Initial commit
This commit is contained in:
commit
4acb852557
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@ -0,0 +1,4 @@
|
|||
set(srcs "src/pid_ctrl.c")
|
||||
|
||||
idf_component_register(SRCS "${srcs}"
|
||||
INCLUDE_DIRS "include")
|
|
@ -0,0 +1,202 @@
|
|||
|
||||
Apache License
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@ -0,0 +1,4 @@
|
|||
version: "0.1.0"
|
||||
description: Proportional-integral-derivative controller
|
||||
dependencies:
|
||||
idf: ">=4.3"
|
|
@ -0,0 +1,100 @@
|
|||
/*
|
||||
* SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "esp_err.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief PID calculation type
|
||||
*
|
||||
*/
|
||||
typedef enum {
|
||||
PID_CAL_TYPE_INCREMENTAL, /*!< Incremental PID control */
|
||||
PID_CAL_TYPE_POSITIONAL, /*!< Positional PID control */
|
||||
} pid_calculate_type_t;
|
||||
|
||||
/**
|
||||
* @brief Type of PID control block handle
|
||||
*
|
||||
*/
|
||||
typedef struct pid_ctrl_block_t *pid_ctrl_block_handle_t;
|
||||
|
||||
/**
|
||||
* @brief PID control parameters
|
||||
*
|
||||
*/
|
||||
typedef struct {
|
||||
float kp; // PID Kp parameter
|
||||
float ki; // PID Ki parameter
|
||||
float kd; // PID Kd parameter
|
||||
float max_output; // PID maximum output limitation
|
||||
float min_output; // PID minimum output limitation
|
||||
float max_integral; // PID maximum integral value limitation
|
||||
float min_integral; // PID minimum integral value limitation
|
||||
pid_calculate_type_t cal_type; // PID calculation type
|
||||
} pid_ctrl_parameter_t;
|
||||
|
||||
/**
|
||||
* @brief PID control configuration
|
||||
*
|
||||
*/
|
||||
typedef struct {
|
||||
pid_ctrl_parameter_t init_param; // Initial parameters
|
||||
} pid_ctrl_config_t;
|
||||
|
||||
/**
|
||||
* @brief Create a new PID control session, returns the handle of control block
|
||||
*
|
||||
* @param[in] config PID control configuration
|
||||
* @param[out] ret_pid Returned PID control block handle
|
||||
* @return
|
||||
* - ESP_OK: Created PID control block successfully
|
||||
* - ESP_ERR_INVALID_ARG: Created PID control block failed because of invalid argument
|
||||
* - ESP_ERR_NO_MEM: Created PID control block failed because out of memory
|
||||
*/
|
||||
esp_err_t pid_new_control_block(const pid_ctrl_config_t *config, pid_ctrl_block_handle_t *ret_pid);
|
||||
|
||||
/**
|
||||
* @brief Delete the PID control block
|
||||
*
|
||||
* @param[in] pid PID control block handle, created by `pid_new_control_block()`
|
||||
* @return
|
||||
* - ESP_OK: Delete PID control block successfully
|
||||
* - ESP_ERR_INVALID_ARG: Delete PID control block failed because of invalid argument
|
||||
*/
|
||||
esp_err_t pid_del_control_block(pid_ctrl_block_handle_t pid);
|
||||
|
||||
/**
|
||||
* @brief Update PID parameters
|
||||
*
|
||||
* @param[in] pid PID control block handle, created by `pid_new_control_block()`
|
||||
* @param[in] params PID parameters
|
||||
* @return
|
||||
* - ESP_OK: Update PID parameters successfully
|
||||
* - ESP_ERR_INVALID_ARG: Update PID parameters failed because of invalid argument
|
||||
*/
|
||||
esp_err_t pid_update_parameters(pid_ctrl_block_handle_t pid, const pid_ctrl_parameter_t *params);
|
||||
|
||||
/**
|
||||
* @brief Input error and get PID control result
|
||||
*
|
||||
* @param[in] pid PID control block handle, created by `pid_new_control_block()`
|
||||
* @param[in] input_error error data that feed to the PID controller
|
||||
* @param[out] ret_result result after PID calculation
|
||||
* @return
|
||||
* - ESP_OK: Run a PID compute successfully
|
||||
* - ESP_ERR_INVALID_ARG: Run a PID compute failed because of invalid argument
|
||||
*/
|
||||
esp_err_t pid_compute(pid_ctrl_block_handle_t pid, float input_error, float *ret_result);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
|
@ -0,0 +1,140 @@
|
|||
/*
|
||||
* SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <sys/param.h>
|
||||
#include "esp_check.h"
|
||||
#include "esp_log.h"
|
||||
#include "pid_ctrl.h"
|
||||
|
||||
static const char *TAG = "pid_ctrl";
|
||||
|
||||
typedef struct pid_ctrl_block_t pid_ctrl_block_t;
|
||||
typedef float (*pid_cal_func_t)(pid_ctrl_block_t *pid, float error);
|
||||
|
||||
struct pid_ctrl_block_t {
|
||||
float Kp; // PID Kp value
|
||||
float Ki; // PID Ki value
|
||||
float Kd; // PID Kd value
|
||||
float previous_err1; // e(k-1)
|
||||
float previous_err2; // e(k-2)
|
||||
float integral_err; // Sum of error
|
||||
float last_output; // PID output in last control period
|
||||
float max_output; // PID maximum output limitation
|
||||
float min_output; // PID minimum output limitation
|
||||
float max_integral; // PID maximum integral value limitation
|
||||
float min_integral; // PID minimum integral value limitation
|
||||
pid_cal_func_t calculate_func; // calculation function, depends on actual PID type set by user
|
||||
};
|
||||
|
||||
static float pid_calc_positional(pid_ctrl_block_t *pid, float error)
|
||||
{
|
||||
float output = 0;
|
||||
/* Add current error to the integral error */
|
||||
pid->integral_err += error;
|
||||
/* If the integral error is out of the range, it will be limited */
|
||||
pid->integral_err = MIN(pid->integral_err, pid->max_integral);
|
||||
pid->integral_err = MAX(pid->integral_err, pid->min_integral);
|
||||
|
||||
/* Calculate the pid control value by location formula */
|
||||
/* u(k) = e(k)*Kp + (e(k)-e(k-1))*Kd + integral*Ki */
|
||||
output = error * pid->Kp +
|
||||
(error - pid->previous_err1) * pid->Kd +
|
||||
pid->integral_err * pid->Ki;
|
||||
|
||||
/* If the output is out of the range, it will be limited */
|
||||
output = MIN(output, pid->max_output);
|
||||
output = MAX(output, pid->min_output);
|
||||
|
||||
/* Update previous error */
|
||||
pid->previous_err1 = error;
|
||||
|
||||
return output;
|
||||
}
|
||||
|
||||
static float pid_calc_incremental(pid_ctrl_block_t *pid, float error)
|
||||
{
|
||||
float output = 0;
|
||||
|
||||
/* Calculate the pid control value by increment formula */
|
||||
/* du(k) = (e(k)-e(k-1))*Kp + (e(k)-2*e(k-1)+e(k-2))*Kd + e(k)*Ki */
|
||||
/* u(k) = du(k) + u(k-1) */
|
||||
output = (error - pid->previous_err1) * pid->Kp +
|
||||
(error - 2 * pid->previous_err1 + pid->previous_err2) * pid->Kd +
|
||||
error * pid->Ki +
|
||||
pid->last_output;
|
||||
|
||||
/* If the output is beyond the range, it will be limited */
|
||||
output = MIN(output, pid->max_output);
|
||||
output = MAX(output, pid->min_output);
|
||||
|
||||
/* Update previous error */
|
||||
pid->previous_err2 = pid->previous_err1;
|
||||
pid->previous_err1 = error;
|
||||
|
||||
/* Update last output */
|
||||
pid->last_output = output;
|
||||
|
||||
return output;
|
||||
}
|
||||
|
||||
esp_err_t pid_new_control_block(const pid_ctrl_config_t *config, pid_ctrl_block_handle_t *ret_pid)
|
||||
{
|
||||
esp_err_t ret = ESP_OK;
|
||||
pid_ctrl_block_t *pid = NULL;
|
||||
/* Check the input pointer */
|
||||
ESP_GOTO_ON_FALSE(config && ret_pid, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
|
||||
|
||||
pid = calloc(1, sizeof(pid_ctrl_block_t));
|
||||
ESP_GOTO_ON_FALSE(pid, ESP_ERR_NO_MEM, err, TAG, "no mem for PID control block");
|
||||
ESP_GOTO_ON_ERROR(pid_update_parameters(pid, &config->init_param), err, TAG, "init PID parameters failed");
|
||||
*ret_pid = pid;
|
||||
return ret;
|
||||
|
||||
err:
|
||||
if (pid) {
|
||||
free(pid);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
esp_err_t pid_del_control_block(pid_ctrl_block_handle_t pid)
|
||||
{
|
||||
ESP_RETURN_ON_FALSE(pid, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
|
||||
free(pid);
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
esp_err_t pid_compute(pid_ctrl_block_handle_t pid, float input_error, float *ret_result)
|
||||
{
|
||||
ESP_RETURN_ON_FALSE(pid && ret_result, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
|
||||
*ret_result = pid->calculate_func(pid, input_error);
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
esp_err_t pid_update_parameters(pid_ctrl_block_handle_t pid, const pid_ctrl_parameter_t *params)
|
||||
{
|
||||
ESP_RETURN_ON_FALSE(pid && params, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
|
||||
pid->Kp = params->kp;
|
||||
pid->Ki = params->ki;
|
||||
pid->Kd = params->kd;
|
||||
pid->max_output = params->max_output;
|
||||
pid->min_output = params->min_output;
|
||||
pid->max_integral = params->max_integral;
|
||||
pid->min_integral = params->min_integral;
|
||||
/* Set the calculate function according to the PID type */
|
||||
switch (params->cal_type) {
|
||||
case PID_CAL_TYPE_INCREMENTAL:
|
||||
pid->calculate_func = pid_calc_incremental;
|
||||
break;
|
||||
case PID_CAL_TYPE_POSITIONAL:
|
||||
pid->calculate_func = pid_calc_positional;
|
||||
break;
|
||||
default:
|
||||
ESP_RETURN_ON_FALSE(false, ESP_ERR_INVALID_ARG, TAG, "invalid PID calculation type:%d", params->cal_type);
|
||||
}
|
||||
return ESP_OK;
|
||||
}
|
|
@ -0,0 +1,3 @@
|
|||
idf_component_register(SRCS "esp_qrcode_main.c" "esp_qrcode_wrapper.c" "qrcodegen.c"
|
||||
INCLUDE_DIRS "include"
|
||||
)
|
|
@ -0,0 +1,202 @@
|
|||
|
||||
Apache License
|
||||
Version 2.0, January 2004
|
||||
http://www.apache.org/licenses/
|
||||
|
||||
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
||||
|
||||
1. Definitions.
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|
||||
"License" shall mean the terms and conditions for use, reproduction,
|
||||
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||||
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|
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|
||||
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See the License for the specific language governing permissions and
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limitations under the License.
|
|
@ -0,0 +1,7 @@
|
|||
# QR Code generator component
|
||||
|
||||
This component contains a QR code generator written in C. This component is based on [QR-Code-generator](https://github.com/nayuki/QR-Code-generator).
|
||||
This component is used as part of the following ESP-IDF examples:
|
||||
- [DPP Enrollee Example](https://github.com/espressif/esp-idf/tree/master/examples/wifi/wifi_easy_connect/dpp-enrollee).
|
||||
|
||||
To learn more about how to use this component, please check API Documentation from header file [qrcode.h](https://github.com/espressif/esp-bsp/tree/master/qrcode/include/qrcode.h).
|
|
@ -0,0 +1,113 @@
|
|||
/*
|
||||
* SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <esp_err.h>
|
||||
#include "esp_log.h"
|
||||
|
||||
#include "qrcodegen.h"
|
||||
#include "qrcode.h"
|
||||
|
||||
static const char *TAG = "QRCODE";
|
||||
|
||||
static const char *lt[] = {
|
||||
/* 0 */ " ",
|
||||
/* 1 */ "\u2580 ",
|
||||
/* 2 */ " \u2580",
|
||||
/* 3 */ "\u2580\u2580",
|
||||
/* 4 */ "\u2584 ",
|
||||
/* 5 */ "\u2588 ",
|
||||
/* 6 */ "\u2584\u2580",
|
||||
/* 7 */ "\u2588\u2580",
|
||||
/* 8 */ " \u2584",
|
||||
/* 9 */ "\u2580\u2584",
|
||||
/* 10 */ " \u2588",
|
||||
/* 11 */ "\u2580\u2588",
|
||||
/* 12 */ "\u2584\u2584",
|
||||
/* 13 */ "\u2588\u2584",
|
||||
/* 14 */ "\u2584\u2588",
|
||||
/* 15 */ "\u2588\u2588",
|
||||
};
|
||||
|
||||
void esp_qrcode_print_console(esp_qrcode_handle_t qrcode)
|
||||
{
|
||||
int size = qrcodegen_getSize(qrcode);
|
||||
int border = 2;
|
||||
unsigned char num = 0;
|
||||
|
||||
for (int y = -border; y < size + border; y += 2) {
|
||||
for (int x = -border; x < size + border; x += 2) {
|
||||
num = 0;
|
||||
if (qrcodegen_getModule(qrcode, x, y)) {
|
||||
num |= 1 << 0;
|
||||
}
|
||||
if ((x < size + border) && qrcodegen_getModule(qrcode, x + 1, y)) {
|
||||
num |= 1 << 1;
|
||||
}
|
||||
if ((y < size + border) && qrcodegen_getModule(qrcode, x, y + 1)) {
|
||||
num |= 1 << 2;
|
||||
}
|
||||
if ((x < size + border) && (y < size + border) && qrcodegen_getModule(qrcode, x + 1, y + 1)) {
|
||||
num |= 1 << 3;
|
||||
}
|
||||
printf("%s", lt[num]);
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
esp_err_t esp_qrcode_generate(esp_qrcode_config_t *cfg, const char *text)
|
||||
{
|
||||
enum qrcodegen_Ecc ecc_lvl;
|
||||
uint8_t *qrcode, *tempbuf;
|
||||
esp_err_t err = ESP_FAIL;
|
||||
|
||||
qrcode = calloc(1, qrcodegen_BUFFER_LEN_FOR_VERSION(cfg->max_qrcode_version));
|
||||
if (!qrcode) {
|
||||
return ESP_ERR_NO_MEM;
|
||||
}
|
||||
|
||||
tempbuf = calloc(1, qrcodegen_BUFFER_LEN_FOR_VERSION(cfg->max_qrcode_version));
|
||||
if (!tempbuf) {
|
||||
free(qrcode);
|
||||
return ESP_ERR_NO_MEM;
|
||||
}
|
||||
|
||||
switch (cfg->qrcode_ecc_level) {
|
||||
case ESP_QRCODE_ECC_LOW:
|
||||
ecc_lvl = qrcodegen_Ecc_LOW;
|
||||
break;
|
||||
case ESP_QRCODE_ECC_MED:
|
||||
ecc_lvl = qrcodegen_Ecc_MEDIUM;
|
||||
break;
|
||||
case ESP_QRCODE_ECC_QUART:
|
||||
ecc_lvl = qrcodegen_Ecc_QUARTILE;
|
||||
break;
|
||||
case ESP_QRCODE_ECC_HIGH:
|
||||
ecc_lvl = qrcodegen_Ecc_HIGH;
|
||||
break;
|
||||
default:
|
||||
ecc_lvl = qrcodegen_Ecc_LOW;
|
||||
break;
|
||||
}
|
||||
|
||||
ESP_LOGI(TAG, "Encoding below text with ECC LVL %d & QR Code Version %d",
|
||||
ecc_lvl, cfg->max_qrcode_version);
|
||||
ESP_LOGI(TAG, "%s", text);
|
||||
// Make and print the QR Code symbol
|
||||
bool ok = qrcodegen_encodeText(text, tempbuf, qrcode, ecc_lvl,
|
||||
qrcodegen_VERSION_MIN, cfg->max_qrcode_version,
|
||||
qrcodegen_Mask_AUTO, true);
|
||||
if (ok && cfg->display_func) {
|
||||
cfg->display_func((esp_qrcode_handle_t)qrcode);
|
||||
err = ESP_OK;
|
||||
}
|
||||
|
||||
free(qrcode);
|
||||
free(tempbuf);
|
||||
return err;
|
||||
}
|
|
@ -0,0 +1,21 @@
|
|||
/*
|
||||
* SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <esp_err.h>
|
||||
|
||||
#include "qrcodegen.h"
|
||||
#include "qrcode.h"
|
||||
|
||||
int esp_qrcode_get_size(esp_qrcode_handle_t qrcode)
|
||||
{
|
||||
return qrcodegen_getSize(qrcode);
|
||||
}
|
||||
|
||||
bool esp_qrcode_get_module(esp_qrcode_handle_t qrcode, int x, int y)
|
||||
{
|
||||
return qrcodegen_getModule(qrcode, x, y);
|
||||
}
|
|
@ -0,0 +1,4 @@
|
|||
version: "0.1.0"
|
||||
description: QR Code generator
|
||||
dependencies:
|
||||
idf: ">=4.3"
|
|
@ -0,0 +1,97 @@
|
|||
/*
|
||||
* SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <esp_err.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief QR Code handle used by the display function
|
||||
*/
|
||||
typedef const uint8_t *esp_qrcode_handle_t;
|
||||
|
||||
/**
|
||||
* @brief QR Code configuration options
|
||||
*/
|
||||
typedef struct {
|
||||
void (*display_func)(esp_qrcode_handle_t qrcode); /**< Function called for displaying the QR Code after encoding is complete */
|
||||
int max_qrcode_version; /**< Max QR Code Version to be used. Range: 2 - 40 */
|
||||
int qrcode_ecc_level; /**< Error Correction Level for QR Code */
|
||||
} esp_qrcode_config_t;
|
||||
|
||||
/**
|
||||
* @brief Error Correction Level in a QR Code Symbol
|
||||
*/
|
||||
enum {
|
||||
ESP_QRCODE_ECC_LOW, /**< QR Code Error Tolerance of 7% */
|
||||
ESP_QRCODE_ECC_MED, /**< QR Code Error Tolerance of 15% */
|
||||
ESP_QRCODE_ECC_QUART, /**< QR Code Error Tolerance of 25% */
|
||||
ESP_QRCODE_ECC_HIGH /**< QR Code Error Tolerance of 30% */
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Encodes the given string into a QR Code and calls the display function
|
||||
*
|
||||
* @attention 1. Can successfully encode a UTF-8 string of up to 2953 bytes or an alphanumeric
|
||||
* string of up to 4296 characters or any digit string of up to 7089 characters
|
||||
*
|
||||
* @param cfg Configuration used for QR Code encoding.
|
||||
* @param text String to encode into a QR Code.
|
||||
*
|
||||
* @return
|
||||
* - ESP_OK: succeed
|
||||
* - ESP_FAIL: Failed to encode string into a QR Code
|
||||
* - ESP_ERR_NO_MEM: Failed to allocate buffer for given max_qrcode_version
|
||||
*/
|
||||
esp_err_t esp_qrcode_generate(esp_qrcode_config_t *cfg, const char *text);
|
||||
|
||||
/**
|
||||
* @brief Displays QR Code on the console
|
||||
*
|
||||
* @param qrcode QR Code handle used by the display function.
|
||||
*/
|
||||
void esp_qrcode_print_console(esp_qrcode_handle_t qrcode);
|
||||
|
||||
/**
|
||||
* @brief Returns the side length of the given QR Code
|
||||
*
|
||||
* @param qrcode QR Code handle used by the display function.
|
||||
*
|
||||
* @return
|
||||
* - val[21, 177]: Side length of QR Code
|
||||
*/
|
||||
int esp_qrcode_get_size(esp_qrcode_handle_t qrcode);
|
||||
|
||||
/**
|
||||
* @brief Returns the Pixel value for the given coordinates
|
||||
* False indicates White and True indicates Black
|
||||
*
|
||||
* @attention 1. Coordinates for top left corner are (x=0, y=0)
|
||||
* @attention 2. For out of bound coordinates false (White) is returned
|
||||
*
|
||||
* @param qrcode QR Code handle used by the display function.
|
||||
* @param x X-Coordinate of QR Code module
|
||||
* @param y Y-Coordinate of QR Code module
|
||||
*
|
||||
* @return
|
||||
* - true: (x, y) Pixel is Black
|
||||
* - false: (x, y) Pixel is White
|
||||
*/
|
||||
bool esp_qrcode_get_module(esp_qrcode_handle_t qrcode, int x, int y);
|
||||
|
||||
#define ESP_QRCODE_CONFIG_DEFAULT() (esp_qrcode_config_t) { \
|
||||
.display_func = esp_qrcode_print_console, \
|
||||
.max_qrcode_version = 10, \
|
||||
.qrcode_ecc_level = ESP_QRCODE_ECC_LOW, \
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
File diff suppressed because it is too large
Load Diff
|
@ -0,0 +1,311 @@
|
|||
/*
|
||||
* QR Code generator library (C)
|
||||
*
|
||||
* Copyright (c) Project Nayuki. (MIT License)
|
||||
* https://www.nayuki.io/page/qr-code-generator-library
|
||||
*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stddef.h>
|
||||
#include <stdint.h>
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
/*
|
||||
* This library creates QR Code symbols, which is a type of two-dimension barcode.
|
||||
* Invented by Denso Wave and described in the ISO/IEC 18004 standard.
|
||||
* A QR Code structure is an immutable square grid of black and white cells.
|
||||
* The library provides functions to create a QR Code from text or binary data.
|
||||
* The library covers the QR Code Model 2 specification, supporting all versions (sizes)
|
||||
* from 1 to 40, all 4 error correction levels, and 4 character encoding modes.
|
||||
*
|
||||
* Ways to create a QR Code object:
|
||||
* - High level: Take the payload data and call qrcodegen_encodeText() or qrcodegen_encodeBinary().
|
||||
* - Low level: Custom-make the list of segments and call
|
||||
* qrcodegen_encodeSegments() or qrcodegen_encodeSegmentsAdvanced().
|
||||
* (Note that all ways require supplying the desired error correction level and various byte buffers.)
|
||||
*/
|
||||
|
||||
|
||||
/*---- Enum and struct types----*/
|
||||
|
||||
/*
|
||||
* The error correction level in a QR Code symbol.
|
||||
*/
|
||||
enum qrcodegen_Ecc {
|
||||
// Must be declared in ascending order of error protection
|
||||
// so that an internal qrcodegen function works properly
|
||||
qrcodegen_Ecc_LOW = 0, // The QR Code can tolerate about 7% erroneous codewords
|
||||
qrcodegen_Ecc_MEDIUM, // The QR Code can tolerate about 15% erroneous codewords
|
||||
qrcodegen_Ecc_QUARTILE, // The QR Code can tolerate about 25% erroneous codewords
|
||||
qrcodegen_Ecc_HIGH, // The QR Code can tolerate about 30% erroneous codewords
|
||||
};
|
||||
|
||||
|
||||
/*
|
||||
* The mask pattern used in a QR Code symbol.
|
||||
*/
|
||||
enum qrcodegen_Mask {
|
||||
// A special value to tell the QR Code encoder to
|
||||
// automatically select an appropriate mask pattern
|
||||
qrcodegen_Mask_AUTO = -1,
|
||||
// The eight actual mask patterns
|
||||
qrcodegen_Mask_0 = 0,
|
||||
qrcodegen_Mask_1,
|
||||
qrcodegen_Mask_2,
|
||||
qrcodegen_Mask_3,
|
||||
qrcodegen_Mask_4,
|
||||
qrcodegen_Mask_5,
|
||||
qrcodegen_Mask_6,
|
||||
qrcodegen_Mask_7,
|
||||
};
|
||||
|
||||
|
||||
/*
|
||||
* Describes how a segment's data bits are interpreted.
|
||||
*/
|
||||
enum qrcodegen_Mode {
|
||||
qrcodegen_Mode_NUMERIC = 0x1,
|
||||
qrcodegen_Mode_ALPHANUMERIC = 0x2,
|
||||
qrcodegen_Mode_BYTE = 0x4,
|
||||
qrcodegen_Mode_KANJI = 0x8,
|
||||
qrcodegen_Mode_ECI = 0x7,
|
||||
};
|
||||
|
||||
|
||||
/*
|
||||
* A segment of character/binary/control data in a QR Code symbol.
|
||||
* The mid-level way to create a segment is to take the payload data
|
||||
* and call a factory function such as qrcodegen_makeNumeric().
|
||||
* The low-level way to create a segment is to custom-make the bit buffer
|
||||
* and initialize a qrcodegen_Segment struct with appropriate values.
|
||||
* Even in the most favorable conditions, a QR Code can only hold 7089 characters of data.
|
||||
* Any segment longer than this is meaningless for the purpose of generating QR Codes.
|
||||
* Moreover, the maximum allowed bit length is 32767 because
|
||||
* the largest QR Code (version 40) has 31329 modules.
|
||||
*/
|
||||
struct qrcodegen_Segment {
|
||||
// The mode indicator of this segment.
|
||||
enum qrcodegen_Mode mode;
|
||||
|
||||
// The length of this segment's unencoded data. Measured in characters for
|
||||
// numeric/alphanumeric/kanji mode, bytes for byte mode, and 0 for ECI mode.
|
||||
// Always zero or positive. Not the same as the data's bit length.
|
||||
int numChars;
|
||||
|
||||
// The data bits of this segment, packed in bitwise big endian.
|
||||
// Can be null if the bit length is zero.
|
||||
uint8_t *data;
|
||||
|
||||
// The number of valid data bits used in the buffer. Requires
|
||||
// 0 <= bitLength <= 32767, and bitLength <= (capacity of data array) * 8.
|
||||
// The character count (numChars) must agree with the mode and the bit buffer length.
|
||||
int bitLength;
|
||||
};
|
||||
|
||||
|
||||
|
||||
/*---- Macro constants and functions ----*/
|
||||
|
||||
#define qrcodegen_VERSION_MIN 1 // The minimum version number supported in the QR Code Model 2 standard
|
||||
#define qrcodegen_VERSION_MAX 40 // The maximum version number supported in the QR Code Model 2 standard
|
||||
|
||||
// Calculates the number of bytes needed to store any QR Code up to and including the given version number,
|
||||
// as a compile-time constant. For example, 'uint8_t buffer[qrcodegen_BUFFER_LEN_FOR_VERSION(25)];'
|
||||
// can store any single QR Code from version 1 to 25 (inclusive). The result fits in an int (or int16).
|
||||
// Requires qrcodegen_VERSION_MIN <= n <= qrcodegen_VERSION_MAX.
|
||||
#define qrcodegen_BUFFER_LEN_FOR_VERSION(n) ((((n) * 4 + 17) * ((n) * 4 + 17) + 7) / 8 + 1)
|
||||
|
||||
// The worst-case number of bytes needed to store one QR Code, up to and including
|
||||
// version 40. This value equals 3918, which is just under 4 kilobytes.
|
||||
// Use this more convenient value to avoid calculating tighter memory bounds for buffers.
|
||||
#define qrcodegen_BUFFER_LEN_MAX qrcodegen_BUFFER_LEN_FOR_VERSION(qrcodegen_VERSION_MAX)
|
||||
|
||||
|
||||
|
||||
/*---- Functions (high level) to generate QR Codes ----*/
|
||||
|
||||
/*
|
||||
* Encodes the given text string to a QR Code, returning true if encoding succeeded.
|
||||
* If the data is too long to fit in any version in the given range
|
||||
* at the given ECC level, then false is returned.
|
||||
* - The input text must be encoded in UTF-8 and contain no NULs.
|
||||
* - The variables ecl and mask must correspond to enum constant values.
|
||||
* - Requires 1 <= minVersion <= maxVersion <= 40.
|
||||
* - The arrays tempBuffer and qrcode must each have a length
|
||||
* of at least qrcodegen_BUFFER_LEN_FOR_VERSION(maxVersion).
|
||||
* - After the function returns, tempBuffer contains no useful data.
|
||||
* - If successful, the resulting QR Code may use numeric,
|
||||
* alphanumeric, or byte mode to encode the text.
|
||||
* - In the most optimistic case, a QR Code at version 40 with low ECC
|
||||
* can hold any UTF-8 string up to 2953 bytes, or any alphanumeric string
|
||||
* up to 4296 characters, or any digit string up to 7089 characters.
|
||||
* These numbers represent the hard upper limit of the QR Code standard.
|
||||
* - Please consult the QR Code specification for information on
|
||||
* data capacities per version, ECC level, and text encoding mode.
|
||||
*/
|
||||
bool qrcodegen_encodeText(const char *text, uint8_t tempBuffer[], uint8_t qrcode[],
|
||||
enum qrcodegen_Ecc ecl, int minVersion, int maxVersion, enum qrcodegen_Mask mask, bool boostEcl);
|
||||
|
||||
|
||||
/*
|
||||
* Encodes the given binary data to a QR Code, returning true if encoding succeeded.
|
||||
* If the data is too long to fit in any version in the given range
|
||||
* at the given ECC level, then false is returned.
|
||||
* - The input array range dataAndTemp[0 : dataLen] should normally be
|
||||
* valid UTF-8 text, but is not required by the QR Code standard.
|
||||
* - The variables ecl and mask must correspond to enum constant values.
|
||||
* - Requires 1 <= minVersion <= maxVersion <= 40.
|
||||
* - The arrays dataAndTemp and qrcode must each have a length
|
||||
* of at least qrcodegen_BUFFER_LEN_FOR_VERSION(maxVersion).
|
||||
* - After the function returns, the contents of dataAndTemp may have changed,
|
||||
* and does not represent useful data anymore.
|
||||
* - If successful, the resulting QR Code will use byte mode to encode the data.
|
||||
* - In the most optimistic case, a QR Code at version 40 with low ECC can hold any byte
|
||||
* sequence up to length 2953. This is the hard upper limit of the QR Code standard.
|
||||
* - Please consult the QR Code specification for information on
|
||||
* data capacities per version, ECC level, and text encoding mode.
|
||||
*/
|
||||
bool qrcodegen_encodeBinary(uint8_t dataAndTemp[], size_t dataLen, uint8_t qrcode[],
|
||||
enum qrcodegen_Ecc ecl, int minVersion, int maxVersion, enum qrcodegen_Mask mask, bool boostEcl);
|
||||
|
||||
|
||||
/*---- Functions (low level) to generate QR Codes ----*/
|
||||
|
||||
/*
|
||||
* Renders a QR Code representing the given segments at the given error correction level.
|
||||
* The smallest possible QR Code version is automatically chosen for the output. Returns true if
|
||||
* QR Code creation succeeded, or false if the data is too long to fit in any version. The ECC level
|
||||
* of the result may be higher than the ecl argument if it can be done without increasing the version.
|
||||
* This function allows the user to create a custom sequence of segments that switches
|
||||
* between modes (such as alphanumeric and byte) to encode text in less space.
|
||||
* This is a low-level API; the high-level API is qrcodegen_encodeText() and qrcodegen_encodeBinary().
|
||||
* To save memory, the segments' data buffers can alias/overlap tempBuffer, and will
|
||||
* result in them being clobbered, but the QR Code output will still be correct.
|
||||
* But the qrcode array must not overlap tempBuffer or any segment's data buffer.
|
||||
*/
|
||||
bool qrcodegen_encodeSegments(const struct qrcodegen_Segment segs[], size_t len,
|
||||
enum qrcodegen_Ecc ecl, uint8_t tempBuffer[], uint8_t qrcode[]);
|
||||
|
||||
|
||||
/*
|
||||
* Renders a QR Code representing the given segments with the given encoding parameters.
|
||||
* Returns true if QR Code creation succeeded, or false if the data is too long to fit in the range of versions.
|
||||
* The smallest possible QR Code version within the given range is automatically
|
||||
* chosen for the output. Iff boostEcl is true, then the ECC level of the result
|
||||
* may be higher than the ecl argument if it can be done without increasing the
|
||||
* version. The mask is either between qrcodegen_Mask_0 to 7 to force that mask, or
|
||||
* qrcodegen_Mask_AUTO to automatically choose an appropriate mask (which may be slow).
|
||||
* This function allows the user to create a custom sequence of segments that switches
|
||||
* between modes (such as alphanumeric and byte) to encode text in less space.
|
||||
* This is a low-level API; the high-level API is qrcodegen_encodeText() and qrcodegen_encodeBinary().
|
||||
* To save memory, the segments' data buffers can alias/overlap tempBuffer, and will
|
||||
* result in them being clobbered, but the QR Code output will still be correct.
|
||||
* But the qrcode array must not overlap tempBuffer or any segment's data buffer.
|
||||
*/
|
||||
bool qrcodegen_encodeSegmentsAdvanced(const struct qrcodegen_Segment segs[], size_t len, enum qrcodegen_Ecc ecl,
|
||||
int minVersion, int maxVersion, enum qrcodegen_Mask mask, bool boostEcl, uint8_t tempBuffer[], uint8_t qrcode[]);
|
||||
|
||||
|
||||
/*
|
||||
* Tests whether the given string can be encoded as a segment in alphanumeric mode.
|
||||
* A string is encodable iff each character is in the following set: 0 to 9, A to Z
|
||||
* (uppercase only), space, dollar, percent, asterisk, plus, hyphen, period, slash, colon.
|
||||
*/
|
||||
bool qrcodegen_isAlphanumeric(const char *text);
|
||||
|
||||
|
||||
/*
|
||||
* Tests whether the given string can be encoded as a segment in numeric mode.
|
||||
* A string is encodable iff each character is in the range 0 to 9.
|
||||
*/
|
||||
bool qrcodegen_isNumeric(const char *text);
|
||||
|
||||
|
||||
/*
|
||||
* Returns the number of bytes (uint8_t) needed for the data buffer of a segment
|
||||
* containing the given number of characters using the given mode. Notes:
|
||||
* - Returns SIZE_MAX on failure, i.e. numChars > INT16_MAX or
|
||||
* the number of needed bits exceeds INT16_MAX (i.e. 32767).
|
||||
* - Otherwise, all valid results are in the range [0, ceil(INT16_MAX / 8)], i.e. at most 4096.
|
||||
* - It is okay for the user to allocate more bytes for the buffer than needed.
|
||||
* - For byte mode, numChars measures the number of bytes, not Unicode code points.
|
||||
* - For ECI mode, numChars must be 0, and the worst-case number of bytes is returned.
|
||||
* An actual ECI segment can have shorter data. For non-ECI modes, the result is exact.
|
||||
*/
|
||||
size_t qrcodegen_calcSegmentBufferSize(enum qrcodegen_Mode mode, size_t numChars);
|
||||
|
||||
|
||||
/*
|
||||
* Returns a segment representing the given binary data encoded in
|
||||
* byte mode. All input byte arrays are acceptable. Any text string
|
||||
* can be converted to UTF-8 bytes and encoded as a byte mode segment.
|
||||
*/
|
||||
struct qrcodegen_Segment qrcodegen_makeBytes(const uint8_t data[], size_t len, uint8_t buf[]);
|
||||
|
||||
|
||||
/*
|
||||
* Returns a segment representing the given string of decimal digits encoded in numeric mode.
|
||||
*/
|
||||
struct qrcodegen_Segment qrcodegen_makeNumeric(const char *digits, uint8_t buf[]);
|
||||
|
||||
|
||||
/*
|
||||
* Returns a segment representing the given text string encoded in alphanumeric mode.
|
||||
* The characters allowed are: 0 to 9, A to Z (uppercase only), space,
|
||||
* dollar, percent, asterisk, plus, hyphen, period, slash, colon.
|
||||
*/
|
||||
struct qrcodegen_Segment qrcodegen_makeAlphanumeric(const char *text, uint8_t buf[]);
|
||||
|
||||
|
||||
/*
|
||||
* Returns a segment representing an Extended Channel Interpretation
|
||||
* (ECI) designator with the given assignment value.
|
||||
*/
|
||||
struct qrcodegen_Segment qrcodegen_makeEci(long assignVal, uint8_t buf[]);
|
||||
|
||||
|
||||
/*---- Functions to extract raw data from QR Codes ----*/
|
||||
|
||||
/*
|
||||
* Returns the side length of the given QR Code, assuming that encoding succeeded.
|
||||
* The result is in the range [21, 177]. Note that the length of the array buffer
|
||||
* is related to the side length - every 'uint8_t qrcode[]' must have length at least
|
||||
* qrcodegen_BUFFER_LEN_FOR_VERSION(version), which equals ceil(size^2 / 8 + 1).
|
||||
*/
|
||||
int qrcodegen_getSize(const uint8_t qrcode[]);
|
||||
|
||||
|
||||
/*
|
||||
* Returns the color of the module (pixel) at the given coordinates, which is false
|
||||
* for white or true for black. The top left corner has the coordinates (x=0, y=0).
|
||||
* If the given coordinates are out of bounds, then false (white) is returned.
|
||||
*/
|
||||
bool qrcodegen_getModule(const uint8_t qrcode[], int x, int y);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
Loading…
Reference in New Issue