mch2022-talktopics/main/main.c

#include <stdio.h>
#include <string.h>
#include <sdkconfig.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <esp_system.h>
//#include <esp_spi_flash.h>
#include <esp_err.h>
#include <esp_log.h>
#include "hardware.h"
#include "managed_i2c.h"
#include "pax_gfx.h"
#include "sdcard.h"
#include "appfs.h"
#include "driver_framebuffer.h"

#include "esp_sleep.h"
#include "soc/rtc.h"
#include "soc/rtc_cntl_reg.h"

#include "rp2040.h"

static const char *TAG = "main";

bool calibrate = true;
bool display_bno_value = false;
ILI9341* ili9341 = NULL;
ICE40* ice40 = NULL;
BNO055* bno055 = NULL;
RP2040* rp2040 = NULL;

bno055_vector_t rotation_offset = {.x = 0, .y = 0, .z = 0};

bno055_vector_t acceleration, magnetism, orientation, rotation, linear_acceleration, gravity;

typedef enum action {
    ACTION_NONE,
    ACTION_INSTALLER
} menu_action_t;

typedef struct _menu_item {
    const char* name;
    appfs_handle_t fd;
    menu_action_t action;
    struct _menu_item* next;
} menu_item_t;

uint8_t selected_item = 0;
uint8_t amount_of_items = 0;
bool start_selected = false;
menu_item_t* first_menu_item = NULL;

const char installer_name[] = "Install app...";

void button_handler(uint8_t pin, bool value) {
    switch(pin) {
        case PCA9555_PIN_BTN_JOY_LEFT:
            printf("Joystick horizontal %s\n", value ? "left" : "center");
            //ili9341_set_partial_scanning(ili9341, 60, ILI9341_WIDTH - 61);
            break;
        case PCA9555_PIN_BTN_JOY_PRESS:
            printf("Joystick %s\n", value ? "pressed" : "released");
            break;
        case PCA9555_PIN_BTN_JOY_DOWN:
            printf("Joystick vertical %s\n", value ? "down" : "center");
            //ili9341_set_partial_scanning(ili9341, 0, ILI9341_WIDTH / 2 - 1);
            if (value && (!start_selected)) {
                if (selected_item < amount_of_items - 1) {
                    selected_item += 1;
                }
            }
            break;
        case PCA9555_PIN_BTN_JOY_UP:
            printf("Joy vertical %s\n", value ? "up" : "center");
            if (value && (!start_selected)) {
                if (selected_item > 0) {
                    selected_item -= 1;
                }
            }
            break;
        case PCA9555_PIN_BTN_JOY_RIGHT:
            printf("Joy horizontal %s\n", value ? "right" : "center");
            break;
        case PCA9555_PIN_BTN_HOME:
            printf("Home button %s\n", value ? "pressed" : "released");
            break;
        case PCA9555_PIN_BTN_MENU:
            printf("Menu button %s\n", value ? "pressed" : "released");
            break;
        case PCA9555_PIN_BTN_START: {
            printf("Start button %s\n", value ? "pressed" : "released");
            break;
        }
        case PCA9555_PIN_BTN_SELECT: {
            printf("Select button %s\n", value ? "pressed" : "released");
            break;
        }
        case PCA9555_PIN_BTN_BACK:
            printf("Back button %s\n", value ? "pressed" : "released");
            break;
        case PCA9555_PIN_BTN_ACCEPT:
            printf("Accept button %s\n", value ? "pressed" : "released");
            if (value) start_selected = true;
            break;
        default:
            printf("Unknown button %d %s\n", pin, value ? "pressed" : "released");
    }
}

void button_init() {
    PCA9555* pca9555 = get_pca9555();   
    pca9555_set_interrupt_handler(pca9555, PCA9555_PIN_BTN_START, button_handler);
    pca9555_set_interrupt_handler(pca9555, PCA9555_PIN_BTN_SELECT, button_handler);
    pca9555_set_interrupt_handler(pca9555, PCA9555_PIN_BTN_MENU, button_handler);
    pca9555_set_interrupt_handler(pca9555, PCA9555_PIN_BTN_HOME, button_handler);
    pca9555_set_interrupt_handler(pca9555, PCA9555_PIN_BTN_JOY_LEFT, button_handler);
    pca9555_set_interrupt_handler(pca9555, PCA9555_PIN_BTN_JOY_PRESS, button_handler);
    pca9555_set_interrupt_handler(pca9555, PCA9555_PIN_BTN_JOY_DOWN, button_handler);
    pca9555_set_interrupt_handler(pca9555, PCA9555_PIN_BTN_JOY_UP, button_handler);
    pca9555_set_interrupt_handler(pca9555, PCA9555_PIN_BTN_JOY_RIGHT, button_handler);
    pca9555_set_interrupt_handler(pca9555, PCA9555_PIN_BTN_BACK, button_handler);
    pca9555_set_interrupt_handler(pca9555, PCA9555_PIN_BTN_ACCEPT, button_handler);
}

void restart() {
    for (int i = 3; i >= 0; i--) {
        printf("Restarting in %d seconds...\n", i);
        vTaskDelay(1000 / portTICK_PERIOD_MS);
    }
    printf("Restarting now.\n");
    fflush(stdout);
    esp_restart();
}

void bno055_task(BNO055* bno055) {
    esp_err_t res;

    res = bno055_get_vector(bno055, BNO055_VECTOR_ACCELEROMETER, &acceleration);
    if (res != ESP_OK) {
        ESP_LOGE(TAG, "Acceleration failed to read %d\n", res);
        return;
    }

    res = bno055_get_vector(bno055, BNO055_VECTOR_MAGNETOMETER, &magnetism);
    if (res != ESP_OK) {
        ESP_LOGE(TAG, "Magnetic field to read %d\n", res);
        return;
    }

    res = bno055_get_vector(bno055, BNO055_VECTOR_GYROSCOPE, &orientation);
    if (res != ESP_OK) {
        ESP_LOGE(TAG, "Orientation failed to read %d\n", res);
        return;
    }

    res = bno055_get_vector(bno055, BNO055_VECTOR_EULER, &rotation);
    if (res != ESP_OK) {
        ESP_LOGE(TAG, "Rotation failed to read %d\n", res);
        return;
    }

    res = bno055_get_vector(bno055, BNO055_VECTOR_LINEARACCEL, &linear_acceleration);
    if (res != ESP_OK) {
        ESP_LOGE(TAG, "Linear acceleration failed to read %d\n", res);
        return;
    }

    res = bno055_get_vector(bno055, BNO055_VECTOR_GRAVITY, &gravity);
    if (res != ESP_OK) {
        ESP_LOGE(TAG, "Gravity failed to read %d\n", res);
        return;
    }
    
    /*if (calibrate) {
        rotation_offset.x = rotation.x;
        rotation_offset.y = rotation.y;
        rotation_offset.z = rotation.z;
        calibrate = false;
    }
    
    rotation.x -= rotation_offset.x;
    rotation.y -= rotation_offset.y;
    rotation.z -= rotation_offset.z;
    
    if (rotation.x < 0) rotation.x = 360.0 - rotation.x;
    if (rotation.y < 0) rotation.y = 360.0 - rotation.y;
    if (rotation.z < 0) rotation.z = 360.0 - rotation.z;*/
    
    /*printf("\n\n");
    printf("Acceleration (m/s²)        x = %5.8f y = %5.8f z = %5.8f\n", acceleration.x, acceleration.y, acceleration.z);
    printf("Magnetic field (uT)        x = %5.8f y = %5.8f z = %5.8f\n", magnetism.x, magnetism.y, magnetism.z);
    printf("Orientation (dps)          x = %5.8f y = %5.8f z = %5.8f\n", orientation.x, orientation.y, orientation.z);
    printf("Rotation (degrees)         x = %5.8f y = %5.8f z = %5.8f\n", rotation.x, rotation.y, rotation.z);
    printf("Linear acceleration (m/s²) x = %5.8f y = %5.8f z = %5.8f\n", linear_acceleration.x, linear_acceleration.y, linear_acceleration.z);
    printf("Gravity (m/s²)             x = %5.8f y = %5.8f z = %5.8f\n", gravity.x, gravity.y, gravity.z);*/

    if (display_bno_value) {
        printf("Magnetic (uT) x: %5.4f y: %5.4f z: %5.4f  Rotation (deg): x: %5.4f y: %5.4f z: %5.4f \n", magnetism.x, magnetism.y, magnetism.z, rotation.x, rotation.y, rotation.z);
    }
}

void draw_cursor(pax_buf_t* buffer, float x, float y) {
    uint64_t millis = esp_timer_get_time() / 1000;
    pax_col_t color = pax_col_hsv(millis * 255 / 8000, 255, 255);
    pax_push_2d(buffer);
    pax_apply_2d(buffer, matrix_2d_translate(x, y));
    pax_apply_2d(buffer, matrix_2d_scale(10, 10));
    pax_draw_tri(buffer, color, -1, -1, -1, 1, 1, 0);
    pax_pop_2d(buffer);
}

void draw_menu_item(pax_buf_t* buffer, uint8_t position, bool selected, char* text) {
    float y = 24 + position * 20;
    if (selected) draw_cursor(buffer, 15, y + 9);
    pax_draw_text(buffer, pax_col_rgb(0,0,0), PAX_FONT_DEFAULT, 18, 24, y, text);
}

esp_err_t draw_menu(pax_buf_t* buffer) {
    pax_push_2d(buffer);
        //pax_apply_2d(buffer, matrix_2d_translate(0, 0));
        //pax_apply_2d(buffer, matrix_2d_scale(1, 1));
        pax_simple_line(buffer, pax_col_rgb(0,0,0), 0, 20, 320, 20);
        pax_draw_text(buffer, pax_col_rgb(0,0,0), PAX_FONT_DEFAULT, 18, 0, 0, "Launcher");
        menu_item_t* item = first_menu_item;
        for (uint8_t index = 0; index < amount_of_items; index++) {
            if (item != NULL) {
                draw_menu_item(buffer, index, (selected_item == index), item->name);
            }
            item = item->next;
        }
    pax_pop_2d(buffer);
    return ESP_OK;
}

pax_col_t regenboogkots(pax_col_t tint, int x, int y, float u, float v, void *args) {
  return pax_col_hsv(x / 50.0 * 255.0 + y / 150.0 * 255.0, 255, 255);
}

pax_shader_t kots = {
    .callback = regenboogkots
};

esp_err_t graphics_task(pax_buf_t* buffer, ILI9341* ili9341, uint8_t* framebuffer) {
    pax_background(buffer, 0xFFFFFF);
    //pax_shade_rect(buffer, 0, &kots, NULL, 0, 0, 320, 240);
    pax_push_2d(buffer);
        pax_apply_2d(buffer, matrix_2d_translate(buffer->width / 2.0, buffer->height / 2.0 + 10));
        pax_apply_2d(buffer, matrix_2d_scale(50, 50));
        uint64_t millis = esp_timer_get_time() / 1000;
        pax_col_t color0 = pax_col_hsv(millis * 255 / 8000, 255, 255);
        //pax_col_t color1 = pax_col_hsv(millis * 255 / 8000 + 127, 255, 255);
        float a0 = rotation.y * (M_PI / 360.0);//millis / 3000.0 * M_PI;//0;//
        //printf("%f from %f\n", a0, rotation.y);
        //float a1 = fmodf(a0, M_PI * 4) - M_PI * 2;////
        //pax_draw_arc(buffer, color0, 0, 0, 2, a0 + M_PI, a0);
        /*pax_push_2d(buffer);
            pax_apply_2d(buffer, matrix_2d_rotate(a0));
            pax_push_2d(buffer);
                pax_apply_2d(buffer, matrix_2d_translate(1, 0));
                pax_draw_rect(buffer, color1, -0.25, -0.25, 0.5, 0.5);
            pax_pop_2d(buffer);
            pax_apply_2d(buffer, matrix_2d_rotate(a1));
            pax_push_2d(buffer);
                pax_apply_2d(buffer, matrix_2d_translate(1, 0));
                pax_apply_2d(buffer, matrix_2d_rotate(-a0 - a1 + M_PI * 0.5));
                pax_draw_tri(buffer, color1, 0.25, 0, -0.125, 0.2165, -0.125, -0.2165);
            pax_pop_2d(buffer);
        pax_pop_2d(buffer);*/
    pax_pop_2d(buffer);
        
    draw_menu(buffer);

    //driver_framebuffer_print(NULL, "Hello world", 0, 0, 1, 1, 0xFF00FF, &ocra_22pt7b);
    return ili9341_write(ili9341, framebuffer);
}

esp_err_t draw_message(pax_buf_t* buffer, ILI9341* ili9341, uint8_t* framebuffer, char* message) {
    pax_background(buffer, 0xFFFFFF);
    pax_draw_text(buffer, pax_col_rgb(0,0,0), PAX_FONT_DEFAULT, 18, 0, 0, message);
    return ili9341_write(ili9341, framebuffer);
}

void print_chip_info(void) {
    esp_chip_info_t chip_info;
    esp_chip_info(&chip_info);
    printf("This is %s chip with %d CPU core(s), WiFi%s%s, ",
            CONFIG_IDF_TARGET,
            chip_info.cores,
            (chip_info.features & CHIP_FEATURE_BT) ? "/BT" : "",
            (chip_info.features & CHIP_FEATURE_BLE) ? "/BLE" : "");

    printf("silicon revision %d, ", chip_info.revision);

    printf("%dMB %s flash\n", spi_flash_get_chip_size() / (1024 * 1024),
            (chip_info.features & CHIP_FEATURE_EMB_FLASH) ? "embedded" : "external");

    printf("Minimum free heap size: %d bytes\n", esp_get_minimum_free_heap_size());   
}

uint8_t* load_file_to_ram(FILE* fd, size_t* fsize) {
    fseek(fd, 0, SEEK_END);
    *fsize = ftell(fd);
    fseek(fd, 0, SEEK_SET);
    uint8_t* file = malloc(*fsize);
    if (file == NULL) return NULL;
    fread(file, *fsize, 1, fd);
    return file;
}

esp_err_t load_file_into_psram(FILE* fd) {
    fseek(fd, 0, SEEK_SET);
    const uint8_t write_cmd = 0x02;
    uint32_t amount_read;
    uint32_t position = 0;
    uint8_t* tx_buffer = malloc(SPI_MAX_TRANSFER_SIZE);
    if (tx_buffer == NULL) return ESP_FAIL;

    while(1) {
        tx_buffer[0] = write_cmd;
        tx_buffer[1] = (position >> 16);
        tx_buffer[2] = (position >> 8) & 0xFF;
        tx_buffer[3] = position & 0xFF;
        amount_read = fread(&tx_buffer[4], 1, SPI_MAX_TRANSFER_SIZE - 4, fd);
        if (amount_read < 1) break;
        ESP_LOGI(TAG, "Writing PSRAM @ %u (%u bytes)", position, amount_read);
        esp_err_t res = ice40_transaction(ice40, tx_buffer, amount_read + 4, NULL, 0);
        if (res != ESP_OK) {
            ESP_LOGE(TAG, "Write transaction failed @ %u", position);
            free(tx_buffer);
            return res;
        }
        position += amount_read;
    };
    free(tx_buffer);
    return ESP_OK;
}

esp_err_t load_buffer_into_psram(uint8_t* buffer, uint32_t buffer_length) {
    const uint8_t write_cmd = 0x02;
    uint32_t position = 0;
    uint8_t* tx_buffer = malloc(SPI_MAX_TRANSFER_SIZE);
    if (tx_buffer == NULL) return ESP_FAIL;
    while(1) {
        tx_buffer[0] = write_cmd;
        tx_buffer[1] = (position >> 16);
        tx_buffer[2] = (position >> 8) & 0xFF;
        tx_buffer[3] = position & 0xFF;
        uint32_t length = buffer_length - position;
        if (length > SPI_MAX_TRANSFER_SIZE - 4) length = SPI_MAX_TRANSFER_SIZE - 4;
        memcpy(&tx_buffer[4], &buffer[position], length);
        if (length == 0) break;
        ESP_LOGI(TAG, "Writing PSRAM @ %u (%u bytes)", position, length);
        esp_err_t res = ice40_transaction(ice40, tx_buffer, length + 4, NULL, 0);
        if (res != ESP_OK) {
            ESP_LOGE(TAG, "Write transaction failed @ %u", position);
            free(tx_buffer);
            return res;
        }
        position += length;
    };
    free(tx_buffer);
    return ESP_OK;
}

esp_err_t verify_file_in_psram(FILE* fd) {
    fseek(fd, 0, SEEK_SET);
    const uint8_t read_cmd = 0x03;
    uint32_t amount_read;
    uint32_t position = 0;
    uint8_t* tx_buffer = malloc(SPI_MAX_TRANSFER_SIZE);
    if (tx_buffer == NULL) return ESP_FAIL;
    memset(tx_buffer, 0, SPI_MAX_TRANSFER_SIZE);
    uint8_t* verify_buffer = malloc(SPI_MAX_TRANSFER_SIZE);
    if (verify_buffer == NULL) return ESP_FAIL;
    uint8_t* rx_buffer = malloc(SPI_MAX_TRANSFER_SIZE);
    if (rx_buffer == NULL) return ESP_FAIL;

    while(1) {
        tx_buffer[0] = read_cmd;
        tx_buffer[1] = (position >> 16);
        tx_buffer[2] = (position >> 8) & 0xFF;
        tx_buffer[3] = position & 0xFF;
        amount_read = fread(&verify_buffer[4], 1, SPI_MAX_TRANSFER_SIZE - 4, fd);
        if (amount_read < 1) break;
        ESP_LOGI(TAG, "Reading PSRAM @ %u (%u bytes)", position, amount_read);
        esp_err_t res = ice40_transaction(ice40, tx_buffer, amount_read + 4, rx_buffer, amount_read + 4);
        if (res != ESP_OK) {
            ESP_LOGE(TAG, "Read transaction failed @ %u", position);
            free(tx_buffer);
            return res;
        }
        position += amount_read;
        ESP_LOGI(TAG, "Verifying PSRAM @ %u (%u bytes)", position, amount_read);
        for (uint32_t i = 4; i < amount_read; i++) {
            if (rx_buffer[i] != verify_buffer[i]) {
                ESP_LOGE(TAG, "Verifying PSRAM @ %u failed: %02X != %02X", position + i, rx_buffer[i], verify_buffer[i]);
                free(tx_buffer);
                free(rx_buffer);
                free(verify_buffer);
                return ESP_FAIL;
            }
        }
    };
    free(tx_buffer);
    free(rx_buffer);
    free(verify_buffer);
    ESP_LOGI(TAG, "PSRAM contents verified!");
    return ESP_OK;
}

void fpga_test(void) {
    esp_err_t res;
    FILE* fpga_passthrough = fopen("/sd/pt.bin", "rb");
    if (fpga_passthrough == NULL) {
        ESP_LOGE(TAG, "Failed to open passthrough firmware (pt.bin) from the SD card");
        return;
    }

    ESP_LOGI(TAG, "Loading passthrough bitstream into RAM buffer...");
    size_t fpga_passthrough_bitstream_length;
    uint8_t* fpga_passthrough_bitstream = load_file_to_ram(fpga_passthrough, &fpga_passthrough_bitstream_length);
    fclose(fpga_passthrough);
    ESP_LOGI(TAG, "Loading passthrough bitstream into FPGA...");
    res = ice40_load_bitstream(ice40, fpga_passthrough_bitstream, fpga_passthrough_bitstream_length);
    if (res != ESP_OK) {
        ESP_LOGE(TAG, "Failed to load passthrough bitstream into FPGA (%d)", res);
        return;
    }
    free(fpga_passthrough_bitstream);
    
    FILE* ram_contents = fopen("/sd/ram.bin", "rb");
    if (ram_contents == NULL) {
        ESP_LOGE(TAG, "Failed to open ram.bin");
        return;
    }
    
    res = load_file_into_psram(ram_contents);
    if (res != ESP_OK) {
        ESP_LOGE(TAG, "Failed to load RAM contents into PSRAM (%d)", res);
        fclose(ram_contents);
        return;
    }
    
    res = verify_file_in_psram(ram_contents);
    if (res != ESP_OK) {
        ESP_LOGE(TAG, "Failed to verify PSRAM contents (%d)", res);
        fclose(ram_contents);
        return;
    }
    
    FILE* fpga_app = fopen("/sd/app.bin", "rb");
    if (fpga_app == NULL) {
        ESP_LOGE(TAG, "Failed to open app.bin");
        return;
    }
    
    ESP_LOGI(TAG, "Loading app bitstream into RAM buffer...");
    size_t fpga_app_bitstream_length;
    uint8_t* fpga_app_bitstream = load_file_to_ram(fpga_app, &fpga_app_bitstream_length);
    fclose(fpga_app);

    ili9341_deinit(ili9341);
    vTaskDelay(10 / portTICK_PERIOD_MS);
    ili9341_select(ili9341, true);

    ESP_LOGI(TAG, "Loading app bitstream into FPGA...");
    res = ice40_load_bitstream(ice40, fpga_app_bitstream, fpga_app_bitstream_length);
    if (res != ESP_OK) {
        ESP_LOGE(TAG, "Failed to load app bitstream into FPGA (%d)", res);
        return;
    }
    
    free(fpga_app_bitstream);
}

esp_err_t appfs_init(void) {
    return appfsInit(APPFS_PART_TYPE, APPFS_PART_SUBTYPE);
}

void appfs_store_app(void) {
    esp_err_t res;
    appfs_handle_t handle;
    FILE* app_fd = fopen("/sd/gnuboy.bin", "rb");
    if (app_fd == NULL) {
        ESP_LOGE(TAG, "Failed to open gnuboy.bin");
        return;
    }
    size_t app_size;
    uint8_t* app = load_file_to_ram(app_fd, &app_size);
    if (app == NULL) {
        ESP_LOGE(TAG, "Failed to load application into RAM");
        return;
    }
    
    ESP_LOGI(TAG, "Application size %d", app_size);
    
    res = appfsCreateFile("gnuboy", app_size, &handle);
    if (res != ESP_OK) {
        ESP_LOGE(TAG, "Failed to create file on AppFS (%d)", res);
        free(app);
        return;
    }
    res = appfsWrite(handle, 0, app, app_size);
    if (res != ESP_OK) {
        ESP_LOGE(TAG, "Failed to write to file on AppFS (%d)", res);
        free(app);
        return;
    }
    free(app);
    ESP_LOGI(TAG, "Application is now stored in AppFS");
    return;
}

void appfs_boot_app(int fd) {
    if (fd<0 || fd>255) {
        REG_WRITE(RTC_CNTL_STORE0_REG, 0);
    } else {
        REG_WRITE(RTC_CNTL_STORE0_REG, 0xA5000000|fd);
    }
    
    esp_sleep_pd_config(ESP_PD_DOMAIN_RTC_SLOW_MEM, ESP_PD_OPTION_ON);
    esp_sleep_enable_timer_wakeup(10);
    esp_deep_sleep_start();
}

void appfs_test(bool sdcard_ready) {
    appfs_handle_t fd = appfsOpen("gnuboy");
    if (fd < 0) {
        ESP_LOGW(TAG, "gnuboy not found in appfs");
        if (sdcard_ready) {
            appfs_store_app();
            appfs_test(false); // Recursive, but who cares :D
        }
    } else {
        ESP_LOGE(TAG, "booting gnuboy from appfs (%d)", fd);
        appfs_boot_app(fd);
    }
}

void app_main(void) {
    esp_err_t res;
    
    uint8_t* framebuffer = heap_caps_malloc(ILI9341_BUFFER_SIZE, MALLOC_CAP_8BIT);
    if (framebuffer == NULL) {
        ESP_LOGE(TAG, "Failed to allocate framebuffer");
        restart();
    }
    memset(framebuffer, 0, ILI9341_BUFFER_SIZE);
    
    pax_buf_t buffer;
    pax_buf_init(&buffer, framebuffer, ILI9341_WIDTH, ILI9341_HEIGHT, PAX_BUF_16_565RGB);
    driver_framebuffer_init(framebuffer);
    
    res = board_init();
    
    if (res != ESP_OK) {
        printf("Failed to initialize hardware!\n");
        restart();
    }
    
    ili9341 = get_ili9341();
    ice40 = get_ice40();
    bno055 = get_bno055();
    rp2040 = get_rp2040();
        
    //print_chip_info();
    
    draw_message(&buffer, ili9341, framebuffer, "Button init...");
    button_init();
    
    draw_message(&buffer, ili9341, framebuffer, "AppFS init...");
    res = appfs_init();
    if (res != ESP_OK) {
        ESP_LOGE(TAG, "AppFS init failed: %d", res);
        return;
    }
    ESP_LOGI(TAG, "AppFS initialized");
    
    draw_message(&buffer, ili9341, framebuffer, "Mount SD card...");
    res = mount_sd(SD_CMD, SD_CLK, SD_D0, SD_PWR, "/sd", false, 5);
    bool sdcard_ready = (res == ESP_OK);
    
    /*if (sdcard_ready) {
        ESP_LOGI(TAG, "SD card mounted");
        draw_message(&buffer, ili9341, framebuffer, "AppFS test...");
        appfs_test(sdcard_ready);
        draw_message(&buffer, ili9341, framebuffer, "FPGA init...");
        fpga_test();
    } else {
        draw_message(&buffer, ili9341, framebuffer, "No SD card?");
    }*/
        
    //
    
    menu_item_t* current_menu_item = NULL;
    appfs_handle_t current_fd = APPFS_INVALID_FD;
    
    amount_of_items = 0;
    selected_item = 0;
    
    do {
        current_fd = appfsNextEntry(current_fd);
        if (current_fd != APPFS_INVALID_FD) {
            menu_item_t* next_menu_item = malloc(sizeof(menu_item_t));
            if (current_menu_item != NULL) {
                current_menu_item->next = next_menu_item;
            } else {
                first_menu_item = next_menu_item;
            }
            current_menu_item = next_menu_item;
            appfsEntryInfo(current_fd, &current_menu_item->name, NULL);
            current_menu_item->fd = current_fd;
            current_menu_item->action = ACTION_NONE;
            current_menu_item->next = NULL;
            printf("Building menu list %u: %s\r\n", amount_of_items, current_menu_item->name);
            amount_of_items++;
        }
    } while (current_fd != APPFS_INVALID_FD);
    printf("Building menu list done, %u items\r\n", amount_of_items);
    
    menu_item_t* next_menu_item = malloc(sizeof(menu_item_t));
    if (current_menu_item != NULL) {
        current_menu_item->next = next_menu_item;
    } else {
        first_menu_item = next_menu_item;
    }
    current_menu_item = next_menu_item;
    current_menu_item->fd = APPFS_INVALID_FD;
    current_menu_item->action = ACTION_INSTALLER;
    current_menu_item->name = installer_name;
    current_menu_item->next = NULL;
    amount_of_items++;
    
    
    while (1) {
        //bno055_task(bno055);
        graphics_task(&buffer, ili9341, framebuffer);
        printf("Selected: %u of %u\r\n", selected_item + 1, amount_of_items);
        if (start_selected) {
            current_menu_item = first_menu_item;
            for (uint8_t index = 0; index < selected_item; index++) {
                current_menu_item = current_menu_item->next;
            }
            if (current_menu_item->action == ACTION_INSTALLER) {
                draw_message(&buffer, ili9341, framebuffer, "Starting installer...");
            } else {
                draw_message(&buffer, ili9341, framebuffer, "Starting app...");
                appfs_boot_app(current_menu_item->fd);
            }
        }
    }
    /*
    uint8_t data_out, data_in;
    
    enum {
        I2C_REGISTER_FW_VER,
        I2C_REGISTER_GPIO_DIR,
        I2C_REGISTER_GPIO_IN,
        I2C_REGISTER_GPIO_OUT,
        I2C_REGISTER_LCD_MODE,
        I2C_REGISTER_LCD_BACKLIGHT,
    };

    data_out = 1 << 2; // Proto 0 pin is output
    res = i2c_write_reg_n(I2C_BUS_EXT, 0x17, I2C_REGISTER_GPIO_DIR, &data_out, 1);
    if (res != ESP_OK) {
        ESP_LOGE(TAG, "Failed to set GPIO direction on Pico: %d", res);
        return;
    }
    
    bool blink_state = false;
    
    while (1) {
        data_out = blink_state << 2;
        res = i2c_write_reg_n(I2C_BUS_EXT, 0x17, I2C_REGISTER_GPIO_OUT, &data_out, 1);
        if (res != ESP_OK) {
            ESP_LOGE(TAG, "Failed to set GPIO value on Pico: %d", res);
            return;
        }
        blink_state = !blink_state;

        res = i2c_read_reg(I2C_BUS_EXT, 0x17, I2C_REGISTER_GPIO_IN, &data_in, 1);
        if (res != ESP_OK) {
            ESP_LOGE(TAG, "Failed to read GPIO value from Pico %d", res);
            return;
        } else {
            printf("GPIO status: %02x\n", data_in);
        }
        vTaskDelay(1000 / portTICK_PERIOD_MS);
    }

    // FPGA RAM passthrough test
    
    res = ice40_load_bitstream(ice40, proto2_bin, proto2_bin_len);
    if (res != ESP_OK) {
        ESP_LOGE(TAG, "Failed to program the FPGA (%d)", res);
        return;
    }
    
    uint8_t* tx_buffer = malloc(SPI_MAX_TRANSFER_SIZE);
    uint8_t* rx_buffer = malloc(SPI_MAX_TRANSFER_SIZE);
    
    const uint8_t write_cmd = 0x02;
    const uint8_t read_cmd = 0x03;
    
    uint32_t size_of_ram = 8388608;
    uint32_t position = 0;
    
    ESP_LOGI(TAG, "Writing to PSRAM...");
    int64_t tx_start_time = esp_timer_get_time();
    while (position < size_of_ram) {
        // First 4 bytes of the transmit buffer are used for CMD and 24-bit address
        tx_buffer[0] = write_cmd;
        tx_buffer[1] = (position >> 16);
        tx_buffer[2] = (position >> 8) & 0xFF;
        tx_buffer[3] = position & 0xFF;
        
        uint32_t remaining = size_of_ram - position;
        uint32_t data_length = SPI_MAX_TRANSFER_SIZE - 4;
        if (data_length > remaining) data_length = remaining;
        
        // 
        for (uint32_t index = 0; index < data_length; index++) {
            tx_buffer[index + 4] = ((position + (index)) & 0xFF); // Generate a test pattern
        }
        if (ice40_transaction(ice40, tx_buffer, data_length + 4, rx_buffer, data_length + 4) != ESP_OK) {
            ESP_LOGE(TAG, "Write transaction failed @ %u", remaining);
            return;
        }
        
        position += data_length;
    }
    int64_t tx_done_time = esp_timer_get_time();
    printf("Write took %lld microseconds\r\n", tx_done_time - tx_start_time);
    uint64_t result = (((size_of_ram) / (tx_done_time - tx_start_time))*1000*1000)/1024;
    printf("%u bytes in %lld microseconds = %llu kB/s\r\n", size_of_ram, tx_done_time - tx_start_time, result);
    
    position = 0; // Reset position
    memset(tx_buffer, 0, SPI_MAX_TRANSFER_SIZE); // Clear TX buffer

    ESP_LOGI(TAG, "Verifying PSRAM contents...");
    int64_t rx_start_time = esp_timer_get_time();
    while (position < size_of_ram) {
        tx_buffer[0] = read_cmd;
        tx_buffer[1] = (position >> 16);
        tx_buffer[2] = (position >> 8) & 0xFF;
        tx_buffer[3] = position & 0xFF;
        
        uint32_t remaining = size_of_ram - position;
        uint32_t data_length = SPI_MAX_TRANSFER_SIZE - 4;
        if (data_length > remaining) data_length = remaining;
        
        if (ice40_transaction(ice40, tx_buffer, data_length + 4, rx_buffer, data_length + 4) != ESP_OK) {
            ESP_LOGE(TAG, "Transaction failed");
            return;
        }
        
        for (uint32_t index = 0; index < data_length; index++) {
            if (rx_buffer[index + 4] != ((position + (index)) & 0xFF)) { // Verify the test pattern
                ESP_LOGE(TAG, "Verification failed @ %u + %u: %u != %u", position, index, rx_buffer[index + 4], (position + (index)) & 0xFF);
            }
        }
        
        position += data_length;
    }
    int64_t rx_done_time = esp_timer_get_time();
    printf("Read took %lld microseconds\r\n", rx_done_time - rx_start_time);
    result = (((size_of_ram) / (rx_done_time - rx_start_time))*1000*1000)/1024;
    printf("%u bytes in %lld microseconds = %llu kB/s\r\n", size_of_ram, rx_done_time - rx_start_time, result);*/
    
    free(framebuffer);
    ESP_LOGW(TAG, "End of main function, goodbye!");
    
    rp2040_set_led_mode(rp2040, true, true);
    
    for (uint8_t led = 0; led < 5; led++) {
        rp2040_set_led_value(rp2040, led, 0, 0, 0);
    }
    
    for (uint8_t value = 0; value < 255; value++) {
        rp2040_set_lcd_backlight(rp2040, 254 - value);
    }
    
    for (uint8_t value = 0; value < 255; value++) {
        rp2040_set_lcd_backlight(rp2040, value);
    }

    while (1) {
        for (uint8_t led = 0; led < 5; led++) {
                rp2040_set_led_value(rp2040, led, 255, 0, 0    );
                vTaskDelay(50 / portTICK_PERIOD_MS);
                rp2040_set_led_value(rp2040, led, 0,   255, 0  );
                vTaskDelay(50 / portTICK_PERIOD_MS);
                rp2040_set_led_value(rp2040, led, 0,   0,   255);
                vTaskDelay(50 / portTICK_PERIOD_MS);
                rp2040_set_led_value(rp2040, led, 0,   0,   0  );
        }
    }
}