Initial public release of WII5 Buoy firmware

Firmware for an autonomous wave-measurement buoy (ATmega2560-based WII5 v2 board). Reads wave motion from a Sparton AHRS-M1/M2 IMU, samples GPS and battery state, and reports back over Iridium SBD satellite telemetry. Originally developed 2012-2024. This is the first public release. Code, documentation, and field-tested operating modes (Capture, Sleep, Position, ManualTest, SelfTest, LowBattery) are licensed under Apache 2.0 — see LICENSE and NOTICE. See README.md for an overview and build instructions, CONTRIBUTING.md for how to contribute, and DEPLOYMENTS.md for the field-deployment log.
2026-05-07 16:00:21 +10:00
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+// SPDX-License-Identifier: Apache-2.0
+// Copyright (c) 2012-2024 Scott Penrose <scottp@dd.com.au> and WII5 Buoy contributors
+//
+// This file is part of WII5 Buoy firmware.
+// See LICENSE for full terms.
+
+/**
+ * @file WII5Maths.h
+ * @brief Maths CPU controller: power, hold, restart, and SD-card hand-off.
+ */
+
+#ifndef WII5Maths_h
+#define WII5Maths_h
+
+#include <Arduino.h>
+#include <WII5Data.h>
+#include <elapsedMillis.h>
+#include <TimeLib.h>
+#include <WII5.h>
+
+enum WII5MATHS_STEPS {
+   WII5MATHS_UNKNOWN,
+   WII5MATHS_WARN,
+   WII5MATHS_OFF,
+   WII5MATHS_ASK,
+   WII5MATHS_REBOOT,
+   WII5MATHS_BOOT,
+   WII5MATHS_BOOT_WAIT,
+   WII5MATHS_READY,
+   WII5MATHS_HOLD_ON,
+   WII5MATHS_FINISH
+};
+
+#define MATHS_QUEUE_MAX 2
+#define MATHS_QUEUE_BUFFER 150
+
+class WII5Maths : public WII5Power {
+	public:
+		WII5Maths() {}
+		virtual WII5_CONTROLLERS controllerId() {return WII5CONTROLLER_DRIVER;}
+		virtual WII5_DRIVERS driverId() {return WII5DRIVER_MATHS;}
+
+    void setDebug(bool in);
+    bool getDebug();
+
+		void begin();
+		void loop();
+
+		void start(WII5_MATHSMODE mm);
+		void stop(bool force = false);
+
+    void powerOff(bool force = false);
+    void powerOn(bool force = false);
+
+    // Stats on running etc
+    time_t lastStartTime;
+    uint32_t lastRunTime;
+
+    void setMathsUntil(time_t t);
+    time_t getMathsUntil();
+
+    bool isRunning();
+    bool isOff();
+
+    void gpioClick();
+
+    void setHold(uint32_t in, bool allowLower = false);
+    void woops_on();
+    void cancelHold();
+    bool processHold();
+    void setReturnLine();
+    void cancelReturnLine();
+
+    uint32_t remainingHold();
+    uint32_t remainingUntil();
+
+    bool isMode(WII5_MATHSMODE mm);
+
+    void sendTime();
+    void sendQueue();
+    bool queueCommand(char *val, uint8_t valSize);
+    void queueDone();
+
+	protected:
+    uint8_t queueCount;
+    char queueMessage[MATHS_QUEUE_MAX][MATHS_QUEUE_BUFFER];
+    elapsedMillis queueLast;
+    uint8_t queueRetry;
+
+    bool running;
+    bool debug;
+    WII5_MATHSMODE mathsMode;
+
+    uint8_t retry;
+
+    bool firstboot;   // First booted up - wait, not touching power lines
+
+    time_t mathsUntil;
+
+    // No longer used
+    // elapsedMillis elapsedHello;
+    // elapsedMillis elapsedRequest;
+    // elapsedMillis elapsedGpio;
+
+    elapsedMillis returnlineWait;
+    elapsedMillis holdWait;
+    uint32_t holdFor;
+
+		WII5MATHS_STEPS step;
+		WII5MATHS_STEPS stepLast;
+    elapsedMillis stepWait;
+    elapsedMillis displayWait;
+    elapsedMillis timeWait;
+
+};
+
+extern WII5Maths wii5Maths;
+
+#endif