTERN(UploadHtm); +#endif + +// classes +class WebServer { + private: + ESP8266WebServer* server = 0; + File uploadFile; + int lastFormulaCreateError = 0; + + void webHandleConfig(); + void webHandleFormulaWrite(); + void webHandleFormulaRead(); + void webHandleConfigHardware(); + void webHandleConfigGravity(); + void webHandleConfigPush(); + void webHandleConfigDevice(); + void webHandleStatusSleepmode(); + void webHandleClearWIFI(); + void webHandleStatus(); + void webHandleFactoryReset(); + void webHandleCalibrate(); + void webHandleUploadFile(); + void webHandleUpload(); + void webHandleDevice(); + void webHandlePageNotFound(); + + // Inline functions. + void webReturnOK() { server->send(200); } +#if defined(EMBED_HTML) + void webReturnIndexHtm() { + server->send_P(200, "text/html", (const char*)gIndexHtmData, gIndexHtmSize); + } + void webReturnDeviceHtm() { + server->send_P(200, "text/html", (const char*)gDeviceHtmData, + gDeviceHtmSize); + } + void webReturnConfigHtm() { + server->send_P(200, "text/html", (const char*)gConfigHtmData, + gConfigHtmSize); + } + void webReturnCalibrationHtm() { + server->send_P(200, "text/html", (const char*)gCalibrationHtmData, + gCalibrationHtmSize); + } + void webReturnAboutHtm() { + server->send_P(200, "text/html", (const char*)gAboutHtmData, gAboutHtmSize); + } +#else + void webReturnUploadHtm() { + server->send_P(200, "text/html", (const char*)gUploadHtmData, + gUploadHtmSize); + } +#endif + + public: + enum HtmlFile { + HTML_INDEX = 0, + HTML_DEVICE = 1, + HTML_CONFIG = 2, + HTML_ABOUT = 3, + HTML_CALIBRATION = 4 + }; + + bool setupWebServer(); + void loop(); + bool checkHtmlFile(HtmlFile item); + const char* getHtmlFileName(HtmlFile item); +}; + +// Global instance created +extern WebServer myWebServer; + +#endif // SRC_WEBSERVER_HPP_ + +// EOF diff --git a/src/wifi.cpp b/src/wifi.cpp index 933dc89..1a54a6a 100644 --- a/src/wifi.cpp +++ b/src/wifi.cpp @@ -1,283 +1,306 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#include "wifi.h" -#include "config.h" -#include "helper.h" -#include "gyro.h" -#include "calc.h" -#include "tempsensor.h" -#include -#include -#include -#include -#include -#include -#include - -Wifi myWifi; -WiFiManager myWifiManager; -bool shouldSaveConfig = false; - -const char* userSSID= USER_SSID; -const char* userPWD = USER_SSID_PWD; - -// -// Callback notifying us of the need to save config -// -void saveConfigCallback () { - shouldSaveConfig = true; -} - -// -// Connect to last known access point or create one if connection is not working. -// -bool Wifi::connect( bool showPortal ) { -#if LOG_LEVEL==6 - Log.verbose(F("WIFI: Connecting to WIFI via connection manager (portal=%s)." CR), showPortal?"true":"false"); - myWifiManager.setDebugOutput(true); -#endif - if( strlen(userSSID)==0 && showPortal ) { - Log.notice(F("WIFI: Starting wifi portal." CR)); - - myWifiManager.setBreakAfterConfig( true ); - myWifiManager.setSaveConfigCallback(saveConfigCallback); - myWifiManager.setMinimumSignalQuality(10); - myWifiManager.setClass("invert"); - myWifiManager.setHostname( myConfig.getMDNS() ); - myWifiManager.setConfigPortalTimeout( 120 ); // Keep it open for 120 seconds - - WiFiManagerParameter mdnsParam("mDNS", "hostname", myConfig.getMDNS(), 20); - myWifiManager.addParameter( &mdnsParam ); - - myWifiManager.startConfigPortal( WIFI_DEFAULT_SSID, WIFI_DEFAULT_PWD ); - - if( shouldSaveConfig ) { - myConfig.setMDNS( mdnsParam.getValue() ); - myConfig.saveFile(); - } - } - - // Connect to wifi - int i = 0; - - Log.notice(F("WIFI: Connecting to WIFI." CR)); - WiFi.mode(WIFI_STA); - if( strlen(userSSID) ) { - Log.notice(F("WIFI: Connecting to wifi using predefined settings %s." CR), userSSID); - WiFi.begin( userSSID, userPWD ); - } else { - WiFi.begin(); -#if LOG_LEVEL==6 - Log.verbose(F("WIFI: Using SSID=%s, KEY=%s." CR), WiFi.SSID().c_str(), WiFi.psk().c_str() ); -#endif - } - - while( WiFi.status() != WL_CONNECTED ) { - delay(100); - Serial.print( "." ); - -// if( i++ > 60 ) { // Try for 6 seconds. - if( i++ > 200 ) { // Try for 20 seconds. - Log.error(F("WIFI: Failed to connect to wifi, aborting." CR)); - return connectedFlag; // Return to main that we have failed to connect. - } - } - Serial.print( CR ); - connectedFlag = true; - Log.notice(F("WIFI: Connected to wifi ip=%s." CR), getIPAddress().c_str() ); - Log.notice(F("WIFI: Using mDNS name %s%s." CR), myConfig.getMDNS() ); - return connectedFlag; -} - -// -// This will erase the stored credentials and forcing the WIFI manager to AP mode. -// -bool Wifi::disconnect() { - Log.notice(F("WIFI: Erasing stored WIFI credentials." CR)); - // Erase WIFI credentials - return WiFi.disconnect(true); -} - -#if defined( ACTIVATE_OTA ) - -// -// -// -bool Wifi::updateFirmware() { - if( !newFirmware ) { - Log.notice(F("WIFI: No newer version exist, skipping update." CR)); - return false; - } -#if LOG_LEVEL==6 - Log.verbose(F("WIFI: Updating firmware." CR)); -#endif - - WiFiClient client; - String serverPath = myConfig.getOtaURL(); - serverPath += "firmware.bin"; - - HTTPUpdateResult ret = ESPhttpUpdate.update(client, serverPath); - - switch(ret) { - case HTTP_UPDATE_FAILED: - Log.error(F("WIFI: OTA update failed %d, %s." CR), ESPhttpUpdate.getLastError(), ESPhttpUpdate.getLastErrorString().c_str()); - break; - case HTTP_UPDATE_NO_UPDATES: - break; - case HTTP_UPDATE_OK: - Log.notice("WIFI: OTA Update sucesfull, rebooting." ); - delay(100); - ESP.reset(); - break; - } - return false; -} - -// -// Download and save file -// -void Wifi::downloadFile(const char *fname) { -#if LOG_LEVEL==6 - Log.verbose(F("WIFI: Download file %s." CR), fname); -#endif - WiFiClient client; - HTTPClient http; - String serverPath = myConfig.getOtaURL(); - serverPath += fname; - - // Your Domain name with URL path or IP address with path - http.begin( client, serverPath); - int httpResponseCode = http.GET(); - - if (httpResponseCode==200) { - File f = LittleFS.open( fname, "w" ); - http.writeToStream( &f ); - f.close(); - Log.notice(F("WIFI: Downloaded file %s." CR), fname); - } else { - Log.error(F("WIFI: Failed to download file, respone=%d" CR), httpResponseCode); - } - http.end(); -} - -// -// Check what firmware version is available over OTA -// -bool Wifi::checkFirmwareVersion() { -#if LOG_LEVEL==6 - Log.verbose(F("WIFI: Checking if new version exist." CR)); -#endif - WiFiClient client; - HTTPClient http; - String serverPath = myConfig.getOtaURL(); - serverPath += "version.json"; - - // Your Domain name with URL path or IP address with path - http.begin( client, serverPath); - - // Send HTTP GET request - int httpResponseCode = http.GET(); - - if (httpResponseCode==200) { - Log.notice(F("WIFI: Found version.json, response=%d" CR), httpResponseCode); - - String payload = http.getString(); -#if LOG_LEVEL==6 - Log.verbose(F("WIFI: Payload %s." CR), payload.c_str()); -#endif - DynamicJsonDocument ver(300); - DeserializationError err = deserializeJson(ver, payload); - if( err ) { - Log.error(F("WIFI: Failed to parse version.json, %s" CR), err); - } else { -#if LOG_LEVEL==6 - Log.verbose(F("WIFI: Project %s version %s." CR), (const char*) ver["project"], (const char*) ver["version"]); -#endif - int newVer[3]; - int curVer[3]; - - if( parseFirmwareVersionString( newVer, (const char*) ver["version"] ) ) { - if( parseFirmwareVersionString( curVer, CFG_APPVER) ) { -#if LOG_LEVEL==6 - Log.verbose(F("WIFI: OTA checking new=%d.%d.%d cur=%d.%d.%d" CR), newVer[0], newVer[1], newVer[2], curVer[0], curVer[1], curVer[2] ); -#endif - // Compare major version - if( newVer[0] > curVer[0] ) - newFirmware = true; - // Compare minor version - if( newVer[0] == curVer[0] && newVer[1] > curVer[1] ) - newFirmware = true; - // Compare patch version - if( newVer[0] == curVer[0] && newVer[1] == curVer[1] && newVer[2] > curVer[2] ) - newFirmware = true; - } - } - - // Download new html files to filesystem if they are present. - if( !ver["html"].isNull() && newFirmware ) { - Log.notice(F("WIFI: OTA downloading new html files." CR)); - JsonArray htmlFiles = ver["html"].as(); - for(JsonVariant v : htmlFiles) { - String s = v; -#if LOG_LEVEL==6 - Log.verbose(F("WIFI: OTA listed html file %s" CR), s.c_str() ); -#endif - downloadFile( s.c_str() ); - } - } - } - } else { - Log.error(F("WIFI: OTA error checking version.json, response=%d" CR), httpResponseCode); - } - http.end(); -#if LOG_LEVEL==6 - Log.verbose(F("WIFI: OTA found new version %s." CR), newFirmware?"true":"false"); -#endif - return newFirmware; -} - -// -// Parse a version string in the format M.m.p (eg. 1.2.10) -// -bool Wifi::parseFirmwareVersionString( int (&num)[3], const char *version ) { -#if LOG_LEVEL==6 - Log.verbose(F("WIFI: Parsing version number string %s." CR), version); -#endif - char temp[80]; - char *s; - char *p = &temp[0]; - int i = 0; - - strcpy( &temp[0], version ); - - while ((s = strtok_r(p, ".", &p)) != NULL) { - num[i++] = atoi( s ); - } - - return true; -} - -#endif // ACTIVATE_OTA - -// EOF \ No newline at end of file +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +Wifi myWifi; + +const char *userSSID = USER_SSID; +const char *userPWD = USER_SSID_PWD; + +// +// Connect to last known access point or create one if connection is not +// working. +// +bool Wifi::connect(bool showPortal) { + WiFi.persistent(true); + WiFi.mode(WIFI_STA); + + if (!strlen(myConfig.getWifiSSID())) { + Log.info( + F("WIFI: No SSID seams to be stored, forcing portal to start." CR)); + showPortal = true; + } else { + // Log.info(F("WIFI: Using SSID=%s and %s." CR), myConfig.getWifiSSID(), + // myConfig.getWifiPass()); Log.info(F("WIFI: Using SSID=%s and %s." CR), + // myConfig.getWifiSSID(), "*****"); + } + + if (strlen(userSSID) == 0 && showPortal) { +#if LOG_LEVEL == 6 + Log.verbose( + F("WIFI: Connecting to WIFI via connection manager (portal=%s)." CR), + showPortal ? "true" : "false"); +#endif + WiFiManager myWifiManager; + Log.notice(F("WIFI: Starting wifi portal." CR)); + myWifiManager.setDebugOutput(true); + myWifiManager.setClass("invert"); + myWifiManager.setConfigPortalTimeout(120); // Keep it open for 120 seconds + bool f = + myWifiManager.startConfigPortal(WIFI_DEFAULT_SSID, WIFI_DEFAULT_PWD); + if (f) { + // Log.notice(F("WIFI: Success got values from WIFI portal=%s,%s." CR), + // myWifiManager.getWiFiSSID(), myWifiManager.getWiFiPass() ); + Log.notice(F("WIFI: Success got values from WIFI portal=%s,%s." CR), + myWifiManager.getWiFiSSID(), "*****"); + myConfig.setWifiSSID(myWifiManager.getWiFiSSID()); + myConfig.setWifiPass(myWifiManager.getWiFiPass()); + myConfig.saveFile(); + } else { + Log.notice(F("WIFI: Failure from WIFI portal, rebooting." CR)); + delay(200); + ESP.reset(); + } + } + + // Connect to wifi + int i = 0; + + // Log.notice(F("WIFI: Connecting to WIFI, mode=%d,persistent=%d,fhy=%d ." + // CR), WiFi.getMode(), WiFi.getPersistent(), WiFi.getPhyMode() ); + WiFi.mode(WIFI_STA); + if (strlen(userSSID)) { + Log.notice(F("WIFI: Connecting to wifi using hardcoded settings %s." CR), + userSSID); + WiFi.begin(userSSID, userPWD); + } else { + Log.notice(F("WIFI: Connecting to wifi using stored settings %s." CR), + myConfig.getWifiSSID()); + WiFi.begin(myConfig.getWifiSSID(), myConfig.getWifiPass()); + } + + // WiFi.printDiag(Serial); + + while (WiFi.status() != WL_CONNECTED) { + delay(200); + Serial.print("."); + + if (i++ > 100) { // Try for 20 seconds. + Log.error(F("WIFI: Failed to connect to wifi %d, aborting %s." CR), + WiFi.status(), getIPAddress().c_str()); + WiFi.disconnect(); + return connectedFlag; // Return to main that we have failed to connect. + } + } + Serial.print(CR); + connectedFlag = true; + Log.notice(F("WIFI: Connected to wifi ip=%s." CR), getIPAddress().c_str()); + Log.notice(F("WIFI: Using mDNS name %s." CR), myConfig.getMDNS()); + return connectedFlag; +} + +// +// This will erase the stored credentials and forcing the WIFI manager to AP +// mode. +// +bool Wifi::disconnect() { + Log.notice(F("WIFI: Erasing stored WIFI credentials." CR)); + // Erase WIFI credentials + return WiFi.disconnect(true); +} + +#if defined(ACTIVATE_OTA) + +// +// +// +bool Wifi::updateFirmware() { + if (!newFirmware) { + Log.notice(F("WIFI: No newer version exist, skipping update." CR)); + return false; + } +#if LOG_LEVEL == 6 + Log.verbose(F("WIFI: Updating firmware." CR)); +#endif + + WiFiClient client; + String serverPath = myConfig.getOtaURL(); + serverPath += "firmware.bin"; + + HTTPUpdateResult ret = ESPhttpUpdate.update(client, serverPath); + + switch (ret) { + case HTTP_UPDATE_FAILED: + Log.error(F("WIFI: OTA update failed %d, %s." CR), + ESPhttpUpdate.getLastError(), + ESPhttpUpdate.getLastErrorString().c_str()); + break; + case HTTP_UPDATE_NO_UPDATES: + break; + case HTTP_UPDATE_OK: + Log.notice("WIFI: OTA Update sucesfull, rebooting."); + delay(100); + ESP.reset(); + break; + } + return false; +} + +// +// Download and save file +// +void Wifi::downloadFile(const char *fname) { +#if LOG_LEVEL == 6 + Log.verbose(F("WIFI: Download file %s." CR), fname); +#endif + WiFiClient client; + HTTPClient http; + String serverPath = myConfig.getOtaURL(); + serverPath += fname; + + // Your Domain name with URL path or IP address with path + http.begin(client, serverPath); + int httpResponseCode = http.GET(); + + if (httpResponseCode == 200) { + File f = LittleFS.open(fname, "w"); + http.writeToStream(&f); + f.close(); + Log.notice(F("WIFI: Downloaded file %s." CR), fname); + } else { + Log.error(F("WIFI: Failed to download file, respone=%d" CR), + httpResponseCode); + } + http.end(); +} + +// +// Check what firmware version is available over OTA +// +bool Wifi::checkFirmwareVersion() { +#if LOG_LEVEL == 6 + Log.verbose(F("WIFI: Checking if new version exist." CR)); +#endif + WiFiClient client; + HTTPClient http; + String serverPath = myConfig.getOtaURL(); + serverPath += "version.json"; + + // Your Domain name with URL path or IP address with path + http.begin(client, serverPath); + + // Send HTTP GET request + int httpResponseCode = http.GET(); + + if (httpResponseCode == 200) { + Log.notice(F("WIFI: Found version.json, response=%d" CR), httpResponseCode); + + String payload = http.getString(); +#if LOG_LEVEL == 6 + Log.verbose(F("WIFI: Payload %s." CR), payload.c_str()); +#endif + DynamicJsonDocument ver(300); + DeserializationError err = deserializeJson(ver, payload); + if (err) { + Log.error(F("WIFI: Failed to parse version.json, %s" CR), err); + } else { +#if LOG_LEVEL == 6 + Log.verbose(F("WIFI: Project %s version %s." CR), + (const char *)ver["project"], (const char *)ver["version"]); +#endif + int newVer[3]; + int curVer[3]; + + if (parseFirmwareVersionString(newVer, (const char *)ver["version"])) { + if (parseFirmwareVersionString(curVer, CFG_APPVER)) { +#if LOG_LEVEL == 6 + Log.verbose(F("WIFI: OTA checking new=%d.%d.%d cur=%d.%d.%d" CR), + newVer[0], newVer[1], newVer[2], curVer[0], curVer[1], + curVer[2]); +#endif + // Compare major version + if (newVer[0] > curVer[0]) newFirmware = true; + // Compare minor version + if (newVer[0] == curVer[0] && newVer[1] > curVer[1]) + newFirmware = true; + // Compare patch version + if (newVer[0] == curVer[0] && newVer[1] == curVer[1] && + newVer[2] > curVer[2]) + newFirmware = true; + } + } + + // Download new html files to filesystem if they are present. + if (!ver["html"].isNull() && newFirmware) { + Log.notice(F("WIFI: OTA downloading new html files." CR)); + JsonArray htmlFiles = ver["html"].as(); + for (JsonVariant v : htmlFiles) { + String s = v; +#if LOG_LEVEL == 6 + Log.verbose(F("WIFI: OTA listed html file %s" CR), s.c_str()); +#endif + downloadFile(s.c_str()); + } + } + } + } else { + Log.error(F("WIFI: OTA error checking version.json, response=%d" CR), + httpResponseCode); + } + http.end(); +#if LOG_LEVEL == 6 + Log.verbose(F("WIFI: OTA found new version %s." CR), + newFirmware ? "true" : "false"); +#endif + return newFirmware; +} + +// +// Parse a version string in the format M.m.p (eg. 1.2.10) +// +bool Wifi::parseFirmwareVersionString(int (&num)[3], const char *version) { +#if LOG_LEVEL == 6 + Log.verbose(F("WIFI: Parsing version number string %s." CR), version); +#endif + char temp[80]; + char *s; + char *p = &temp[0]; + int i = 0; + + // strcpy(&temp[0], version); + snprintf(&temp[0], sizeof(temp), "%s", version); + + while ((s = strtok_r(p, ".", &p)) != NULL) { + num[i++] = atoi(s); + } + + return true; +} + +#endif // ACTIVATE_OTA + +// EOF diff --git a/src/wifi.h b/src/wifi.hpp similarity index 63% rename from src/wifi.h rename to src/wifi.hpp index bf719e0..154e870 100644 --- a/src/wifi.h +++ b/src/wifi.hpp @@ -1,58 +1,58 @@ -/* -MIT License - -Copyright (c) 2021 Magnus - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - */ -#ifndef _WIFI_H -#define _WIFI_H - -// Include -#include - -// classes -class Wifi { - private: - // WIFI - bool connectedFlag = false; - - // OTA - bool newFirmware = false; - bool parseFirmwareVersionString( int (&num)[3], const char *version ); - void downloadFile(const char *fname); - - public: - // WIFI - bool connect( bool showPortal = false ); - bool disconnect(); - bool isConnected() { return connectedFlag; }; - String getIPAddress() { return WiFi.localIP().toString(); }; - - // OTA - bool updateFirmware(); - bool checkFirmwareVersion(); -}; - -// Global instance created -extern Wifi myWifi; - -#endif // _WIFI_H - -// EOF \ No newline at end of file +/* +MIT License + +Copyright (c) 2021-22 Magnus + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + */ +#ifndef SRC_WIFI_HPP_ +#define SRC_WIFI_HPP_ + +// Include +#include + +// classes +class Wifi { + private: + // WIFI + bool connectedFlag = false; + + // OTA + bool newFirmware = false; + bool parseFirmwareVersionString(int (&num)[3], const char *version); + void downloadFile(const char *fname); + + public: + // WIFI + bool connect(bool showPortal = false); + bool disconnect(); + bool isConnected() { return connectedFlag; } + String getIPAddress() { return WiFi.localIP().toString(); } + + // OTA + bool updateFirmware(); + bool checkFirmwareVersion(); +}; + +// Global instance created +extern Wifi myWifi; + +#endif // SRC_WIFI_HPP_ + +// EOF diff --git a/src_docs/Makefile b/src_docs/Makefile new file mode 100644 index 0000000..453ae79 --- /dev/null +++ b/src_docs/Makefile @@ -0,0 +1,25 @@ +# Minimal makefile for Sphinx documentation +# + +# You can set these variables from the command line, and also +# from the environment for the first two. +SPHINXOPTS ?= +SPHINXBUILD ?= sphinx-build +SOURCEDIR = source +BUILDDIR = _build + +# Put it first so that "make" without argument is like "make help". +help: + @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) + +github: + @make html + @cp -a _build/html/. ../docs + +.PHONY: help Makefile + +# Catch-all target: route all unknown targets to Sphinx using the new +# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS). +%: Makefile + @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) + diff --git a/src_docs/make.bat b/src_docs/make.bat new file mode 100644 index 0000000..061f32f --- /dev/null +++ b/src_docs/make.bat @@ -0,0 +1,35 @@ +@ECHO OFF + +pushd %~dp0 + +REM Command file for Sphinx documentation + +if "%SPHINXBUILD%" == "" ( + set SPHINXBUILD=sphinx-build +) +set SOURCEDIR=source +set BUILDDIR=build + +if "%1" == "" goto help + +%SPHINXBUILD% >NUL 2>NUL +if errorlevel 9009 ( + echo. + echo.The 'sphinx-build' command was not found. Make sure you have Sphinx + echo.installed, then set the SPHINXBUILD environment variable to point + echo.to the full path of the 'sphinx-build' executable. Alternatively you + echo.may add the Sphinx directory to PATH. + echo. + echo.If you don't have Sphinx installed, grab it from + echo.https://www.sphinx-doc.org/ + exit /b 1 +) + +%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O% +goto end + +:help +%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O% + +:end +popd diff --git a/src_docs/source/backlog.rst b/src_docs/source/backlog.rst new file mode 100644 index 0000000..4fd89b2 --- /dev/null +++ b/src_docs/source/backlog.rst @@ -0,0 +1,16 @@ +Backlog of changes +################## + +Documentation +------------- + +- Updates over OTA (from PC) +- Write contribution instructions + +Code +------------- + +- Support for MQTT +- Support for plato +- Use pre-commit for validating check-in +- Automatic builds via github actions diff --git a/src_docs/source/compiling.rst b/src_docs/source/compiling.rst new file mode 100644 index 0000000..6ebf6cf --- /dev/null +++ b/src_docs/source/compiling.rst @@ -0,0 +1,104 @@ +Compiling the software +----------------------- + +Tools +===== +I use the following tools in order to build and manage the software: + +* Visual Studio Code +* PlatformIO +* Git for Windows +* VSCode plugin: Minify (used to minimise the html files) + +Code Formatting +=============== +I use pre-commit and their cpp style checks to validate the code. Plugin defintions are found in **.pre-commit-config.yaml** + +https://www.pre-commit.com + +.. note:: + + There is not yet any automatic checks since this does not work on Windows. It works if running under WSL2 with Ubuntu. + + +Targets +======= +In the repository there are 3 targets defined + +* gravity-debug; Maximum logging for trouble shooting, deep sleep is disabled. +* gravity-release; Standard release +* gravity-perf; Standard release but contains code for measuring performance + +Source structure +================ +.. list-table:: Directory structure + :widths: 40 60 + :header-rows: 1 + + * - path + - content + * - /bin + - Contains compiled binaries + * - /data + - Directory for flashing device filesystem + * - /doc + - Various external documents used as input + * - /docs + - Folder published to github pages + * - /html + - Source for html files + * - /img + - Images uses in README.md + * - /lib + - External libraries used when compiling + * - /script + - Scripts used in build process + * - /src + - Source code for software + * - /src_docs + - Source code for documentation + * - /stl + - 3d models + * - /test + - Test data for developing html files + + +Options +======= +This is a list of C++ defines that is used to enable/disable functions in the code. + +.. list-table:: Defines + :widths: 40 60 + :header-rows: 1 + + * - define + - description + * - ACTIVATE_OTA + - Enables the OTA functionallity in the code + * - USE_GYRO_TEMP + - Uses temperature from gyro instead of DS18B20 (experimental) + * - SKIP_SLEEPMODE + - THe device never goes into sleep mode, useful when developing. + * - CFG_DISABLE_LOGGING + - Done include verbose logging in Config class. Excessive logging may crash device. + * - GYRO_DISABLE_LOGGING + - Done include verbose logging in Gyro class. Excessive logging may crash device. + * - PUSH_DISABLE_LOGGING + - Done include verbose logging in PushTarget class. Excessive logging may crash device. + * - TSEN_DISABLE_LOGGING + - Done include verbose logging in TempSensor class. Excessive logging may crash device. + * - WEB_DISABLE_LOGGING + - Done include verbose logging in WebServer class. Excessive logging may crash device. + * - MAIN_DISABLE_LOGGING + - Done include verbose logging in Main class. Excessive logging may crash device. + * - USE_LITTLEFS + - Use the new filesystem in Ardurino + * - EMBED_HTML + - Html files are included in code, if not defined they are served from the file system. + * - USER_SSID + - If defined the device will always use this SSID + * - USER_SSID_PWD + - Password to the SSID + * - CFG_APPVER + - Defines the version of the compiled software + diff --git a/src_docs/source/conf.py b/src_docs/source/conf.py new file mode 100644 index 0000000..cb2c115 --- /dev/null +++ b/src_docs/source/conf.py @@ -0,0 +1,55 @@ +# Configuration file for the Sphinx documentation builder. +# +# This file only contains a selection of the most common options. For a full +# list see the documentation: +# https://www.sphinx-doc.org/en/master/usage/configuration.html + +# -- Path setup -------------------------------------------------------------- + +# If extensions (or modules to document with autodoc) are in another directory, +# add these directories to sys.path here. If the directory is relative to the +# documentation root, use os.path.abspath to make it absolute, like shown here. +# +# import os +# import sys +# sys.path.insert(0, os.path.abspath('.')) + + +# -- Project information ----------------------------------------------------- + +project = 'GravityMon' +copyright = '2021-2022, Magnus Persson' +author = 'Magnus Persson' + +# The full version, including alpha/beta/rc tags +release = '0.5.0' + + +# -- General configuration --------------------------------------------------- + +# Add any Sphinx extension module names here, as strings. They can be +# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom +# ones. +extensions = [ +] + +# Add any paths that contain templates here, relative to this directory. +templates_path = ['_templates'] + +# List of patterns, relative to source directory, that match files and +# directories to ignore when looking for source files. +# This pattern also affects html_static_path and html_extra_path. +exclude_patterns = [] + + +# -- Options for HTML output ------------------------------------------------- + +# The theme to use for HTML and HTML Help pages. See the documentation for +# a list of builtin themes. +# +html_theme = 'sphinx_rtd_theme' + +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +html_static_path = ['_static'] \ No newline at end of file diff --git a/src_docs/source/configuration.rst b/src_docs/source/configuration.rst new file mode 100644 index 0000000..31d308a --- /dev/null +++ b/src_docs/source/configuration.rst @@ -0,0 +1,477 @@ +Configuration +----------------------- +The device can operate in two modes and must be in `configuration mode` in order for the web server to be active. + +One of the following conditions will place the device in `configuration mode`: + +- Gyro has not been calibrated +- Sleep mode has been disabled in the web interface +- Placed in horizontal mode 85-90 degrees +- Charger connected >4.15V + +Status +====== + +URL: (http://gravmon.local) + +.. image:: images/index.png + :width: 800 + :alt: Index page + +Configuration is accessed by entering the URL for the device, this will be the mDNS name *device.local* or the IP adress. The following chapter assumes the device name is *gravmon*. + +The main page shows the device readings; gravity, angle, temperature and battery charge. If the checkbox is active then the device will never go into sleep mode. This is useful if +you are collecting angle/tilt for calibration. If this is unchecked the device will change mode as explained before. + +.. note:: + + If you are connected to the device via a serial console (speed: 115200) you can see the connection sequence and get the Unique ID and IP adress from there. + + +Device +====== + +URL: (http://gravmon.local/device) + +.. image:: images/device.png + :width: 800 + :alt: Device Settings + + +* **Version:** + + Installed version of the code and html files. + +* **Device name:** + + This is unique name of the device. + +* **Device ID:** + + This is unique identifier for the device (ESP8266 id), this is required when using the API as an API Key to safeguard against faulty requests. + + +Configuration +============= + +URL: (http://gravmon.local/config) + +Device Setting +************** + +.. image:: images/config1.png + :width: 800 + :alt: Device Settings + +* **Device name:** + + This is unique name for the device. It will be used in pushing data as well as mDNS name on the network (.local) + +* **Temperature format:** + + Choose between Celsius and Farenheight + +* **Interval:** + + This defines how long the device should be sleeping between the readings when in `gravity monitoring` mode. You will also see the values in minutes/seconds to easier set the interval. 900s is a recommended interval. + +.. note:: + + The sleep interval can be set between 10 - 3600 seconds (60 minutes). + +* **Calibration values:** + + These are calibration data for the gyro. Place the device flat on a table and press the button to save the default orientation values. Without this calibration we cannot calculate the correct angle/tilt. + +.. note:: + + The device will **not** go into `gravity monitoring` mode unless calibrated + +Push Settings +************* + +.. image:: images/config2.png + :width: 800 + :alt: Push Settings + +* **HTTP URL 1:** + + Endpoint to send data via http. Format used is standard iSpindle format (see format section). + +* **HTTP URL 2:** + + Endpoint to send data via http. Format used is standard iSpindle format (see format section). + +* **Brewfather URL:** + + Endpoint to send data via http to brewfather. Format used is defined by brewfather (see format section). + +* **Influx DB v2 URL:** + + Endpoint to send data via http to InfluxDB. For format (see format section). + +* **Influx DB v2 Organisation:** + + Name of organisation in Influx. + +* **Influx DB v2 Bucket:** + + Identifier for bucket. + +* **Influx DB v2 Token:** + + Token with write access to bucket. + + +Gravity Settings +**************** + +.. image:: images/config3.png + :width: 800 + :alt: Gravity Settings + +* **Gravity formula:** + + Gravity formula is compatible with standard iSpindle formulas so any existing calculation option can be used. Is updated if the calibration function is used. + +* **Temperature correct gravity:** + + Will apply a temperature calibration formula to the gravity as a second step. + + This is the formula used for temperature calibration (temp is in F). Cal = 20C. + +.. code-block:: + + gravity*((1.00130346-0.000134722124*temp+0.00000204052596*temp^2-0.00000000232820948*temp^3)/(1.00130346-0.000134722124*cal+0.00000204052596*cal^2-0.00000000232820948*cal^3)) + + +Hardware Settings +***************** + +.. image:: images/config4.png + :width: 800 + :alt: Hardware Settings + +* **Voltage factor:** + + Factor used to calcualate the battery voltage. If you get a too low/high voltage you can adjust this value. + +* **Temperature correction:** + + This value will be added to the temperature reading (negative value will reduce temperature reading). + +* **OTA URL:** + + Should point to a URL where the .bin file + version.json file is located. + + For the OTA to work, place the following files (version.json + firmware.bin) at the location that you pointed out in OTA URL. If the version number in the json file is newer than in the + code the update will be done during startup. + + Example; OTA URL (don't forget trailing dash), the name of the file should be firmware.bin + +.. code-block:: + + http://192.168.1.1/firmware/gravmon/ + + + +Create formula +============================= + +.. image:: images/formula1.png + :width: 800 + :alt: Formula data + +Here you can enter up to 5 values (angles + gravity) that is then used to create the formula. Angles equal to zero will be regarded as empty even if there is a gravity reading. + +.. image:: images/formula2.png + :width: 800 + :alt: Formula graph + +Once the formula is created a graph over the entered values and a simulation of the formula will give you a nice overview on how the formula will work. + + +REST API +============================= + +All the API's use a key called ``ID`` which is the unique device id (chip id). This is used as an API key when sending requests to the device. + +GET: /api/config +**************** + +Retrive the current configuation of the device via an HTTP GET command. Payload is in JSON format. + +* ``temp-format`` can be either ``C`` or ``F`` +* ``gravity-format`` is always ``G`` (plato is not yet supported) + +Other parameters are the same as in the configuration guide. + +.. code-block:: json + + { + "mdns": "gravmon", + "id": "ee1bfc", + "ota-url": "http://192.168.1.50:80/firmware/gravmon/", + "temp-format": "C", + "brewfather-push": "http://log.brewfather.net/stream?id=Qwerty", + "http-push": "http://192.168.1.50:9090/api/v1/Qwerty/telemetry", + "http-push2": "http://192.168.1.50/ispindel", + "influxdb2-push": "http://192.168.1.50:8086", + "influxdb2-org": "Qwerty", + "influxdb2-bucket": "Qwerty", + "influxdb2-auth": "Qwerty", + "sleep-interval": 30, + "voltage-factor": 1.59, + "gravity-formula": "0.0*tilt^3+0.0*tilt^2+0.0017978*tilt+0.9436", + "gravity-format": "G", + "temp-adjustment-value": 0, + "gravity-temp-adjustment": false, + "gyro-calibration-data": { + "ax": -330, + "ay": -2249, + "az": 1170, + "gx": 99, + "gy": -6, + "gz": 4 + }, + "angle": 90.93, + "gravity": 1.105, + "battery": 0.04 + } + + +GET: /api/device +**************** + +Retrive the current device settings via an HTTP GET command. Payload is in JSON format. + +.. code-block:: json + + { + "app-name": "GravityMon ", + "app-ver": "0.0.0", + "id": "ee1bfc", + "mdns": "gravmon" + } + + +GET: /api/status +**************** + +Retrive the current device status via an HTTP GET command. Payload is in JSON format. + +* ``temp-format`` can be either ``C`` or ``F`` + +Other parameters are the same as in the configuration guide. + +.. code-block:: json + + { + "id": "ee1bfc", + "angle": 89.86, + "gravity": 1.1052, + "gravity-tempcorr": 1.1031, + "temp-c": 0, + "temp-f": 32, + "battery": 0, + "temp-format": "C", + "sleep-mode": false, + "rssi": -56 + } + + +GET: /api/config/formula +************************ + +Retrive the data used for formula calculation data via an HTTP GET command. Payload is in JSON format. + +* ``a1``-``a4`` are the angles/tilt readings (up to 5 are currently supported) +* ``g1``-``g4`` are the corresponding gravity reaadings (in SG) + +.. code-block:: json + + { + "id": "ee1bfc", + "a1": 22.4, + "a2": 54.4, + "a3": 58, + "a4": 0, + "a5": 0, + "g1": 1.000, + "g2": 1.053, + "g3": 1.062, + "g4": 1, + "g5": 1 + "gravity-formula": "0.0*tilt^3+0.0*tilt^2+0.0017978*tilt+0.9436", + } + + +POST: /api/config/device +************************ + +Used to update device settings via an HTTP POST command. Payload is in JSON format. + +* ``temp-format`` can be either ``C`` or ``F`` + +.. code-block:: json + + { + "id": "ee1bfc", + "mdns": "gravmon", + "temp-format": "C", + "sleep-interval": 30 + } + + +POST: /api/config/push +********************** + +Used to update push settings via an HTTP POST command. Payload is in JSON format. + +.. code-block:: json + + { + "id": "ee1bfc", + "http-push": "http://192.168.1.50/ispindel", + "http-push2": "", + "brewfather-push": "", + "influxdb2-push": "http://192.168.1.50:8086", + "influxdb2-org": "Qwerty", + "influxdb2-bucket": "Qwerty", + "influxdb2-auth": "Qwerty" + } + + +POST: /api/config/gravity +************************* + +Used to update gravity settings via an HTTP POST command. Payload is in JSON format. + +* ``gravity-formula`` keywords ``temp`` and ``tilt`` are supported. + +.. code-block:: json + + { + "id": "ee1bfc", + "gravity-formula": "0.0*tilt^3+0.0*tilt^2+0.0017978*tilt+0.9436", + "gravity-temp-adjustment": "off" + } + + +POST: /api/config/gravity +************************* + +Used to update hardware settings via an HTTP POST command. Payload is in JSON format. + +.. code-block:: json + + { + "id": "ee1bfc", + "voltage-factor": 1.59, + "temp-adjustment": 0, + "ota-url": "http://192.168.1.50/firmware/gravmon/" + } + + +POST: /api/config/formula +************************* + +Used to update formula calculation data via an HTTP POST command. Payload is in JSON format. + +* ``a1``-``a4`` are the angles/tilt readings (up to 5 are currently supported) +* ``g1``-``g4`` are the corresponding gravity reaadings (in SG) + +.. code-block:: json + + { + "id": "ee1bfc", + "a1": 22.4, + "a2": 54.4, + "a3": 58, + "a4": 0, + "a5": 0, + "g1": 1.000, + "g2": 1.053, + "g3": 1.062, + "g4": 1, + "g5": 1 + } + + +Data Formats +============================= + +iSpindle format +*************** + +This is the format used for standard http posts. + +* ``corr-gravity`` is an extended parameter containing a temperature corrected gravity reading. +* ``run-time`` is an extended parameter containing the number of seconds the execution took. + +.. code-block:: json + + { + "name" : "gravmon", + "ID": "2E6753", + "token" : "gravmon", + "interval": 900, + "temperature": 20.5, + "temp-units": "C", + "gravity": 1.0050, + "corr-gravity": 1.0050, + "angle": 45.34, + "battery": 3.67, + "rssi": -12, + "run-time": 6 + } + + +Brewfather format +****************** + +This is the format for Brewfather + + +.. code-block:: json + + { + "name" : "gravmon", + "temp": 20.5, + "temp-unit": "C", + "battery": 3.67, + "gravity": 1.0050, + "gravity_unit": "G", + } + + +Influx DB v2 +************ + +This is the format for InfluxDB v2 + +.. code-block:: + + measurement,host=,device=,temp-format=,gravity-format=SG,gravity=1.0004,corr-gravity=1.0004,angle=45.45,temp=20.1,battery=3.96,rssi=-18 + + +version.json +************ + +Contents version.json. The version is used by the device to check if the this version is newer. The html files will also be downloaded if the are present on the server. This way it's easy to +upgrade to a version that serve the html files from the file system. If they dont exist nothing will happen, the OTA flashing will still work. If the html files are missing from the file system +they can be uploaded manually afterwards. + +.. code-block:: json + + { + "project":"gravmon", + "version":"0.4.10", + "html": [ + "index.min.htm", + "device.min.htm", + "config.min.htm", + "calibration.min.htm", + "about.min.htm" + ] + } diff --git a/src_docs/source/contributing.rst b/src_docs/source/contributing.rst new file mode 100644 index 0000000..7472165 --- /dev/null +++ b/src_docs/source/contributing.rst @@ -0,0 +1,5 @@ +Contributing +------------ + +This section is under construction. + diff --git a/src_docs/source/functionallity.rst b/src_docs/source/functionallity.rst new file mode 100644 index 0000000..e72dbec --- /dev/null +++ b/src_docs/source/functionallity.rst @@ -0,0 +1,75 @@ +Functionallity +============== + +The main differences +-------------------- + +* **Operates in two modes `gravity monitoring` and `configuration mode`** + + In gravity monitoring mode it behaves just like the iSpindle, it wakes up at regular intervals, measure angle/tile, temperature, calculates gravity and pushes the data to defined endpoints. + + In configuration mode the device is always active and the webserver is active. Here you can view the angle/tilt values, change configuration options and more. When in this mode you can also interact with the device + via an REST API so data can be pushed to the device via scripts (see API section for more information)- + + *See the configuration section for more information on how to trigger the configuration mode.* + +* **Can send data to multiple endpoints at once** + + The orignial iSpindle can only have one destination, this sofware will push data to all defined endpoints so in theory you can use them all. However this will consume a lot of battery power so use only as many as needed. + + Currently the device supports the following endpoints: http (2 differnt), influxdb2 and Brewfather + + If you want additional targets please raise a feature request in the github repo. + +* **Build in function to create gravity formulas, so no need for using other tools for this part** + + Another big difference is that this software can create the gravity formula in the device, just enter the angle/gravity data that you have collected. You will also see a graph simulating how the formula would work. + +* **Automatic temperature adjustment of gravity reading** + + If you want to correct gravity based on beer temperature you can do this in the formula but here is a nice feature that can correct the gravity as a second step making this independant of the formula. + +.. note:: + + This feature needs more testing to be validated. + +* **OTA support from local webserver** + + When starting up in configuration mode the device will check for a software update from a local webserver. + +* **DS18B20 temperature adjustments** + + You can adjust the temperature reading of the temperature sensor. + +* **Gyro Movement** + + The software will detect if the gyro is moving and if this is the case it will go back to sleep for 60seconds. This way we should avoid faulty measurements. + +Other features +-------------- + +* Support for Celcius and Farenheigt as temperature formats. + +* Support SG (Plato is not yet supported) + +* Gyro data is read 50 times to ensure good accuracy + +Experimental features +--------------------- + +* Use the temperature sensor in the gyro instead of DS18B20 + + This works fine when the device has time to cool down between measurements and it saves a few milliseconds (reduced battery consumption). My testing shows that this is quite accurate. + There is lots of battery power to save, reading the temp sensor takes almost as long as the gyro. This could reduce the run time by 40-50% and probly extend battery life with the same. + However more testing is required. Might add this as an option in the UI. + +.. note:: + + This is not enabled by default. + +* Performance measurements + + I've also create a small library to measure execution code in some areas of the code that i know is time consuming. This way I can find a good balance between performace and quality. + + *See the compile section for more information.* + diff --git a/src_docs/source/images/config1.png b/src_docs/source/images/config1.png new file mode 100644 index 0000000..af5ab28 Binary files /dev/null and b/src_docs/source/images/config1.png differ diff --git a/src_docs/source/images/config2.png b/src_docs/source/images/config2.png new file mode 100644 index 0000000..f1fbde6 Binary files /dev/null and b/src_docs/source/images/config2.png differ diff --git a/src_docs/source/images/config3.png b/src_docs/source/images/config3.png new file mode 100644 index 0000000..568e17c Binary files /dev/null and b/src_docs/source/images/config3.png differ diff --git a/src_docs/source/images/config4.png b/src_docs/source/images/config4.png new file mode 100644 index 0000000..d7c9c60 Binary files /dev/null and b/src_docs/source/images/config4.png differ diff --git a/src_docs/source/images/device.png b/src_docs/source/images/device.png new file mode 100644 index 0000000..6d445a0 Binary files /dev/null and b/src_docs/source/images/device.png differ diff --git a/src_docs/source/images/formula1.png b/src_docs/source/images/formula1.png new file mode 100644 index 0000000..dede459 Binary files /dev/null and b/src_docs/source/images/formula1.png differ diff --git a/src_docs/source/images/formula2.png b/src_docs/source/images/formula2.png new file mode 100644 index 0000000..6ed084d Binary files /dev/null and b/src_docs/source/images/formula2.png differ diff --git a/src_docs/source/images/index.png b/src_docs/source/images/index.png new file mode 100644 index 0000000..290f037 Binary files /dev/null and b/src_docs/source/images/index.png differ diff --git a/src_docs/source/index.rst b/src_docs/source/index.rst new file mode 100644 index 0000000..26e5a68 --- /dev/null +++ b/src_docs/source/index.rst @@ -0,0 +1,121 @@ +.. GravityMon documentation master file, created by + sphinx-quickstart on Wed Jan 5 22:46:42 2022. + You can adapt this file completely to your liking, but it should at least + contain the root `toctree` directive. + +Welcome to GravityMon's documentation! +###################################### + +.. note:: + + Preliminary documentation. This is work in progress. This documentation reflects **v0.5** + + +GravityMon is a replacement firmare for the iSpindle hardware. It's used to measure gravity in beer and show the progress +of fermentation. + +For more information on this topic and function please visit https://www.ispindel.de. + +I started GravityMon because i like to create software and wanted to do some low level programming. I had done a few +projects based on esp8266 and also started to brew beer so this combination was quite natural. + +The hardware design comes from the fantastic iSpindle project so that is not covered in this documentation. + +My approach to this software is a little different from that the original ispindle firmware. The github repository can +be found here; https://github.com/mp-se/gravitymon + +.. note:: + + This software is in the early stages even though its more than one year old so if you find issues, please + open a ticket on github. + + I dont take responsibility for any errors that can cause problems with the use. I have tested v0.4 on 5+ brews + over the last 6 months without any issues. + +The main differences: +--------------------- + +* Operates in two modes `gravity monitoring` and `configuration mode` +* Send data to multiple endpoints when pushing data. +* Automatic temperature adjustment of gravity reading +* OTA support from local webserver +* Build in function to create gravity formulas (*New in v0.5*) + +There are also a experimental features such as: + +* Using the temperature sensor in gyro instead of DS18B20 (faster) +* Performance measurements (used to optimise code) + +**For a complete breakdown see the functionallity section.** + +Credits to +---------- +This software uses the following libraries and without these this would have been much more difficult to acheive: + +* https://github.com/jrowberg/i2cdevlib.git + + This library contains the basic code to interact with the gyro + many more chips. + +* https://github.com/codeplea/tinyexpr + + Proccess the gravity formula and calculate the gravity and various corrections. + +* https://github.com/graphitemaster/incbin + + Include binary files into the code, used to service html files. + +* https://github.com/khoih-prog/ESP_DoubleResetDetector + + Can detect if the reset button is pressed twice, is used to enter WIFI config mode. + +* https://github.com/tzapu/WiFiManager + + Configure wifi settings. + +* https://github.com/thijse/Arduino-Log + + Logging library for handling different loglevels and configure what sent over the serial. + +* https://github.com/bblanchon/ArduinoJson + + Json parser/creator used in configuration files and API's + +* https://github.com/PaulStoffregen/OneWire + + Communication library used for interacting with temperature sensor. + +* https://github.com/milesburton/Arduino-Temperature-Control-Library + + Interaction with the DS18B20 sensor + +* https://github.com/Rotario/arduinoCurveFitting + + Create the gravity formula. + +* https://graphjs.com/ + + Render the graphs in the UI. + +* https://getbootstrap.com/ + + CSS templates for the web page. + + +.. toctree:: + :maxdepth: 2 + :caption: Contents: + + releases + functionallity + installation + configuration + compiling + contributing + backlog + +Indices and tables +================== + +* :ref:`genindex` +* :ref:`modindex` +* :ref:`search` diff --git a/src_docs/source/installation.rst b/src_docs/source/installation.rst new file mode 100644 index 0000000..2193b32 --- /dev/null +++ b/src_docs/source/installation.rst @@ -0,0 +1,45 @@ +Installation +------------ + +Official esptool +================ + +The prefered option for flashing esp8266 device is via the official esptool. Documentation can be found +here; https://docs.espressif.com/projects/esptool/en/latest/esp32/ + +The basic command for flashing is; + +``esptool.py --port COM4 write_flash 0x1000 firmware.bin`` + +In the /bin directory you will find 3 different firmware builds; + +* **firmware.bin** + + This is the standard release build (prefered version) + +* **firmware-perf.bin** + + This version also submits performance data to an influx database with detailed execution times. + +* **firmware-debug.bin** + + Development build. Not recommended for normal use. + +In these versions all the html files are embedded in the binaries. The file system is currently only used for storing +the configuration file. + +If the software becomes so large the html files can be moved to the file system, but this is not enabled by +default (see compiling for details). This approach makes installation much easier and ensure that html files +and code is in sync. + + +Configuring WIFI +================ + +When the device is flashed it will need to have WIFI configuration in order to work. If you have used other software on +the device its possible that wifi settings exist. + +If this is not configured in the device it will create an wirless access point called `GravMon`. Connect to this AP and +enter the SSID and password you want to use. If the web page dont open automatically you can enter the following adress +in the browser: **http://192.168.4.1** + diff --git a/src_docs/source/releases.rst b/src_docs/source/releases.rst new file mode 100644 index 0000000..5e8213d --- /dev/null +++ b/src_docs/source/releases.rst @@ -0,0 +1,22 @@ +Releases +======== + +v0.5.0 (beta) +------------- + +Latest next target version is: **v0.5.0**. This is hosted in the **dev branch**. + +* Added feature to calcuate formula on device +* Total rewrite of documentation +* WIFI settings are now stored in config file +* Defined version numbers for all dependant libraries to avoid updates breaking build. +* Cleanup of code +* Refactor code from C to C++ + +v0.4.0 +------ + +Latest stable development version is: **v0.4.0** + +https://github.com/mp-se/gravitymon/releases/tag/v0.4.0 + diff --git a/src_docs/source/styling.rst b/src_docs/source/styling.rst new file mode 100644 index 0000000..de1ef4e --- /dev/null +++ b/src_docs/source/styling.rst @@ -0,0 +1,58 @@ +Testing formatting +------------------ + +Header 1 +######## + +Header 2 +-------- + +Header 3 +******** + +**BOLD** + +*ITALIC* + +``CODE SAMPLE`` + +1. List +2. List + +* List +* List + +.. list-table:: Table + :widths: 40 60 + :header-rows: 1 + + * - table + - table + * - content + - content + +.. image:: images/formula1.png + :width: 400 + :alt: image + +.. code-block:: objdump + + measurement,host=,device=,temp-format=,gravity-format=SG,gravity=1.0004,corr-gravity=1.0004,angle=45.45,temp=20.1,battery=3.96,rssi=-18 + +.. code-block:: json + + { + "project":"gravmon", + "version":"0.4.10", + "html": [ + "index.min.htm", + "device.min.htm", + "config.min.htm", + "calibration.min.htm", + "about.min.htm" + ] + } + +.. note:: + + Note... diff --git a/test/configure.py b/test/configure.py new file mode 100644 index 0000000..7ec5fa2 --- /dev/null +++ b/test/configure.py @@ -0,0 +1,81 @@ +import requests +import json + +host = "192.168.1.1" # IP adress (or name) of the device to send these settings to +id = "ee1bfc" # Device ID (shown in serial console during startup or in UI) + +def set_config( url, json ): + headers = { "ContentType": "application/json" } + print( url ) + #print( json ) + resp = requests.post( url, headers=headers, data=json ) + if resp.status_code != 200 : + print ( "Failed " ) + else : + print ( "Success " ) + +# +# Configure the device settings. +# +url = "http://" + host + "/api/config/device" +json = { "id": id, + "mdns": "gravmon", # Name of the device + "temp-format": "C", # Temperature format C or F + "sleep-interval": 30 # Sleep interval in seconds + } +set_config( url, json ) + +# +# Configure the push settings. Blank means that its no used. +# +url = "http://" + host + "/api/config/push" +json = { "id": id, + "http-push": "http://192.168.1.1/ispindel", # HTTP endpoint + "http-push2": "", # HTTP endpoint2 + "brewfather-push": "", # Brewfather URL + "influxdb2-push": "", # InfluxDB2 settings + "influxdb2-org": "", + "influxdb2-bucket": "", + "influxdb2-auth": "" + } +set_config( url, json ) + + +# +# Configure the gravity settings. +# +url = "http://" + host + "/api/config/gravity" +json = { "id": id, + "gravity-formula": "", # If you want to set the gravity formula + "gravity-temp-adjustment": "off" # on or off + } +set_config( url, json ) + +# +# Configure the hardware settings. +# +url = "http://" + host + "/api/config/hardware" +json = { "id": id, + "voltage-factor": 1.59, # Default value for voltage calculation + "temp-adjustment": 0, # If temp sensor needs to be corrected + "ota-url": "" # if the device should seach for a new update when active + } +set_config( url, json ) + +# +# Configure the gravity formula settings. If this is called the formula will be updated based on these measurements (zero angle values will be ignored) +# +url = "http://" + host + "/api/formula" +json = { "id": id, + "a1": 22.4, + "a2": 54.4, + "a3": 58, + "a4": 0, + "a5": 0, + "g1": 1.000, + "g2": 1.053, + "g3": 1.062, + "g4": 1, + "g5": 1 + } +set_config( url, json ) diff --git a/test/formula.json b/test/formula.json new file mode 100644 index 0000000..fd53a8b --- /dev/null +++ b/test/formula.json @@ -0,0 +1,14 @@ +{ + "gravity-formula": "0.00000166*tilt^3+-0.00024799*tilt^2+0.01344400*tilt+0.79358248", + "angle": 45, + "a1": 25, + "a2": 35, + "a3": 45, + "a4": 55, + "a5": 65, + "g1": 1.000, + "g2": 1.010, + "g3": 1.025, + "g4": 1.040, + "g5": 1.060 +} \ No newline at end of file diff --git a/test/upload.json b/test/upload.json index 38dc931..10d8f2b 100644 --- a/test/upload.json +++ b/test/upload.json @@ -2,5 +2,6 @@ "index": false, "device": false, "config": false, + "calibration": false, "about": true } \ No newline at end of file