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src: implement simulation data sources

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Victoria Fischer
2025-09-24 08:32:34 +02:00
parent 19875f6ae5
commit 0cd2cc94b9
32 changed files with 389785 additions and 284 deletions
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2
.cargo/config.toml
View File

@@ -1,5 +1,5 @@
[target.xtensa-esp32s3-none-elf] [target.xtensa-esp32s3-none-elf]
runner = "espflash flash --monitor --chip esp32s3" runner = "espflash flash --monitor --chip esp32s3 --partition-table ./partitions.csv"
[env] [env]
ESP_LOG="info" ESP_LOG="info"

343
Cargo.lock generated
View File

@@ -44,6 +44,12 @@ dependencies = [
"serde", "serde",
] ]
[[package]]
name = "bitfield"
version = "0.14.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "2d7e60934ceec538daadb9d8432424ed043a904d8e0243f3c6446bce549a46ac"
[[package]] [[package]]
name = "bitfield" name = "bitfield"
version = "0.19.2" version = "0.19.2"
@@ -61,7 +67,7 @@ checksum = "52511b09931f7d5fe3a14f23adefbc23e5725b184013e96c8419febb61f14734"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
"syn", "syn 2.0.106",
] ]
[[package]] [[package]]
@@ -76,6 +82,65 @@ version = "2.9.4"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "2261d10cca569e4643e526d8dc2e62e433cc8aba21ab764233731f8d369bf394" checksum = "2261d10cca569e4643e526d8dc2e62e433cc8aba21ab764233731f8d369bf394"
[[package]]
name = "bleps"
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source = "git+https://github.com/bjoernQ/bleps?rev=a5148d8ae679e021b78f53fd33afb8bb35d0b62e#a5148d8ae679e021b78f53fd33afb8bb35d0b62e"
dependencies = [
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"bleps-dedup",
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"log",
"rand_core 0.6.4",
]
[[package]]
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dependencies = [
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[[package]]
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source = "git+https://github.com/bjoernQ/bleps?rev=a5148d8ae679e021b78f53fd33afb8bb35d0b62e#a5148d8ae679e021b78f53fd33afb8bb35d0b62e"
dependencies = [
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[[package]]
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dependencies = [
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[[package]]
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[[package]] [[package]]
name = "bytemuck" name = "bytemuck"
version = "1.23.2" version = "1.23.2"
@@ -125,6 +190,15 @@ dependencies = [
"typenum", "typenum",
] ]
[[package]]
name = "csv-core"
version = "0.1.12"
source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
"memchr",
]
[[package]] [[package]]
name = "darling" name = "darling"
version = "0.20.11" version = "0.20.11"
@@ -156,7 +230,7 @@ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
"strsim", "strsim",
"syn", "syn 2.0.106",
] ]
[[package]] [[package]]
@@ -169,7 +243,7 @@ dependencies = [
"ident_case", "ident_case",
"proc-macro2", "proc-macro2",
"quote", "quote",
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[[package]] [[package]]
@@ -180,7 +254,7 @@ checksum = "fc34b93ccb385b40dc71c6fceac4b2ad23662c7eeb248cf10d529b7e055b6ead"
dependencies = [ dependencies = [
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[[package]] [[package]]
@@ -191,7 +265,7 @@ checksum = "d38308df82d1080de0afee5d069fa14b0326a88c14f15c5ccda35b4a6c414c81"
dependencies = [ dependencies = [
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] ]
[[package]] [[package]]
@@ -202,7 +276,7 @@ checksum = "6178a82cf56c836a3ba61a7935cdb1c49bfaa6fa4327cd5bf554a503087de26b"
dependencies = [ dependencies = [
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[[package]] [[package]]
@@ -220,7 +294,7 @@ version = "0.2.11"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "95249b50c6c185bee49034bcb378a49dc2b5dff0be90ff6616d31d64febab05d" checksum = "95249b50c6c185bee49034bcb378a49dc2b5dff0be90ff6616d31d64febab05d"
dependencies = [ dependencies = [
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] ]
[[package]] [[package]]
@@ -296,7 +370,7 @@ dependencies = [
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[[package]] [[package]]
@@ -539,7 +613,7 @@ dependencies = [
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"proc-macro2", "proc-macro2",
"quote", "quote",
"syn", "syn 2.0.106",
] ]
[[package]] [[package]]
@@ -609,7 +683,7 @@ version = "1.0.0-rc.0"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
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@@ -687,12 +761,12 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "fbece384edaf0d1eabfa45afa96d910634d4158638ef983b2d419a8dec832246" checksum = "fbece384edaf0d1eabfa45afa96d910634d4158638ef983b2d419a8dec832246"
dependencies = [ dependencies = [
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] ]
@@ -797,6 +871,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "84908f2e95cb99a200cf448abafc416576338be590778a15d9224eee237f3210" checksum = "84908f2e95cb99a200cf448abafc416576338be590778a15d9224eee237f3210"
dependencies = [ dependencies = [
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"bt-hci",
"cfg-if", "cfg-if",
"critical-section", "critical-section",
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@@ -930,12 +1005,52 @@ dependencies = [
"gcd", "gcd",
] ]
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version = "0.3.31"
source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]] [[package]]
name = "futures-sink" name = "futures-sink"
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@@ -955,6 +1070,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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@@ -1040,7 +1156,7 @@ dependencies = [
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"proc-macro2", "proc-macro2",
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@@ -1070,7 +1186,17 @@ checksum = "03343451ff899767262ec32146f6d559dd759fdadf42ff0e227c7c48f72594b4"
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dependencies = [
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@@ -1365,7 +1540,9 @@ name = "renderbug-embassy"
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version = "0.2.103"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "fc65f4f411d91494355917b605e1480033152658d71f722a90647f56a70c88a0"
dependencies = [
"quote",
"wasm-bindgen-macro-support",
]
[[package]]
name = "wasm-bindgen-macro-support"
version = "0.2.103"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ffc003a991398a8ee604a401e194b6b3a39677b3173d6e74495eb51b82e99a32"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.106",
"wasm-bindgen-backend",
"wasm-bindgen-shared",
]
[[package]]
name = "wasm-bindgen-shared"
version = "0.2.103"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "293c37f4efa430ca14db3721dfbe48d8c33308096bd44d80ebaa775ab71ba1cf"
dependencies = [
"unicode-ident",
]
[[package]] [[package]]
name = "winapi-util" name = "winapi-util"
version = "0.1.11" version = "0.1.11"
@@ -1738,5 +2031,5 @@ checksum = "c5a56a616147f5947ceb673790dd618d77b30e26e677f4a896df049d73059438"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
"syn", "syn 2.0.106",
] ]

6
Cargo.toml
View File

@@ -54,6 +54,7 @@ esp-wifi = { version = "0.15.0", features = [
"log-04", "log-04",
"smoltcp", "smoltcp",
"wifi", "wifi",
"ble"
] } ] }
smoltcp = { version = "0.12.0", default-features = false, features = [ smoltcp = { version = "0.12.0", default-features = false, features = [
"log", "log",
@@ -89,9 +90,12 @@ embassy-embedded-hal = "0.5.0"
embedded-hal-async = "1.0.0" embedded-hal-async = "1.0.0"
smart-leds-trait = "0.3.1" smart-leds-trait = "0.3.1"
anyhow = { version = "1.0.99", default-features = false } anyhow = { version = "1.0.99", default-features = false }
kfilter = "0.4.0"
nalgebra = { version = "0.33.2", default-features = false } nalgebra = { version = "0.33.2", default-features = false }
esp-storage = { version = "0.7.0", features = ["esp32s3"] } esp-storage = { version = "0.7.0", features = ["esp32s3"] }
bleps = { git = "https://github.com/bjoernQ/bleps", package = "bleps", rev = "a5148d8ae679e021b78f53fd33afb8bb35d0b62e", features = [ "macros", "async"] }
serde_json = {version = "1.0.145", default-features = false, features = ["alloc"] }
csv-core = "0.1.12"
kfilter = "0.4.0"
[profile.dev] [profile.dev]
# Rust debug is too slow. # Rust debug is too slow.

5
partitions.csv Normal file
View File

@@ -0,0 +1,5 @@
# Name, Type, SubType, Offset, Size, Flags
# Note: if you have increased the bootloader size, make sure to update the offsets to avoid overlap
nvs, data, nvs, , 0x6000,
phy_init, data, phy, , 0x1000,
factory, app, factory, , 3M,
1 # Name, Type, SubType, Offset, Size, Flags
2 # Note: if you have increased the bootloader size, make sure to update the offsets to avoid overlap
3 nvs, data, nvs, , 0x6000,
4 phy_init, data, phy, , 0x1000,
5 factory, app, factory, , 3M,

6
src/backoff.rs
View File

@@ -56,14 +56,14 @@ impl Backoff {
'outer: loop { 'outer: loop {
for attempt in self.attempts { for attempt in self.attempts {
match &latest { match &latest {
Err(_) => { Err(err) => {
match attempt { match attempt {
Attempts::Finite(1) => { Attempts::Finite(1) => {
warn!("Operation failed on final attempt."); warn!("Operation failed on final attempt: {err:?}");
break 'outer break 'outer
} }
attempt => { attempt => {
warn!("Operation failed. Retrying attempt {attempt:?} after {delay}"); warn!("Operation failed: {err:?} Retrying attempt {attempt:?} after {delay}");
Timer::after(delay).await; Timer::after(delay).await;
delay *= 2; delay *= 2;
latest = f().await latest = f().await

212
src/bin/main.rs
View File

@@ -7,32 +7,44 @@
)] )]
#![feature(future_join)] #![feature(future_join)]
use core::ptr::addr_of_mut;
use bleps::ad_structure::{create_advertising_data, AdStructure, BR_EDR_NOT_SUPPORTED, LE_GENERAL_DISCOVERABLE};
use bleps::attribute_server::{AttributeServer, NotificationData};
use bleps::{gatt, Ble, HciConnector};
use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice; use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
use embassy_executor::Spawner; use embassy_executor::Spawner;
use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex; use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
use embassy_sync::channel::DynamicReceiver;
use embassy_sync::mutex::Mutex; use embassy_sync::mutex::Mutex;
use embassy_time::{Instant, Timer};
use esp_backtrace as _; use esp_backtrace as _;
use esp_hal::i2c::master::{Config, I2c};
use esp_hal::gpio::Pin; use esp_hal::gpio::Pin;
use esp_hal::i2c::master::{Config, I2c};
use esp_hal::interrupt::software::SoftwareInterruptControl;
use esp_hal::system::{AppCoreGuard, CpuControl, Stack};
use esp_hal::timer::AnyTimer;
use esp_hal::Async; use esp_hal::Async;
use esp_hal::clock::CpuClock; use esp_hal::clock::CpuClock;
use esp_hal::rmt::Rmt;
use esp_hal::time::Rate; use esp_hal::time::Rate;
use esp_hal::timer::systimer::SystemTimer; use esp_hal::timer::systimer::SystemTimer;
use esp_hal::timer::timg::TimerGroup; use esp_hal::timer::timg::TimerGroup;
use esp_hal_embassy::{Executor, InterruptExecutor};
use esp_wifi::ble::controller::BleConnector;
use figments::surface::BufferedSurfacePool; use figments::surface::BufferedSurfacePool;
use log::info; use log::info;
use renderbug_embassy::events::BusGarage; use renderbug_embassy::events::{BusGarage, Measurement, Telemetry};
use renderbug_embassy::tasks::simulation::{motion_simulation_task, location_simulation_task};
use renderbug_embassy::tasks::ui::{Ui, ui_main}; use renderbug_embassy::tasks::ui::{Ui, ui_main};
use renderbug_embassy::tasks::gps::gps_task; use renderbug_embassy::tasks::gps::gps_task;
use renderbug_embassy::tasks::motion::motion_task; use renderbug_embassy::tasks::motion::motion_task;
use serde_json::json;
use static_cell::StaticCell; use static_cell::StaticCell;
use renderbug_embassy::{ use renderbug_embassy::{
tasks::mpu::*, tasks::mpu::*,
tasks::render::render tasks::render::render
}; };
extern crate alloc; extern crate alloc;
// This creates a default app-descriptor required by the esp-idf bootloader. // This creates a default app-descriptor required by the esp-idf bootloader.
@@ -41,6 +53,8 @@ esp_bootloader_esp_idf::esp_app_desc!();
static I2C_BUS: StaticCell<Mutex<CriticalSectionRawMutex, I2c<'static, Async>>> = StaticCell::new(); static I2C_BUS: StaticCell<Mutex<CriticalSectionRawMutex, I2c<'static, Async>>> = StaticCell::new();
static BUS_GARAGE: StaticCell<BusGarage> = StaticCell::new(); static BUS_GARAGE: StaticCell<BusGarage> = StaticCell::new();
static mut CORE2_STACK: Stack<8192> = Stack::new();
static CORE_HANDLE: StaticCell<AppCoreGuard> = StaticCell::new();
#[esp_hal_embassy::main] #[esp_hal_embassy::main]
async fn main(spawner: Spawner) { async fn main(spawner: Spawner) {
@@ -49,7 +63,7 @@ async fn main(spawner: Spawner) {
let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max()); let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max());
let peripherals = esp_hal::init(config); let peripherals = esp_hal::init(config);
esp_alloc::heap_allocator!(size: 64 * 1024); esp_alloc::heap_allocator!(size: 128 * 1024);
let timer0 = SystemTimer::new(peripherals.SYSTIMER); let timer0 = SystemTimer::new(peripherals.SYSTIMER);
esp_hal_embassy::init([timer0.alarm0, timer0.alarm1, timer0.alarm2]); esp_hal_embassy::init([timer0.alarm0, timer0.alarm1, timer0.alarm2]);
@@ -57,31 +71,181 @@ async fn main(spawner: Spawner) {
let garage = BUS_GARAGE.init(Default::default()); let garage = BUS_GARAGE.init(Default::default());
info!("Setting up wifi"); info!("Setting up rendering pipeline");
let rng = esp_hal::rng::Rng::new(peripherals.RNG); let mut surfaces = BufferedSurfacePool::default();
let timer1 = TimerGroup::new(peripherals.TIMG0); let ui = Ui::new(&mut surfaces, &garage.display);
let wifi_init =
esp_wifi::init(timer1.timer0, rng).expect("Failed to initialize WIFI/BLE controller"); let swi = SoftwareInterruptControl::new(peripherals.SW_INTERRUPT);
let (mut _wifi_controller, _interfaces) = esp_wifi::wifi::new(&wifi_init, peripherals.WIFI) static STATIC_HI_EXEC: StaticCell<InterruptExecutor<0>> = StaticCell::new();
.expect("Failed to initialize WIFI controller"); let hi_exec = STATIC_HI_EXEC.init(InterruptExecutor::new(swi.software_interrupt0));
let hi_spawn = hi_exec.start(esp_hal::interrupt::Priority::Priority1);
hi_spawn.must_spawn(render(peripherals.RMT, peripherals.GPIO5.degrade(), surfaces, &garage.display));
info!("Launching i2c sensor tasks"); info!("Launching i2c sensor tasks");
let i2c = I2c::new(peripherals.I2C1, Config::default().with_frequency(Rate::from_khz(400)).with_timeout(esp_hal::i2c::master::BusTimeout::Maximum)).unwrap().with_scl(peripherals.GPIO4).with_sda(peripherals.GPIO3).into_async(); let i2c = I2c::new(peripherals.I2C1, Config::default().with_frequency(Rate::from_khz(400)).with_timeout(esp_hal::i2c::master::BusTimeout::Maximum)).unwrap().with_scl(peripherals.GPIO4).with_sda(peripherals.GPIO3).into_async();
let i2c_bus = I2C_BUS.init(Mutex::new(i2c)); let i2c_bus = I2C_BUS.init(Mutex::new(i2c));
spawner.must_spawn(mpu_task(garage.motion.sender(), garage.scenes.dyn_sender(), I2cDevice::new(i2c_bus))); spawner.must_spawn(mpu_task(garage.motion.dyn_sender(), I2cDevice::new(i2c_bus)));
spawner.must_spawn(gps_task(garage.motion.sender(), garage.scenes.dyn_sender(), I2cDevice::new(i2c_bus))); spawner.must_spawn(gps_task(garage.motion.dyn_sender(), I2cDevice::new(i2c_bus)));
// TODO: Only run the motion sim sources with cfg(simulation)
spawner.must_spawn(motion_simulation_task(garage.motion.dyn_sender()));
spawner.must_spawn(location_simulation_task(garage.motion.dyn_sender()));
info!("Launching motion engine"); info!("Launching motion engine");
spawner.must_spawn(motion_task(garage.motion.receiver(), garage.scenes.dyn_sender())); spawner.must_spawn(motion_task(garage.motion.dyn_receiver(), garage.scenes.dyn_sender(), garage.telemetry.dyn_sender()));
info!("Setting up rendering pipeline"); info!("Starting communications and UI on core 2");
let mut surfaces = BufferedSurfacePool::default(); let mut cpu_control = CpuControl::new(peripherals.CPU_CTRL);
let ui = Ui::new(&mut surfaces, &garage.display); CORE_HANDLE.init(cpu_control.start_app_core(unsafe { &mut *addr_of_mut!(CORE2_STACK) }, || {
let frequency: Rate = Rate::from_mhz(80); static STATIC_EXEC: StaticCell<Executor> = StaticCell::new();
let rmt = Rmt::new(peripherals.RMT, frequency) let exec = STATIC_EXEC.init(Executor::new());
.expect("Failed to initialize RMT").into_async(); exec.run(|spawner| {
let rmt_channel = rmt.channel0; let timer1 = TimerGroup::new(peripherals.TIMG0);
spawner.must_spawn(render(rmt_channel, peripherals.GPIO5.degrade(), surfaces, &garage.display)); spawner.must_spawn(wifi_task(garage.telemetry.dyn_receiver(), timer1.timer0.into(), peripherals.RNG, peripherals.WIFI, peripherals.BT));
spawner.must_spawn(ui_main(garage.scenes.dyn_receiver(), ui)); spawner.must_spawn(ui_main(garage.scenes.dyn_receiver(), ui));
});
}).unwrap());
info!("System is ready in {}ms", Instant::now().as_millis());
}
// TODO: Wifi task needs to know when there is data to upload, so it only connects when needed.
#[embassy_executor::task]
async fn wifi_task(telemetry: DynamicReceiver<'static, Telemetry>, timer: AnyTimer<'static>, rng: esp_hal::peripherals::RNG<'static>, _wifi_device: esp_hal::peripherals::WIFI<'static>, bluetooth_device: esp_hal::peripherals::BT<'static>) {
let rng = esp_hal::rng::Rng::new(rng);
let wifi_init =
esp_wifi::init(timer, rng).expect("Failed to initialize WIFI/BLE controller");
info!("Setting up BLE stack");
let connector = BleConnector::new(&wifi_init, bluetooth_device);
let get_millis = || esp_hal::time::Instant::now().duration_since_epoch().as_millis();
let hci = HciConnector::new(connector, get_millis);
let mut ble = Ble::new(&hci);
ble.init().unwrap();
ble.cmd_set_le_advertising_parameters().unwrap();
ble.cmd_set_le_advertising_data(
create_advertising_data(&[
AdStructure::Flags(LE_GENERAL_DISCOVERABLE | BR_EDR_NOT_SUPPORTED),
AdStructure::ServiceUuids16(&[Uuid::Uuid16(0x0001)]),
AdStructure::CompleteLocalName("Renderbug!")
])
.unwrap()
).unwrap();
ble.cmd_set_le_advertise_enable(true).unwrap();
let mut wf1 = |_offset: usize, data: &[u8]| {
info!("Read serial data! {data:?}");
};
let s = &b""[..];
// Other useful characteristics:
// 0x2A67 - Location and speed
// 0x2A00 - Device name
// 0x2B90 - Device time
// Permitted characteristics:
// Acceleration
// Force
// Length
// Linear position
// Rotational speed
// Temperature
// Torque
// Useful app that logs data: https://github.com/a2ruan/ArduNetApp?tab=readme-ov-file
// Requires service 4fafc201-1fb5-459e-8fcc-c5c9c331914b, characteristic beb5483e-36e1-4688-b7f5-ea07361b26a8
gatt!([service {
uuid: "6E400001-B5A3-F393-E0A9-E50E24DCCA9E", // Nordic UART
characteristics: [
characteristic {
uuid: "6E400003-B5A3-F393-E0A9-E50E24DCCA9E", // TX from device, everything is sent as notifications
notify: true,
name: "tx",
value: s
},
characteristic {
uuid: "6E400002-B5A3-F393-E0A9-E50E24DCCA9E", // RX from phone
write: wf1
},
]
}]);
let mut rng = bleps::no_rng::NoRng;
let mut srv = AttributeServer::new(&mut ble, &mut gatt_attributes, &mut rng);
info!("BLE running!");
// TODO: Somehow need to recreate the attributeserver after disconnecting?
loop {
let notification = match telemetry.try_receive() {
Err(_) => None,
//TODO: Should make Telemetry values serde-encodable
Ok(Telemetry::Measurement(Measurement::IMU { accel, gyro })) => {
let json_data = json!({
"x": accel.x,
"y": accel.y,
"z": accel.z,
"gx": gyro.x,
"gy": gyro.y,
"gz": gyro.z
});
let json_buf = serde_json::to_string(&json_data).unwrap();
Some(json_buf)
},
Ok(Telemetry::Measurement(Measurement::GPS(Some(measurement)))) => {
info!("gps telemetry");
let json_data = json!({
"lat": measurement.x,
"lng": measurement.y
});
let json_buf = serde_json::to_string(&json_data).unwrap();
Some(json_buf)
},
_ => None
/*Ok(Measurement::Prediction(prediction)) => {
let json_data = json!({
"predict_lat": prediction.x,
"predict_lng": prediction.y
});
let json_buf = serde_json::to_string(&json_data).unwrap();
Some(json_buf)
}*/
};
match notification {
None => {
srv.do_work().unwrap();
Timer::after_millis(5).await;
},
Some(serial_data) => {
for chunk in serial_data.as_bytes().chunks(20) {
srv.do_work_with_notification(Some(NotificationData::new(tx_handle, chunk))).unwrap();
}
srv.do_work_with_notification(Some(NotificationData::new(tx_handle, &b"\n"[..]))).unwrap();
}
}
/*
let (mut wifi, _interfaces) = esp_wifi::wifi::new(&wifi_init, wifi_device)
.expect("Failed to initialize WIFI controller"); }
loop {
//let results = wifi.scan_n_async(16).await.unwrap();
wifi.set_configuration(&esp_wifi::wifi::Configuration::Client(
ClientConfiguration {
ssid: "The Frequency".to_string(),
auth_method: esp_wifi::wifi::AuthMethod::WPA2Personal,
password: "thepasswordkenneth".to_string(),
..Default::default()
}
)).unwrap();
if wifi.connect_async().await.is_ok() {
info!("Connected to wifi!");
while wifi.is_connected().unwrap() {
Timer::after_secs(60).await;
}
info!("Disconnected.");
}
Timer::after_secs(30).await;
}
*/
}
} }

85
src/display.rs
View File

@@ -1,26 +1,26 @@
use figments::{hardware::{Brightness, Gamma}, mappings::linear::LinearSpace, power::AsMilliwatts, prelude::*, smart_leds::BrightnessWriter}; use figments::{hardware::{Brightness, Gamma, OutputAsync}, mappings::linear::LinearSpace, power::AsMilliwatts, prelude::*, smart_leds::{BrightnessWriter, BrightnessWriterAsync}};
use core::{fmt::Debug, ops::IndexMut}; use core::{fmt::Debug, ops::IndexMut};
//use std::io::Write; //use std::io::Write;
//use super::{Output}; //use super::{Output};
use figments::hardware::Output; use figments::hardware::Output;
use smart_leds::SmartLedsWriteAsync; use smart_leds::{SmartLedsWrite, SmartLedsWriteAsync};
pub trait LinearPixbuf: Pixbuf + Sample<'static, LinearSpace, Output = Self::Format> + IndexMut<usize, Output = Self::Format> + AsRef<[Self::Format]> {} pub trait LinearPixbuf: Pixbuf + Sample<'static, LinearSpace, Output = Self::Format> + IndexMut<usize, Output = Self::Format> + AsRef<[Self::Format]> {}
impl<T> LinearPixbuf for T where T: Pixbuf + Sample<'static, LinearSpace, Output = Self::Format> + IndexMut<usize, Output = Self::Format> + AsRef<[Self::Format]> {} impl<T> LinearPixbuf for T where T: Pixbuf + Sample<'static, LinearSpace, Output = Self::Format> + IndexMut<usize, Output = Self::Format> + AsRef<[Self::Format]> {}
pub struct BikeOutput<T: SmartLedsWriteAsync> { pub struct BikeOutput<T: SmartLedsWrite> {
pixbuf: [T::Color; 178], pixbuf: [T::Color; 178],
writer: BrightnessWriter<T> writer: BrightnessWriter<T>
} }
impl<T: SmartLedsWriteAsync> Debug for BikeOutput<T> { impl<T: SmartLedsWrite> Debug for BikeOutput<T> {
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result { fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
f.debug_struct("BikeOutput").field("pixbuf", &core::any::type_name_of_val(&self.pixbuf)).field("writer", &core::any::type_name_of_val(&self.writer)).finish() f.debug_struct("BikeOutput").field("pixbuf", &core::any::type_name_of_val(&self.pixbuf)).field("writer", &core::any::type_name_of_val(&self.writer)).finish()
} }
} }
impl<T: SmartLedsWriteAsync> BikeOutput<T> where T::Color: HardwarePixel + Gamma + Fract8Ops, T::Error: core::fmt::Debug { impl<T: SmartLedsWrite> BikeOutput<T> where T::Color: HardwarePixel + Gamma + Fract8Ops, T::Error: core::fmt::Debug {
pub fn new(target: T, max_mw: u32) -> Self { pub fn new(target: T, max_mw: u32) -> Self {
Self { Self {
pixbuf: [Default::default(); 178], pixbuf: [Default::default(); 178],
@@ -29,7 +29,7 @@ impl<T: SmartLedsWriteAsync> BikeOutput<T> where T::Color: HardwarePixel + Gamma
} }
} }
impl<T: SmartLedsWriteAsync> Brightness for BikeOutput<T> where T::Color: HardwarePixel + Gamma + Fract8Ops, T::Error: core::fmt::Debug { impl<T: SmartLedsWrite> Brightness for BikeOutput<T> where T::Color: HardwarePixel + Gamma + Fract8Ops, T::Error: core::fmt::Debug {
fn set_brightness(&mut self, brightness: u8) { fn set_brightness(&mut self, brightness: u8) {
self.writer.set_brightness(brightness); self.writer.set_brightness(brightness);
} }
@@ -43,13 +43,78 @@ impl<T: SmartLedsWriteAsync> Brightness for BikeOutput<T> where T::Color: Hardwa
} }
} }
impl<'a, T: SmartLedsWriteAsync + 'a> Output<'a, BikeSpace> for BikeOutput<T> where T::Color: 'static + HardwarePixel + Gamma + Fract8Ops, [T::Color; 178]: AsMilliwatts + Gamma + Copy, T::Error: core::fmt::Debug { impl<'a, T: SmartLedsWrite + 'a> Output<'a, BikeSpace> for BikeOutput<T> where T::Color: 'static + HardwarePixel + Gamma + Fract8Ops, [T::Color; 178]: AsMilliwatts + Gamma + Copy, T::Error: core::fmt::Debug {
async fn blank(&mut self) -> Result<(), Self::Error> { fn blank(&mut self) -> Result<(), Self::Error> {
self.pixbuf.blank(); self.pixbuf.blank();
Ok(()) Ok(())
} }
async fn commit(&mut self) -> Result<(), Self::Error> { fn commit(&mut self) -> Result<(), Self::Error> {
self.writer.write(&self.pixbuf)
}
type HardwarePixel = T::Color;
type Error = T::Error;
}
impl<'a, T: SmartLedsWrite> Sample<'a, BikeSpace> for BikeOutput<T> where T::Color: HardwarePixel + Gamma + Fract8Ops, [T::Color; 178]: AsMilliwatts + 'static {
type Output = T::Color;
fn sample(&mut self, rect: &Rectangle<BikeSpace>) -> impl Iterator<Item = (Coordinates<BikeSpace>, &'a mut Self::Output)> {
let bufref = unsafe {
&mut *(&mut self.pixbuf as *mut [T::Color; 178])
};
BikeIter {
pixbuf: bufref,
cur: rect.top_left,
end: rect.bottom_right
}
}
}
// ASYNC
pub struct BikeOutputAsync<T: SmartLedsWriteAsync> {
pixbuf: [T::Color; 178],
writer: BrightnessWriterAsync<T>
}
impl<T: SmartLedsWriteAsync> Debug for BikeOutputAsync<T> {
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
f.debug_struct("BikeOutput").field("pixbuf", &core::any::type_name_of_val(&self.pixbuf)).field("writer", &core::any::type_name_of_val(&self.writer)).finish()
}
}
impl<T: SmartLedsWriteAsync> BikeOutputAsync<T> where T::Color: HardwarePixel + Gamma + Fract8Ops, T::Error: core::fmt::Debug {
pub fn new(target: T, max_mw: u32) -> Self {
Self {
pixbuf: [Default::default(); 178],
writer: BrightnessWriterAsync::new(target, max_mw)
}
}
}
impl<T: SmartLedsWriteAsync> Brightness for BikeOutputAsync<T> where T::Color: HardwarePixel + Gamma + Fract8Ops, T::Error: core::fmt::Debug {
fn set_brightness(&mut self, brightness: u8) {
self.writer.set_brightness(brightness);
}
fn set_on(&mut self, is_on: bool) {
self.writer.set_on(is_on);
}
fn set_gamma(&mut self, gamma: f32) {
self.writer.set_gamma(gamma);
}
}
impl<'a, T: SmartLedsWriteAsync + 'a> OutputAsync<'a, BikeSpace> for BikeOutputAsync<T> where T::Color: 'static + HardwarePixel + Gamma + Fract8Ops, [T::Color; 178]: AsMilliwatts + Gamma + Copy, T::Error: core::fmt::Debug {
async fn blank_async(&mut self) -> Result<(), Self::Error> {
self.pixbuf.blank();
Ok(())
}
async fn commit_async(&mut self) -> Result<(), Self::Error> {
self.writer.write(&self.pixbuf).await self.writer.write(&self.pixbuf).await
} }
@@ -57,7 +122,7 @@ impl<'a, T: SmartLedsWriteAsync + 'a> Output<'a, BikeSpace> for BikeOutput<T> wh
type Error = T::Error; type Error = T::Error;
} }
impl<'a, T: SmartLedsWriteAsync> Sample<'a, BikeSpace> for BikeOutput<T> where T::Color: HardwarePixel + Gamma + Fract8Ops, [T::Color; 178]: AsMilliwatts + 'static { impl<'a, T: SmartLedsWriteAsync> Sample<'a, BikeSpace> for BikeOutputAsync<T> where T::Color: HardwarePixel + Gamma + Fract8Ops, [T::Color; 178]: AsMilliwatts + 'static {
type Output = T::Color; type Output = T::Color;
fn sample(&mut self, rect: &Rectangle<BikeSpace>) -> impl Iterator<Item = (Coordinates<BikeSpace>, &'a mut Self::Output)> { fn sample(&mut self, rect: &Rectangle<BikeSpace>) -> impl Iterator<Item = (Coordinates<BikeSpace>, &'a mut Self::Output)> {

111
src/ego/alignment.rs
View File

@@ -1,56 +1,95 @@
use log::*;
use nalgebra::{Matrix3, Rotation3, Unit, Vector3}; use nalgebra::{Rotation3, Unit, Vector3, ComplexField};
use crate::CircularBuffer;
type Sample = Vector3<f32>; // [ax, ay, az] in m/s^2 type Sample = Vector3<f32>; // [ax, ay, az] in m/s^2
#[derive(Debug, Clone, Copy)] #[derive(Debug, Clone, Copy, Default)]
pub struct SensorAlignment { pub struct SensorAlignment {
/// 3x3 transform matrix: raw -> body /// 3x3 transform matrix: raw -> body
/// includes permutation, sign, and bias subtraction. /// includes permutation, sign, and bias subtraction.
pub transform: Rotation3<f32>, pub transform: Rotation3<f32>,
/// bias vector in body frame /// bias vector in sensor frame
pub accel_bias: Vector3<f32>, pub bias: Vector3<f32>
}
pub gyro_bias: Vector3<f32>, #[derive(Debug, Clone, Copy)]
pub enum Direction {
UpZ,
DnZ,
UpX,
DnX,
UpY,
DnY
}
impl From<Direction> for Unit<Vector3<f32>> {
fn from(value: Direction) -> Self {
Unit::new_normalize(match value {
Direction::UpZ => Vector3::z(),
Direction::DnZ => -Vector3::z(),
Direction::UpX => Vector3::x(),
Direction::DnX => -Vector3::x(),
Direction::UpY => Vector3::y(),
Direction::DnY => -Vector3::y(),
})
}
} }
impl SensorAlignment { impl SensorAlignment {
pub fn apply(&self, raw: &Sample) -> Vector3<f32> { pub fn apply(&self, raw: &Sample) -> Vector3<f32> {
self.transform * raw - self.accel_bias self.transform * (raw - self.bias)
} }
pub fn apply_gyro(&self, raw: &Sample) -> Vector3<f32> { pub fn from_samples(accel_samples: &[Sample], down_direction: Direction) -> SensorAlignment {
self.transform * raw - self.gyro_bias let bias: Vector3<f32> = accel_samples.iter().sum::<Vector3<f32>>() / (accel_samples.len() as f32);
} // Figure out the unit vector pointing 'down' at rest
let down_body = Unit::new_normalize(bias);
pub fn new(accel_samples: &[Sample], gyro_samples: &[Sample]) -> SensorAlignment { // Create our 'true' down vector
let avg: Vector3<f32> = accel_samples.iter().sum::<Vector3<f32>>() / (accel_samples.len() as f32); let down_world: Unit<Vector3<f32>> = down_direction.into();//Unit::new_normalize(Vector3::new(0.0, 0.0, -1.0));
let down_body = Unit::new_normalize(avg); // Determine how the axes are rotated between the two
let down_world = Unit::new_normalize(Vector3::new(0.0, 0.0, -1.0)); let axis = down_body.cross(&down_world);
let rot_down = Rotation3::rotation_between(&down_world, &down_body).unwrap_or_else(Rotation3::identity); let axis_unit = Unit::new_normalize(axis);
let forward_world = Vector3::x(); let angle = down_body.dot(&down_world).clamp(-1.0, 1.0).acos();
// Create a rotation matrix from the angles
let forward_projected = (forward_world - forward_world.dot(&down_world) * down_world.into_inner()).normalize(); let transform = Rotation3::from_axis_angle(&axis_unit, angle);
// Transform forward into the body frame
let forward_body = rot_down * forward_projected;
// Construct a proper body frame basis
let right_body = down_body.cross(&forward_body).normalize();
let forward_body = right_body.cross(&down_body).normalize();
// Construct rotation matrix from basis vectors
let rot = Matrix3::from_columns(&[forward_body, right_body, down_body.into_inner()]);
let transform = Rotation3::from_matrix_unchecked(rot);
let gyro_avg: Vector3<f32> = gyro_samples.iter().sum::<Vector3<f32>>() / (gyro_samples.len() as f32);
info!("down_body={down_body:?} down_world={down_world:?}");
Self { Self {
transform, transform,
accel_bias: transform * avg, bias,
gyro_bias: transform * gyro_avg
} }
} }
}
#[derive(Debug)]
pub struct DirectionEstimator {
buf: CircularBuffer<Vector3<f32>>,
direction: Direction,
pub alignment: SensorAlignment
}
impl DirectionEstimator {
pub fn new(direction: Direction) -> Self {
Self {
buf: Default::default(),
alignment: Default::default(),
direction,
}
}
}
impl DirectionEstimator {
pub fn update(&mut self, accel: Vector3<f32>) {
self.buf.insert(accel);
if self.buf.next_index == 0 {
self.alignment = SensorAlignment::from_samples(&self.buf.data, self.direction);
}
}
pub fn apply(&self, vec: &Vector3<f32>) -> Vector3<f32> {
self.alignment.apply(vec)
}
} }

87
src/ego/kalman.rs Normal file
View File

@@ -0,0 +1,87 @@
#![allow(non_snake_case)] // TODO, because most of this code came from chatgpt and I'm still not sure if it actually works or is completely wrong
use nalgebra::{SMatrix, SVector};
/// State: [px, py, vx, vy]
pub type State = SVector<f32, 6>;
pub type Control = SVector<f32, 3>; // dx, dx, yaw
pub type GpsMeasurement = SVector<f32, 2>; // gps x, gps y
pub struct Kalman {
x: State, // state estimate
P: SMatrix<f32, 6, 6>, // covariance
F: SMatrix<f32, 6, 6>, // state transition
B: SMatrix<f32, 6, 3>, // control matrix
H: SMatrix<f32, 2, 6>, // measurement matrix
Q: SMatrix<f32, 6, 6>, // process noise
R: SMatrix<f32, 2, 2>, // measurement noise
}
impl Kalman {
pub fn new(dt: f32) -> Self {
let mut kf = Kalman {
x: State::zeros(),
P: SMatrix::identity(),
F: SMatrix::identity(),
B: SMatrix::zeros(),
H: SMatrix::zeros(),
Q: SMatrix::identity() * 0.1,
R: SMatrix::identity() * 3.0, // GPS noise
};
// F (state transition)
kf.F[(0,2)] = dt;
kf.F[(1,3)] = dt;
kf.F[(4,5)] = dt;
// B (control matrix)
kf.B[(0,0)] = 0.5 * dt * dt;
kf.B[(1,1)] = 0.5 * dt * dt;
kf.B[(2,0)] = dt;
kf.B[(3,1)] = dt;
kf.B[(5,2)] = dt;
// H (GPS: positions only)
kf.H[(0,0)] = 1.0;
kf.H[(1,1)] = 1.0;
kf
}
pub fn predict(&mut self, u: &Control) {
self.x = self.F * self.x + self.B * u;
self.P = self.F * self.P * self.F.transpose() + self.Q;
}
pub fn update(&mut self, z: &GpsMeasurement) {
let y = z - self.H * self.x; // innovation
let S = self.H * self.P * self.H.transpose() + self.R;
if let Some(s_inv) = S.try_inverse() {
let K = self.P * self.H.transpose() * s_inv;
self.x += K * y;
self.P = (SMatrix::<f32,6,6>::identity() - K * self.H) * self.P;
}
}
// Used to indicate stationary behavior and therefore velocities should be zero
pub fn update_zupt(&mut self) {
let z = SVector::<f32, 2>::zeros(); // velocity = 0
let mut H = SMatrix::<f32, 2, 6>::zeros();
H[(0,2)] = 1.0; // vx
H[(1,3)] = 1.0; // vy
let R = SMatrix::<f32, 2, 2>::identity() * 0.01; // very confident
let y = z - H * self.x;
let S = H * self.P * H.transpose() + R;
if let Some(s_inv) = S.try_inverse() {
let k = self.P * H.transpose() * s_inv;
self.x += k * y;
self.P = (SMatrix::<f32,6,6>::identity() - k * H) * self.P;
}
}
pub fn state(&self) -> &State {
&self.x
}
}

3
src/ego/mod.rs
View File

@@ -1,3 +1,4 @@
pub mod alignment; pub mod alignment;
pub mod tilt; pub mod tilt;
pub mod heading; pub mod heading;
pub mod kalman;

59
src/events.rs
View File

@@ -1,7 +1,8 @@
use core::sync::atomic::{AtomicBool, AtomicU8}; use core::sync::atomic::{AtomicBool, AtomicU8};
use embassy_sync::{blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex}, channel::Channel}; use embassy_sync::{blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex}, channel::Channel, signal::Signal};
use figments::hardware::Brightness;
use nalgebra::{Vector2, Vector3}; use nalgebra::{Vector2, Vector3};
#[derive(Clone, Copy, Default, Debug)] #[derive(Clone, Copy, Default, Debug)]
@@ -18,9 +19,22 @@ pub enum Scene {
#[derive(Clone, Copy, Debug)] #[derive(Clone, Copy, Debug)]
pub enum Measurement { pub enum Measurement {
// GPS coordinates // GPS coordinates
GPS(Vector2<f64>), GPS(Option<Vector2<f64>>),
// Accelerometer values in body frame where x=forwards // Accelerometer values in body frame where x=forwards
IMU(Vector3<f32>) IMU { accel: Vector3<f32>, gyro: Vector3<f32> },
}
#[derive(Clone, Copy, Debug)]
pub enum Prediction {
Location(Vector2<f32>),
Velocity(Vector2<f32>)
}
#[derive(Clone, Copy, Debug)]
pub enum Telemetry {
Prediction(Prediction),
Measurement(Measurement),
Notification(Notification)
} }
#[derive(Clone, Copy, Debug)] #[derive(Clone, Copy, Debug)]
@@ -35,25 +49,53 @@ pub enum Notification {
SetBrakelight(bool) SetBrakelight(bool)
} }
#[derive(Debug)] // TODO: Make this clone() able, so multiple threads can point to the same underlying atomics for the hardware controls
pub struct DisplayControls { pub struct DisplayControls {
pub on: AtomicBool, pub on: AtomicBool,
pub brightness: AtomicU8 pub brightness: AtomicU8,
pub render_is_running: Signal<CriticalSectionRawMutex, bool>
}
impl Brightness for DisplayControls {
fn set_brightness(&mut self, brightness: u8) {
self.brightness.store(brightness, core::sync::atomic::Ordering::Relaxed);
}
fn set_on(&mut self, is_on: bool) {
self.on.store(is_on, core::sync::atomic::Ordering::Relaxed);
}
// TODO: Split gamma out from brightness controls
fn set_gamma(&mut self, _gamma: f32) {
unimplemented!()
}
}
impl core::fmt::Debug for DisplayControls {
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> Result<(), core::fmt::Error> {
f.debug_struct("DisplayControls")
.field("on", &self.on)
.field("brightness", &self.brightness)
.field("render_is_running", &self.render_is_running.signaled())
.finish()
}
} }
impl Default for DisplayControls { impl Default for DisplayControls {
fn default() -> Self { fn default() -> Self {
Self { Self {
on: AtomicBool::new(true), on: AtomicBool::new(true),
brightness: AtomicU8::new(255) brightness: AtomicU8::new(255),
render_is_running: Signal::new()
} }
} }
} }
#[derive(Debug)] #[derive(Debug)]
pub struct BusGarage { pub struct BusGarage {
pub motion: Channel<NoopRawMutex, Measurement, 4>, pub motion: Channel<NoopRawMutex, Measurement, 5>,
pub scenes: Channel<CriticalSectionRawMutex, Notification, 4>, pub scenes: Channel<CriticalSectionRawMutex, Notification, 5>,
pub telemetry: Channel<CriticalSectionRawMutex, Telemetry, 15>,
pub display: DisplayControls pub display: DisplayControls
} }
@@ -62,6 +104,7 @@ impl Default for BusGarage {
Self { Self {
motion: Channel::new(), motion: Channel::new(),
scenes: Channel::new(), scenes: Channel::new(),
telemetry: Channel::new(),
display: Default::default() display: Default::default()
} }
} }

26
src/lib.rs
View File

@@ -35,4 +35,30 @@ pub fn as_milliwatts(pixel: &Rgb<u8>) -> u32 {
let blue = (pixel.b as u32 * BLUE_MW).wrapping_shr(8); let blue = (pixel.b as u32 * BLUE_MW).wrapping_shr(8);
red + green + blue + DARK_MW red + green + blue + DARK_MW
}
#[derive(Debug)]
pub struct CircularBuffer<T, const SIZE: usize = 20> {
pub data: [T; SIZE],
next_index: usize
}
impl<T: Default + Copy, const SIZE: usize> Default for CircularBuffer<T, SIZE> {
fn default() -> Self {
Self {
data: [Default::default(); SIZE],
next_index: 0
}
}
}
impl<T, const SIZE: usize> CircularBuffer<T, SIZE> {
pub fn insert(&mut self, value: T) {
self.data[self.next_index] = value;
self.next_index += 1;
if self.next_index == self.data.len() {
self.next_index = 0;
}
}
} }

5
src/shaders.rs
View File

@@ -37,9 +37,9 @@ impl Shader<Uniforms, BikeSpace, Rgba<u8>> for Background {
pub struct Tail {} pub struct Tail {}
impl Shader<Uniforms, BikeSpace, Rgba<u8>> for Tail { impl Shader<Uniforms, BikeSpace, Rgba<u8>> for Tail {
fn draw(&self, coords: &Coordinates<BikeSpace>, uniforms: &Uniforms) -> Rgba<u8> { fn draw(&self, coords: &Coordinates<BikeSpace>, uniforms: &Uniforms) -> Rgba<u8> {
let hue_offset = 0u8.lerp8by8(16, sin8(uniforms.frame.wrapping_sub(coords.x))) as i8 - 8; let hue_offset: u8 = 32.scale8(sin8(uniforms.frame.wrapping_sub(coords.x)));
let value = max(30, inoise8(coords.x.wrapping_add(uniforms.frame) as i16, coords.y.wrapping_add(uniforms.frame) as i16)); let value = max(30, inoise8(coords.x.wrapping_add(uniforms.frame) as i16, coords.y.wrapping_add(uniforms.frame) as i16));
Hsv::new(hue_offset.wrapping_sub(uniforms.primary_color.hue as i8) as u8, max(210, sin8(uniforms.frame.wrapping_add(coords.x))), value).into() Hsv::new(uniforms.primary_color.hue.wrapping_sub(hue_offset), max(210, sin8(uniforms.frame.wrapping_add(coords.x))), value).into()
} }
} }
@@ -122,4 +122,3 @@ impl Shader<Uniforms, BikeSpace, Rgba<u8>> for Thinking {
).into() ).into()
} }
} }

11
src/tasks/gps.rs
View File

@@ -1,6 +1,6 @@
use alloc::string::String; use alloc::string::String;
use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice; use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
use embassy_sync::{blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex}, channel::{DynamicSender, Sender}}; use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, channel::DynamicSender};
use embassy_time::Timer; use embassy_time::Timer;
use embedded_hal_async::i2c::I2c as _; use embedded_hal_async::i2c::I2c as _;
use esp_hal::{i2c::master::I2c, Async}; use esp_hal::{i2c::master::I2c, Async};
@@ -8,13 +8,13 @@ use log::*;
use nalgebra::Vector2; use nalgebra::Vector2;
use nmea::Nmea; use nmea::Nmea;
use crate::{backoff::Backoff, events::{Measurement, Notification}}; use crate::{backoff::Backoff, events::Measurement};
#[allow(dead_code)] //FIXME: Allow switching to this via configure option #[allow(dead_code)] //FIXME: Allow switching to this via configure option
const GPS_TEST_DATA: &str = include_str!("../test.nmea"); const GPS_TEST_DATA: &str = include_str!("../test.nmea");
#[embassy_executor::task] #[embassy_executor::task]
pub async fn gps_task(events: Sender<'static, NoopRawMutex, Measurement, 4>, sink: DynamicSender<'static, Notification>, mut i2c_bus: I2cDevice<'static, CriticalSectionRawMutex, I2c<'static, Async>>) { pub async fn gps_task(events: DynamicSender<'static, Measurement>, mut i2c_bus: I2cDevice<'static, CriticalSectionRawMutex, I2c<'static, Async>>) {
Backoff::from_secs(5).forever().attempt::<_, (), ()>(async || { Backoff::from_secs(5).forever().attempt::<_, (), ()>(async || {
Backoff::from_secs(5).forever().attempt(async || { Backoff::from_secs(5).forever().attempt(async || {
info!("Initializing GPS"); info!("Initializing GPS");
@@ -50,20 +50,19 @@ pub async fn gps_task(events: Sender<'static, NoopRawMutex, Measurement, 4>, sin
if let Ok(result) = parser.parse(&strbuf) { if let Ok(result) = parser.parse(&strbuf) {
match parser.fix_type { match parser.fix_type {
None if has_lock => { None if has_lock => {
sink.send(Notification::GPSLost).await; events.send(Measurement::GPS(None)).await;
has_lock = false has_lock = false
}, },
None => (), None => (),
Some(_) => { Some(_) => {
if !has_lock { if !has_lock {
sink.send(Notification::GPSAcquired).await;
has_lock = true; has_lock = true;
} }
//TODO: 4 satellites seems to be "Some" fix, 6 is a perfect fix //TODO: 4 satellites seems to be "Some" fix, 6 is a perfect fix
//TODO: Only send updates when we get the correct nmea sentence //TODO: Only send updates when we get the correct nmea sentence
if let (Some(lat), Some(lng)) = (parser.latitude, parser.longitude) { if let (Some(lat), Some(lng)) = (parser.latitude, parser.longitude) {
events.send(Measurement::GPS(Vector2::new(lat, lng))).await; events.send(Measurement::GPS(Some(Vector2::new(lat, lng)))).await;
} }
} }
} }

3
src/tasks/mod.rs
View File

@@ -2,4 +2,5 @@ pub mod mpu;
pub mod render; pub mod render;
pub mod motion; pub mod motion;
pub mod gps; pub mod gps;
pub mod ui; pub mod ui;
pub mod simulation;

250
src/tasks/motion.rs
View File

@@ -1,98 +1,111 @@
#![allow(non_snake_case)] // WIP, because most of this code came from chatgpt and I'm still not sure if it actually works or is completely wrong use embassy_sync::channel::{DynamicReceiver, DynamicSender};
use embassy_sync::{blocking_mutex::raw::NoopRawMutex, channel::{DynamicSender, Receiver}}; use nalgebra::{Rotation3, Vector2, Vector3, ComplexField};
use nalgebra::{SMatrix, SVector};
use crate::{ego::heading::HeadingEstimator, events::{Measurement, Notification}}; use crate::{ego::{alignment::{Direction, DirectionEstimator, SensorAlignment}, heading::HeadingEstimator, kalman::{GpsMeasurement, Kalman}}, events::{Measurement, Notification, Prediction, Telemetry}, CircularBuffer};
use log::*; use log::*;
use nalgebra::ComplexField;
/// State: [px, py, vx, vy]
type State = SVector<f32, 6>;
type Control = SVector<f32, 3>; // dx, dx, yaw
type GpsMeasurement = SVector<f32, 2>; // gps x, gps y
pub struct Kalman {
x: State, // state estimate
P: SMatrix<f32, 6, 6>, // covariance
F: SMatrix<f32, 6, 6>, // state transition
B: SMatrix<f32, 6, 3>, // control matrix
H: SMatrix<f32, 2, 6>, // measurement matrix
Q: SMatrix<f32, 6, 6>, // process noise
R: SMatrix<f32, 2, 2>, // measurement noise
}
impl Kalman {
pub fn new(dt: f32) -> Self {
let mut kf = Kalman {
x: State::zeros(),
P: SMatrix::identity(),
F: SMatrix::identity(),
B: SMatrix::zeros(),
H: SMatrix::zeros(),
Q: SMatrix::identity() * 5.0,
R: SMatrix::identity() * 5.0, // GPS noise
};
// F (state transition)
kf.F[(0,2)] = dt;
kf.F[(1,3)] = dt;
kf.F[(4,5)] = dt;
// B (control matrix)
kf.B[(0,0)] = 0.5 * dt * dt;
kf.B[(1,1)] = 0.5 * dt * dt;
kf.B[(2,0)] = dt;
kf.B[(3,1)] = dt;
kf.B[(5,2)] = dt;
// H (GPS: positions only)
kf.H[(0,0)] = 1.0;
kf.H[(1,1)] = 1.0;
kf
}
pub fn predict(&mut self, u: &Control) {
self.x = self.F * self.x + self.B * u;
self.P = self.F * self.P * self.F.transpose() + self.Q;
}
pub fn update(&mut self, z: &GpsMeasurement) {
let y = z - self.H * self.x; // innovation
let S = self.H * self.P * self.H.transpose() + self.R;
if let Some(s_inv) = S.try_inverse() {
let K = self.P * self.H.transpose() * s_inv;
self.x += K * y;
self.P = (SMatrix::<f32,6,6>::identity() - K * self.H) * self.P;
}
}
// Used to indicate stationary behavior and therefore velocities should be zero
pub fn update_zupt(&mut self) {
let z = SVector::<f32, 2>::zeros(); // velocity = 0
let mut H = SMatrix::<f32, 2, 6>::zeros();
H[(0,2)] = 1.0; // vx
H[(1,3)] = 1.0; // vy
let R = SMatrix::<f32, 2, 2>::identity() * 0.01; // very confident
let y = z - H * self.x;
let S = H * self.P * H.transpose() + R;
if let Some(s_inv) = S.try_inverse() {
let k = self.P * H.transpose() * s_inv;
self.x += k * y;
self.P = (SMatrix::<f32,6,6>::identity() - k * H) * self.P;
}
}
pub fn state(&self) -> &State {
&self.x
}
}
#[embassy_executor::task] #[embassy_executor::task]
pub async fn motion_task(src: Receiver<'static, NoopRawMutex, Measurement, 4>, sink: DynamicSender<'static, Notification>) { pub async fn motion_task(src: DynamicReceiver<'static, Measurement>, ui_sink: DynamicSender<'static, Notification>, telemetry_sink: DynamicSender<'static, Telemetry>) {
//TODO: is this the right value? how do update frequencies work?
let dt = 0.01; // 10 Hz
let mut kf = Kalman::new(dt);
let mut recent_accel: CircularBuffer<Vector3<f32>, 100> = CircularBuffer::default();
let mut gravity_align = None;
let mut forwards_align = DirectionEstimator::new(Direction::UpX);
let mut last_fix = Vector2::default();
let mut reference_fix = None;
let mut heading = HeadingEstimator::new(0.0);
loop {
let next_measurement = src.receive().await;
let _ = telemetry_sink.try_send(Telemetry::Measurement(next_measurement));
match next_measurement {
Measurement::IMU { accel, gyro } => {
recent_accel.insert(accel);
// Require a gravity alignment first
if gravity_align.is_none() {
gravity_align = {
let align = SensorAlignment::from_samples(&recent_accel.data, crate::ego::alignment::Direction::DnZ);
if align.bias.norm() < 9.764 || align.bias.norm() > 9.834 {
None
} else {
ui_sink.send(Notification::CalibrationComplete).await;
Some(align)
}
}
} else {
// Minimum motion threshold
if accel.xy().magnitude() >= 0.8 {
// Try to build a new 'forwards' alignment
forwards_align.update(accel);
// Rotate the measurement into the gravity-down frame
let (body_accel, body_gyro) = if let Some(ref adj) = gravity_align {
(adj.apply(&accel), adj.apply(&gyro))
} else {
(accel, gyro)
};
// Then rotate the other two axes to produce the final body frame
let forwards_adjusted = forwards_align.apply(&body_accel);
heading.update(body_gyro.z, 0.1); // TODO: need to correctly use time values for dt
let heading_rotation = Rotation3::from_axis_angle(&Vector3::z_axis(), heading.heading());
let enu_rotated = heading_rotation * forwards_adjusted;
// FIXME: the last thing to add here is rotating the acceleration measurements into the ENU frame.
let m = Vector3::new(enu_rotated.x, enu_rotated.y, body_gyro.z);
kf.predict(&m);
} else {
// Otherwise, we are standing stationary and should insert accel=0 data into the model
kf.update_zupt();
}
}
},
Measurement::GPS(Some(gps_pos)) => {
match reference_fix {
None => {
reference_fix = Some(gps_pos);
last_fix = gps_pos;
ui_sink.send(Notification::GPSAcquired).await;
},
Some(coords) => {
let est = kf.state();
info!("pos=\t({},\t{})\tvel=({},\t{})\theading={}\t({})\tforwards={:?}", est[0], est[1], est[2], est[3], est[4], heading.heading(), forwards_align.apply(&Vector3::new(1.0, 0.0, 0.0)));
if last_fix != coords {
let gps_heading = last_fix.angle(&coords);
heading.correct(gps_heading as f32, 0.9);
}
// Convert GPS coordinates into a meter distance away from the known fix location
let dx = (gps_pos.x - coords.x) * coords.x.cos() * 6371000.0;
let dy = (gps_pos.y - coords.y) * 6371000.0;
kf.update(&GpsMeasurement::new(dx as f32, dy as f32));
info!("GPS={gps_pos:?} d=({dx}, {dy}) heading={}", heading.heading().to_degrees());
last_fix = coords;
}
}
},
Measurement::GPS(None) => {
reference_fix = None;
ui_sink.send(Notification::GPSLost).await;
}
}
let est = kf.state();
if est[2].abs() + est[3].abs() >= 5.0 {
//info!("pos=\t({},\t{})\tvel=({},\t{})\theading={}\tforwards={:?}", est[0], est[1], est[2], est[3], est[4], forwards_align.apply(&Vector3::new(1.0, 0.0, 0.0)));
}
let _ = telemetry_sink.try_send(Telemetry::Prediction(Prediction::Location(est.xy())));
}
}
/*#[embassy_executor::task]
pub async fn _motion_task(src: DynamicReceiver<'static, Measurement>, sink: DynamicSender<'static, Notification>, telemetry_sink: DynamicSender<'static, Measurement>) {
//TODO: is this the right value? how do update frequencies work? //TODO: is this the right value? how do update frequencies work?
let dt = 0.01; // 10 Hz let dt = 0.01; // 10 Hz
let mut kf = Kalman::new(dt); let mut kf = Kalman::new(dt);
@@ -102,58 +115,89 @@ pub async fn motion_task(src: Receiver<'static, NoopRawMutex, Measurement, 4>, s
//TODO: Accelerating/decelerating events need thresholds, maybe a PID to detect? PID setpoint can be a running average speed, and if the calculated error is above/below a threshold, it means we are accelerating/decelerating //TODO: Accelerating/decelerating events need thresholds, maybe a PID to detect? PID setpoint can be a running average speed, and if the calculated error is above/below a threshold, it means we are accelerating/decelerating
let mut last_fix = None; let mut last_fix = None;
let mut last_idle = Instant::now();
let mut is_maybe_idling = false;
let mut is_idle = false;
let mut is_parked = false;
loop { loop {
match src.receive().await { match src.receive().await {
Measurement::IMU(imu_accel) => { Measurement::IMU{ accel, gyro } => {
//info!("IMU update {imu_accel:?}"); //info!("IMU update {imu_accel:?}");
//info!("m=\t({:?}, {:?})\tyaw={:?}", imu_accel.x, imu_accel.y, imu_accel.z); //info!("m=\t({:?}, {:?})\tyaw={:?}", imu_accel.x, imu_accel.y, imu_accel.z);
//kf.predict(&Control::new(imu_accel.x, imu_accel.y, imu_accel.z)); //kf.predict(&Control::new(imu_accel.x, imu_accel.y, imu_accel.z));
// TODO: Also needs corrected using GPS headings via rotation from body frame into world frame // TODO: Also needs corrected using GPS headings via rotation from body frame into world frame
//heading.heading(); //heading.heading();
heading.update(imu_accel.z, 0.01); heading.update(accel.z, 0.01);
//info!("{}", imu_accel.xy().magnitude()); //info!("{}", imu_accel.xy().magnitude());
if imu_accel.xy().magnitude() >= 0.2 { if accel.xy().magnitude() >= 0.8 {
kf.predict(&imu_accel); //info!("magnitude {imu_accel:?} {}", imu_accel.xy().magnitude());
kf.predict(&accel);
if is_parked {
info!("Wake up!");
sink.send(Notification::SceneChange(crate::events::Scene::ParkedIdle)).await;
is_maybe_idling = false;
is_parked = false;
is_idle = false;
}
} else { } else {
//info!("Stationary!!");
kf.update_zupt(); kf.update_zupt();
if !is_maybe_idling {
is_maybe_idling = true;
last_idle = Instant::now();
} else if !is_idle && Instant::now() - last_idle >= Duration::from_secs(15) {
info!("Parked idle");
sink.send(Notification::SceneChange(crate::events::Scene::ParkedIdle)).await;
is_idle = true;
} else if !is_parked && Instant::now() - last_idle >= Duration::from_secs(60 * 3) {
info!("Parked long term!");
sink.send(Notification::SceneChange(crate::events::Scene::ParkedLongTerm)).await;
is_parked = true;
}
} }
// TODO: Rotate the acceleration values into the World frame using GPS heading values // TODO: Rotate the acceleration values into the World frame using GPS heading values
// X means forwards, Y is left/right slide, Z is vertical movement // X means forwards, Y is left/right slide, Z is vertical movement
if imu_accel.x > 1.0 { if accel.x > 1.0 {
sink.send(Notification::SceneChange(crate::events::Scene::Accelerating)).await; //sink.send(Notification::SceneChange(crate::events::Scene::Accelerating)).await;
} else if imu_accel.x < -1.0 { } else if accel.x < -1.0 {
sink.send(Notification::SceneChange(crate::events::Scene::Decelerating)).await; //sink.send(Notification::SceneChange(crate::events::Scene::Decelerating)).await;
} }
let _ = telemetry_sink.try_send(Measurement::IMU { accel, gyro });
} }
Measurement::GPS(gps_pos) => { Measurement::GPS(gps_pos) => {
info!("GPS update! {gps_pos:?}"); //info!("GPS update! {gps_pos:?}");
match last_fix { match last_fix {
None => last_fix = Some(gps_pos), None => last_fix = Some(gps_pos),
Some(coords) => { Some(coords) => {
let dx = (gps_pos.x - coords.x) * coords.x.cos() * 6371000.0; let dx = (gps_pos.x - coords.x) * coords.x.cos() * 6371000.0;
let dy = (gps_pos.y - coords.y) * 6371000.0; let dy = (gps_pos.y - coords.y) * 6371000.0;
kf.update(&GpsMeasurement::new(dx as f32, dy as f32)); kf.update(&GpsMeasurement::new(dx as f32, dy as f32));
//last_fix = Some(gps_pos);
} }
} }
let _ = telemetry_sink.try_send(Measurement::GPS(gps_pos));
} }
} }
let est = kf.state(); let est = kf.state();
//let _ = telemetry_sink.try_send(Measurement::Prediction(*est));
if est[2].abs() + est[3].abs() >= 0.2 { if est[2].abs() + est[3].abs() >= 0.2 {
info!("pos=\t({},\t{})\tvel=({},\t{})\theading=({},\t{})", est[0], est[1], est[2], est[3], est[4], est[5]); info!("pos=\t({},\t{})\tvel=({},\t{})\theading=({},\t{})", est[0], est[1], est[2], est[3], est[4], est[5]);
} }
if est[2].abs() + est[3].abs() > 0f32 { if est[2].abs() > 1.0 {
if !is_moving { if !is_moving {
is_moving = true; is_moving = true;
sink.send(Notification::SceneChange(crate::events::Scene::Accelerating)).await;
} }
} else if is_moving { } else if is_moving {
is_moving = false; is_moving = false;
sink.send(Notification::SceneChange(crate::events::Scene::StoplightIdle)).await; sink.send(Notification::SceneChange(crate::events::Scene::StoplightIdle)).await;
} }
} }
} }*/

52
src/tasks/mpu.rs
View File

@@ -1,16 +1,15 @@
use core::cell::RefCell; use core::cell::RefCell;
use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice; use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
use embassy_sync::{blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex}, channel::{DynamicSender, Sender}}; use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, channel::DynamicSender};
use embassy_time::{Delay, Timer}; use embassy_time::{Delay, Timer};
use esp_hal::{i2c::master::I2c, Async}; use esp_hal::{i2c::master::I2c, Async};
use log::{info, warn}; use log::{info, warn};
use mpu6050_dmp::{address::Address, calibration::CalibrationParameters, error_async::Error, sensor_async::Mpu6050}; use mpu6050_dmp::{address::Address, calibration::CalibrationParameters, error_async::Error, sensor_async::Mpu6050};
use nalgebra::Vector3; use nalgebra::Vector3;
use core::f32::consts::PI; use core::f32::consts::PI;
use nalgebra::ComplexField;
use crate::{backoff::Backoff, ego::{alignment::SensorAlignment, tilt::TiltEstimator}, events::{Measurement, Notification}}; use crate::{backoff::Backoff, ego::tilt::TiltEstimator, events::Measurement};
const G: f32 = 9.80665; const G: f32 = 9.80665;
const SENS_2G: f32 = 16384.0; const SENS_2G: f32 = 16384.0;
@@ -28,7 +27,7 @@ fn gyro_raw_to_rads(raw: i16) -> f32 {
(raw as f32 / 16.4) * (DEG2RAD) (raw as f32 / 16.4) * (DEG2RAD)
} }
/// Rotate body accel into ENU and remove gravity; returns (east, north, up) linear accel in m/s^2 /*/// Rotate body accel into ENU and remove gravity; returns (east, north, up) linear accel in m/s^2
pub fn accel_body_to_enu_lin(body_acc: (f32,f32,f32), roll: f32, pitch: f32, yaw: f32) -> (f32,f32,f32) { pub fn accel_body_to_enu_lin(body_acc: (f32,f32,f32), roll: f32, pitch: f32, yaw: f32) -> (f32,f32,f32) {
let (ax, ay, az) = body_acc; let (ax, ay, az) = body_acc;
@@ -63,10 +62,10 @@ pub fn accel_body_to_enu_lin(body_acc: (f32,f32,f32), roll: f32, pitch: f32, yaw
let az_lin = az_nav - G; // linear acceleration in up axis let az_lin = az_nav - G; // linear acceleration in up axis
(ax_lin, ay_lin, az_lin) (ax_lin, ay_lin, az_lin)
} }*/
#[embassy_executor::task] #[embassy_executor::task]
pub async fn mpu_task(events: Sender<'static, NoopRawMutex, Measurement, 4>, sink: DynamicSender<'static, Notification>, bus: I2cDevice<'static, CriticalSectionRawMutex, I2c<'static, Async>>) { pub async fn mpu_task(events: DynamicSender<'static, Measurement>, bus: I2cDevice<'static, CriticalSectionRawMutex, I2c<'static, Async>>) {
let backoff = Backoff::from_millis(5); let backoff = Backoff::from_millis(5);
let busref = RefCell::new(Some(bus)); let busref = RefCell::new(Some(bus));
@@ -92,24 +91,8 @@ pub async fn mpu_task(events: Sender<'static, NoopRawMutex, Measurement, 4>, sin
let sensor_ref = &mut sensor; let sensor_ref = &mut sensor;
let alignment = { info!("MPU is ready!");
info!("Locating earth..."); let _tilt = TiltEstimator::new(0.3);
let mut accel_samples = [Vector3::default(); 100];
let mut gyro_samples = [Vector3::default(); 100];
for (idx, (accel_sample, gyro_sample)) in accel_samples.iter_mut().zip(gyro_samples.iter_mut()).enumerate() {
let (accel, gyro) = backoff.attempt(async || { sensor_ref.motion6().await }).await.unwrap();
*accel_sample = Vector3::new(accel_raw_to_ms2(accel.x()), accel_raw_to_ms2(accel.y()), accel_raw_to_ms2(accel.z()));
*gyro_sample = Vector3::new(gyro_raw_to_rads(gyro.x()), gyro_raw_to_rads(gyro.y()), gyro_raw_to_rads(gyro.z()));
info!("{idx}/200 {accel_sample:?} {gyro_sample:?}");
Timer::after_millis(5).await;
}
SensorAlignment::new(accel_samples.as_slice(), gyro_samples.as_slice())
};
info!("MPU is ready! earth={alignment:?}");
sink.send(Notification::CalibrationComplete).await;
let mut tilt = TiltEstimator::new(0.3);
//TODO: Need to read in a constant buffer of accelerometer measurements, which we can then use to determine where "forward" points in the body frame when converting from the sensor frame. //TODO: Need to read in a constant buffer of accelerometer measurements, which we can then use to determine where "forward" points in the body frame when converting from the sensor frame.
// From there, we can rotate the body frame into the world frame using gps headings to generate a compass north // From there, we can rotate the body frame into the world frame using gps headings to generate a compass north
fn lowpass(prev: f32, current: f32, alpha: f32) -> f32 { fn lowpass(prev: f32, current: f32, alpha: f32) -> f32 {
@@ -121,16 +104,16 @@ pub async fn mpu_task(events: Sender<'static, NoopRawMutex, Measurement, 4>, sin
Ok((accel_data, gyro_data)) => { Ok((accel_data, gyro_data)) => {
// Apply the initial alignment correction to put it into the body frame where X is forward // Apply the initial alignment correction to put it into the body frame where X is forward
let adjusted = alignment.apply(&Vector3::new( let adjusted = Vector3::new(
accel_raw_to_ms2(accel_data.x()), accel_raw_to_ms2(accel_data.x()),
accel_raw_to_ms2(accel_data.y()), accel_raw_to_ms2(accel_data.y()),
accel_raw_to_ms2(accel_data.z()) accel_raw_to_ms2(accel_data.z())
)); );
let adjusted_gyro = alignment.apply_gyro(&Vector3::new( let adjusted_gyro = Vector3::new(
gyro_raw_to_rads(gyro_data.x()), gyro_raw_to_rads(gyro_data.x()),
gyro_raw_to_rads(gyro_data.y()), gyro_raw_to_rads(gyro_data.y()),
gyro_raw_to_rads(gyro_data.z()) gyro_raw_to_rads(gyro_data.z())
)); );
let filtered = Vector3::new( let filtered = Vector3::new(
lowpass(prev_accel.x, adjusted.x, 0.3), lowpass(prev_accel.x, adjusted.x, 0.3),
@@ -140,15 +123,16 @@ pub async fn mpu_task(events: Sender<'static, NoopRawMutex, Measurement, 4>, sin
prev_accel = adjusted; prev_accel = adjusted;
// Apply current rotation and accel values to rotate our values back into the ENU frame // Apply current rotation and accel values to rotate our values back into the ENU frame
tilt.update(0.01, (filtered.x, filtered.y, filtered.z), (adjusted_gyro.x, adjusted_gyro.y, adjusted_gyro.z)); /*tilt.update(0.01, (filtered.x, filtered.y, filtered.z), (adjusted_gyro.x, adjusted_gyro.y, adjusted_gyro.z));
let (roll, pitch, yaw) = tilt.angles(); let (roll, pitch, yaw) = tilt.angles();
let (ax_e, ay_n, _az_up) = accel_body_to_enu_lin((filtered.x,filtered.y,filtered.z), roll, pitch, yaw); let (ax_e, ay_n, az_up) = accel_body_to_enu_lin((filtered.x,filtered.y,filtered.z), roll, pitch, yaw);
let measured = Vector3::new(ax_e, ay_n, adjusted_gyro.z); let measured = Vector3::new(ax_e, ay_n, az_up);*/
events.send( events.send(
Measurement::IMU( Measurement::IMU {
measured accel: filtered,
) gyro: adjusted_gyro
}
).await; ).await;
Timer::after_millis(10).await; Timer::after_millis(10).await;
}, },

47
src/tasks/render.rs
View File

@@ -1,11 +1,12 @@
use embassy_time::{Duration, Instant, Timer}; use embassy_time::{Duration, Instant, Timer};
use esp_hal::{gpio::AnyPin, rmt::ChannelCreator, Async}; use esp_hal::{gpio::AnyPin, rmt::Rmt, time::Rate};
use esp_hal_smartled::{buffer_size_async, SmartLedsAdapterAsync}; use esp_hal_smartled::{buffer_size_async, SmartLedsAdapterAsync};
use figments::{hardware::{Brightness, Output}, prelude::Hsv, surface::{BufferedSurfacePool, Surfaces}}; use figments::{hardware::{Brightness, OutputAsync}, prelude::Hsv, surface::{BufferedSurfacePool, Surfaces}};
use log::{info, warn}; use log::{info, warn};
use rgb::Rgba; use rgb::Rgba;
use nalgebra::ComplexField;
use crate::{display::{BikeOutput, BikeSpace}, events::DisplayControls}; use crate::{display::{BikeOutputAsync, BikeSpace}, events::DisplayControls};
#[derive(Default)] #[derive(Default)]
pub struct Uniforms { pub struct Uniforms {
@@ -16,9 +17,15 @@ pub struct Uniforms {
//TODO: Import the bike surfaces from renderbug-prime, somehow make those surfaces into tasks //TODO: Import the bike surfaces from renderbug-prime, somehow make those surfaces into tasks
#[embassy_executor::task] #[embassy_executor::task]
pub async fn render(rmt_channel: ChannelCreator<Async, 0>, gpio: AnyPin<'static>, surfaces: BufferedSurfacePool<Uniforms, BikeSpace, Rgba<u8>>, controls: &'static DisplayControls) { pub async fn render(rmt: esp_hal::peripherals::RMT<'static>, gpio: AnyPin<'static>, surfaces: BufferedSurfacePool<Uniforms, BikeSpace, Rgba<u8>>, controls: &'static DisplayControls) {
let frequency: Rate = Rate::from_mhz(80);
let rmt = Rmt::new(rmt, frequency)
.expect("Failed to initialize RMT").into_async();
let rmt_channel = rmt.channel0;
let rmt_buffer = [0u32; buffer_size_async(178)]; let rmt_buffer = [0u32; buffer_size_async(178)];
//let target = SmartLedsAdapterAsync::new(rmt_channel, gpio, rmt_buffer);
let target = SmartLedsAdapterAsync::new(rmt_channel, gpio, rmt_buffer); let target = SmartLedsAdapterAsync::new(rmt_channel, gpio, rmt_buffer);
// Change this to adjust the power available; the USB spec says 500ma is the standard limit, but sometimes you can draw more from a power brick // Change this to adjust the power available; the USB spec says 500ma is the standard limit, but sometimes you can draw more from a power brick
@@ -29,16 +36,22 @@ pub async fn render(rmt_channel: ChannelCreator<Async, 0>, gpio: AnyPin<'static>
const MAX_POWER_MW : u32 = POWER_VOLTS * POWER_MA; const MAX_POWER_MW : u32 = POWER_VOLTS * POWER_MA;
// This value is used as the 'seed' for rendering each frame, allowing us to do things like run the animation backwards, frames for double FPS, or even use system uptime for more human-paced animations // This value is used as the 'seed' for rendering each frame, allowing us to do things like run the animation backwards, frames for double FPS, or even use system uptime for more human-paced animations
let mut uniforms = Uniforms::default(); let mut uniforms = Uniforms {
primary_color: Hsv::new(210, 255, 255),
..Uniforms::default()
};
let mut output = BikeOutput::new(target, MAX_POWER_MW); let mut output = BikeOutputAsync::new(target, MAX_POWER_MW);
info!("Rendering started!"); info!("Rendering started! {}ms since boot", Instant::now().as_millis());
controls.render_is_running.signal(true);
const FPS: u64 = 60;
const RENDER_BUDGET: Duration = Duration::from_millis(1000 / FPS);
loop { loop {
let start = Instant::now(); let start = Instant::now();
//pixbuf.blank(); output.blank_async().await.expect("Failed to blank framebuf");
output.blank().await.expect("Failed to blank framebuf");
surfaces.render_to(&mut output, &uniforms); surfaces.render_to(&mut output, &uniforms);
@@ -47,19 +60,19 @@ pub async fn render(rmt_channel: ChannelCreator<Async, 0>, gpio: AnyPin<'static>
output.set_brightness(controls.brightness.load(core::sync::atomic::Ordering::Relaxed)); output.set_brightness(controls.brightness.load(core::sync::atomic::Ordering::Relaxed));
// Finally, write out the rendered frame // Finally, write out the rendered frame
output.commit().await.expect("Failed to commit frame"); output.commit_async().await.expect("Failed to commit frame");
let render_duration = Instant::now() - start; let render_duration = Instant::now() - start;
let render_budget = Duration::from_millis(16);
if render_duration < render_budget { if render_duration < RENDER_BUDGET {
let remaining_budget = render_budget - render_duration; let remaining_budget = RENDER_BUDGET - render_duration;
uniforms.frame += 1;
Timer::after(remaining_budget).await; Timer::after(remaining_budget).await;
} else { } else {
warn!("Render stall! Frame took {}ms", render_duration.as_millis()); let dropped_count = (render_duration.as_ticks() as f32 / RENDER_BUDGET.as_ticks() as f32).ceil() as usize;
warn!("Render stall! Frame took {}ms, dropping {dropped_count} frame(s)", render_duration.as_millis());
// If we took longer than the budget, we need to drop some frames to catch up
uniforms.frame += dropped_count;
} }
// Increment the frame counter
uniforms.frame += 1;
} }
} }

161
src/tasks/simulation.rs Normal file
View File

@@ -0,0 +1,161 @@
use embassy_sync::channel::DynamicSender;
use csv_core::{ReadFieldResult, Reader};
use embassy_time::{Duration, Timer};
use nalgebra::{Vector2, Vector3};
use crate::events::Measurement;
const ACCELEROMETER_DATA: &str = include_str!("../../test-data/accelerometer.csv");
//const GYRO_DATA: &str = include_str!("../../test-data/gyro.csv");
const GPS_DATA: &str = include_str!("../../test-data/gps.csv");
struct SimDataReader<'a> {
reader: Reader,
buf: &'a str,
read_offset: usize
}
impl<'a> SimDataReader<'a> {
pub fn new(buf: &'a str) -> Self {
Self {
buf,
read_offset: 0,
reader: Reader::new()
}
}
}
impl<'a> Iterator for SimDataReader<'a> {
type Item = &'a str;
fn next(&mut self) -> Option<Self::Item> {
let mut out_buf = [0u8; 128];
match self.reader.read_field(&self.buf.as_bytes()[self.read_offset..(self.read_offset + 128).min(self.buf.len())], &mut out_buf) {
(ReadFieldResult::Field { record_end: _ }, read_size, write_size) => {
let start = self.read_offset;
self.read_offset += read_size;
Some(&self.buf[start..(start + write_size)])
},
(ReadFieldResult::End, _, _) => None,
err => panic!("{:?}", err)
}
}
}
#[derive(Default, Debug, Clone, Copy)]
enum MotionFields {
#[default]
Time,
SecondsElapsed,
Z,
Y,
X,
End
}
impl MotionFields {
pub fn next(self) -> Self {
match self {
Self::Time => Self::SecondsElapsed,
Self::SecondsElapsed => Self::Z,
Self::Z => Self::Y,
Self::Y => Self::X,
Self::X => Self::End,
Self::End => panic!("No more fields")
}
}
}
#[derive(Default, Debug, Clone, Copy)]
enum GpsFields {
#[default]
Time,
SecondsElapsed,
BearingAcc,
SpeedAcc,
VertAcc,
HorizAcc,
Speed,
Bearing,
Altitude,
Longitude,
Latitude,
End
}
impl GpsFields {
pub fn next(self) -> Self {
match self {
Self::Time => Self::SecondsElapsed,
Self::SecondsElapsed => Self::BearingAcc,
Self::BearingAcc => Self::SpeedAcc,
Self::SpeedAcc => Self::VertAcc,
Self::VertAcc => Self::HorizAcc,
Self::HorizAcc => Self::Speed,
Self::Speed => Self::Bearing,
Self::Bearing => Self::Altitude,
Self::Altitude => Self::Longitude,
Self::Longitude => Self::Latitude,
Self::Latitude => Self::End,
Self::End => panic!("No more fields")
}
}
}
#[embassy_executor::task]
pub async fn motion_simulation_task(events: DynamicSender<'static, Measurement>) {
let mut accel = Vector3::default();
let mut cur_field = MotionFields::default();
let mut last_stamp = 0.0;
let mut cur_delta = Duration::from_ticks(0);
let reader = SimDataReader::new(ACCELEROMETER_DATA);
for field in reader {
match cur_field {
MotionFields::SecondsElapsed => {
let secs = field.parse::<f64>().unwrap();
cur_delta = Duration::from_millis(((secs - last_stamp) * 1000.0) as u64);
last_stamp = secs;
}
MotionFields::X => accel.x = field.parse::<f32>().unwrap(),
MotionFields::Y => accel.y = field.parse().unwrap(),
MotionFields::Z => accel.z = field.parse().unwrap(),
_ => ()
}
cur_field = cur_field.next();
if let MotionFields::End = cur_field {
cur_field = MotionFields::default();
events.send(Measurement::IMU{ accel, gyro: Vector3::default() }).await;
Timer::after(cur_delta).await;
}
}
}
#[embassy_executor::task]
pub async fn location_simulation_task(events: DynamicSender<'static, Measurement>) {
let mut coords = Vector2::default();
let mut cur_field = GpsFields::default();
let mut last_stamp = 0.0;
let mut cur_delta = Duration::from_ticks(0);
let reader = SimDataReader::new(GPS_DATA);
for field in reader {
match cur_field {
GpsFields::SecondsElapsed => {
let secs = field.parse::<f64>().unwrap();
cur_delta = Duration::from_millis(((secs - last_stamp) * 1000.0) as u64);
last_stamp = secs;
}
GpsFields::Latitude => coords.x = field.parse::<f64>().unwrap(),
GpsFields::Longitude => coords.y = field.parse().unwrap(),
_ => ()
}
cur_field = cur_field.next();
if let GpsFields::End = cur_field {
cur_field = GpsFields::default();
Timer::after(cur_delta).await;
events.send(Measurement::GPS(Some(coords))).await;
}
}
}

80
src/tasks/ui.rs
View File

@@ -1,8 +1,9 @@
use embassy_sync::channel::DynamicReceiver; use embassy_sync::channel::DynamicReceiver;
use embassy_time::{Duration, Instant, Timer}; use embassy_time::{Duration, Instant, Timer};
use figments::{liber8tion::interpolate::{ease_in_out_quad, Fract8}, prelude::*}; use figments::{liber8tion::interpolate::Fract8, prelude::*};
use rgb::{Rgb, Rgba}; use rgb::{Rgb, Rgba};
use log::*; use log::*;
use nalgebra::ComplexField;
use crate::{display::BikeSpace, events::{DisplayControls, Notification, Scene}, shaders::*, tasks::render::Uniforms}; use crate::{display::BikeSpace, events::{DisplayControls, Notification, Scene}, shaders::*, tasks::render::Uniforms};
@@ -79,10 +80,29 @@ impl<S: Surface<Uniforms = Uniforms, CoordinateSpace = BikeSpace, Pixel = Rgba<u
pub async fn flash_notification_color(&mut self, color: Rgb<u8>) { pub async fn flash_notification_color(&mut self, color: Rgb<u8>) {
self.notification.set_shader(Background::from_color(color)); self.notification.set_shader(Background::from_color(color));
self.notification.set_opacity(255); self.notification.set_opacity(0);
self.notification.set_visible(true); self.notification.set_visible(true);
// Fade in to full on over 1s
Self::animate_duration(Duration::from_secs(1), |pct| {
self.notification.set_opacity(pct);
}).await;
// Pulse quickly 3 times
for _ in 0..3 {
// Brief dimming back to half brightness for half a sec
Self::animate_duration(Duration::from_millis(100), |pct| {
self.notification.set_opacity(100 + pct/2);
}).await;
// Back to full
Self::animate_duration(Duration::from_millis(100), |pct| {
self.notification.set_opacity(100 + (255 - pct) / 2);
}).await;
}
// Back to off
Self::animate_duration(Duration::from_secs(3), |pct| { Self::animate_duration(Duration::from_secs(3), |pct| {
self.notification.set_opacity(255 * pct); self.notification.set_opacity(255 - pct);
}).await; }).await;
self.notification.set_visible(false); self.notification.set_visible(false);
} }
@@ -104,19 +124,36 @@ impl<S: Surface<Uniforms = Uniforms, CoordinateSpace = BikeSpace, Pixel = Rgba<u
} }
} }
pub fn expo_in(t: f32) -> f32 {
if t <= 0.0 {
0.0
} else {
2f32.powf(10.0 * t - 10.0)
}
}
pub fn expo_out(t: f32) -> f32 {
if 1.0 <= t {
1.0
} else {
1.0 - 2f32.powf(-10.0 * t)
}
}
pub async fn startup_fade_sequence(&mut self) { pub async fn startup_fade_sequence(&mut self) {
info!("Running startup fade sequence"); info!("Running startup fade sequence");
// Start with a completely transparent overlay, which then fades in over 1 second // Start with a completely transparent overlay, which then fades in over 1 second
self.overlay.set_opacity(0); self.overlay.set_opacity(0);
self.overlay.set_visible(true); self.overlay.set_visible(true);
Self::animate_duration(Duration::from_secs(1), |pct| { Self::animate_duration(Duration::from_secs(2), |pct| {
self.overlay.set_opacity(ease_in_out_quad(pct)); self.overlay.set_opacity((Self::expo_in(pct as f32 / 255.0) * 255.0) as u8);
}).await; }).await;
// When the overlay is fully opaque and all lower layers will be hidden, turn them on // When the overlay is fully opaque and all lower layers will be hidden, turn them on
self.apply_scene(Scene::Startup).await; self.apply_scene(Scene::Startup).await;
Timer::after_secs(1).await;
// Then fade out the overlay over 3 seconds, allowing the base animations to be shown // Then fade out the overlay over 3 seconds, allowing the base animations to be shown
Self::animate_duration(Duration::from_secs(3), |pct| { Self::animate_duration(Duration::from_secs(1), |pct| {
self.overlay.set_opacity(ease_in_out_quad(255 - pct)); self.overlay.set_opacity((Self::expo_in((255 - pct) as f32 / 255.0) * 255.0) as u8);
}).await; }).await;
self.overlay.set_visible(false); self.overlay.set_visible(false);
info!("Fade sequence completed"); info!("Fade sequence completed");
@@ -178,13 +215,13 @@ impl<S: Surface<Uniforms = Uniforms, CoordinateSpace = BikeSpace, Pixel = Rgba<u
Scene::ParkedIdle => { Scene::ParkedIdle => {
// Ensure the display is on // Ensure the display is on
self.display.on.store(true, core::sync::atomic::Ordering::Relaxed); self.display.on.store(true, core::sync::atomic::Ordering::Relaxed);
Self::animate_duration(Duration::from_secs(1), |pct| {
self.display.brightness.store(128.scale8(255 - pct), core::sync::atomic::Ordering::Relaxed);
}).await;
// Hide the content; only notifications will remain // Hide the content; only notifications will remain
self.background.set_visible(true); self.background.set_visible(true);
self.tail.set_visible(false); self.tail.set_visible(false);
self.panels.set_visible(false); self.panels.set_visible(false);
Self::animate_duration(Duration::from_secs(1), |pct| {
self.display.brightness.store(128.scale8(255 - pct), core::sync::atomic::Ordering::Relaxed);
}).await;
}, },
Scene::ParkedLongTerm => { Scene::ParkedLongTerm => {
// For long-term parking, we turn off the safety lights // For long-term parking, we turn off the safety lights
@@ -195,12 +232,27 @@ impl<S: Surface<Uniforms = Uniforms, CoordinateSpace = BikeSpace, Pixel = Rgba<u
self.display.brightness.store(255 - pct, core::sync::atomic::Ordering::Relaxed); self.display.brightness.store(255 - pct, core::sync::atomic::Ordering::Relaxed);
}).await; }).await;
self.display.on.store(false, core::sync::atomic::Ordering::Relaxed); self.display.on.store(false, core::sync::atomic::Ordering::Relaxed);
},
Scene::Accelerating => {
self.display.on.store(true, core::sync::atomic::Ordering::Relaxed);
self.display.brightness.store(255, core::sync::atomic::Ordering::Relaxed);
self.tail.set_shader(Thinking::default());
self.panels.set_shader(Panel::default());
},
Scene::Decelerating => {
self.display.on.store(true, core::sync::atomic::Ordering::Relaxed);
self.display.brightness.store(255, core::sync::atomic::Ordering::Relaxed);
self.panels.set_shader(Thinking::default());
self.tail.set_shader(Tail::default());
}
_ => {
warn!("Unimplemented scene {next_scene:?}!");
} }
_ => unimplemented!()
} }
} }
pub async fn on_event(&mut self, event: Notification) { pub async fn on_event(&mut self, event: Notification) {
info!("UI Event: {event:?}");
match event { match event {
// Apply the scene when it is changed // Apply the scene when it is changed
Notification::SceneChange(scene) => self.apply_scene(scene).await, Notification::SceneChange(scene) => self.apply_scene(scene).await,
@@ -231,6 +283,9 @@ impl<S: Surface<Uniforms = Uniforms, CoordinateSpace = BikeSpace, Pixel = Rgba<u
#[embassy_executor::task] #[embassy_executor::task]
pub async fn ui_main(events: DynamicReceiver<'static, Notification>, mut ui: Ui<BufferedSurface<Uniforms, BikeSpace, Rgba<u8>>>) { pub async fn ui_main(events: DynamicReceiver<'static, Notification>, mut ui: Ui<BufferedSurface<Uniforms, BikeSpace, Rgba<u8>>>) {
// Wait for the renderer to start running
ui.display.render_is_running.wait().await;
// Run the fade sequence // Run the fade sequence
ui.startup_fade_sequence().await; ui.startup_fade_sequence().await;
@@ -240,6 +295,9 @@ pub async fn ui_main(events: DynamicReceiver<'static, Notification>, mut ui: Ui<
ui.set_headlight_on(true).await; ui.set_headlight_on(true).await;
// Turn off the brakelight // Turn off the brakelight
ui.set_brakelight_on(false).await; ui.set_brakelight_on(false).await;
// Flash white to indicate we are ready
ui.flash_notification_color(Rgb::new(255, 255, 255)).await;
loop { loop {
ui.on_event(events.receive().await).await; ui.on_event(events.receive().await).await;
} }

52046
test-data/Accelerometer.csv Normal file
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52125
test-data/AccelerometerUncalibrated.csv Normal file
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51205
test-data/Compass.csv Normal file
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52349
test-data/Gyroscope.csv Normal file
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52278
test-data/GyroscopeUncalibrated.csv Normal file
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File diff suppressed because it is too large Load Diff

4067
test-data/Location.csv Normal file
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File diff suppressed because it is too large Load Diff

51848
test-data/Orientation.csv Normal file
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52215
test-data/TotalAcceleration.csv Normal file
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190
test-data/WiFi.csv Normal file
View File

@@ -0,0 +1,190 @@
time,seconds_elapsed,level,frequency,capabilities,BSSID,SSID
1758611323985000000,40.023,-76,2462,[WPA2-PSK+FT/PSK-CCMP-128][RSN-PSK+FT/PSK-CCMP-128][ESS],24:5a:4c:ae:aa:14,The Frequency
1758611323985000000,40.023,-87,5280,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],2c:91:ab:57:75:2b,WhereTheFudgeIsTheMyWiFiCable
1758611323985000000,40.023,-79,2462,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],26:5a:4c:9e:aa:14,The Out Of Band
1758611323985000000,40.023,-77,2462,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],2c:91:ab:57:75:2a,WhereTheFudgeIsTheMyWiFiCable
1758611363985000000,80.023,-54,2412,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],98:d8:63:db:3f:38,Lackus KS08
1758611363985000000,80.023,-54,2412,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],98:d8:63:47:0f:54,PHLED HH Gerhofstr. 2
1758611403986000000,120.02399975585938,-58,5560,[ESS],36:56:ee:c8:7d:c8,#Quartier_Heidestrasse
1758611403986000000,120.02399975585938,-80,5600,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],92:78:48:14:8a:ba,(hidden SSID)
1758611403986000000,120.02399975585938,-84,2437,[ESS],ee:a8:1f:3d:b9:f4,Vodafone Hotspot
1758611403986000000,120.02399975585938,-74,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS][MFPC],2e:d1:c6:31:d7:b2,My SEAT 1449
1758611403986000000,120.02399975585938,-60,5700,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],0a:56:ee:c8:79:4a,(hidden SSID)
1758611403986000000,120.02399975585938,-80,5580,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],0a:56:ee:c8:79:8d,(hidden SSID)
1758611403986000000,120.02399975585938,-85,2412,[WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][WPS][MFPC],54:1f:8d:92:f9:e7,gigacube-92F9E7
1758611403986000000,120.02399975585938,-82,5580,[ESS],36:56:ee:c8:79:8d,#Quartier_Heidestrasse
1758611403986000000,120.02399975585938,-83,2462,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],48:2f:6b:9b:e0:02,SAP-IOT
1758611403986000000,120.02399975585938,-85,5600,[WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][MFPC],84:78:48:14:8a:ba,Unifi Privat FS
1758611403986000000,120.02399975585938,-64,5700,[ESS],36:56:ee:c8:79:4a,#Quartier_Heidestrasse
1758611403986000000,120.02399975585938,-60,2462,[ESS],34:56:fe:c8:79:4a,#Quartier_Heidestrasse
1758611403986000000,120.02399975585938,-83,2462,[WPA2-EAP/SHA1+FT/EAP-CCMP-128][RSN-EAP/SHA1+FT/EAP-CCMP-128][ESS][MFPC],48:2f:6b:9b:e0:00,SAP
1758611403986000000,120.02399975585938,-90,5240,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],ec:aa:a0:2d:88:8b,LSPXPT1_888B
1758611403986000000,120.02399975585938,-81,2462,[ESS],48:2f:6b:9b:e0:01,SAP-Guest
1758611403986000000,120.02399975585938,-85,5785,[ESS],48:2f:6b:9b:e7:11,SAP-Guest
1758611403986000000,120.02399975585938,-85,5785,[WPA2-EAP/SHA1+FT/EAP-CCMP-128][RSN-EAP/SHA1+FT/EAP-CCMP-128][ESS][MFPC],48:2f:6b:9b:e7:10,SAP
1758611403986000000,120.02399975585938,-85,5785,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],48:2f:6b:9b:e7:12,SAP-IOT
1758611403986000000,120.02399975585938,-72,5700,[ESS],e2:cb:ac:35:26:15,#Quartier_Heidestrasse
1758611403986000000,120.02399975585938,-72,5700,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],de:cb:ac:35:26:15,(hidden SSID)
1758611403986000000,120.02399975585938,-83,5260,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],0c:71:8c:a8:6d:51,gigacube-B6E2
1758611403986000000,120.02399975585938,-75,5560,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],de:cb:ac:35:2b:58,(hidden SSID)
1758611403986000000,120.02399975585938,-81,5660,[ESS],36:56:ee:c8:85:f2,#Quartier_Heidestrasse
1758611403986000000,120.02399975585938,-84,5600,[WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][MFPC],8a:78:48:14:8a:ba,FRITZ!Box 5590 ANN
1758611403986000000,120.02399975585938,-79,5600,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],8e:78:48:14:8a:ba,(hidden SSID)
1758611403986000000,120.02399975585938,-84,5600,[ESS],48:2f:6b:9b:e0:11,SAP-Guest
1758611403986000000,120.02399975585938,-83,5600,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],48:2f:6b:9b:e0:12,SAP-IOT
1758611403986000000,120.02399975585938,-80,2412,[WPA2-EAP/SHA1+FT/EAP-CCMP-128][RSN-EAP/SHA1+FT/EAP-CCMP-128][ESS][MFPC],48:2f:6b:9b:e7:00,SAP
1758611403986000000,120.02399975585938,-83,5600,[WPA2-EAP/SHA1+FT/EAP-CCMP-128][RSN-EAP/SHA1+FT/EAP-CCMP-128][ESS][MFPC],48:2f:6b:9b:e0:10,SAP
1758611403986000000,120.02399975585938,-81,5660,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],0a:56:ee:c8:85:f2,(hidden SSID)
1758611403986000000,120.02399975585938,-81,2412,[ESS],48:2f:6b:9b:e7:01,SAP-Guest
1758611403986000000,120.02399975585938,-57,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],10:2d:41:cc:65:2b,FocSign_K75549263
1758611443987000000,160.025,-75,5560,[ESS],36:56:ee:c8:7d:c8,#Quartier_Heidestrasse
1758611443987000000,160.025,-66,5700,[ESS],e2:cb:ac:35:26:15,#Quartier_Heidestrasse
1758611443987000000,160.025,-72,2462,[ESS],e0:cb:bc:35:26:15,#Quartier_Heidestrasse
1758611443987000000,160.025,-84,2462,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],c2:4d:a7:cb:d9:8b,B535_D9CB
1758611443987000000,160.025,-83,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS][MFPC],c2:4d:a7:cb:d9:8f,B535_D9CB
1758611443987000000,160.025,-82,5700,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],0a:56:ee:c8:79:4a,(hidden SSID)
1758611443987000000,160.025,-59,2412,[WPA2-PSK-CCMP-128+TKIP][RSN-PSK-CCMP-128+TKIP][ESS],c0:49:ef:92:c1:cd,PIX-G-9
1758611443987000000,160.025,-71,5700,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],de:cb:ac:35:26:15,(hidden SSID)
1758611443987000000,160.025,-83,5320,[WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][WPS][MFPC],54:1f:8d:94:f7:04,BCGP-Berlin
1758611443987000000,160.025,-69,2462,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],de:cb:bc:35:26:15,(hidden SSID)
1758611443987000000,160.025,-84,5680,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],dc:2c:6e:bf:4b:51,H7
1758611443987000000,160.025,-74,5560,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],0a:56:ee:c8:7d:c8,(hidden SSID)
1758611443987000000,160.025,-87,5260,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],e0:08:55:8f:da:6d,FRITZ!Box 6850 VD
1758611443987000000,160.025,-84,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS][MFPC],c2:4d:a7:cb:d9:93,B535_D9CB_5G
1758611443987000000,160.025,-75,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],04:c4:61:f4:e1:66,NetConnect-11694-5-126
1758611443987000000,160.025,-83,5320,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],5a:1f:8d:94:f7:04,(hidden SSID)
1758611443987000000,160.025,-83,5700,[ESS],36:56:ee:c8:79:4a,#Quartier_Heidestrasse
1758611443987000000,160.025,-83,2462,[WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][WPS][MFPC],54:1f:8d:92:f7:04,BCGP-Berlin
1758611483987000000,200.025,-89,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS][MFPC],2e:d1:c6:f2:95:6d,My VW 2420
1758611483987000000,200.025,-81,5580,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],c2:cb:ac:bf:1c:28,ADLER WiFi - Apt 39
1758611483987000000,200.025,-89,5500,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],00:a0:57:81:33:83,Casalot-Intern
1758611483987000000,200.025,-80,5680,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],dc:2c:6e:bf:4b:51,H7
1758611483987000000,200.025,-78,2462,[WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][WPS][MFPC],44:4e:6d:fb:12:61,FRITZ!Box 6820 AP
1758611483987000000,200.025,-88,5260,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],50:e6:36:a5:17:45,S5gZ4n
1758611483987000000,200.025,-77,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],04:c4:61:f4:e1:66,NetConnect-11694-5-126
1758611483987000000,200.025,-80,2462,[WPA2-EAP/SHA1-CCMP-128][RSN-EAP/SHA1-CCMP-128][WPA-EAP/SHA1-CCMP-128][ESS],06:fa:c4:53:25:da,Koester-Notebook
1758611483987000000,200.025,-85,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],3c:52:a1:a8:d4:e0,ADLER WiFi - Apt 39_EXT
1758611483987000000,200.025,-86,2442,[WPA-PSK-CCMP-128][WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],24:2f:d0:a0:be:86,ChaOs
1758611483987000000,200.025,-77,5280,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],ca:cb:ac:96:f2:8e,ADLER WiFi - Apt 41
1758611483987000000,200.025,-85,5500,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],de:cb:ac:bf:f3:41,(hidden SSID)
1758611483987000000,200.025,-84,5260,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],0a:56:ee:a0:00:42,(hidden SSID)
1758611483987000000,200.025,-87,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],de:cb:ac:97:6c:7c,(hidden SSID)
1758611483987000000,200.025,-85,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS][MFPC],c2:4d:a7:cb:d9:8f,B535_D9CB
1758611483987000000,200.025,-69,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],32:da:4b:e7:70:eb,WBRE-Berlin
1758611483987000000,200.025,-82,5580,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],de:cb:ac:bf:1c:28,(hidden SSID)
1758611483987000000,200.025,-69,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],32:dc:4b:e7:70:eb,BCGP-Berlin_Guest
1758611483987000000,200.025,-85,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],7e:4d:8f:42:14:26,DIRECT-26-HP OfficeJet Pro 7740
1758611483987000000,200.025,-88,5785,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][WPA-PSK-CCMP-128][ESS][MFPC],48:da:35:9b:fd:fb,HotspotU6YU
1758611483987000000,200.025,-78,5280,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],de:cb:ac:96:f2:8e,(hidden SSID)
1758611483987000000,200.025,-85,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS][MFPC],c2:4d:a7:cb:d9:93,B535_D9CB_5G
1758611483987000000,200.025,-87,5560,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],de:cb:ac:bf:f4:81,(hidden SSID)
1758611483987000000,200.025,-80,2442,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],32:ce:4b:e7:70:ea,BCGP-Berlin_Guest
1758611483987000000,200.025,-84,5805,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][WPA-PSK-CCMP-128][ESS][MFPC],f8:55:cd:67:1c:09,HotspotcYj7
1758611483987000000,200.025,-87,5220,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],dc:15:c8:f2:6c:85,FRITZ!Box 6591 Cable MD
1758611523988000000,240.026,-86,5785,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],80:5f:8e:26:50:a0,BYD
1758611523988000000,240.026,-87,5540,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],78:6a:1f:3f:38:c5,Vodafone-90D5
1758611523988000000,240.026,-82,2462,[WPA2-EAP/SHA1-CCMP-128][RSN-EAP/SHA1-CCMP-128][WPA-EAP/SHA1-CCMP-128][ESS],e4:fa:c4:53:25:da,Koester-Smartphone
1758611523988000000,240.026,-77,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],32:da:4b:e7:70:eb,WBRE-Berlin
1758611523988000000,240.026,-79,5580,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],c2:cb:ac:bf:1c:28,ADLER WiFi - Apt 39
1758611523988000000,240.026,-86,5320,[WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][WPS][MFPC],54:1f:8d:94:f7:04,BCGP-Berlin
1758611523988000000,240.026,-88,5200,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],0a:56:ee:a0:04:1b,(hidden SSID)
1758611523988000000,240.026,-79,5580,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],de:cb:ac:bf:1c:28,(hidden SSID)
1758611523988000000,240.026,-77,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],32:dc:4b:e7:70:eb,BCGP-Berlin_Guest
1758611523988000000,240.026,-85,5745,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],70:74:14:36:40:6f,Porsche_WLAN_4741 5GHz
1758611523988000000,240.026,-82,5680,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],dc:2c:6e:bf:4b:51,H7
1758611523988000000,240.026,-84,5280,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],de:cb:ac:96:f2:8e,(hidden SSID)
1758611523988000000,240.026,-79,2462,[WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][WPS][MFPC],44:4e:6d:fb:12:61,FRITZ!Box 6820 AP
1758611523988000000,240.026,-78,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],72:3a:14:36:40:6f,Porsche_WLAN_4741
1758611523988000000,240.026,-83,5240,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],0a:56:ee:a0:04:36,(hidden SSID)
1758611523988000000,240.026,-83,5240,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],3a:56:ee:a0:04:36,ADLER WiFi - Apt 34
1758611523988000000,240.026,-71,2442,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],32:ce:4b:e7:70:ea,BCGP-Berlin_Guest
1758611523988000000,240.026,-73,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],04:c4:61:f4:e1:66,NetConnect-11694-5-126
1758611523988000000,240.026,-86,5320,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],5a:1f:8d:94:f7:04,(hidden SSID)
1758611523988000000,240.026,-83,5280,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],ca:cb:ac:96:f2:8e,ADLER WiFi - Apt 41
1758611523988000000,240.026,-83,2412,[WPA2-EAP/SHA1-CCMP-128][RSN-EAP/SHA1-CCMP-128][WPA-EAP/SHA1-CCMP-128][ESS],9c:53:22:ac:98:05,Koester-Smartphone
1758611523988000000,240.026,-86,5240,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],de:cb:ac:96:4a:29,(hidden SSID)
1758611523988000000,240.026,-81,2412,[WPA2-EAP/SHA1-CCMP-128][RSN-EAP/SHA1-CCMP-128][WPA-EAP/SHA1-CCMP-128][ESS],0e:53:22:ac:98:05,Koester-Notebook
1758611523988000000,240.026,-88,5260,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],0a:56:ee:a0:00:42,(hidden SSID)
1758611563989000000,280.027,-87,5540,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],78:6a:1f:3f:38:c5,Vodafone-90D5
1758611563989000000,280.027,-84,2412,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],48:a9:d2:df:55:af,Audi_MMI_0663
1758611563989000000,280.027,-86,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],04:c4:61:f4:e1:66,NetConnect-11694-5-126
1758611563989000000,280.027,-89,5200,[WPA2-PSK-CCMP-128+TKIP][RSN-PSK-CCMP-128+TKIP][WPA-PSK-CCMP-128+TKIP][ESS][WPS],00:0f:94:09:90:05,CBB GmbH
1758611563989000000,280.027,-75,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][MFPC],fa:6d:cc:9a:40:ee,Audi_MMI_9728
1758611563989000000,280.027,-79,5765,[WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][MFPC],76:85:2a:e2:f5:bb,BYD-fe639
1758611563989000000,280.027,-87,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],80:2a:a8:a8:a9:2e,ubnt
1758611563989000000,280.027,-74,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],ee:65:cc:73:3f:23,PROJ733f23
1758611563989000000,280.027,-71,5785,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][WPA-PSK-CCMP-128][ESS][MFPC],48:da:35:9b:fd:fb,HotspotU6YU
1758611603990000000,320.0280002441406,-86,5260,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],98:9d:5d:8e:c5:d8,Vodafone-C5CC
1758611603990000000,320.0280002441406,-82,5540,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],78:6a:1f:3f:38:c5,Vodafone-90D5
1758611603990000000,320.0280002441406,-82,5200,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS][MFPC],9e:50:d1:04:4a:23,My VW 1539
1758611603990000000,320.0280002441406,-85,5540,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],a0:e7:ae:12:cc:e0,Vodafone-6285
1758611603990000000,320.0280002441406,-83,5500,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],1c:9e:cc:77:19:80,Vodafone-1974
1758611603990000000,320.0280002441406,-86,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],dc:15:c8:bb:51:72,FRITZ!Box 7590 WM
1758611603990000000,320.0280002441406,-79,2462,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],10:4e:89:5f:df:44,ConnectedCAM2919
1758611603990000000,320.0280002441406,-83,2412,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],36:60:f9:27:8f:25,(hidden SSID)
1758611603990000000,320.0280002441406,-86,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],80:2a:a8:a8:a9:2e,ubnt
1758611603990000000,320.0280002441406,-80,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS][MFPC],9e:50:d1:64:4a:23,My VW 1539
1758611603990000000,320.0280002441406,-81,2412,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],34:60:f9:17:8f:25,TP-Link_8F25
1758611603990000000,320.0280002441406,-88,5200,[WPA2-PSK-CCMP-128+TKIP][RSN-PSK-CCMP-128+TKIP][WPA-PSK-CCMP-128+TKIP][ESS][WPS],00:0f:94:09:90:05,CBB GmbH
1758611603990000000,320.0280002441406,-78,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],da:fe:f2:64:a9:73,(hidden SSID)
1758611603990000000,320.0280002441406,-86,2417,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],98:25:4a:84:c4:0c,TP-Link_C4FZ
1758611603990000000,320.0280002441406,-84,2462,[WPA2-PSK-CCMP-128+TKIP][RSN-PSK-CCMP-128+TKIP][ESS],00:1e:42:2f:2d:d5,LivEye#L-O-222
1758611603990000000,320.0280002441406,-84,2417,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],f2:09:0d:d9:79:11,(hidden SSID)
1758611603990000000,320.0280002441406,-78,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],4a:75:62:15:bf:af,Audi_MMI_2520
1758611643990000000,360.0280002441406,-85,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],c8:d3:ff:85:5e:d1,DIRECT-D0-HP OfficeJet Pro 8710
1758611643990000000,360.0280002441406,-83,5260,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],98:9d:5d:8e:c5:d8,Vodafone-C5CC
1758611643990000000,360.0280002441406,-83,5540,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],a0:e7:ae:12:cc:e0,Vodafone-6285
1758611643990000000,360.0280002441406,-85,2412,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],f8:5e:42:72:63:38,Vodafone-6334
1758611643990000000,360.0280002441406,-86,5500,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],1c:9e:cc:77:19:80,Vodafone-1974
1758611643990000000,360.0280002441406,-82,2412,[ESS],fa:5e:42:72:63:3a,Vodafone Homespot
1758611643990000000,360.0280002441406,-87,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],f0:af:85:b8:39:61,Vodafone-07DF
1758611643990000000,360.0280002441406,-85,2412,[ESS],fa:5e:42:72:63:3c,Vodafone Hotspot
1758611643990000000,360.0280002441406,-91,5240,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],a0:e4:cb:3d:a9:c3,o2-WLAN12
1758611643990000000,360.0280002441406,-61,2462,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],10:4e:89:5f:df:44,ConnectedCAM2919
1758611643990000000,360.0280002441406,-86,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],a0:e4:cb:3d:a9:c2,o2-WLAN12
1758611643990000000,360.0280002441406,-87,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],80:2a:a8:a8:a9:2e,ubnt
1758611643990000000,360.0280002441406,-90,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],34:e1:a9:4e:de:a3,FRITZ!Box 7530 AA
1758611643990000000,360.0280002441406,-87,5300,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],b0:f2:08:78:6f:7b,FRITZ!Box 6850 YG
1758611643990000000,360.0280002441406,-77,2412,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],34:60:f9:17:8f:25,TP-Link_8F25
1758611643990000000,360.0280002441406,-87,5200,[WPA2-PSK-CCMP-128+TKIP][RSN-PSK-CCMP-128+TKIP][WPA-PSK-CCMP-128+TKIP][ESS][WPS],00:0f:94:09:90:05,CBB GmbH
1758611643990000000,360.0280002441406,-79,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],00:00:00:00:01:78,DIRECT-F2-HP OfficeJet 7510
1758611643990000000,360.0280002441406,-72,2412,[ESS],04:f0:21:a6:7c:2f,BVG Wi-Fi
1758611643990000000,360.0280002441406,-84,5200,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],34:60:f9:17:8f:24,TP-Link_8F25_5G
1758611643990000000,360.0280002441406,-77,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],da:fe:f2:64:a9:73,(hidden SSID)
1758611643990000000,360.0280002441406,-81,2462,[WPA2-PSK-CCMP-128+TKIP][RSN-PSK-CCMP-128+TKIP][ESS],00:1e:42:2f:2d:d5,LivEye#L-O-222
1758611643990000000,360.0280002441406,-82,5785,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],8e:53:e6:1e:bf:2a,DIRECT-BMW 37515
1758611643990000000,360.0280002441406,-82,2462,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],8e:53:e6:0e:bf:2a,DIRECT-BMW 37515
1758611683991000000,400.029,-82,2412,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],62:e6:36:0c:49:79,Mount Zion 0361
1758611683991000000,400.029,-85,2462,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],dc:15:c8:ad:87:50,SuperspeedU
1758611683991000000,400.029,-86,2412,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],de:cd:2f:a2:5e:ad,DIRECT-2FA2DEAD
1758611683991000000,400.029,-81,2412,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],50:e6:36:0c:49:78,FRITZ!Box 7530 TL
1758611683991000000,400.029,-88,5500,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],64:7b:1e:7f:c5:8f,WLAN-913349
1758611683991000000,400.029,-81,5500,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],8c:6a:8d:e3:78:70,Vodafone-7864
1758611683991000000,400.029,-84,2462,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],98:9d:5d:8f:f7:40,Vodafone-F73C
1758611683991000000,400.029,-87,2412,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],de:cd:2f:a2:5e:aa,DIRECT-2FA2DEAA
1758611723994000000,440.0319997558594,-90,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],9c:c8:fc:31:62:2e,Vodafone-2 4
1758611723994000000,440.0319997558594,-81,2412,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],9c:c8:fc:31:62:2d,Vodafone-2 4
1758611723994000000,440.0319997558594,-85,2462,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],3e:87:c0:22:40:fc,Redmi Note 14 Pro
1758611723994000000,440.0319997558594,-78,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],62:8d:26:77:93:4b,(hidden SSID)
1758611723994000000,440.0319997558594,-85,5500,[ESS],24:a4:3c:86:46:e7,freifunk-bbb-bht-s
1758611723994000000,440.0319997558594,-79,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],62:8d:26:77:93:4c,(hidden SSID)
1758611723994000000,440.0319997558594,-86,2412,[WPA2-PSK-CCMP-128+TKIP][RSN-PSK-CCMP-128+TKIP][WPA-PSK-CCMP-128+TKIP][ESS],c0:ee:40:48:43:4c,mcx1-03540
1758611723994000000,440.0319997558594,-83,2462,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],60:8d:26:77:93:4d,WLAN-981710
1758611723994000000,440.0319997558594,-91,5320,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],ce:d4:2e:30:8b:ef,(hidden SSID)
1758611723994000000,440.0319997558594,-86,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],f2:c4:75:a6:f3:c8,Galaxy A51EE10
1758611723994000000,440.0319997558594,-87,5260,[WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][WPS][MFPC],98:9b:cb:37:b9:1f,Kentucky
1758611723994000000,440.0319997558594,-84,5680,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],f0:4b:8a:62:ee:60,Vodafone-0AA1
1758611723994000000,440.0319997558594,-86,2427,[ESS],88:12:ac:ac:31:5d,SENA WA-AC315C
1758611723994000000,440.0319997558594,-72,5540,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],2c:00:ab:85:37:b1,Vodafone-E42B
1758611723994000000,440.0319997558594,-80,2412,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],60:b5:8d:7b:56:8f,FRITZ!Box 7530 ZB
1758611723994000000,440.0319997558594,-89,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],4e:1b:86:fa:54:2d,(hidden SSID)
1758611723994000000,440.0319997558594,-89,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],4e:1b:86:fa:54:2e,(hidden SSID)
1758611723994000000,440.0319997558594,-89,5200,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],4c:1b:86:d5:97:a9,WLAN-283443
1758611723994000000,440.0319997558594,-79,5180,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],60:8d:26:77:93:49,WLAN-981710
1758611763994000000,480.0319997558594,-88,5220,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],ac:6f:bb:c7:7f:dd,N14WL
1758611763994000000,480.0319997558594,-88,5220,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],a6:6f:bb:c7:7f:dc,(hidden SSID)
1758611763994000000,480.0319997558594,-81,2442,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],88:03:55:ef:72:ac,o2-WLAN24
1758611763994000000,480.0319997558594,-86,2412,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],b8:69:f4:73:cf:77,urbanizers
1758611763994000000,480.0319997558594,-86,2462,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS],50:6f:0c:c4:d4:5e,FriedoLAN
1758611763994000000,480.0319997558594,-75,2437,[WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS],0c:ea:14:7c:02:32,ServiceConceptFM
1758611803994000000,520.0319997558594,-87,5240,[WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][MFPC],c2:c4:f9:72:47:1e,MBUX 77988
1 time seconds_elapsed level frequency capabilities BSSID SSID
2 1758611323985000000 40.023 -76 2462 [WPA2-PSK+FT/PSK-CCMP-128][RSN-PSK+FT/PSK-CCMP-128][ESS] 24:5a:4c:ae:aa:14 The Frequency
3 1758611323985000000 40.023 -87 5280 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 2c:91:ab:57:75:2b WhereTheFudgeIsTheMyWiFiCable
4 1758611323985000000 40.023 -79 2462 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 26:5a:4c:9e:aa:14 The Out Of Band
5 1758611323985000000 40.023 -77 2462 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 2c:91:ab:57:75:2a WhereTheFudgeIsTheMyWiFiCable
6 1758611363985000000 80.023 -54 2412 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 98:d8:63:db:3f:38 Lackus KS08
7 1758611363985000000 80.023 -54 2412 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 98:d8:63:47:0f:54 PHLED HH Gerhofstr. 2
8 1758611403986000000 120.02399975585938 -58 5560 [ESS] 36:56:ee:c8:7d:c8 #Quartier_Heidestrasse
9 1758611403986000000 120.02399975585938 -80 5600 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 92:78:48:14:8a:ba (hidden SSID)
10 1758611403986000000 120.02399975585938 -84 2437 [ESS] ee:a8:1f:3d:b9:f4 Vodafone Hotspot
11 1758611403986000000 120.02399975585938 -74 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS][MFPC] 2e:d1:c6:31:d7:b2 My SEAT 1449
12 1758611403986000000 120.02399975585938 -60 5700 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 0a:56:ee:c8:79:4a (hidden SSID)
13 1758611403986000000 120.02399975585938 -80 5580 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 0a:56:ee:c8:79:8d (hidden SSID)
14 1758611403986000000 120.02399975585938 -85 2412 [WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][WPS][MFPC] 54:1f:8d:92:f9:e7 gigacube-92F9E7
15 1758611403986000000 120.02399975585938 -82 5580 [ESS] 36:56:ee:c8:79:8d #Quartier_Heidestrasse
16 1758611403986000000 120.02399975585938 -83 2462 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 48:2f:6b:9b:e0:02 SAP-IOT
17 1758611403986000000 120.02399975585938 -85 5600 [WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][MFPC] 84:78:48:14:8a:ba Unifi Privat FS
18 1758611403986000000 120.02399975585938 -64 5700 [ESS] 36:56:ee:c8:79:4a #Quartier_Heidestrasse
19 1758611403986000000 120.02399975585938 -60 2462 [ESS] 34:56:fe:c8:79:4a #Quartier_Heidestrasse
20 1758611403986000000 120.02399975585938 -83 2462 [WPA2-EAP/SHA1+FT/EAP-CCMP-128][RSN-EAP/SHA1+FT/EAP-CCMP-128][ESS][MFPC] 48:2f:6b:9b:e0:00 SAP
21 1758611403986000000 120.02399975585938 -90 5240 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] ec:aa:a0:2d:88:8b LSPXPT1_888B
22 1758611403986000000 120.02399975585938 -81 2462 [ESS] 48:2f:6b:9b:e0:01 SAP-Guest
23 1758611403986000000 120.02399975585938 -85 5785 [ESS] 48:2f:6b:9b:e7:11 SAP-Guest
24 1758611403986000000 120.02399975585938 -85 5785 [WPA2-EAP/SHA1+FT/EAP-CCMP-128][RSN-EAP/SHA1+FT/EAP-CCMP-128][ESS][MFPC] 48:2f:6b:9b:e7:10 SAP
25 1758611403986000000 120.02399975585938 -85 5785 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 48:2f:6b:9b:e7:12 SAP-IOT
26 1758611403986000000 120.02399975585938 -72 5700 [ESS] e2:cb:ac:35:26:15 #Quartier_Heidestrasse
27 1758611403986000000 120.02399975585938 -72 5700 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] de:cb:ac:35:26:15 (hidden SSID)
28 1758611403986000000 120.02399975585938 -83 5260 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 0c:71:8c:a8:6d:51 gigacube-B6E2
29 1758611403986000000 120.02399975585938 -75 5560 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] de:cb:ac:35:2b:58 (hidden SSID)
30 1758611403986000000 120.02399975585938 -81 5660 [ESS] 36:56:ee:c8:85:f2 #Quartier_Heidestrasse
31 1758611403986000000 120.02399975585938 -84 5600 [WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][MFPC] 8a:78:48:14:8a:ba FRITZ!Box 5590 ANN
32 1758611403986000000 120.02399975585938 -79 5600 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 8e:78:48:14:8a:ba (hidden SSID)
33 1758611403986000000 120.02399975585938 -84 5600 [ESS] 48:2f:6b:9b:e0:11 SAP-Guest
34 1758611403986000000 120.02399975585938 -83 5600 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 48:2f:6b:9b:e0:12 SAP-IOT
35 1758611403986000000 120.02399975585938 -80 2412 [WPA2-EAP/SHA1+FT/EAP-CCMP-128][RSN-EAP/SHA1+FT/EAP-CCMP-128][ESS][MFPC] 48:2f:6b:9b:e7:00 SAP
36 1758611403986000000 120.02399975585938 -83 5600 [WPA2-EAP/SHA1+FT/EAP-CCMP-128][RSN-EAP/SHA1+FT/EAP-CCMP-128][ESS][MFPC] 48:2f:6b:9b:e0:10 SAP
37 1758611403986000000 120.02399975585938 -81 5660 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 0a:56:ee:c8:85:f2 (hidden SSID)
38 1758611403986000000 120.02399975585938 -81 2412 [ESS] 48:2f:6b:9b:e7:01 SAP-Guest
39 1758611403986000000 120.02399975585938 -57 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 10:2d:41:cc:65:2b FocSign_K75549263
40 1758611443987000000 160.025 -75 5560 [ESS] 36:56:ee:c8:7d:c8 #Quartier_Heidestrasse
41 1758611443987000000 160.025 -66 5700 [ESS] e2:cb:ac:35:26:15 #Quartier_Heidestrasse
42 1758611443987000000 160.025 -72 2462 [ESS] e0:cb:bc:35:26:15 #Quartier_Heidestrasse
43 1758611443987000000 160.025 -84 2462 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] c2:4d:a7:cb:d9:8b B535_D9CB
44 1758611443987000000 160.025 -83 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS][MFPC] c2:4d:a7:cb:d9:8f B535_D9CB
45 1758611443987000000 160.025 -82 5700 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 0a:56:ee:c8:79:4a (hidden SSID)
46 1758611443987000000 160.025 -59 2412 [WPA2-PSK-CCMP-128+TKIP][RSN-PSK-CCMP-128+TKIP][ESS] c0:49:ef:92:c1:cd PIX-G-9
47 1758611443987000000 160.025 -71 5700 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] de:cb:ac:35:26:15 (hidden SSID)
48 1758611443987000000 160.025 -83 5320 [WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][WPS][MFPC] 54:1f:8d:94:f7:04 BCGP-Berlin
49 1758611443987000000 160.025 -69 2462 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] de:cb:bc:35:26:15 (hidden SSID)
50 1758611443987000000 160.025 -84 5680 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] dc:2c:6e:bf:4b:51 H7
51 1758611443987000000 160.025 -74 5560 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 0a:56:ee:c8:7d:c8 (hidden SSID)
52 1758611443987000000 160.025 -87 5260 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] e0:08:55:8f:da:6d FRITZ!Box 6850 VD
53 1758611443987000000 160.025 -84 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS][MFPC] c2:4d:a7:cb:d9:93 B535_D9CB_5G
54 1758611443987000000 160.025 -75 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 04:c4:61:f4:e1:66 NetConnect-11694-5-126
55 1758611443987000000 160.025 -83 5320 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 5a:1f:8d:94:f7:04 (hidden SSID)
56 1758611443987000000 160.025 -83 5700 [ESS] 36:56:ee:c8:79:4a #Quartier_Heidestrasse
57 1758611443987000000 160.025 -83 2462 [WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][WPS][MFPC] 54:1f:8d:92:f7:04 BCGP-Berlin
58 1758611483987000000 200.025 -89 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS][MFPC] 2e:d1:c6:f2:95:6d My VW 2420
59 1758611483987000000 200.025 -81 5580 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] c2:cb:ac:bf:1c:28 ADLER WiFi - Apt 39
60 1758611483987000000 200.025 -89 5500 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 00:a0:57:81:33:83 Casalot-Intern
61 1758611483987000000 200.025 -80 5680 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] dc:2c:6e:bf:4b:51 H7
62 1758611483987000000 200.025 -78 2462 [WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][WPS][MFPC] 44:4e:6d:fb:12:61 FRITZ!Box 6820 AP
63 1758611483987000000 200.025 -88 5260 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 50:e6:36:a5:17:45 S5gZ4n
64 1758611483987000000 200.025 -77 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 04:c4:61:f4:e1:66 NetConnect-11694-5-126
65 1758611483987000000 200.025 -80 2462 [WPA2-EAP/SHA1-CCMP-128][RSN-EAP/SHA1-CCMP-128][WPA-EAP/SHA1-CCMP-128][ESS] 06:fa:c4:53:25:da Koester-Notebook
66 1758611483987000000 200.025 -85 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 3c:52:a1:a8:d4:e0 ADLER WiFi - Apt 39_EXT
67 1758611483987000000 200.025 -86 2442 [WPA-PSK-CCMP-128][WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 24:2f:d0:a0:be:86 ChaOs
68 1758611483987000000 200.025 -77 5280 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] ca:cb:ac:96:f2:8e ADLER WiFi - Apt 41
69 1758611483987000000 200.025 -85 5500 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] de:cb:ac:bf:f3:41 (hidden SSID)
70 1758611483987000000 200.025 -84 5260 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 0a:56:ee:a0:00:42 (hidden SSID)
71 1758611483987000000 200.025 -87 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] de:cb:ac:97:6c:7c (hidden SSID)
72 1758611483987000000 200.025 -85 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS][MFPC] c2:4d:a7:cb:d9:8f B535_D9CB
73 1758611483987000000 200.025 -69 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 32:da:4b:e7:70:eb WBRE-Berlin
74 1758611483987000000 200.025 -82 5580 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] de:cb:ac:bf:1c:28 (hidden SSID)
75 1758611483987000000 200.025 -69 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 32:dc:4b:e7:70:eb BCGP-Berlin_Guest
76 1758611483987000000 200.025 -85 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 7e:4d:8f:42:14:26 DIRECT-26-HP OfficeJet Pro 7740
77 1758611483987000000 200.025 -88 5785 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][WPA-PSK-CCMP-128][ESS][MFPC] 48:da:35:9b:fd:fb HotspotU6YU
78 1758611483987000000 200.025 -78 5280 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] de:cb:ac:96:f2:8e (hidden SSID)
79 1758611483987000000 200.025 -85 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS][MFPC] c2:4d:a7:cb:d9:93 B535_D9CB_5G
80 1758611483987000000 200.025 -87 5560 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] de:cb:ac:bf:f4:81 (hidden SSID)
81 1758611483987000000 200.025 -80 2442 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 32:ce:4b:e7:70:ea BCGP-Berlin_Guest
82 1758611483987000000 200.025 -84 5805 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][WPA-PSK-CCMP-128][ESS][MFPC] f8:55:cd:67:1c:09 HotspotcYj7
83 1758611483987000000 200.025 -87 5220 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] dc:15:c8:f2:6c:85 FRITZ!Box 6591 Cable MD
84 1758611523988000000 240.026 -86 5785 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 80:5f:8e:26:50:a0 BYD
85 1758611523988000000 240.026 -87 5540 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 78:6a:1f:3f:38:c5 Vodafone-90D5
86 1758611523988000000 240.026 -82 2462 [WPA2-EAP/SHA1-CCMP-128][RSN-EAP/SHA1-CCMP-128][WPA-EAP/SHA1-CCMP-128][ESS] e4:fa:c4:53:25:da Koester-Smartphone
87 1758611523988000000 240.026 -77 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 32:da:4b:e7:70:eb WBRE-Berlin
88 1758611523988000000 240.026 -79 5580 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] c2:cb:ac:bf:1c:28 ADLER WiFi - Apt 39
89 1758611523988000000 240.026 -86 5320 [WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][WPS][MFPC] 54:1f:8d:94:f7:04 BCGP-Berlin
90 1758611523988000000 240.026 -88 5200 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 0a:56:ee:a0:04:1b (hidden SSID)
91 1758611523988000000 240.026 -79 5580 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] de:cb:ac:bf:1c:28 (hidden SSID)
92 1758611523988000000 240.026 -77 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 32:dc:4b:e7:70:eb BCGP-Berlin_Guest
93 1758611523988000000 240.026 -85 5745 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 70:74:14:36:40:6f Porsche_WLAN_4741 5GHz
94 1758611523988000000 240.026 -82 5680 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] dc:2c:6e:bf:4b:51 H7
95 1758611523988000000 240.026 -84 5280 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] de:cb:ac:96:f2:8e (hidden SSID)
96 1758611523988000000 240.026 -79 2462 [WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][WPS][MFPC] 44:4e:6d:fb:12:61 FRITZ!Box 6820 AP
97 1758611523988000000 240.026 -78 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 72:3a:14:36:40:6f Porsche_WLAN_4741
98 1758611523988000000 240.026 -83 5240 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 0a:56:ee:a0:04:36 (hidden SSID)
99 1758611523988000000 240.026 -83 5240 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 3a:56:ee:a0:04:36 ADLER WiFi - Apt 34
100 1758611523988000000 240.026 -71 2442 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 32:ce:4b:e7:70:ea BCGP-Berlin_Guest
101 1758611523988000000 240.026 -73 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 04:c4:61:f4:e1:66 NetConnect-11694-5-126
102 1758611523988000000 240.026 -86 5320 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 5a:1f:8d:94:f7:04 (hidden SSID)
103 1758611523988000000 240.026 -83 5280 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] ca:cb:ac:96:f2:8e ADLER WiFi - Apt 41
104 1758611523988000000 240.026 -83 2412 [WPA2-EAP/SHA1-CCMP-128][RSN-EAP/SHA1-CCMP-128][WPA-EAP/SHA1-CCMP-128][ESS] 9c:53:22:ac:98:05 Koester-Smartphone
105 1758611523988000000 240.026 -86 5240 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] de:cb:ac:96:4a:29 (hidden SSID)
106 1758611523988000000 240.026 -81 2412 [WPA2-EAP/SHA1-CCMP-128][RSN-EAP/SHA1-CCMP-128][WPA-EAP/SHA1-CCMP-128][ESS] 0e:53:22:ac:98:05 Koester-Notebook
107 1758611523988000000 240.026 -88 5260 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 0a:56:ee:a0:00:42 (hidden SSID)
108 1758611563989000000 280.027 -87 5540 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 78:6a:1f:3f:38:c5 Vodafone-90D5
109 1758611563989000000 280.027 -84 2412 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 48:a9:d2:df:55:af Audi_MMI_0663
110 1758611563989000000 280.027 -86 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 04:c4:61:f4:e1:66 NetConnect-11694-5-126
111 1758611563989000000 280.027 -89 5200 [WPA2-PSK-CCMP-128+TKIP][RSN-PSK-CCMP-128+TKIP][WPA-PSK-CCMP-128+TKIP][ESS][WPS] 00:0f:94:09:90:05 CBB GmbH
112 1758611563989000000 280.027 -75 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][MFPC] fa:6d:cc:9a:40:ee Audi_MMI_9728
113 1758611563989000000 280.027 -79 5765 [WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][MFPC] 76:85:2a:e2:f5:bb BYD-fe639
114 1758611563989000000 280.027 -87 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 80:2a:a8:a8:a9:2e ubnt
115 1758611563989000000 280.027 -74 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] ee:65:cc:73:3f:23 PROJ733f23
116 1758611563989000000 280.027 -71 5785 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][WPA-PSK-CCMP-128][ESS][MFPC] 48:da:35:9b:fd:fb HotspotU6YU
117 1758611603990000000 320.0280002441406 -86 5260 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 98:9d:5d:8e:c5:d8 Vodafone-C5CC
118 1758611603990000000 320.0280002441406 -82 5540 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 78:6a:1f:3f:38:c5 Vodafone-90D5
119 1758611603990000000 320.0280002441406 -82 5200 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS][MFPC] 9e:50:d1:04:4a:23 My VW 1539
120 1758611603990000000 320.0280002441406 -85 5540 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] a0:e7:ae:12:cc:e0 Vodafone-6285
121 1758611603990000000 320.0280002441406 -83 5500 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 1c:9e:cc:77:19:80 Vodafone-1974
122 1758611603990000000 320.0280002441406 -86 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] dc:15:c8:bb:51:72 FRITZ!Box 7590 WM
123 1758611603990000000 320.0280002441406 -79 2462 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 10:4e:89:5f:df:44 ConnectedCAM2919
124 1758611603990000000 320.0280002441406 -83 2412 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 36:60:f9:27:8f:25 (hidden SSID)
125 1758611603990000000 320.0280002441406 -86 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 80:2a:a8:a8:a9:2e ubnt
126 1758611603990000000 320.0280002441406 -80 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS][MFPC] 9e:50:d1:64:4a:23 My VW 1539
127 1758611603990000000 320.0280002441406 -81 2412 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 34:60:f9:17:8f:25 TP-Link_8F25
128 1758611603990000000 320.0280002441406 -88 5200 [WPA2-PSK-CCMP-128+TKIP][RSN-PSK-CCMP-128+TKIP][WPA-PSK-CCMP-128+TKIP][ESS][WPS] 00:0f:94:09:90:05 CBB GmbH
129 1758611603990000000 320.0280002441406 -78 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] da:fe:f2:64:a9:73 (hidden SSID)
130 1758611603990000000 320.0280002441406 -86 2417 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 98:25:4a:84:c4:0c TP-Link_C4FZ
131 1758611603990000000 320.0280002441406 -84 2462 [WPA2-PSK-CCMP-128+TKIP][RSN-PSK-CCMP-128+TKIP][ESS] 00:1e:42:2f:2d:d5 LivEye#L-O-222
132 1758611603990000000 320.0280002441406 -84 2417 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] f2:09:0d:d9:79:11 (hidden SSID)
133 1758611603990000000 320.0280002441406 -78 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 4a:75:62:15:bf:af Audi_MMI_2520
134 1758611643990000000 360.0280002441406 -85 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] c8:d3:ff:85:5e:d1 DIRECT-D0-HP OfficeJet Pro 8710
135 1758611643990000000 360.0280002441406 -83 5260 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 98:9d:5d:8e:c5:d8 Vodafone-C5CC
136 1758611643990000000 360.0280002441406 -83 5540 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] a0:e7:ae:12:cc:e0 Vodafone-6285
137 1758611643990000000 360.0280002441406 -85 2412 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] f8:5e:42:72:63:38 Vodafone-6334
138 1758611643990000000 360.0280002441406 -86 5500 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 1c:9e:cc:77:19:80 Vodafone-1974
139 1758611643990000000 360.0280002441406 -82 2412 [ESS] fa:5e:42:72:63:3a Vodafone Homespot
140 1758611643990000000 360.0280002441406 -87 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] f0:af:85:b8:39:61 Vodafone-07DF
141 1758611643990000000 360.0280002441406 -85 2412 [ESS] fa:5e:42:72:63:3c Vodafone Hotspot
142 1758611643990000000 360.0280002441406 -91 5240 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] a0:e4:cb:3d:a9:c3 o2-WLAN12
143 1758611643990000000 360.0280002441406 -61 2462 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 10:4e:89:5f:df:44 ConnectedCAM2919
144 1758611643990000000 360.0280002441406 -86 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] a0:e4:cb:3d:a9:c2 o2-WLAN12
145 1758611643990000000 360.0280002441406 -87 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 80:2a:a8:a8:a9:2e ubnt
146 1758611643990000000 360.0280002441406 -90 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 34:e1:a9:4e:de:a3 FRITZ!Box 7530 AA
147 1758611643990000000 360.0280002441406 -87 5300 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] b0:f2:08:78:6f:7b FRITZ!Box 6850 YG
148 1758611643990000000 360.0280002441406 -77 2412 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 34:60:f9:17:8f:25 TP-Link_8F25
149 1758611643990000000 360.0280002441406 -87 5200 [WPA2-PSK-CCMP-128+TKIP][RSN-PSK-CCMP-128+TKIP][WPA-PSK-CCMP-128+TKIP][ESS][WPS] 00:0f:94:09:90:05 CBB GmbH
150 1758611643990000000 360.0280002441406 -79 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 00:00:00:00:01:78 DIRECT-F2-HP OfficeJet 7510
151 1758611643990000000 360.0280002441406 -72 2412 [ESS] 04:f0:21:a6:7c:2f BVG Wi-Fi
152 1758611643990000000 360.0280002441406 -84 5200 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 34:60:f9:17:8f:24 TP-Link_8F25_5G
153 1758611643990000000 360.0280002441406 -77 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] da:fe:f2:64:a9:73 (hidden SSID)
154 1758611643990000000 360.0280002441406 -81 2462 [WPA2-PSK-CCMP-128+TKIP][RSN-PSK-CCMP-128+TKIP][ESS] 00:1e:42:2f:2d:d5 LivEye#L-O-222
155 1758611643990000000 360.0280002441406 -82 5785 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 8e:53:e6:1e:bf:2a DIRECT-BMW 37515
156 1758611643990000000 360.0280002441406 -82 2462 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 8e:53:e6:0e:bf:2a DIRECT-BMW 37515
157 1758611683991000000 400.029 -82 2412 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 62:e6:36:0c:49:79 Mount Zion 0361
158 1758611683991000000 400.029 -85 2462 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] dc:15:c8:ad:87:50 SuperspeedU
159 1758611683991000000 400.029 -86 2412 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] de:cd:2f:a2:5e:ad DIRECT-2FA2DEAD
160 1758611683991000000 400.029 -81 2412 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 50:e6:36:0c:49:78 FRITZ!Box 7530 TL
161 1758611683991000000 400.029 -88 5500 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 64:7b:1e:7f:c5:8f WLAN-913349
162 1758611683991000000 400.029 -81 5500 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 8c:6a:8d:e3:78:70 Vodafone-7864
163 1758611683991000000 400.029 -84 2462 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 98:9d:5d:8f:f7:40 Vodafone-F73C
164 1758611683991000000 400.029 -87 2412 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] de:cd:2f:a2:5e:aa DIRECT-2FA2DEAA
165 1758611723994000000 440.0319997558594 -90 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 9c:c8:fc:31:62:2e Vodafone-2 4
166 1758611723994000000 440.0319997558594 -81 2412 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 9c:c8:fc:31:62:2d Vodafone-2 4
167 1758611723994000000 440.0319997558594 -85 2462 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 3e:87:c0:22:40:fc Redmi Note 14 Pro
168 1758611723994000000 440.0319997558594 -78 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 62:8d:26:77:93:4b (hidden SSID)
169 1758611723994000000 440.0319997558594 -85 5500 [ESS] 24:a4:3c:86:46:e7 freifunk-bbb-bht-s
170 1758611723994000000 440.0319997558594 -79 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 62:8d:26:77:93:4c (hidden SSID)
171 1758611723994000000 440.0319997558594 -86 2412 [WPA2-PSK-CCMP-128+TKIP][RSN-PSK-CCMP-128+TKIP][WPA-PSK-CCMP-128+TKIP][ESS] c0:ee:40:48:43:4c mcx1-03540
172 1758611723994000000 440.0319997558594 -83 2462 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 60:8d:26:77:93:4d WLAN-981710
173 1758611723994000000 440.0319997558594 -91 5320 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] ce:d4:2e:30:8b:ef (hidden SSID)
174 1758611723994000000 440.0319997558594 -86 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] f2:c4:75:a6:f3:c8 Galaxy A51EE10
175 1758611723994000000 440.0319997558594 -87 5260 [WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][WPS][MFPC] 98:9b:cb:37:b9:1f Kentucky
176 1758611723994000000 440.0319997558594 -84 5680 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] f0:4b:8a:62:ee:60 Vodafone-0AA1
177 1758611723994000000 440.0319997558594 -86 2427 [ESS] 88:12:ac:ac:31:5d SENA WA-AC315C
178 1758611723994000000 440.0319997558594 -72 5540 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 2c:00:ab:85:37:b1 Vodafone-E42B
179 1758611723994000000 440.0319997558594 -80 2412 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 60:b5:8d:7b:56:8f FRITZ!Box 7530 ZB
180 1758611723994000000 440.0319997558594 -89 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 4e:1b:86:fa:54:2d (hidden SSID)
181 1758611723994000000 440.0319997558594 -89 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 4e:1b:86:fa:54:2e (hidden SSID)
182 1758611723994000000 440.0319997558594 -89 5200 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 4c:1b:86:d5:97:a9 WLAN-283443
183 1758611723994000000 440.0319997558594 -79 5180 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 60:8d:26:77:93:49 WLAN-981710
184 1758611763994000000 480.0319997558594 -88 5220 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] ac:6f:bb:c7:7f:dd N14WL
185 1758611763994000000 480.0319997558594 -88 5220 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] a6:6f:bb:c7:7f:dc (hidden SSID)
186 1758611763994000000 480.0319997558594 -81 2442 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 88:03:55:ef:72:ac o2-WLAN24
187 1758611763994000000 480.0319997558594 -86 2412 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] b8:69:f4:73:cf:77 urbanizers
188 1758611763994000000 480.0319997558594 -86 2462 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS][WPS] 50:6f:0c:c4:d4:5e FriedoLAN
189 1758611763994000000 480.0319997558594 -75 2437 [WPA2-PSK-CCMP-128][RSN-PSK-CCMP-128][ESS] 0c:ea:14:7c:02:32 ServiceConceptFM
190 1758611803994000000 520.0319997558594 -87 5240 [WPA2-PSK-CCMP-128][RSN-PSK+SAE-CCMP-128][ESS][MFPC] c2:c4:f9:72:47:1e MBUX 77988

9969
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1758611288739000000,4.777,0,0,1,80.72899627685547,0,0,87.80000305175781,13.3650032,52.5325205
1758611288795000000,4.833,0,0,1,13.442000389099121,0,0,87.80000305175781,13.3649933,52.5325162
1758611299389000000,15.427,0,0,1,77.00499725341797,0,0,87.80000305175781,13.3649933,52.5325162
1758611305230579500,21.268579345703124,63.735355377197266,1.5448625087738037,1.164355754852295,30.66900062561035,0.36000001430511475,12,87.80000305175781,13.3645272,52.5328863
1758611305330214000,21.3682138671875,49.04451370239258,1.5784169435501099,3.866894245147705,26.0939998626709,1.059999942779541,0,87.69999694824219,13.3644028,52.532623
1758611305430148000,21.468148193359376,51.483497619628906,1.6253306865692139,3.8678934574127197,24.614999771118164,1.059999942779541,0,87.69999694824219,13.3644028,52.5326241
1758611305529933600,21.56793359375,53.557315826416016,1.6724233627319336,3.8688912391662598,23.905000686645508,1.059999942779541,0,87.69999694824219,13.3644028,52.532625
1758611305630380500,21.668380615234376,55.61048126220703,1.7140594720840454,3.8698959350585938,23.5049991607666,1.059999942779541,0,87.69999694824219,13.3644029,52.5326259
1758611305729792000,21.7677919921875,57.638675689697266,1.7531685829162598,3.870889902114868,23.259000778198242,1.059999942779541,0,87.69999694824219,13.3644029,52.5326268
1758611305830181400,21.868181396484374,59.96837615966797,1.8006943464279175,3.871893882751465,23.10700035095215,1.059999942779541,0,87.69999694824219,13.3644029,52.5326279
1758611305930525000,21.96852490234375,61.930301666259766,1.8425254821777344,3.872897148132324,23.010000228881836,1.059999942779541,0,87.69999694824219,13.3644029,52.5326288
1758611306030584800,22.068584716796874,63.85710525512695,1.882153034210205,3.8738977909088135,22.950000762939453,1.059999942779541,0,87.69999694824219,13.364403,52.5326297
1758611306129976800,22.167976806640624,65.74655151367188,1.924084186553955,3.874891757965088,22.917999267578125,1.059999942779541,0,87.69999694824219,13.364403,52.5326307
1758611306230689300,22.268689208984377,67.90131378173828,1.9780040979385376,3.875898838043213,22.908000946044922,1.059999942779541,0,87.69999694824219,13.364403,52.5326317
1758611306330606600,22.368606689453124,38.896793365478516,0.9840731620788574,3.8768980503082275,21.809999465942383,0.9900000095367432,354,87.69999694824219,13.3648203,52.5325672
1758611306430305000,22.468304931640624,41.55168151855469,1.03232741355896,3.8778951168060303,20.888999938964844,0.9900000095367432,354,87.69999694824219,13.3648202,52.5325682
1758611306529823500,22.567823486328123,43.8006477355957,1.0807404518127441,3.8788902759552,20.104999542236328,0.9900000095367432,354,87.69999694824219,13.36482,52.5325691
1758611306630458600,22.668458740234374,46.01896667480469,1.1216059923171997,3.879896640777588,19.43199920654297,0.9900000095367432,354,87.69999694824219,13.3648199,52.5325699
1758611306730393600,22.7683935546875,48.20179748535156,1.1638728380203247,3.8808958530426025,18.849000930786133,0.9900000095367432,354,87.69999694824219,13.3648198,52.5325708
1758611306829840600,22.867840576171876,50.698204040527344,1.212641716003418,3.8818905353546143,18.341999053955078,0.9900000095367432,354,87.69999694824219,13.3648196,52.5325718
1758611306930260200,22.96826025390625,52.791141510009766,1.2615070343017578,3.882894515991211,17.895999908447266,0.9900000095367432,354,87.69999694824219,13.3648195,52.5325726
1758611307029761000,23.067760986328125,54.83805847167969,1.3029965162277222,3.883889675140381,17.503999710083008,0.9900000095367432,354,87.69999694824219,13.3648194,52.5325735
1758611307130241500,23.168241455078125,56.83687973022461,1.3453624248504639,3.884894371032715,17.1560001373291,0.9900000095367432,354,87.69999694824219,13.3648192,52.5325743
1758611307230104600,23.2681044921875,59.10601806640625,1.3944532871246338,3.8858931064605713,16.849000930786133,0.9900000095367432,354,87.69999694824219,13.3648191,52.5325753
1758611307330447600,23.368447509765623,39.80328369140625,1.7681912183761597,3.8868963718414307,16.597000122070312,1.7599999904632568,244,87.69999694824219,13.3647645,52.5325694
1758611307430458400,23.468458251953123,41.101436614990234,1.8104419708251953,3.8878965377807617,16.37299919128418,1.7599999904632568,244,87.69999694824219,13.3647623,52.5325687
1758611307530368800,23.56836865234375,42.61482238769531,1.8656097650527954,3.8888957500457764,16.173999786376953,1.7599999904632568,244,87.69999694824219,13.3647597,52.532568
1758611307629849000,23.66784912109375,43.90934371948242,1.900315761566162,3.889890432357788,15.998000144958496,1.7599999904632568,244,87.69999694824219,13.3647574,52.5325673
1758611307730620400,23.768620361328125,45.19991683959961,1.9491792917251587,3.8908982276916504,15.840999603271484,1.7599999904632568,244,87.69999694824219,13.3647552,52.5325667
1758611307830648300,23.8686484375,46.48525619506836,1.9839859008789062,3.8918983936309814,15.70199966430664,1.7599999904632568,244,87.69999694824219,13.3647529,52.532566
1758611307930066700,23.968066650390625,47.976585388183594,2.0329535007476807,3.892892599105835,15.579999923706055,1.7599999904632568,244,87.69999694824219,13.3647503,52.5325652
1758611308030475800,24.068475830078125,49.24654006958008,2.08197021484375,3.8938968181610107,15.472000122070312,1.7599999904632568,244,87.69999694824219,13.364748,52.5325646
1758611308130260200,24.16826025390625,50.5077018737793,2.131032705307007,3.894894599914551,15.376999855041504,1.7599999904632568,244,87.69999694824219,13.3647458,52.5325639
1758611308230107600,24.268107666015624,51.759159088134766,2.1660101413726807,3.895893096923828,15.293999671936035,1.7599999904632568,244,87.69999694824219,13.3647435,52.5325633
1758611308330159400,24.368159423828125,34.79586410522461,0.7424957752227783,3.8968935012817383,15.20300006866455,0.9599999785423279,53,87.69999694824219,13.3646153,52.5325326
1758611308430406400,24.468406494140623,37.164207458496094,0.7778174877166748,3.8978960514068604,15.119999885559082,0.9599999785423279,53,87.69999694824219,13.3646164,52.5325331
1758611308530300000,24.5682998046875,39.5001220703125,0.8273451328277588,3.898895025253296,15.043000221252441,0.9599999785423279,53,87.69999694824219,13.3646175,52.5325336
1758611308630436000,24.66843603515625,42.176944732666016,0.8769264221191406,3.8998963832855225,14.973999977111816,0.9599999785423279,53,87.69999694824219,13.3646187,52.5325342
1758611308730304800,24.7683046875,44.42461013793945,0.9196738600730896,3.900895118713379,14.91100025177002,0.9599999785423279,53,87.69999694824219,13.3646198,52.5325347
1758611308830144800,24.868144775390626,46.625152587890625,0.9620810747146606,3.901893377304077,14.852999687194824,0.9599999785423279,53,87.69999694824219,13.3646209,52.5325352
1758611308930557400,24.968557373046874,48.775596618652344,1.0049875974655151,3.902897596359253,14.800999641418457,0.9599999785423279,53,87.69999694824219,13.364622,52.5325357
1758611309030018600,25.0680185546875,50.873626708984375,1.0547511577606201,3.9038922786712646,14.753999710083008,0.9599999785423279,53,87.69999694824219,13.3646231,52.5325362
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