Add second remote for air_labyrinth

air_labyrinth/.catalog/CHANGELOG.md

@@ -1,2 +0,0 @@
-## 0.1
- - Initial release

air_labyrinth/.catalog/README.md

@@ -1,17 +0,0 @@
-# Air Labyrinth
-
-This is a simple game where you have to navigate a ball through a maze. The game is controlled by tilting the Flipper Zero with a Video Game Module attached.  You can also play the game using the Flipper Zero's d-pad.
-
-## How to play
-
-1. Attach the video game module to the Flipper Zero.
-2. Open the Air Labyrinth game (Apps/Games/Air Labyrinth).
-3. Tilt the Flipper Zero to move the ball through the maze.
-
-## Version history
-- 0.1.0 - Initial release by @CodeAllNight (https://youtube.com/@MrDerekJamison/about)
-
-
-## Other
-
-This game was made based on the [air_arkanoid](https://github.com/flipperdevices/flipperzero-good-faps/tree/dev/air_arkanoid) and [flipperzero-game-engine-example](https://github.com/flipperdevices/flipperzero-game-engine-example) projects. Thanks to the authors of these projects for the inspiration and the code.

air_labyrinth/.gitignore

@@ -1 +0,0 @@
-assets/sprites/*

air_labyrinth/.gitsubtree

@@ -1 +0,0 @@
-https://github.com/jamisonderek/flipper-zero-tutorials main vgm/apps/air_labyrinth

air_labyrinth/LICENSE

@@ -1,674 +0,0 @@
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air_labyrinth/README.md

@@ -1,19 +0,0 @@
-# Air Labyrinth
-
-![Air Labyrinth](./.catalog/screenshots/1.png)
-
-This is a simple game where you have to navigate a ball through a maze. The game is controlled by tilting the Flipper Zero with a Video Game Module attached.  You can also play the game using the Flipper Zero's d-pad.
-
-## How to play
-
-1. Attach the video game module to the Flipper Zero.
-2. Open the Air Labyrinth game (`Apps`/`Games`/`Air Labyrinth`).
-3. Tilt the Flipper Zero to move the ball through the maze.
-
-## Version history
-- 0.1.0 - Initial release by @CodeAllNight (https://youtube.com/@MrDerekJamison/about)
-
-
-## Other
-
-This game was made based on the [air_arkanoid](https://github.com/flipperdevices/flipperzero-good-faps/tree/dev/air_arkanoid) and [flipperzero-game-engine-example](https://github.com/flipperdevices/flipperzero-game-engine-example) projects. Thanks to the authors of these projects for the inspiration and the code.

air_labyrinth/application.fam

@@ -1,21 +0,0 @@
-App(
-    appid="air_labyrinth",
-    name="Air Labyrinth",
-    apptype=FlipperAppType.EXTERNAL,
-    entry_point="game_app",
-    stack_size=4 * 1024,  # Game stack, change accordingly
-    fap_icon="icon.png",
-    fap_category="Games",
-    fap_description="Labyrinth game v0.1 that supports the Video Game Module motion sensor.  Written by @CodeAllNight (https://youtube.com/MrDerekJamison/about)",
-    fap_weburl="https://github.com/jamisonderek/flipper-zero-tutorials/tree/main/vgm/apps/air_labyrinth",
-    fap_author="@CodeAllNight (MrDerekJamison)",
-    fap_version="0.1",
-    fap_file_assets="assets",  # Do not touch this and the next line, it is needed to generate sprites
-    #    fap_extbuild=(
-    #        ExtFile(
-    #            path="${FAP_SRC_DIR}/assets",
-    #            command=("python" if __import__("sys").platform == "win32" else "python3")
-    #            + " ${FAP_SRC_DIR}/engine/scripts/sprite_builder.py ${FAP_SRC_DIR.abspath}/sprites ${TARGET.abspath}/sprites",
-    #        ),
-    #    ),
-)

air_labyrinth/engine/.gitsubtree

@@ -1 +0,0 @@
-https://github.com/flipperdevices/flipperzero-game-engine dev /

air_labyrinth/engine/LICENSE

@@ -1,674 +0,0 @@
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-  13. Use with the GNU Affero General Public License.
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-to attach them to the start of each source file to most effectively
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-    Copyright (C) <year>  <name of author>
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-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    This program is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
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-    along with this program.  If not, see <https://www.gnu.org/licenses/>.
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-parts of the General Public License.  Of course, your program's commands
-might be different; for a GUI interface, you would use an "about box".
-
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-if any, to sign a "copyright disclaimer" for the program, if necessary.
-For more information on this, and how to apply and follow the GNU GPL, see
-<https://www.gnu.org/licenses/>.
-
-  The GNU General Public License does not permit incorporating your program
-into proprietary programs.  If your program is a subroutine library, you
-may consider it more useful to permit linking proprietary applications with
-the library.  If this is what you want to do, use the GNU Lesser General
-Public License instead of this License.  But first, please read
-<https://www.gnu.org/licenses/why-not-lgpl.html>.

air_labyrinth/engine/README.md

@@ -1,13 +0,0 @@
-# Flipper Zero Game Engine
-
-Welcome to the Flipper Zero game engine! This engine is designed to help you create games for the Flipper Zero device.
-
-## Example App
-
-To see the game engine in action, check out our [example app](https://github.com/flipperdevices/flipperzero-game-engine-example). This app demonstrates how to use the game engine to create a simple game.
-
-## Contributing
-
-We welcome contributions to the Flipper Zero game engine! If you have any bug reports, feature requests, or pull requests, please submit them to the [official repository](https://github.com/flipperdevices/flipperzero-game-engine).
-
-Happy game development with Flipper Zero!

air_labyrinth/engine/canvas.c

@@ -1,63 +0,0 @@
-#include <furi.h>
-#include "canvas.h"
-
-void canvas_printf(Canvas* canvas, uint8_t x, uint8_t y, const char* format, ...) {
-    FuriString* string = furi_string_alloc();
-    va_list args;
-    va_start(args, format);
-    furi_string_vprintf(string, format, args);
-    va_end(args);
-
-    canvas_draw_str(canvas, x, y, furi_string_get_cstr(string));
-
-    furi_string_free(string);
-}
-
-size_t canvas_printf_width(Canvas* canvas, const char* format, ...) {
-    FuriString* string = furi_string_alloc();
-    va_list args;
-    va_start(args, format);
-    furi_string_vprintf(string, format, args);
-    va_end(args);
-
-    size_t size = canvas_string_width(canvas, furi_string_get_cstr(string));
-
-    furi_string_free(string);
-
-    return size;
-}
-
-void canvas_printf_aligned(
-    Canvas* canvas,
-    uint8_t x,
-    uint8_t y,
-    Align h,
-    Align v,
-    const char* format,
-    ...) {
-    FuriString* string = furi_string_alloc();
-    va_list args;
-    va_start(args, format);
-    furi_string_vprintf(string, format, args);
-    va_end(args);
-
-    canvas_draw_str_aligned(canvas, x, y, h, v, furi_string_get_cstr(string));
-
-    furi_string_free(string);
-}
-
-void canvas_draw_str_aligned_outline(
-    Canvas* canvas,
-    uint8_t x,
-    uint8_t y,
-    Align h,
-    Align v,
-    const char* cstr) {
-    canvas_invert_color(canvas);
-    canvas_draw_str_aligned(canvas, x + 1, y + 0, h, v, cstr);
-    canvas_draw_str_aligned(canvas, x - 1, y - 0, h, v, cstr);
-    canvas_draw_str_aligned(canvas, x + 0, y + 1, h, v, cstr);
-    canvas_draw_str_aligned(canvas, x - 0, y - 1, h, v, cstr);
-    canvas_invert_color(canvas);
-    canvas_draw_str_aligned(canvas, x, y, h, v, cstr);
-}

air_labyrinth/engine/canvas.h

@@ -1,72 +0,0 @@
-#pragma once
-#include <stddef.h>
-#include <gui/canvas.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/**
- * @brief Print formatted string to canvas
- * 
- * @param canvas canvas instance
- * @param x x position
- * @param y y position
- * @param format format string
- * @param ...  arguments
- */
-void canvas_printf(Canvas* canvas, uint8_t x, uint8_t y, const char* format, ...)
-    __attribute__((__format__(__printf__, 4, 5)));
-
-/**
- * @brief Get width of formatted string
- * 
- * @param canvas canvas instance
- * @param format format string
- * @param ... arguments
- * @return size_t width of formatted string
- */
-size_t canvas_printf_width(Canvas* canvas, const char* format, ...)
-    __attribute__((__format__(__printf__, 2, 3)));
-
-/**
- * @brief Print formatted string to canvas with alignment
- * 
- * @param canvas canvas instance
- * @param x x position
- * @param y y position
- * @param h horizontal alignment
- * @param v vertical alignment
- * @param format format string
- * @param ... arguments
- */
-void canvas_printf_aligned(
-    Canvas* canvas,
-    uint8_t x,
-    uint8_t y,
-    Align h,
-    Align v,
-    const char* format,
-    ...) __attribute__((__format__(__printf__, 6, 7)));
-
-/**
- * @brief Draw aligned string with outline
- * 
- * @param canvas 
- * @param x 
- * @param y 
- * @param h 
- * @param v 
- * @param cstr 
- */
-void canvas_draw_str_aligned_outline(
-    Canvas* canvas,
-    uint8_t x,
-    uint8_t y,
-    Align h,
-    Align v,
-    const char* cstr);
-
-#ifdef __cplusplus
-}
-#endif

air_labyrinth/engine/clock_timer.c

@@ -1,53 +0,0 @@
-#include "clock_timer.h"
-#include <stdlib.h>
-
-#include <furi_hal_interrupt.h>
-#include <furi_hal_bus.h>
-#include <stm32wbxx_ll_tim.h>
-
-#define FURI_HAL_CLOCK_TIMER TIM2
-#define FURI_HAL_CLOCK_TIMER_BUS FuriHalBusTIM2
-#define FURI_HAL_CLOCK_TIMER_IRQ FuriHalInterruptIdTIM2
-
-typedef struct {
-    ClockTimerCallback callback;
-    void* context;
-} ClockTimer;
-
-static ClockTimer clock_timer = {
-    .callback = NULL,
-    .context = NULL,
-};
-
-static void clock_timer_isr(void* context) {
-    if(clock_timer.callback) {
-        clock_timer.callback(context);
-    }
-
-    LL_TIM_ClearFlag_UPDATE(FURI_HAL_CLOCK_TIMER);
-}
-
-void clock_timer_start(ClockTimerCallback callback, void* context, float period) {
-    clock_timer.callback = callback;
-    clock_timer.context = context;
-
-    furi_hal_bus_enable(FURI_HAL_CLOCK_TIMER_BUS);
-
-    // init timer to produce interrupts
-    LL_TIM_InitTypeDef TIM_InitStruct = {0};
-    TIM_InitStruct.Autoreload = (SystemCoreClock / period) - 1;
-    LL_TIM_Init(FURI_HAL_CLOCK_TIMER, &TIM_InitStruct);
-
-    furi_hal_interrupt_set_isr(FURI_HAL_CLOCK_TIMER_IRQ, clock_timer_isr, clock_timer.context);
-
-    LL_TIM_EnableIT_UPDATE(FURI_HAL_CLOCK_TIMER);
-    LL_TIM_EnableCounter(FURI_HAL_CLOCK_TIMER);
-}
-
-void clock_timer_stop(void) {
-    LL_TIM_DisableIT_UPDATE(FURI_HAL_CLOCK_TIMER);
-    LL_TIM_DisableCounter(FURI_HAL_CLOCK_TIMER);
-
-    furi_hal_bus_disable(FURI_HAL_CLOCK_TIMER_BUS);
-    furi_hal_interrupt_set_isr(FURI_HAL_CLOCK_TIMER_IRQ, NULL, NULL);
-}

air_labyrinth/engine/clock_timer.h

@@ -1,15 +0,0 @@
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef void (*ClockTimerCallback)(void* context);
-
-void clock_timer_start(ClockTimerCallback callback, void* context, float period);
-
-void clock_timer_stop(void);
-
-#ifdef __cplusplus
-}
-#endif

air_labyrinth/engine/engine.h

@@ -1,25 +0,0 @@
-#pragma once
-#include <furi.h>
-#include "game_engine.h"
-#include "level.h"
-#include "entity.h"
-#include "game_manager.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef struct {
-    float target_fps;
-    bool show_fps;
-    bool always_backlight;
-    void (*start)(GameManager* game_manager, void* context);
-    void (*stop)(void* context);
-    size_t context_size;
-} Game;
-
-extern const Game game;
-
-#ifdef __cplusplus
-}
-#endif

air_labyrinth/engine/entity.c

@@ -1,216 +0,0 @@
-#include "entity.h"
-#include "entity_i.h"
-#include <stdlib.h>
-#include <furi.h>
-#include <math.h>
-
-#ifdef ENTITY_DEBUG
-#define ENTITY_D(...) FURI_LOG_D("Entity", __VA_ARGS__)
-#else
-#define ENTITY_D(...)
-#endif
-
-static int32_t entities_count = 0;
-
-int32_t entities_get_count(void) {
-    return entities_count;
-}
-
-Entity* entity_alloc(const EntityDescription* description) {
-    entities_count++;
-    Entity* entity = malloc(sizeof(Entity));
-    entity->position = VECTOR_ZERO;
-    entity->description = description;
-    entity->context = NULL;
-    if(description && description->context_size > 0) {
-        entity->context = malloc(description->context_size);
-    }
-    entity->collider = NULL;
-    entity->collider_offset = VECTOR_ZERO;
-    ENTITY_D("Allocated at %p", entity);
-    entity->collider_dirty = false;
-    return entity;
-}
-
-void entity_collider_add_circle(Entity* entity, float radius) {
-    furi_check(entity->collider == NULL, "Collider already added");
-    entity->collider = malloc(sizeof(Collider));
-    entity->collider->type = ColliderTypeCircle;
-    entity->collider->circle.radius = radius;
-    entity->collider_dirty = true;
-}
-
-void entity_collider_add_rect(Entity* entity, float width, float height) {
-    furi_check(entity->collider == NULL, "Collider already added");
-    entity->collider = malloc(sizeof(Collider));
-    entity->collider->type = ColliderTypeRect;
-    entity->collider->rect.half_width = width / 2;
-    entity->collider->rect.half_height = height / 2;
-    entity->collider_dirty = true;
-}
-
-void entity_collider_remove(Entity* entity) {
-    furi_check(entity->collider != NULL, "Collider not added");
-    free(entity->collider);
-    entity->collider = NULL;
-    entity->collider_dirty = false;
-}
-
-void entity_collider_offset_set(Entity* entity, Vector offset) {
-    entity->collider_offset = offset;
-    entity->collider_dirty = true;
-}
-
-Vector entity_collider_offset_get(Entity* entity) {
-    return entity->collider_offset;
-}
-
-static Vector entity_collider_position_get(Entity* entity) {
-    return (Vector){
-        .x = entity->position.x + entity->collider_offset.x,
-        .y = entity->position.y + entity->collider_offset.y,
-    };
-}
-
-void entity_free(Entity* entity) {
-    entities_count--;
-    ENTITY_D("Freeing at %p", entity);
-    if(entity->context) {
-        free(entity->context);
-    }
-    if(entity->collider) {
-        free(entity->collider);
-    }
-    free(entity);
-}
-
-const EntityDescription* entity_description_get(Entity* entity) {
-    return entity->description;
-}
-
-Vector entity_pos_get(Entity* entity) {
-    return entity->position;
-}
-
-void entity_pos_set(Entity* entity, Vector position) {
-    entity->position = position;
-    entity->collider_dirty = true;
-}
-
-void* entity_context_get(Entity* entity) {
-    return entity->context;
-}
-
-void entity_call_start(Entity* entity, GameManager* manager) {
-    if(entity->description && entity->description->start) {
-        entity->description->start(entity, manager, entity->context);
-    }
-}
-
-void entity_call_stop(Entity* entity, GameManager* manager) {
-    if(entity->description && entity->description->stop) {
-        entity->description->stop(entity, manager, entity->context);
-    }
-}
-
-void entity_call_update(Entity* entity, GameManager* manager) {
-    if(entity->description && entity->description->update) {
-        entity->description->update(entity, manager, entity->context);
-    }
-}
-
-void entity_call_render(Entity* entity, GameManager* manager, Canvas* canvas) {
-    if(entity->description && entity->description->render) {
-        entity->description->render(entity, manager, canvas, entity->context);
-    }
-}
-
-void entity_call_collision(Entity* entity, Entity* other, GameManager* manager) {
-    if(entity->description && entity->description->collision) {
-        entity->description->collision(entity, other, manager, entity->context);
-    }
-}
-
-bool entity_collider_circle_circle(Entity* entity, Entity* other) {
-    Vector pos1 = entity_collider_position_get(entity);
-    Vector pos2 = entity_collider_position_get(other);
-
-    Vector delta = vector_sub(pos1, pos2);
-    return vector_length(delta) < entity->collider->circle.radius + other->collider->circle.radius;
-}
-
-bool entity_collider_rect_rect(Entity* entity, Entity* other) {
-    Vector pos1 = entity_collider_position_get(entity);
-    Vector pos2 = entity_collider_position_get(other);
-
-    float left1 = pos1.x - entity->collider->rect.half_width;
-    float right1 = pos1.x + entity->collider->rect.half_width;
-    float top1 = pos1.y - entity->collider->rect.half_height;
-    float bottom1 = pos1.y + entity->collider->rect.half_height;
-
-    float left2 = pos2.x - other->collider->rect.half_width;
-    float right2 = pos2.x + other->collider->rect.half_width;
-    float top2 = pos2.y - other->collider->rect.half_height;
-    float bottom2 = pos2.y + other->collider->rect.half_height;
-
-    return left1 < right2 && right1 > left2 && top1 < bottom2 && bottom1 > top2;
-}
-
-bool entity_collider_circle_rect(Entity* circle, Entity* rect) {
-    Vector pos1 = entity_collider_position_get(circle);
-    Vector pos2 = entity_collider_position_get(rect);
-
-    float left = pos2.x - rect->collider->rect.half_width;
-    float right = pos2.x + rect->collider->rect.half_width;
-    float top = pos2.y - rect->collider->rect.half_height;
-    float bottom = pos2.y + rect->collider->rect.half_height;
-
-    float closestX = fmaxf(left, fminf(pos1.x, right));
-    float closestY = fmaxf(top, fminf(pos1.y, bottom));
-
-    float dx = pos1.x - closestX;
-    float dy = pos1.y - closestY;
-    float distance = sqrtf(dx * dx + dy * dy);
-    return distance < circle->collider->circle.radius;
-}
-
-bool entity_collider_check_collision(Entity* entity, Entity* other) {
-    furi_check(entity->collider);
-    furi_check(other->collider);
-
-    if(entity->collider->type == ColliderTypeCircle) {
-        Entity* circle = entity;
-        if(other->collider->type == ColliderTypeCircle) {
-            return entity_collider_circle_circle(circle, other);
-        } else {
-            return entity_collider_circle_rect(circle, other);
-        }
-    } else {
-        Entity* rect = entity;
-        if(other->collider->type == ColliderTypeCircle) {
-            return entity_collider_circle_rect(other, rect);
-        } else {
-            return entity_collider_rect_rect(rect, other);
-        }
-    }
-}
-
-bool entity_collider_exists(Entity* entity) {
-    return entity->collider != NULL;
-}
-
-void entity_send_event(
-    Entity* sender,
-    Entity* receiver,
-    GameManager* manager,
-    uint32_t type,
-    EntityEventValue value) {
-    if(receiver->description && receiver->description->event) {
-        EntityEvent event = {
-            .type = type,
-            .sender = sender,
-            .value = value,
-        };
-        receiver->description->event(receiver, manager, event, receiver->context);
-    }
-}

air_labyrinth/engine/entity.h

@@ -1,65 +0,0 @@
-#pragma once
-#include "vector.h"
-#include "game_engine.h"
-#include <stdlib.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef struct Entity Entity;
-
-typedef struct Level Level;
-
-typedef union {
-    uint32_t value;
-    void* pointer;
-} EntityEventValue;
-
-typedef struct {
-    uint32_t type;
-    Entity* sender;
-    EntityEventValue value;
-} EntityEvent;
-
-typedef struct Level Level;
-typedef struct GameManager GameManager;
-
-typedef struct {
-    void (*start)(Entity* self, GameManager* manager, void* context);
-    void (*stop)(Entity* self, GameManager* manager, void* context);
-    void (*update)(Entity* self, GameManager* manager, void* context);
-    void (*render)(Entity* self, GameManager* manager, Canvas* canvas, void* context);
-    void (*collision)(Entity* self, Entity* other, GameManager* manager, void* context);
-    void (*event)(Entity* self, GameManager* manager, EntityEvent event, void* context);
-    size_t context_size;
-} EntityDescription;
-
-const EntityDescription* entity_description_get(Entity* entity);
-
-Vector entity_pos_get(Entity* entity);
-
-void entity_pos_set(Entity* entity, Vector position);
-
-void* entity_context_get(Entity* entity);
-
-void entity_collider_add_circle(Entity* entity, float radius);
-
-void entity_collider_add_rect(Entity* entity, float width, float height);
-
-void entity_collider_remove(Entity* entity);
-
-void entity_collider_offset_set(Entity* entity, Vector offset);
-
-Vector entity_collider_offset_get(Entity* entity);
-
-void entity_send_event(
-    Entity* sender,
-    Entity* receiver,
-    GameManager* manager,
-    uint32_t type,
-    EntityEventValue value);
-
-#ifdef __cplusplus
-}
-#endif

air_labyrinth/engine/entity_i.h

@@ -1,58 +0,0 @@
-#pragma once
-#include "entity.h"
-#include "game_manager.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef enum {
-    ColliderTypeCircle,
-    ColliderTypeRect,
-} ColliderType;
-
-typedef struct {
-    ColliderType type;
-    union {
-        struct {
-            float radius;
-        } circle;
-        struct {
-            float half_width;
-            float half_height;
-        } rect;
-    };
-} Collider;
-
-struct Entity {
-    Vector position;
-    const EntityDescription* description;
-    void* context;
-    Collider* collider;
-    Vector collider_offset;
-    bool collider_dirty;
-};
-
-Entity* entity_alloc(const EntityDescription* behaviour);
-
-void entity_free(Entity* entity);
-
-void entity_call_start(Entity* entity, GameManager* manager);
-
-void entity_call_stop(Entity* entity, GameManager* manager);
-
-void entity_call_update(Entity* entity, GameManager* manager);
-
-void entity_call_render(Entity* entity, GameManager* manager, Canvas* canvas);
-
-void entity_call_collision(Entity* entity, Entity* other, GameManager* manager);
-
-bool entity_collider_check_collision(Entity* entity, Entity* other);
-
-bool entity_collider_exists(Entity* entity);
-
-int32_t entities_get_count(void);
-
-#ifdef __cplusplus
-}
-#endif

air_labyrinth/engine/game_engine.c

@@ -1,221 +0,0 @@
-#include "game_engine.h"
-#include <furi.h>
-#include <furi_hal_rtc.h>
-#include <gui/gui.h>
-#include <input/input.h>
-#include <notification/notification_messages.h>
-#include "clock_timer.h"
-
-typedef _Atomic uint32_t AtomicUint32;
-
-typedef struct {
-    bool lefty;
-    AtomicUint32 state;
-} InputHolder;
-
-GameEngineSettings game_engine_settings_init() {
-    GameEngineSettings settings;
-    settings.target_fps = 30.0f;
-    settings.show_fps = false;
-    settings.always_backlight = true;
-    settings.start_callback = NULL;
-    settings.frame_callback = NULL;
-    settings.stop_callback = NULL;
-    settings.context = NULL;
-    return settings;
-}
-
-struct GameEngine {
-    Gui* gui;
-    NotificationApp* notifications;
-    FuriPubSub* input_pubsub;
-    FuriThreadId thread_id;
-    GameEngineSettings settings;
-    float fps;
-};
-
-typedef enum {
-    GameThreadFlagUpdate = 1 << 0,
-    GameThreadFlagStop = 1 << 1,
-} GameThreadFlag;
-
-#define GameThreadFlagMask (GameThreadFlagUpdate | GameThreadFlagStop)
-
-GameEngine* game_engine_alloc(GameEngineSettings settings) {
-    furi_check(settings.frame_callback != NULL);
-
-    GameEngine* engine = malloc(sizeof(GameEngine));
-    engine->gui = furi_record_open(RECORD_GUI);
-    engine->notifications = furi_record_open(RECORD_NOTIFICATION);
-    engine->input_pubsub = furi_record_open(RECORD_INPUT_EVENTS);
-    engine->thread_id = furi_thread_get_current_id();
-    engine->settings = settings;
-    engine->fps = 1.0f;
-
-    return engine;
-}
-
-void game_engine_free(GameEngine* engine) {
-    furi_record_close(RECORD_GUI);
-    furi_record_close(RECORD_NOTIFICATION);
-    furi_record_close(RECORD_INPUT_EVENTS);
-    free(engine);
-}
-
-static void clock_timer_callback(void* context) {
-    GameEngine* engine = context;
-    furi_thread_flags_set(engine->thread_id, GameThreadFlagUpdate);
-}
-
-static const GameKey keys_right_hand[] = {
-    [InputKeyUp] = GameKeyUp,
-    [InputKeyDown] = GameKeyDown,
-    [InputKeyRight] = GameKeyRight,
-    [InputKeyLeft] = GameKeyLeft,
-    [InputKeyOk] = GameKeyOk,
-    [InputKeyBack] = GameKeyBack,
-};
-
-static const GameKey keys_left_hand[] = {
-    [InputKeyUp] = GameKeyDown,
-    [InputKeyDown] = GameKeyUp,
-    [InputKeyRight] = GameKeyLeft,
-    [InputKeyLeft] = GameKeyRight,
-    [InputKeyOk] = GameKeyOk,
-    [InputKeyBack] = GameKeyBack,
-};
-static_assert(
-    sizeof(keys_right_hand) == sizeof(keys_left_hand),
-    "keys_right_hand and keys_left_hand do not match!");
-
-static const size_t keys_count = sizeof(keys_right_hand) / sizeof(keys_right_hand[0]);
-
-static void input_events_callback(const void* value, void* context) {
-    InputHolder* holder = context;
-    const InputEvent* event = value;
-    const GameKey* keys = holder->lefty ? keys_left_hand : keys_right_hand;
-
-    if(event->key < keys_count) {
-        switch(event->type) {
-        case InputTypePress:
-            holder->state |= (keys[event->key]);
-            break;
-        case InputTypeRelease:
-            holder->state &= ~(keys[event->key]);
-            break;
-        default:
-            break;
-        }
-    }
-}
-
-void game_engine_run(GameEngine* engine) {
-    // input state
-    InputHolder input_state = {
-        .lefty = furi_hal_rtc_is_flag_set(FuriHalRtcFlagHandOrient),
-        .state = 0,
-    };
-    uint32_t input_prev_state = 0;
-
-    // set backlight if needed
-    if(engine->settings.always_backlight) {
-        notification_message(engine->notifications, &sequence_display_backlight_enforce_on);
-    }
-
-    // acquire gui canvas
-    Canvas* canvas = gui_direct_draw_acquire(engine->gui);
-
-    // subscribe to input events
-    FuriPubSubSubscription* input_subscription =
-        furi_pubsub_subscribe(engine->input_pubsub, input_events_callback, &input_state);
-
-    // call start callback, if any
-    if(engine->settings.start_callback) {
-        engine->settings.start_callback(engine, engine->settings.context);
-    }
-
-    // start "game update" timer
-    clock_timer_start(clock_timer_callback, engine, engine->settings.target_fps);
-
-    // init fps counter
-    uint32_t time_start = DWT->CYCCNT;
-
-    while(true) {
-        uint32_t flags =
-            furi_thread_flags_wait(GameThreadFlagMask, FuriFlagWaitAny, FuriWaitForever);
-        furi_check((flags & FuriFlagError) == 0);
-
-        if(flags & GameThreadFlagUpdate) {
-            // update fps counter
-            uint32_t time_end = DWT->CYCCNT;
-            uint32_t time_delta = time_end - time_start;
-            time_start = time_end;
-
-            // update input state
-            uint32_t input_current_state = input_state.state;
-            InputState input = {
-                .held = input_current_state,
-                .pressed = input_current_state & ~input_prev_state,
-                .released = ~input_current_state & input_prev_state,
-            };
-            input_prev_state = input_current_state;
-
-            // clear screen
-            canvas_reset(canvas);
-
-            // calculate actual fps
-            engine->fps = (float)SystemCoreClock / time_delta;
-
-            // do the work
-            engine->settings.frame_callback(engine, canvas, input, engine->settings.context);
-
-            // show fps if needed
-            if(engine->settings.show_fps) {
-                canvas_set_color(canvas, ColorXOR);
-                canvas_printf(canvas, 0, 7, "%lu", (uint32_t)roundf(engine->fps));
-            }
-
-            // and output screen buffer
-            canvas_commit(canvas);
-
-            // throttle a bit
-            furi_delay_tick(2);
-        }
-
-        if(flags & GameThreadFlagStop) {
-            break;
-        }
-    }
-
-    // stop timer
-    clock_timer_stop();
-
-    // call stop callback, if any
-    if(engine->settings.stop_callback) {
-        engine->settings.stop_callback(engine, engine->settings.context);
-    }
-
-    // release gui canvas and unsubscribe from input events
-    gui_direct_draw_release(engine->gui);
-    furi_pubsub_unsubscribe(engine->input_pubsub, input_subscription);
-
-    if(engine->settings.always_backlight) {
-        notification_message(engine->notifications, &sequence_display_backlight_enforce_auto);
-    }
-}
-
-void game_engine_stop(GameEngine* engine) {
-    furi_thread_flags_set(engine->thread_id, GameThreadFlagStop);
-}
-
-float game_engine_get_delta_time(GameEngine* engine) {
-    return 1.0f / engine->fps;
-}
-
-float game_engine_get_delta_frames(GameEngine* engine) {
-    return engine->fps / engine->settings.target_fps;
-}
-
-void game_engine_show_fps_set(GameEngine* engine, bool show_fps) {
-    engine->settings.show_fps = show_fps;
-}

air_labyrinth/engine/game_engine.h

@@ -1,88 +0,0 @@
-#pragma once
-#include <stdbool.h>
-#include "canvas.h"
-#include <gui/canvas.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef enum {
-    GameKeyUp = 1 << 0,
-    GameKeyDown = 1 << 1,
-    GameKeyRight = 1 << 2,
-    GameKeyLeft = 1 << 3,
-    GameKeyOk = 1 << 4,
-    GameKeyBack = 1 << 5,
-} GameKey;
-
-typedef struct {
-    uint32_t held; // mask of GameKey held in current frame
-    uint32_t pressed; // mask of GameKey pressed in current frame
-    uint32_t released; // mask of GameKey released in current frame
-} InputState;
-
-typedef struct GameEngine GameEngine;
-
-typedef void (*GameEngineStartCallback)(GameEngine* engine, void* context);
-
-typedef void (*GameEngineStopCallback)(GameEngine* engine, void* context);
-
-typedef void (
-    *GameEngineFrameCallback)(GameEngine* engine, Canvas* canvas, InputState input, void* context);
-
-typedef struct {
-    float target_fps; // target fps
-    bool show_fps; // show fps counter
-    bool always_backlight; // keep backlight on
-    GameEngineStartCallback start_callback; // called when engine starts
-    GameEngineFrameCallback frame_callback; // frame callback, called at target fps
-    GameEngineStopCallback stop_callback; // called when engine stops
-    void* context; // user context passed to callback
-} GameEngineSettings;
-
-/** Default settings initializer */
-GameEngineSettings game_engine_settings_init(void);
-
-/** Game Engine allocator
- * @param settings engine settings
- * @return GameEngine*  GameEngine instance
- */
-GameEngine* game_engine_alloc(GameEngineSettings settings);
-
-/** Run the Game Engine. Blocks until game_engine_stop() is called.
- * @param engine GameEngine instance
- */
-void game_engine_run(GameEngine* engine);
-
-/** Free the Game Engine
- * @param engine GameEngine instance
- */
-void game_engine_free(GameEngine* engine);
-
-/** Stop the Game Engine, will not block execution
- * @param engine GameEngine instance
- */
-void game_engine_stop(GameEngine* engine);
-
-/** Get delta time between current and previous frame
- * @param engine GameEngine instance
- * @return float  delta time in seconds
- */
-float game_engine_get_delta_time(GameEngine* engine);
-
-/** Get delta frames between current and previous frame
- * @param engine GameEngine instance
- * @return float  delta frames
- */
-float game_engine_get_delta_frames(GameEngine* engine);
-
-/** Enable/disable show fps counter
- * @param engine GameEngine instance
- * @param show_fps show fps counter
- */
-void game_engine_show_fps_set(GameEngine* engine, bool show_fps);
-
-#ifdef __cplusplus
-}
-#endif

air_labyrinth/engine/game_manager.c

@@ -1,174 +0,0 @@
-#include "game_manager.h"
-#include "level_i.h"
-#include <furi.h>
-#include <m-list.h>
-#include <storage/storage.h>
-
-typedef struct {
-    Sprite* sprite;
-    FuriString* path;
-} SpriteCache;
-
-LIST_DEF(LevelList, Level*, M_POD_OPLIST);
-LIST_DEF(SpriteCacheList, SpriteCache, M_POD_OPLIST);
-
-struct GameManager {
-    LevelList_t levels;
-    Level* current_level;
-    Level* next_level;
-
-    GameEngine* engine;
-    InputState input;
-    void* game_context;
-
-    SpriteCacheList_t sprites;
-};
-
-GameManager* game_manager_alloc() {
-    GameManager* manager = malloc(sizeof(GameManager));
-    LevelList_init(manager->levels);
-    manager->current_level = NULL;
-    manager->next_level = NULL;
-    manager->engine = NULL;
-    manager->game_context = NULL;
-    memset(&manager->input, 0, sizeof(InputState));
-    SpriteCacheList_init(manager->sprites);
-    return manager;
-}
-
-void game_manager_free(GameManager* manager) {
-    level_call_stop(manager->current_level);
-
-    // Free all levels
-    {
-        LevelList_it_t it;
-        LevelList_it(it, manager->levels);
-        while(!LevelList_end_p(it)) {
-            level_call_free(*LevelList_cref(it));
-            level_free(*LevelList_cref(it));
-            LevelList_next(it);
-        }
-    }
-
-    LevelList_clear(manager->levels);
-
-    // Free all sprites
-    {
-        SpriteCacheList_it_t it;
-        SpriteCacheList_it(it, manager->sprites);
-        while(!SpriteCacheList_end_p(it)) {
-            furi_string_free(SpriteCacheList_cref(it)->path);
-            sprite_free(SpriteCacheList_cref(it)->sprite);
-            SpriteCacheList_next(it);
-        }
-    }
-    SpriteCacheList_clear(manager->sprites);
-    free(manager);
-}
-
-Level* game_manager_add_level(GameManager* manager, const LevelBehaviour* behaviour) {
-    UNUSED(manager);
-    Level* level = level_alloc(behaviour, manager);
-    LevelList_push_back(manager->levels, level);
-    level_call_alloc(level);
-    if(!manager->current_level) {
-        manager->current_level = level;
-        level_call_start(level);
-    }
-    return level;
-}
-
-void game_manager_next_level_set(GameManager* manager, Level* next_level) {
-    manager->next_level = next_level;
-}
-
-void game_manager_game_stop(GameManager* manager) {
-    GameEngine* engine = game_manager_engine_get(manager);
-    game_engine_stop(engine);
-}
-
-Level* game_manager_current_level_get(GameManager* manager) {
-    return manager->current_level;
-}
-
-void game_manager_update(GameManager* manager) {
-    if(manager->next_level) {
-        level_call_stop(manager->current_level);
-        manager->current_level = manager->next_level;
-        level_call_start(manager->current_level);
-        manager->next_level = NULL;
-    }
-
-    level_update(manager->current_level, manager);
-}
-
-void game_manager_render(GameManager* manager, Canvas* canvas) {
-    level_render(manager->current_level, manager, canvas);
-}
-
-void game_manager_engine_set(GameManager* manager, GameEngine* engine) {
-    manager->engine = engine;
-}
-
-void game_manager_input_set(GameManager* manager, InputState input) {
-    manager->input = input;
-}
-
-void game_manager_game_context_set(GameManager* manager, void* context) {
-    manager->game_context = context;
-}
-
-GameEngine* game_manager_engine_get(GameManager* manager) {
-    return manager->engine;
-}
-
-InputState game_manager_input_get(GameManager* manager) {
-    return manager->input;
-}
-
-void* game_manager_game_context_get(GameManager* manager) {
-    return manager->game_context;
-}
-
-void game_manager_show_fps_set(GameManager* manager, bool show_fps) {
-    GameEngine* engine = game_manager_engine_get(manager);
-    game_engine_show_fps_set(engine, show_fps);
-}
-
-Sprite* game_manager_sprite_load(GameManager* manager, const char* path) {
-    SpriteCacheList_it_t it;
-    SpriteCacheList_it(it, manager->sprites);
-    while(!SpriteCacheList_end_p(it)) {
-        if(furi_string_cmp(SpriteCacheList_cref(it)->path, path) == 0) {
-            return SpriteCacheList_cref(it)->sprite;
-        }
-        SpriteCacheList_next(it);
-    }
-
-    FuriString* path_full = furi_string_alloc_set(APP_ASSETS_PATH("sprites/"));
-    furi_string_cat(path_full, path);
-
-    Sprite* sprite = sprite_alloc(furi_string_get_cstr(path_full));
-    if(sprite) {
-        SpriteCache cache = {
-            .sprite = sprite,
-            .path = furi_string_alloc_set(path),
-        };
-        SpriteCacheList_push_back(manager->sprites, cache);
-    }
-    furi_string_free(path_full);
-
-    return sprite;
-}
-
-Level* game_manager_entity_level_get(GameManager* manager, Entity* entity) {
-    LevelList_it_t it;
-    LevelList_it(it, manager->levels);
-    while(!LevelList_end_p(it)) {
-        if(level_contains_entity(*LevelList_cref(it), entity)) {
-            return *LevelList_cref(it);
-        }
-        LevelList_next(it);
-    }
-    return NULL;
-}

air_labyrinth/engine/game_manager.h

@@ -1,59 +0,0 @@
-#pragma once
-#include "level.h"
-#include "game_engine.h"
-#include "sprite.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef struct GameManager GameManager;
-
-Level* game_manager_add_level(GameManager* manager, const LevelBehaviour* behaviour);
-
-void game_manager_next_level_set(GameManager* manager, Level* level);
-
-/**
- * @brief Get the current level
- * @warning This function returns current level, but in entity start or stop callbacks, the level may be different from entity's level.
- * For example, if an entity is added to a level_game and you currently are in level_pause, this function will return level_pause.
- * Use game_manager_entity_level_get to get the entity's level, or save the level pointer somewhere.
- * 
- * @param manager game manager instance
- * @return Level* level instance
- */
-Level* game_manager_current_level_get(GameManager* manager);
-
-/**
- * @brief Get the level of an entity
- * @warning This function is kinda slow, use it only when other methods are not possible
- * 
- * @param manager 
- * @param entity 
- * @return Level* 
- */
-Level* game_manager_entity_level_get(GameManager* manager, Entity* entity);
-
-GameEngine* game_manager_engine_get(GameManager* manager);
-
-InputState game_manager_input_get(GameManager* manager);
-
-void* game_manager_game_context_get(GameManager* manager);
-
-void game_manager_game_stop(GameManager* manager);
-
-void game_manager_show_fps_set(GameManager* manager, bool show_fps);
-
-/**
- * @brief Load a sprite from a file
- * Sprite will be cached and reused if the same file is loaded again
- * 
- * @param manager game manager instance
- * @param path sprite file path, relative to the game's assets folder
- * @return Sprite* or NULL if the sprite could not be loaded
- */
-Sprite* game_manager_sprite_load(GameManager* manager, const char* path);
-
-#ifdef __cplusplus
-}
-#endif

air_labyrinth/engine/game_manager_i.h

@@ -1,24 +0,0 @@
-#pragma once
-#include "game_manager.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-GameManager* game_manager_alloc(void);
-
-void game_manager_free(GameManager* manager);
-
-void game_manager_update(GameManager* manager);
-
-void game_manager_render(GameManager* manager, Canvas* canvas);
-
-void game_manager_engine_set(GameManager* manager, GameEngine* engine);
-
-void game_manager_input_set(GameManager* manager, InputState input);
-
-void game_manager_game_context_set(GameManager* manager, void* context);
-
-#ifdef __cplusplus
-}
-#endif

air_labyrinth/engine/level.c

@@ -1,309 +0,0 @@
-#include "level.h"
-#include "level_i.h"
-#include "entity_i.h"
-#include <m-list.h>
-#include <furi.h>
-
-LIST_DEF(EntityList, Entity*, M_POD_OPLIST);
-#define M_OPL_EntityList_t() LIST_OPLIST(EntityList)
-#define FOREACH(name, list) for \
-    M_EACH(name, list, EntityList_t)
-
-#define LEVEL_DEBUG(...) FURI_LOG_D("Level", __VA_ARGS__)
-#define LEVEL_INFO(...) FURI_LOG_I("Level", __VA_ARGS__)
-#define LEVEL_ERROR(...) FURI_LOG_E("Level", __VA_ARGS__)
-
-struct Level {
-    EntityList_t entities;
-    EntityList_t to_add;
-    EntityList_t to_remove;
-    const LevelBehaviour* behaviour;
-    void* context;
-    GameManager* manager;
-
-    bool clear;
-    LevelClearCallback clear_callback;
-    void* clear_context;
-};
-
-Level* level_alloc(const LevelBehaviour* behaviour, GameManager* manager) {
-    Level* level = malloc(sizeof(Level));
-    level->manager = manager;
-    level->clear = false;
-    EntityList_init(level->entities);
-    EntityList_init(level->to_add);
-    EntityList_init(level->to_remove);
-    level->behaviour = behaviour;
-    if(behaviour->context_size > 0) {
-        level->context = malloc(behaviour->context_size);
-    } else {
-        level->context = NULL;
-    }
-    LEVEL_DEBUG("Allocated level at %p", level);
-    return level;
-}
-
-static void level_process_add(Level* level) {
-    // move entities from to_add to entities
-    FOREACH(item, level->to_add) {
-        EntityList_push_back(level->entities, *item);
-    }
-    EntityList_clear(level->to_add);
-}
-
-static void level_process_remove(Level* level) {
-    // remove entities in to_remove from entities and free them
-    FOREACH(item, level->to_remove) {
-        entity_free(*item);
-        EntityList_it_t it;
-
-        // find and remove the entity from the entities list
-        for(EntityList_it(it, level->entities); !EntityList_end_p(it); EntityList_next(it)) {
-            if(*EntityList_ref(it) == *item) {
-                EntityList_remove(level->entities, it);
-                break;
-            }
-        }
-    }
-    EntityList_clear(level->to_remove);
-}
-
-static bool level_entity_in_list_p(const EntityList_t list, Entity* entity) {
-    FOREACH(item, list) {
-        if(*item == entity) {
-            return true;
-        }
-    }
-    return false;
-}
-
-static void level_clear_entities(Level* level) {
-    size_t iterations = 0;
-
-    do {
-        // process to_add and to_remove
-        level_process_add(level);
-        level_process_remove(level);
-
-        // remove entities from entities list
-        FOREACH(item, level->entities) {
-            if(!level_entity_in_list_p(level->to_remove, *item)) {
-                level_remove_entity(level, *item);
-            }
-        }
-
-        // check if we are looping too many times
-        iterations++;
-        if(iterations >= 100) {
-            LEVEL_ERROR("Level free looped too many times");
-        }
-
-        // entity_call_stop can call level_remove_entity or level_add_entity
-        // so we need to process to_add and to_remove again
-    } while(!EntityList_empty_p(level->to_add) || !EntityList_empty_p(level->to_remove) ||
-            !EntityList_empty_p(level->entities));
-}
-
-void level_free(Level* level) {
-    level_clear_entities(level);
-
-    EntityList_clear(level->entities);
-    EntityList_clear(level->to_add);
-    EntityList_clear(level->to_remove);
-
-    if(level->behaviour->context_size > 0) {
-        free(level->context);
-    }
-
-    LEVEL_DEBUG("Freeing level at %p", level);
-    free(level);
-}
-
-Entity* level_add_entity(Level* level, const EntityDescription* description) {
-    Entity* entity = entity_alloc(description);
-    EntityList_push_back(level->to_add, entity);
-    entity_call_start(entity, level->manager);
-    return entity;
-}
-
-void level_remove_entity(Level* level, Entity* entity) {
-    EntityList_push_back(level->to_remove, entity);
-    entity_call_stop(entity, level->manager);
-}
-
-void level_send_event(
-    Level* level,
-    Entity* sender,
-    const EntityDescription* receiver_desc,
-    uint32_t type,
-    EntityEventValue value) {
-    FOREACH(item, level->entities) {
-        if(receiver_desc == entity_description_get(*item) || receiver_desc == NULL) {
-            entity_send_event(sender, *item, level->manager, type, value);
-        }
-    }
-
-    FOREACH(item, level->to_add) {
-        if(receiver_desc == entity_description_get(*item) || receiver_desc == NULL) {
-            entity_send_event(sender, *item, level->manager, type, value);
-        }
-    }
-}
-
-static void level_process_update(Level* level, GameManager* manager) {
-    FOREACH(item, level->entities) {
-        entity_call_update(*item, manager);
-    }
-}
-
-static void level_process_collision(Level* level, GameManager* manager) {
-    EntityList_it_t it_first;
-    EntityList_it_t it_second;
-
-    EntityList_it(it_first, level->entities);
-    while(!EntityList_end_p(it_first)) {
-        Entity* first = *EntityList_ref(it_first);
-        if(entity_collider_exists(first)) {
-            // start second iterator at the next entity,
-            // so we don't check the same pair twice
-            EntityList_it_set(it_second, it_first);
-            EntityList_next(it_second);
-            while(!EntityList_end_p(it_second)) {
-                Entity* second = *EntityList_ref(it_second);
-                if(first->collider_dirty || second->collider_dirty) {
-                    if(entity_collider_exists(second)) {
-                        if(entity_collider_check_collision(first, second)) {
-                            entity_call_collision(first, second, manager);
-                            entity_call_collision(second, first, manager);
-                        }
-                    }
-                }
-                EntityList_next(it_second);
-            }
-        }
-        EntityList_next(it_first);
-    }
-
-    FOREACH(item, level->entities) {
-        (*item)->collider_dirty = false;
-    }
-}
-
-void level_clear(Level* level, LevelClearCallback callback, void* context) {
-    level->clear_callback = callback;
-    level->clear_context = context;
-    level->clear = true;
-}
-
-void level_update(Level* level, GameManager* manager) {
-    if(level->clear) {
-        level_clear_entities(level);
-        level->clear_callback(level, level->clear_context);
-        level->clear = false;
-    }
-
-    level_process_add(level);
-    level_process_remove(level);
-    level_process_update(level, manager);
-    level_process_collision(level, manager);
-}
-
-void level_render(Level* level, GameManager* manager, Canvas* canvas) {
-    FOREACH(item, level->entities) {
-        entity_call_render(*item, manager, canvas);
-    }
-}
-
-void level_call_start(Level* level) {
-    if(level->behaviour->start) {
-        level->behaviour->start(level, level->manager, level->context);
-    }
-}
-
-void level_call_stop(Level* level) {
-    if(level->behaviour->stop) {
-        level->behaviour->stop(level, level->manager, level->context);
-    }
-}
-
-void level_call_alloc(Level* level) {
-    if(level->behaviour->alloc) {
-        level->behaviour->alloc(level, level->manager, level->context);
-    }
-}
-
-void level_call_free(Level* level) {
-    if(level->behaviour->free) {
-        level->behaviour->free(level, level->manager, level->context);
-    }
-}
-
-size_t level_entity_count(const Level* level, const EntityDescription* description) {
-    size_t count = 0;
-    FOREACH(item, level->entities) {
-        if(description == NULL || description == entity_description_get(*item)) {
-            count++;
-        }
-    }
-
-    // subtract entities that are in to_remove
-    FOREACH(item, level->to_remove) {
-        if(description == NULL || description == entity_description_get(*item)) {
-            count--;
-        }
-    }
-
-    // add entities that are in to_add
-    FOREACH(item, level->to_add) {
-        if(description == NULL || description == entity_description_get(*item)) {
-            count++;
-        }
-    }
-
-    return count;
-}
-
-Entity* level_entity_get(const Level* level, const EntityDescription* description, size_t index) {
-    size_t count = 0;
-    FOREACH(item, level->entities) {
-        if(description == NULL || description == entity_description_get(*item)) {
-            if(!level_entity_in_list_p(level->to_remove, *item)) {
-                if(count == index) {
-                    return *item;
-                }
-                count++;
-            }
-        }
-    }
-
-    FOREACH(item, level->to_add) {
-        if(description == NULL || description == entity_description_get(*item)) {
-            if(!level_entity_in_list_p(level->to_remove, *item)) {
-                if(count == index) {
-                    return *item;
-                }
-                count++;
-            }
-        }
-    }
-
-    return NULL;
-}
-
-void* level_context_get(Level* level) {
-    return level->context;
-}
-
-bool level_contains_entity(const Level* level, const Entity* entity) {
-    FOREACH(item, level->entities) {
-        if(*item == entity) {
-            return true;
-        }
-    }
-    FOREACH(item, level->to_add) {
-        if(*item == entity) {
-            return true;
-        }
-    }
-    return false;
-}

air_labyrinth/engine/level.h

@@ -1,103 +0,0 @@
-#pragma once
-#include <stddef.h>
-#include "entity.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef struct GameManager GameManager;
-
-typedef struct {
-    void (*alloc)(Level* level, GameManager* manager, void* context);
-    void (*free)(Level* level, GameManager* manager, void* context);
-    void (*start)(Level* level, GameManager* manager, void* context);
-    void (*stop)(Level* level, GameManager* manager, void* context);
-    size_t context_size;
-} LevelBehaviour;
-
-/** Level reset callback */
-typedef void (*LevelClearCallback)(Level* level, void* context);
-
-/**
- * @brief Clear entities and call callback at the start of the next update
- * 
- * @param level level instance
- * @param callback callback
- * @param context context
- */
-void level_clear(Level* level, LevelClearCallback callback, void* context);
-
-/**
- * @brief Add an entity to the level
- * 
- * @param level level instance
- * @param behaviour entity behaviour
- * @return Entity* 
- */
-Entity* level_add_entity(Level* level, const EntityDescription* behaviour);
-
-/**
- * @brief Remove an entity from the level
- * 
- * @param level level instance
- * @param entity entity to remove
- */
-void level_remove_entity(Level* level, Entity* entity);
-
-/**
- * @brief Send an event to all entities of a certain type in the level
- * 
- * @param level level instance
- * @param sender entity that sends the event
- * @param receiver_desc entity description that will receive the event, NULL for all entities
- * @param type event type
- * @param value event value
- */
-void level_send_event(
-    Level* level,
-    Entity* sender,
-    const EntityDescription* receiver_desc,
-    uint32_t type,
-    EntityEventValue value);
-
-/**
- * @brief Get the count of entities of a certain type in the level, or all entities if description is NULL
- * 
- * @param level level instance
- * @param description entity description, NULL for all entities
- * @return size_t entity count 
- */
-size_t level_entity_count(const Level* level, const EntityDescription* description);
-
-/**
- * @brief Get an entity of a certain type in the level
- * Returns NULL if the index is out of bounds
- * 
- * @param level level instance
- * @param description entity description, NULL for all entities
- * @param index entity index
- * @return Entity* entity
- */
-Entity* level_entity_get(const Level* level, const EntityDescription* description, size_t index);
-
-/**
- * @brief Get the context of the level
- * 
- * @param level level instance
- * @return void* context
- */
-void* level_context_get(Level* level);
-
-/**
- * @brief Check if the level contains an entity
- * 
- * @param level level instance
- * @param entity entity
- * @return true if the level contains the entity
- */
-bool level_contains_entity(const Level* level, const Entity* entity);
-
-#ifdef __cplusplus
-}
-#endif

air_labyrinth/engine/level_i.h

@@ -1,26 +0,0 @@
-#pragma once
-#include "level.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-Level* level_alloc(const LevelBehaviour* behaviour, GameManager* manager);
-
-void level_free(Level* level);
-
-void level_update(Level* level, GameManager* manager);
-
-void level_render(Level* level, GameManager* manager, Canvas* canvas);
-
-void level_call_alloc(Level* level);
-
-void level_call_free(Level* level);
-
-void level_call_start(Level* level);
-
-void level_call_stop(Level* level);
-
-#ifdef __cplusplus
-}
-#endif

air_labyrinth/engine/main.c

@@ -1,54 +0,0 @@
-#include <furi.h>
-#include "engine.h"
-#include "game_engine.h"
-#include "game_manager_i.h"
-#include "level_i.h"
-#include "entity_i.h"
-
-static void frame_cb(GameEngine* engine, Canvas* canvas, InputState input, void* context) {
-    UNUSED(engine);
-    GameManager* game_manager = context;
-    game_manager_input_set(game_manager, input);
-    game_manager_update(game_manager);
-    game_manager_render(game_manager, canvas);
-}
-
-int32_t game_app(void* p) {
-    UNUSED(p);
-    GameManager* game_manager = game_manager_alloc();
-
-    GameEngineSettings settings = game_engine_settings_init();
-    settings.target_fps = game.target_fps;
-    settings.show_fps = game.show_fps;
-    settings.always_backlight = game.always_backlight;
-    settings.frame_callback = frame_cb;
-    settings.context = game_manager;
-
-    GameEngine* engine = game_engine_alloc(settings);
-    game_manager_engine_set(game_manager, engine);
-
-    void* game_context = NULL;
-    if(game.context_size > 0) {
-        game_context = malloc(game.context_size);
-        game_manager_game_context_set(game_manager, game_context);
-    }
-    game.start(game_manager, game_context);
-
-    game_engine_run(engine);
-    game_engine_free(engine);
-
-    game_manager_free(game_manager);
-
-    game.stop(game_context);
-    if(game_context) {
-        free(game_context);
-    }
-
-    int32_t entities = entities_get_count();
-    if(entities != 0) {
-        FURI_LOG_E("Game", "Memory leak detected: %ld entities still allocated", entities);
-        return -1;
-    }
-
-    return 0;
-}

air_labyrinth/engine/scripts/sprite_builder.py

@@ -1,90 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import io
-import logging
-import os
-import struct
-
-from PIL import Image, ImageOps
-
-# XBM flipper sprite (.fxbm) is 1-bit depth, width-padded to 8 bits
-# file format:
-#   uint32 size of the rest of the file in bytes
-#   uint32 width in px
-#   uint32 height in px
-#   uint8[] pixel data, every row is padded to 8 bits (like XBM)
-
-
-def image2xbm(input_file_path):
-    with Image.open(input_file_path) as im:
-        with io.BytesIO() as output:
-            bw = im.convert("1")
-            bw = ImageOps.invert(bw)
-            bw.save(output, format="XBM")
-            return output.getvalue()
-
-
-def xbm2fxbm(data):
-    # hell as it is, but it works
-    f = io.StringIO(data.decode().strip())
-    width = int(f.readline().strip().split(" ")[2])
-    height = int(f.readline().strip().split(" ")[2])
-    data = f.read().strip().replace("\n", "").replace(" ", "").split("=")[1][:-1]
-    data_str = data[1:-1].replace(",", " ").replace("0x", "")
-    image_bin = bytearray.fromhex(data_str)
-
-    output = struct.pack("<I", len(image_bin) + 8)
-    output += struct.pack("<II", width, height)
-    output += image_bin
-    return output
-
-
-def process_sprites(input_dir, output_dir):
-    for root, dirs, files in os.walk(input_dir):
-        for file in files:
-            if file.startswith("."):
-                continue
-
-            try:
-                input_file_path = os.path.join(root, file)
-                rel_path = os.path.relpath(input_file_path, input_dir)
-                new_rel_path = os.path.splitext(rel_path)[0] + ".fxbm"
-                output_file_path = os.path.join(output_dir, new_rel_path)
-
-                os.makedirs(os.path.dirname(output_file_path), exist_ok=True)
-
-                print(f"Converting '{rel_path}' to '{new_rel_path}'")
-                xbm = image2xbm(input_file_path)
-                img_data = xbm2fxbm(xbm)
-                with open(output_file_path, "wb") as f:
-                    f.write(img_data)
-            except Exception as e:
-                print(f"Cannot convert '{rel_path}': {e}")
-
-
-def clear_directory(directory):
-    for root, dirs, files in os.walk(directory, topdown=False):
-        for name in files:
-            os.remove(os.path.join(root, name))
-        for name in dirs:
-            os.rmdir(os.path.join(root, name))
-
-
-def main():
-    parser = argparse.ArgumentParser()
-    parser.add_argument("source", help="Source directory")
-    parser.add_argument("target", help="Target directory")
-    args = parser.parse_args()
-
-    logging.basicConfig(level=logging.ERROR)
-    logger = logging.getLogger(__name__)
-    logger.debug(f"Building sprites from {args.source} to {args.target}")
-
-    clear_directory(args.target)
-    process_sprites(args.source, args.target)
-
-    return 0
-
-
-if __name__ == "__main__":
-    main()

air_labyrinth/engine/sensors/ICM42688P/ICM42688P.c

@@ -1,297 +0,0 @@
-#include "ICM42688P_regs.h"
-#include "ICM42688P.h"
-
-#define TAG "ICM42688P"
-
-#define ICM42688P_TIMEOUT 100
-
-struct ICM42688P {
-    FuriHalSpiBusHandle* spi_bus;
-    const GpioPin* irq_pin;
-    float accel_scale;
-    float gyro_scale;
-};
-
-static const struct AccelFullScale {
-    float value;
-    uint8_t reg_mask;
-} accel_fs_modes[] = {
-    [AccelFullScale16G] = {16.f, ICM42688_AFS_16G},
-    [AccelFullScale8G] = {8.f, ICM42688_AFS_8G},
-    [AccelFullScale4G] = {4.f, ICM42688_AFS_4G},
-    [AccelFullScale2G] = {2.f, ICM42688_AFS_2G},
-};
-
-static const struct GyroFullScale {
-    float value;
-    uint8_t reg_mask;
-} gyro_fs_modes[] = {
-    [GyroFullScale2000DPS] = {2000.f, ICM42688_GFS_2000DPS},
-    [GyroFullScale1000DPS] = {1000.f, ICM42688_GFS_1000DPS},
-    [GyroFullScale500DPS] = {500.f, ICM42688_GFS_500DPS},
-    [GyroFullScale250DPS] = {250.f, ICM42688_GFS_250DPS},
-    [GyroFullScale125DPS] = {125.f, ICM42688_GFS_125DPS},
-    [GyroFullScale62_5DPS] = {62.5f, ICM42688_GFS_62_5DPS},
-    [GyroFullScale31_25DPS] = {31.25f, ICM42688_GFS_31_25DPS},
-    [GyroFullScale15_625DPS] = {15.625f, ICM42688_GFS_15_625DPS},
-};
-
-static bool icm42688p_write_reg(FuriHalSpiBusHandle* spi_bus, uint8_t addr, uint8_t value) {
-    bool res = false;
-    furi_hal_spi_acquire(spi_bus);
-    do {
-        uint8_t cmd_data[2] = {addr & 0x7F, value};
-        if(!furi_hal_spi_bus_tx(spi_bus, cmd_data, 2, ICM42688P_TIMEOUT)) break;
-        res = true;
-    } while(0);
-    furi_hal_spi_release(spi_bus);
-    return res;
-}
-
-static bool icm42688p_read_reg(FuriHalSpiBusHandle* spi_bus, uint8_t addr, uint8_t* value) {
-    bool res = false;
-    furi_hal_spi_acquire(spi_bus);
-    do {
-        uint8_t cmd_byte = addr | (1 << 7);
-        if(!furi_hal_spi_bus_tx(spi_bus, &cmd_byte, 1, ICM42688P_TIMEOUT)) break;
-        if(!furi_hal_spi_bus_rx(spi_bus, value, 1, ICM42688P_TIMEOUT)) break;
-        res = true;
-    } while(0);
-    furi_hal_spi_release(spi_bus);
-    return res;
-}
-
-static bool
-    icm42688p_read_mem(FuriHalSpiBusHandle* spi_bus, uint8_t addr, uint8_t* data, uint8_t len) {
-    bool res = false;
-    furi_hal_spi_acquire(spi_bus);
-    do {
-        uint8_t cmd_byte = addr | (1 << 7);
-        if(!furi_hal_spi_bus_tx(spi_bus, &cmd_byte, 1, ICM42688P_TIMEOUT)) break;
-        if(!furi_hal_spi_bus_rx(spi_bus, data, len, ICM42688P_TIMEOUT)) break;
-        res = true;
-    } while(0);
-    furi_hal_spi_release(spi_bus);
-    return res;
-}
-
-bool icm42688p_accel_config(
-    ICM42688P* icm42688p,
-    ICM42688PAccelFullScale full_scale,
-    ICM42688PDataRate rate) {
-    icm42688p->accel_scale = accel_fs_modes[full_scale].value;
-    uint8_t reg_value = accel_fs_modes[full_scale].reg_mask | rate;
-    return icm42688p_write_reg(icm42688p->spi_bus, ICM42688_ACCEL_CONFIG0, reg_value);
-}
-
-float icm42688p_accel_get_full_scale(ICM42688P* icm42688p) {
-    return icm42688p->accel_scale;
-}
-
-bool icm42688p_gyro_config(
-    ICM42688P* icm42688p,
-    ICM42688PGyroFullScale full_scale,
-    ICM42688PDataRate rate) {
-    icm42688p->gyro_scale = gyro_fs_modes[full_scale].value;
-    uint8_t reg_value = gyro_fs_modes[full_scale].reg_mask | rate;
-    return icm42688p_write_reg(icm42688p->spi_bus, ICM42688_GYRO_CONFIG0, reg_value);
-}
-
-float icm42688p_gyro_get_full_scale(ICM42688P* icm42688p) {
-    return icm42688p->gyro_scale;
-}
-
-bool icm42688p_read_accel_raw(ICM42688P* icm42688p, ICM42688PRawData* data) {
-    bool ret = icm42688p_read_mem(
-        icm42688p->spi_bus, ICM42688_ACCEL_DATA_X1, (uint8_t*)data, sizeof(ICM42688PRawData));
-    return ret;
-}
-
-bool icm42688p_read_gyro_raw(ICM42688P* icm42688p, ICM42688PRawData* data) {
-    bool ret = icm42688p_read_mem(
-        icm42688p->spi_bus, ICM42688_GYRO_DATA_X1, (uint8_t*)data, sizeof(ICM42688PRawData));
-    return ret;
-}
-
-bool icm42688p_write_gyro_offset(ICM42688P* icm42688p, ICM42688PScaledData* scaled_data) {
-    if((fabsf(scaled_data->x) > 64.f) || (fabsf(scaled_data->y) > 64.f) ||
-       (fabsf(scaled_data->z) > 64.f)) {
-        return false;
-    }
-
-    uint16_t offset_x = (uint16_t)(-(int16_t)(scaled_data->x * 32.f) * 16) >> 4;
-    uint16_t offset_y = (uint16_t)(-(int16_t)(scaled_data->y * 32.f) * 16) >> 4;
-    uint16_t offset_z = (uint16_t)(-(int16_t)(scaled_data->z * 32.f) * 16) >> 4;
-
-    uint8_t offset_regs[9];
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_REG_BANK_SEL, 4);
-    icm42688p_read_mem(icm42688p->spi_bus, ICM42688_OFFSET_USER0, offset_regs, 5);
-
-    offset_regs[0] = offset_x & 0xFF;
-    offset_regs[1] = (offset_x & 0xF00) >> 8;
-    offset_regs[1] |= (offset_y & 0xF00) >> 4;
-    offset_regs[2] = offset_y & 0xFF;
-    offset_regs[3] = offset_z & 0xFF;
-    offset_regs[4] &= 0xF0;
-    offset_regs[4] |= (offset_z & 0x0F00) >> 8;
-
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_OFFSET_USER0, offset_regs[0]);
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_OFFSET_USER1, offset_regs[1]);
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_OFFSET_USER2, offset_regs[2]);
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_OFFSET_USER3, offset_regs[3]);
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_OFFSET_USER4, offset_regs[4]);
-
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_REG_BANK_SEL, 0);
-    return true;
-}
-
-void icm42688p_apply_scale(ICM42688PRawData* raw_data, float full_scale, ICM42688PScaledData* data) {
-    data->x = ((float)(raw_data->x)) / 32768.f * full_scale;
-    data->y = ((float)(raw_data->y)) / 32768.f * full_scale;
-    data->z = ((float)(raw_data->z)) / 32768.f * full_scale;
-}
-
-void icm42688p_apply_scale_fifo(
-    ICM42688P* icm42688p,
-    ICM42688PFifoPacket* fifo_data,
-    ICM42688PScaledData* accel_data,
-    ICM42688PScaledData* gyro_data) {
-    float full_scale = icm42688p->accel_scale;
-    accel_data->x = ((float)(fifo_data->a_x)) / 32768.f * full_scale;
-    accel_data->y = ((float)(fifo_data->a_y)) / 32768.f * full_scale;
-    accel_data->z = ((float)(fifo_data->a_z)) / 32768.f * full_scale;
-
-    full_scale = icm42688p->gyro_scale;
-    gyro_data->x = ((float)(fifo_data->g_x)) / 32768.f * full_scale;
-    gyro_data->y = ((float)(fifo_data->g_y)) / 32768.f * full_scale;
-    gyro_data->z = ((float)(fifo_data->g_z)) / 32768.f * full_scale;
-}
-
-float icm42688p_read_temp(ICM42688P* icm42688p) {
-    uint8_t reg_val[2];
-
-    icm42688p_read_mem(icm42688p->spi_bus, ICM42688_TEMP_DATA1, reg_val, 2);
-    int16_t temp_int = (reg_val[0] << 8) | reg_val[1];
-    return ((float)temp_int / 132.48f) + 25.f;
-}
-
-void icm42688_fifo_enable(
-    ICM42688P* icm42688p,
-    ICM42688PIrqCallback irq_callback,
-    void* irq_context) {
-    // FIFO mode: stream
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_FIFO_CONFIG, (1 << 6));
-    // Little-endian data, FIFO count in records
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INTF_CONFIG0, (1 << 7) | (1 << 6));
-    // FIFO partial read, FIFO packet: gyro + accel TODO: 20bit
-    icm42688p_write_reg(
-        icm42688p->spi_bus, ICM42688_FIFO_CONFIG1, (1 << 6) | (1 << 5) | (1 << 1) | (1 << 0));
-    // FIFO irq watermark
-    uint16_t fifo_watermark = 1;
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_FIFO_CONFIG2, fifo_watermark & 0xFF);
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_FIFO_CONFIG3, fifo_watermark >> 8);
-
-    // IRQ1: push-pull, active high
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_CONFIG, (1 << 1) | (1 << 0));
-    // Clear IRQ on status read
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_CONFIG0, 0);
-    // IRQ pulse duration
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_CONFIG1, (1 << 6) | (1 << 5));
-
-    uint8_t reg_data = 0;
-    icm42688p_read_reg(icm42688p->spi_bus, ICM42688_INT_STATUS, &reg_data);
-
-    furi_hal_gpio_init(icm42688p->irq_pin, GpioModeInterruptRise, GpioPullDown, GpioSpeedVeryHigh);
-    furi_hal_gpio_remove_int_callback(icm42688p->irq_pin);
-    furi_hal_gpio_add_int_callback(icm42688p->irq_pin, irq_callback, irq_context);
-
-    // IRQ1 source: FIFO threshold
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_SOURCE0, (1 << 2));
-}
-
-void icm42688_fifo_disable(ICM42688P* icm42688p) {
-    furi_hal_gpio_remove_int_callback(icm42688p->irq_pin);
-    furi_hal_gpio_init(icm42688p->irq_pin, GpioModeAnalog, GpioPullNo, GpioSpeedLow);
-
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_SOURCE0, 0);
-
-    // FIFO mode: bypass
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_FIFO_CONFIG, 0);
-}
-
-uint16_t icm42688_fifo_get_count(ICM42688P* icm42688p) {
-    uint16_t reg_val = 0;
-    icm42688p_read_mem(icm42688p->spi_bus, ICM42688_FIFO_COUNTH, (uint8_t*)&reg_val, 2);
-    return reg_val;
-}
-
-bool icm42688_fifo_read(ICM42688P* icm42688p, ICM42688PFifoPacket* data) {
-    icm42688p_read_mem(
-        icm42688p->spi_bus, ICM42688_FIFO_DATA, (uint8_t*)data, sizeof(ICM42688PFifoPacket));
-    return (data->header) & (1 << 7);
-}
-
-ICM42688P* icm42688p_alloc(FuriHalSpiBusHandle* spi_bus, const GpioPin* irq_pin) {
-    ICM42688P* icm42688p = malloc(sizeof(ICM42688P));
-    icm42688p->spi_bus = spi_bus;
-    icm42688p->irq_pin = irq_pin;
-    return icm42688p;
-}
-
-void icm42688p_free(ICM42688P* icm42688p) {
-    free(icm42688p);
-}
-
-bool icm42688p_init(ICM42688P* icm42688p) {
-    furi_hal_spi_bus_handle_init(icm42688p->spi_bus);
-
-    // Software reset
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_REG_BANK_SEL, 0); // Set reg bank to 0
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_DEVICE_CONFIG, 0x01); // SPI Mode 0, SW reset
-    furi_delay_ms(1);
-
-    uint8_t reg_value = 0;
-    bool read_ok = icm42688p_read_reg(icm42688p->spi_bus, ICM42688_WHO_AM_I, &reg_value);
-    if(!read_ok) {
-        FURI_LOG_E(TAG, "Chip ID read failed");
-        return false;
-    } else if(reg_value != ICM42688_WHOAMI) {
-        FURI_LOG_E(
-            TAG, "Sensor returned wrong ID 0x%02X, expected 0x%02X", reg_value, ICM42688_WHOAMI);
-        return false;
-    }
-
-    // Disable all interrupts
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_SOURCE0, 0);
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_SOURCE1, 0);
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_SOURCE3, 0);
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_SOURCE4, 0);
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_REG_BANK_SEL, 4);
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_SOURCE6, 0);
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_SOURCE7, 0);
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_REG_BANK_SEL, 0);
-
-    // Data format: little endian
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INTF_CONFIG0, 0);
-
-    // Enable all sensors
-    icm42688p_write_reg(
-        icm42688p->spi_bus,
-        ICM42688_PWR_MGMT0,
-        ICM42688_PWR_TEMP_ON | ICM42688_PWR_GYRO_MODE_LN | ICM42688_PWR_ACCEL_MODE_LN);
-    furi_delay_ms(45);
-
-    icm42688p_accel_config(icm42688p, AccelFullScale16G, DataRate1kHz);
-    icm42688p_gyro_config(icm42688p, GyroFullScale2000DPS, DataRate1kHz);
-
-    return true;
-}
-
-bool icm42688p_deinit(ICM42688P* icm42688p) {
-    // Software reset
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_REG_BANK_SEL, 0); // Set reg bank to 0
-    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_DEVICE_CONFIG, 0x01); // SPI Mode 0, SW reset
-
-    furi_hal_spi_bus_handle_deinit(icm42688p->spi_bus);
-    return true;
-}

air_labyrinth/engine/sensors/ICM42688P/ICM42688P.h

@@ -1,127 +0,0 @@
-#pragma once
-
-#include <furi.h>
-#include <furi_hal.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef enum {
-    DataRate32kHz = 0x01,
-    DataRate16kHz = 0x02,
-    DataRate8kHz = 0x03,
-    DataRate4kHz = 0x04,
-    DataRate2kHz = 0x05,
-    DataRate1kHz = 0x06,
-    DataRate200Hz = 0x07,
-    DataRate100Hz = 0x08,
-    DataRate50Hz = 0x09,
-    DataRate25Hz = 0x0A,
-    DataRate12_5Hz = 0x0B,
-    DataRate6_25Hz = 0x0C, // Accelerometer only
-    DataRate3_125Hz = 0x0D, // Accelerometer only
-    DataRate1_5625Hz = 0x0E, // Accelerometer only
-    DataRate500Hz = 0x0F,
-} ICM42688PDataRate;
-
-typedef enum {
-    AccelFullScale16G = 0,
-    AccelFullScale8G,
-    AccelFullScale4G,
-    AccelFullScale2G,
-    AccelFullScaleTotal,
-} ICM42688PAccelFullScale;
-
-typedef enum {
-    GyroFullScale2000DPS = 0,
-    GyroFullScale1000DPS,
-    GyroFullScale500DPS,
-    GyroFullScale250DPS,
-    GyroFullScale125DPS,
-    GyroFullScale62_5DPS,
-    GyroFullScale31_25DPS,
-    GyroFullScale15_625DPS,
-    GyroFullScaleTotal,
-} ICM42688PGyroFullScale;
-
-typedef struct {
-    int16_t x;
-    int16_t y;
-    int16_t z;
-} __attribute__((packed)) ICM42688PRawData;
-
-typedef struct {
-    uint8_t header;
-    int16_t a_x;
-    int16_t a_y;
-    int16_t a_z;
-    int16_t g_x;
-    int16_t g_y;
-    int16_t g_z;
-    uint8_t temp;
-    uint16_t ts;
-} __attribute__((packed)) ICM42688PFifoPacket;
-
-typedef struct {
-    float x;
-    float y;
-    float z;
-} ICM42688PScaledData;
-
-typedef struct ICM42688P ICM42688P;
-
-typedef void (*ICM42688PIrqCallback)(void* ctx);
-
-ICM42688P* icm42688p_alloc(FuriHalSpiBusHandle* spi_bus, const GpioPin* irq_pin);
-
-bool icm42688p_init(ICM42688P* icm42688p);
-
-bool icm42688p_deinit(ICM42688P* icm42688p);
-
-void icm42688p_free(ICM42688P* icm42688p);
-
-bool icm42688p_accel_config(
-    ICM42688P* icm42688p,
-    ICM42688PAccelFullScale full_scale,
-    ICM42688PDataRate rate);
-
-float icm42688p_accel_get_full_scale(ICM42688P* icm42688p);
-
-bool icm42688p_gyro_config(
-    ICM42688P* icm42688p,
-    ICM42688PGyroFullScale full_scale,
-    ICM42688PDataRate rate);
-
-float icm42688p_gyro_get_full_scale(ICM42688P* icm42688p);
-
-bool icm42688p_read_accel_raw(ICM42688P* icm42688p, ICM42688PRawData* data);
-
-bool icm42688p_read_gyro_raw(ICM42688P* icm42688p, ICM42688PRawData* data);
-
-bool icm42688p_write_gyro_offset(ICM42688P* icm42688p, ICM42688PScaledData* scaled_data);
-
-void icm42688p_apply_scale(ICM42688PRawData* raw_data, float full_scale, ICM42688PScaledData* data);
-
-void icm42688p_apply_scale_fifo(
-    ICM42688P* icm42688p,
-    ICM42688PFifoPacket* fifo_data,
-    ICM42688PScaledData* accel_data,
-    ICM42688PScaledData* gyro_data);
-
-float icm42688p_read_temp(ICM42688P* icm42688p);
-
-void icm42688_fifo_enable(
-    ICM42688P* icm42688p,
-    ICM42688PIrqCallback irq_callback,
-    void* irq_context);
-
-void icm42688_fifo_disable(ICM42688P* icm42688p);
-
-uint16_t icm42688_fifo_get_count(ICM42688P* icm42688p);
-
-bool icm42688_fifo_read(ICM42688P* icm42688p, ICM42688PFifoPacket* data);
-
-#ifdef __cplusplus
-}
-#endif

air_labyrinth/engine/sensors/ICM42688P/ICM42688P_regs.h

@@ -1,176 +0,0 @@
-#pragma once
-
-#define ICM42688_WHOAMI 0x47
-
-// Bank 0
-#define ICM42688_DEVICE_CONFIG 0x11
-#define ICM42688_DRIVE_CONFIG 0x13
-#define ICM42688_INT_CONFIG 0x14
-#define ICM42688_FIFO_CONFIG 0x16
-#define ICM42688_TEMP_DATA1 0x1D
-#define ICM42688_TEMP_DATA0 0x1E
-#define ICM42688_ACCEL_DATA_X1 0x1F
-#define ICM42688_ACCEL_DATA_X0 0x20
-#define ICM42688_ACCEL_DATA_Y1 0x21
-#define ICM42688_ACCEL_DATA_Y0 0x22
-#define ICM42688_ACCEL_DATA_Z1 0x23
-#define ICM42688_ACCEL_DATA_Z0 0x24
-#define ICM42688_GYRO_DATA_X1 0x25
-#define ICM42688_GYRO_DATA_X0 0x26
-#define ICM42688_GYRO_DATA_Y1 0x27
-#define ICM42688_GYRO_DATA_Y0 0x28
-#define ICM42688_GYRO_DATA_Z1 0x29
-#define ICM42688_GYRO_DATA_Z0 0x2A
-#define ICM42688_TMST_FSYNCH 0x2B
-#define ICM42688_TMST_FSYNCL 0x2C
-#define ICM42688_INT_STATUS 0x2D
-#define ICM42688_FIFO_COUNTH 0x2E
-#define ICM42688_FIFO_COUNTL 0x2F
-#define ICM42688_FIFO_DATA 0x30
-#define ICM42688_APEX_DATA0 0x31
-#define ICM42688_APEX_DATA1 0x32
-#define ICM42688_APEX_DATA2 0x33
-#define ICM42688_APEX_DATA3 0x34
-#define ICM42688_APEX_DATA4 0x35
-#define ICM42688_APEX_DATA5 0x36
-#define ICM42688_INT_STATUS2 0x37
-#define ICM42688_INT_STATUS3 0x38
-#define ICM42688_SIGNAL_PATH_RESET 0x4B
-#define ICM42688_INTF_CONFIG0 0x4C
-#define ICM42688_INTF_CONFIG1 0x4D
-#define ICM42688_PWR_MGMT0 0x4E
-#define ICM42688_GYRO_CONFIG0 0x4F
-#define ICM42688_ACCEL_CONFIG0 0x50
-#define ICM42688_GYRO_CONFIG1 0x51
-#define ICM42688_GYRO_ACCEL_CONFIG0 0x52
-#define ICM42688_ACCEL_CONFIG1 0x53
-#define ICM42688_TMST_CONFIG 0x54
-#define ICM42688_APEX_CONFIG0 0x56
-#define ICM42688_SMD_CONFIG 0x57
-#define ICM42688_FIFO_CONFIG1 0x5F
-#define ICM42688_FIFO_CONFIG2 0x60
-#define ICM42688_FIFO_CONFIG3 0x61
-#define ICM42688_FSYNC_CONFIG 0x62
-#define ICM42688_INT_CONFIG0 0x63
-#define ICM42688_INT_CONFIG1 0x64
-#define ICM42688_INT_SOURCE0 0x65
-#define ICM42688_INT_SOURCE1 0x66
-#define ICM42688_INT_SOURCE3 0x68
-#define ICM42688_INT_SOURCE4 0x69
-#define ICM42688_FIFO_LOST_PKT0 0x6C
-#define ICM42688_FIFO_LOST_PKT1 0x6D
-#define ICM42688_SELF_TEST_CONFIG 0x70
-#define ICM42688_WHO_AM_I 0x75
-#define ICM42688_REG_BANK_SEL 0x76
-
-// Bank 1
-#define ICM42688_SENSOR_CONFIG0 0x03
-#define ICM42688_GYRO_CONFIG_STATIC2 0x0B
-#define ICM42688_GYRO_CONFIG_STATIC3 0x0C
-#define ICM42688_GYRO_CONFIG_STATIC4 0x0D
-#define ICM42688_GYRO_CONFIG_STATIC5 0x0E
-#define ICM42688_GYRO_CONFIG_STATIC6 0x0F
-#define ICM42688_GYRO_CONFIG_STATIC7 0x10
-#define ICM42688_GYRO_CONFIG_STATIC8 0x11
-#define ICM42688_GYRO_CONFIG_STATIC9 0x12
-#define ICM42688_GYRO_CONFIG_STATIC10 0x13
-#define ICM42688_XG_ST_DATA 0x5F
-#define ICM42688_YG_ST_DATA 0x60
-#define ICM42688_ZG_ST_DATA 0x61
-#define ICM42688_TMSTVAL0 0x62
-#define ICM42688_TMSTVAL1 0x63
-#define ICM42688_TMSTVAL2 0x64
-#define ICM42688_INTF_CONFIG4 0x7A
-#define ICM42688_INTF_CONFIG5 0x7B
-#define ICM42688_INTF_CONFIG6 0x7C
-
-// Bank 2
-#define ICM42688_ACCEL_CONFIG_STATIC2 0x03
-#define ICM42688_ACCEL_CONFIG_STATIC3 0x04
-#define ICM42688_ACCEL_CONFIG_STATIC4 0x05
-#define ICM42688_XA_ST_DATA 0x3B
-#define ICM42688_YA_ST_DATA 0x3C
-#define ICM42688_ZA_ST_DATA 0x3D
-
-// Bank 4
-#define ICM42688_APEX_CONFIG1 0x40
-#define ICM42688_APEX_CONFIG2 0x41
-#define ICM42688_APEX_CONFIG3 0x42
-#define ICM42688_APEX_CONFIG4 0x43
-#define ICM42688_APEX_CONFIG5 0x44
-#define ICM42688_APEX_CONFIG6 0x45
-#define ICM42688_APEX_CONFIG7 0x46
-#define ICM42688_APEX_CONFIG8 0x47
-#define ICM42688_APEX_CONFIG9 0x48
-#define ICM42688_ACCEL_WOM_X_THR 0x4A
-#define ICM42688_ACCEL_WOM_Y_THR 0x4B
-#define ICM42688_ACCEL_WOM_Z_THR 0x4C
-#define ICM42688_INT_SOURCE6 0x4D
-#define ICM42688_INT_SOURCE7 0x4E
-#define ICM42688_INT_SOURCE8 0x4F
-#define ICM42688_INT_SOURCE9 0x50
-#define ICM42688_INT_SOURCE10 0x51
-#define ICM42688_OFFSET_USER0 0x77
-#define ICM42688_OFFSET_USER1 0x78
-#define ICM42688_OFFSET_USER2 0x79
-#define ICM42688_OFFSET_USER3 0x7A
-#define ICM42688_OFFSET_USER4 0x7B
-#define ICM42688_OFFSET_USER5 0x7C
-#define ICM42688_OFFSET_USER6 0x7D
-#define ICM42688_OFFSET_USER7 0x7E
-#define ICM42688_OFFSET_USER8 0x7F
-
-// PWR_MGMT0
-#define ICM42688_PWR_TEMP_ON (0 << 5)
-#define ICM42688_PWR_TEMP_OFF (1 << 5)
-#define ICM42688_PWR_IDLE (1 << 4)
-#define ICM42688_PWR_GYRO_MODE_OFF (0 << 2)
-#define ICM42688_PWR_GYRO_MODE_LN (3 << 2)
-#define ICM42688_PWR_ACCEL_MODE_OFF (0 << 0)
-#define ICM42688_PWR_ACCEL_MODE_LP (2 << 0)
-#define ICM42688_PWR_ACCEL_MODE_LN (3 << 0)
-
-// GYRO_CONFIG0
-#define ICM42688_GFS_2000DPS (0x00 << 5)
-#define ICM42688_GFS_1000DPS (0x01 << 5)
-#define ICM42688_GFS_500DPS (0x02 << 5)
-#define ICM42688_GFS_250DPS (0x03 << 5)
-#define ICM42688_GFS_125DPS (0x04 << 5)
-#define ICM42688_GFS_62_5DPS (0x05 << 5)
-#define ICM42688_GFS_31_25DPS (0x06 << 5)
-#define ICM42688_GFS_15_625DPS (0x07 << 5)
-
-#define ICM42688_GODR_32kHz 0x01
-#define ICM42688_GODR_16kHz 0x02
-#define ICM42688_GODR_8kHz 0x03
-#define ICM42688_GODR_4kHz 0x04
-#define ICM42688_GODR_2kHz 0x05
-#define ICM42688_GODR_1kHz 0x06
-#define ICM42688_GODR_200Hz 0x07
-#define ICM42688_GODR_100Hz 0x08
-#define ICM42688_GODR_50Hz 0x09
-#define ICM42688_GODR_25Hz 0x0A
-#define ICM42688_GODR_12_5Hz 0x0B
-#define ICM42688_GODR_500Hz 0x0F
-
-// ACCEL_CONFIG0
-#define ICM42688_AFS_16G (0x00 << 5)
-#define ICM42688_AFS_8G (0x01 << 5)
-#define ICM42688_AFS_4G (0x02 << 5)
-#define ICM42688_AFS_2G (0x03 << 5)
-
-#define ICM42688_AODR_32kHz 0x01
-#define ICM42688_AODR_16kHz 0x02
-#define ICM42688_AODR_8kHz 0x03
-#define ICM42688_AODR_4kHz 0x04
-#define ICM42688_AODR_2kHz 0x05
-#define ICM42688_AODR_1kHz 0x06
-#define ICM42688_AODR_200Hz 0x07
-#define ICM42688_AODR_100Hz 0x08
-#define ICM42688_AODR_50Hz 0x09
-#define ICM42688_AODR_25Hz 0x0A
-#define ICM42688_AODR_12_5Hz 0x0B
-#define ICM42688_AODR_6_25Hz 0x0C
-#define ICM42688_AODR_3_125Hz 0x0D
-#define ICM42688_AODR_1_5625Hz 0x0E
-#define ICM42688_AODR_500Hz 0x0F

air_labyrinth/engine/sensors/imu.c

@@ -1,328 +0,0 @@
-#include <furi.h>
-#include "imu.h"
-#include "ICM42688P/ICM42688P.h"
-
-#define TAG "IMU"
-
-#define ACCEL_GYRO_RATE DataRate100Hz
-
-#define FILTER_SAMPLE_FREQ 100.f
-#define FILTER_BETA 0.08f
-
-#define SAMPLE_RATE_DIV 5
-
-#define SENSITIVITY_K 30.f
-#define EXP_RATE 1.1f
-
-#define IMU_CALI_AVG 64
-
-typedef enum {
-    ImuStop = (1 << 0),
-    ImuNewData = (1 << 1),
-} ImuThreadFlags;
-
-#define FLAGS_ALL (ImuStop | ImuNewData)
-
-typedef struct {
-    float q0;
-    float q1;
-    float q2;
-    float q3;
-    float roll;
-    float pitch;
-    float yaw;
-} ImuProcessedData;
-
-typedef struct {
-    FuriThread* thread;
-    ICM42688P* icm42688p;
-    ImuProcessedData processed_data;
-    bool lefty;
-} ImuThread;
-
-static void imu_madgwick_filter(
-    ImuProcessedData* out,
-    ICM42688PScaledData* accel,
-    ICM42688PScaledData* gyro);
-
-static void imu_irq_callback(void* context) {
-    furi_assert(context);
-    ImuThread* imu = context;
-    furi_thread_flags_set(furi_thread_get_id(imu->thread), ImuNewData);
-}
-
-static void imu_process_data(ImuThread* imu, ICM42688PFifoPacket* in_data) {
-    ICM42688PScaledData accel_data;
-    ICM42688PScaledData gyro_data;
-
-    // Get accel and gyro data in g and degrees/s
-    icm42688p_apply_scale_fifo(imu->icm42688p, in_data, &accel_data, &gyro_data);
-
-    // Gyro: degrees/s to rads/s
-    gyro_data.x = gyro_data.x / 180.f * M_PI;
-    gyro_data.y = gyro_data.y / 180.f * M_PI;
-    gyro_data.z = gyro_data.z / 180.f * M_PI;
-
-    // Sensor Fusion algorithm
-    ImuProcessedData* out = &imu->processed_data;
-    imu_madgwick_filter(out, &accel_data, &gyro_data);
-
-    // Quaternion to euler angles
-    float roll = atan2f(
-        out->q0 * out->q1 + out->q2 * out->q3, 0.5f - out->q1 * out->q1 - out->q2 * out->q2);
-    float pitch = asinf(-2.0f * (out->q1 * out->q3 - out->q0 * out->q2));
-    float yaw = atan2f(
-        out->q1 * out->q2 + out->q0 * out->q3, 0.5f - out->q2 * out->q2 - out->q3 * out->q3);
-
-    // Euler angles: rads to degrees
-    out->roll = roll / M_PI * 180.f;
-    out->pitch = pitch / M_PI * 180.f;
-    out->yaw = yaw / M_PI * 180.f;
-}
-
-static void calibrate_gyro(ImuThread* imu) {
-    ICM42688PRawData data;
-    ICM42688PScaledData offset_scaled = {.x = 0.f, .y = 0.f, .z = 0.f};
-
-    icm42688p_write_gyro_offset(imu->icm42688p, &offset_scaled);
-    furi_delay_ms(10);
-
-    int32_t avg_x = 0;
-    int32_t avg_y = 0;
-    int32_t avg_z = 0;
-
-    for(uint8_t i = 0; i < IMU_CALI_AVG; i++) {
-        icm42688p_read_gyro_raw(imu->icm42688p, &data);
-        avg_x += data.x;
-        avg_y += data.y;
-        avg_z += data.z;
-        furi_delay_ms(2);
-    }
-
-    data.x = avg_x / IMU_CALI_AVG;
-    data.y = avg_y / IMU_CALI_AVG;
-    data.z = avg_z / IMU_CALI_AVG;
-
-    icm42688p_apply_scale(&data, icm42688p_gyro_get_full_scale(imu->icm42688p), &offset_scaled);
-    FURI_LOG_I(
-        TAG,
-        "Offsets: x %f, y %f, z %f",
-        (double)offset_scaled.x,
-        (double)offset_scaled.y,
-        (double)offset_scaled.z);
-    icm42688p_write_gyro_offset(imu->icm42688p, &offset_scaled);
-}
-
-// static float imu_angle_diff(float a, float b) {
-//     float diff = a - b;
-//     if(diff > 180.f)
-//         diff -= 360.f;
-//     else if(diff < -180.f)
-//         diff += 360.f;
-
-//     return diff;
-// }
-
-static int32_t imu_thread(void* context) {
-    furi_assert(context);
-    ImuThread* imu = context;
-
-    // float yaw_last = 0.f;
-    // float pitch_last = 0.f;
-    // float diff_x = 0.f;
-    // float diff_y = 0.f;
-
-    calibrate_gyro(imu);
-
-    icm42688p_accel_config(imu->icm42688p, AccelFullScale16G, ACCEL_GYRO_RATE);
-    icm42688p_gyro_config(imu->icm42688p, GyroFullScale2000DPS, ACCEL_GYRO_RATE);
-
-    imu->processed_data.q0 = 1.f;
-    imu->processed_data.q1 = 0.f;
-    imu->processed_data.q2 = 0.f;
-    imu->processed_data.q3 = 0.f;
-    icm42688_fifo_enable(imu->icm42688p, imu_irq_callback, imu);
-
-    while(1) {
-        uint32_t events = furi_thread_flags_wait(FLAGS_ALL, FuriFlagWaitAny, FuriWaitForever);
-
-        if(events & ImuStop) {
-            break;
-        }
-
-        if(events & ImuNewData) {
-            uint16_t data_pending = icm42688_fifo_get_count(imu->icm42688p);
-            ICM42688PFifoPacket data;
-            while(data_pending--) {
-                icm42688_fifo_read(imu->icm42688p, &data);
-                imu_process_data(imu, &data);
-            }
-        }
-    }
-
-    icm42688_fifo_disable(imu->icm42688p);
-
-    return 0;
-}
-
-ImuThread* imu_start(ICM42688P* icm42688p) {
-    ImuThread* imu = malloc(sizeof(ImuThread));
-    imu->icm42688p = icm42688p;
-    imu->thread = furi_thread_alloc_ex("ImuThread", 4096, imu_thread, imu);
-    imu->lefty = furi_hal_rtc_is_flag_set(FuriHalRtcFlagHandOrient);
-    furi_thread_start(imu->thread);
-
-    return imu;
-}
-
-void imu_stop(ImuThread* imu) {
-    furi_assert(imu);
-
-    furi_thread_flags_set(furi_thread_get_id(imu->thread), ImuStop);
-
-    furi_thread_join(imu->thread);
-    furi_thread_free(imu->thread);
-
-    free(imu);
-}
-
-static float imu_inv_sqrt(float number) {
-    union {
-        float f;
-        uint32_t i;
-    } conv = {.f = number};
-    conv.i = 0x5F3759Df - (conv.i >> 1);
-    conv.f *= 1.5f - (number * 0.5f * conv.f * conv.f);
-    return conv.f;
-}
-
-/* Simple madgwik filter, based on: https://github.com/arduino-libraries/MadgwickAHRS/ */
-
-static void imu_madgwick_filter(
-    ImuProcessedData* out,
-    ICM42688PScaledData* accel,
-    ICM42688PScaledData* gyro) {
-    float recipNorm;
-    float s0, s1, s2, s3;
-    float qDot1, qDot2, qDot3, qDot4;
-    float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2, _8q1, _8q2, q0q0, q1q1, q2q2, q3q3;
-
-    // Rate of change of quaternion from gyroscope
-    qDot1 = 0.5f * (-out->q1 * gyro->x - out->q2 * gyro->y - out->q3 * gyro->z);
-    qDot2 = 0.5f * (out->q0 * gyro->x + out->q2 * gyro->z - out->q3 * gyro->y);
-    qDot3 = 0.5f * (out->q0 * gyro->y - out->q1 * gyro->z + out->q3 * gyro->x);
-    qDot4 = 0.5f * (out->q0 * gyro->z + out->q1 * gyro->y - out->q2 * gyro->x);
-
-    // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
-    if(!((accel->x == 0.0f) && (accel->y == 0.0f) && (accel->z == 0.0f))) {
-        // Normalise accelerometer measurement
-        recipNorm = imu_inv_sqrt(accel->x * accel->x + accel->y * accel->y + accel->z * accel->z);
-        accel->x *= recipNorm;
-        accel->y *= recipNorm;
-        accel->z *= recipNorm;
-
-        // Auxiliary variables to avoid repeated arithmetic
-        _2q0 = 2.0f * out->q0;
-        _2q1 = 2.0f * out->q1;
-        _2q2 = 2.0f * out->q2;
-        _2q3 = 2.0f * out->q3;
-        _4q0 = 4.0f * out->q0;
-        _4q1 = 4.0f * out->q1;
-        _4q2 = 4.0f * out->q2;
-        _8q1 = 8.0f * out->q1;
-        _8q2 = 8.0f * out->q2;
-        q0q0 = out->q0 * out->q0;
-        q1q1 = out->q1 * out->q1;
-        q2q2 = out->q2 * out->q2;
-        q3q3 = out->q3 * out->q3;
-
-        // Gradient decent algorithm corrective step
-        s0 = _4q0 * q2q2 + _2q2 * accel->x + _4q0 * q1q1 - _2q1 * accel->y;
-        s1 = _4q1 * q3q3 - _2q3 * accel->x + 4.0f * q0q0 * out->q1 - _2q0 * accel->y - _4q1 +
-             _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * accel->z;
-        s2 = 4.0f * q0q0 * out->q2 + _2q0 * accel->x + _4q2 * q3q3 - _2q3 * accel->y - _4q2 +
-             _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * accel->z;
-        s3 = 4.0f * q1q1 * out->q3 - _2q1 * accel->x + 4.0f * q2q2 * out->q3 - _2q2 * accel->y;
-        recipNorm =
-            imu_inv_sqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude
-        s0 *= recipNorm;
-        s1 *= recipNorm;
-        s2 *= recipNorm;
-        s3 *= recipNorm;
-
-        // Apply feedback step
-        qDot1 -= FILTER_BETA * s0;
-        qDot2 -= FILTER_BETA * s1;
-        qDot3 -= FILTER_BETA * s2;
-        qDot4 -= FILTER_BETA * s3;
-    }
-
-    // Integrate rate of change of quaternion to yield quaternion
-    out->q0 += qDot1 * (1.0f / FILTER_SAMPLE_FREQ);
-    out->q1 += qDot2 * (1.0f / FILTER_SAMPLE_FREQ);
-    out->q2 += qDot3 * (1.0f / FILTER_SAMPLE_FREQ);
-    out->q3 += qDot4 * (1.0f / FILTER_SAMPLE_FREQ);
-
-    // Normalise quaternion
-    recipNorm = imu_inv_sqrt(
-        out->q0 * out->q0 + out->q1 * out->q1 + out->q2 * out->q2 + out->q3 * out->q3);
-    out->q0 *= recipNorm;
-    out->q1 *= recipNorm;
-    out->q2 *= recipNorm;
-    out->q3 *= recipNorm;
-}
-
-/* IMU API */
-
-struct Imu {
-    FuriHalSpiBusHandle* icm42688p_device;
-    ICM42688P* icm42688p;
-    ImuThread* thread;
-    bool present;
-};
-
-Imu* imu_alloc(void) {
-    Imu* imu = malloc(sizeof(Imu));
-    imu->icm42688p_device = malloc(sizeof(FuriHalSpiBusHandle));
-    memcpy(imu->icm42688p_device, &furi_hal_spi_bus_handle_external, sizeof(FuriHalSpiBusHandle));
-    imu->icm42688p_device->cs = &gpio_ext_pc3;
-
-    imu->icm42688p = icm42688p_alloc(imu->icm42688p_device, &gpio_ext_pb2);
-    imu->present = icm42688p_init(imu->icm42688p);
-
-    if(imu->present) {
-        imu->thread = imu_start(imu->icm42688p);
-    }
-
-    return imu;
-}
-
-void imu_free(Imu* imu) {
-    if(imu->present) {
-        imu_stop(imu->thread);
-    }
-    icm42688p_deinit(imu->icm42688p);
-    icm42688p_free(imu->icm42688p);
-    free(imu->icm42688p_device);
-    free(imu);
-}
-
-bool imu_present(Imu* imu) {
-    return imu->present;
-}
-
-float imu_pitch_get(Imu* imu) {
-    // we pretend that reading a float is an atomic operation
-    return imu->thread->lefty ? -imu->thread->processed_data.pitch :
-                                imu->thread->processed_data.pitch;
-}
-
-float imu_roll_get(Imu* imu) {
-    // we pretend that reading a float is an atomic operation
-    return imu->thread->processed_data.roll;
-}
-
-float imu_yaw_get(Imu* imu) {
-    // we pretend that reading a float is an atomic operation
-    return imu->thread->lefty ? -imu->thread->processed_data.yaw : imu->thread->processed_data.yaw;
-}

air_labyrinth/engine/sensors/imu.h

@@ -1,15 +0,0 @@
-#pragma once
-
-typedef struct Imu Imu;
-
-Imu* imu_alloc(void);
-
-void imu_free(Imu* imu);
-
-bool imu_present(Imu* imu);
-
-float imu_pitch_get(Imu* imu);
-
-float imu_roll_get(Imu* imu);
-
-float imu_yaw_get(Imu* imu);

air_labyrinth/engine/sprite.c

@@ -1,69 +0,0 @@
-#include "sprite.h"
-#include <storage/storage.h>
-
-#ifdef SPRITE_DEBUG
-#define SPRITE_D(...) FURI_LOG_D("Sprite", __VA_ARGS__)
-#define SPRITE_E(...) FURI_LOG_E("Sprite", __VA_ARGS__)
-#else
-#define SPRITE_D(...)
-#define SPRITE_E(...)
-#endif
-
-struct Sprite {
-    uint32_t width;
-    uint32_t height;
-    uint8_t data[];
-};
-
-Sprite* sprite_alloc(const char* path) {
-    Storage* storage = furi_record_open(RECORD_STORAGE);
-    File* file = storage_file_alloc(storage);
-    Sprite* sprite = NULL;
-
-    do {
-        if(!storage_file_open(file, path, FSAM_READ, FSOM_OPEN_EXISTING)) {
-            SPRITE_E("Failed to open file: %s", path);
-            break;
-        }
-
-        uint32_t size = 0;
-        if(storage_file_read(file, &size, sizeof(size)) != sizeof(size)) {
-            SPRITE_E("Failed to read file size: %s", path);
-            break;
-        }
-
-        sprite = malloc(size);
-        if(storage_file_read(file, sprite, size) != size) {
-            SPRITE_E("Failed to read file: %s", path);
-            free(sprite);
-            sprite = NULL;
-            break;
-        }
-
-        SPRITE_D(
-            "Loaded sprite: %s, width: %lu, height: %lu", path, sprite->width, sprite->height);
-    } while(false);
-
-    storage_file_free(file);
-
-    return sprite;
-}
-
-void sprite_free(Sprite* sprite) {
-    free(sprite);
-}
-
-size_t sprite_get_width(Sprite* sprite) {
-    return sprite->width;
-}
-
-size_t sprite_get_height(Sprite* sprite) {
-    return sprite->height;
-}
-
-void canvas_draw_sprite(Canvas* canvas, Sprite* sprite, int32_t x, int32_t y) {
-    furi_check(sprite->width);
-    furi_check(sprite->height);
-    furi_check(sprite->data);
-    canvas_draw_xbm(canvas, x, y, sprite->width, sprite->height, sprite->data);
-}

air_labyrinth/engine/sprite.h

@@ -1,44 +0,0 @@
-#pragma once
-#include <stdbool.h>
-#include <stddef.h>
-#include <gui/canvas.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef struct Sprite Sprite;
-
-/** Sprite allocator
- * @return Sprite*  Sprite instance or NULL, if failed
- */
-Sprite* sprite_alloc(const char* path);
-
-/** Sprite deallocator
- * @param sprite Sprite instance
- */
-void sprite_free(Sprite* sprite);
-
-/** Get sprite width
- * @param sprite Sprite instance
- * @return size_t sprite width
- */
-size_t sprite_get_width(Sprite* sprite);
-
-/** Get sprite height
- * @param sprite Sprite instance
- * @return size_t sprite height
- */
-size_t sprite_get_height(Sprite* sprite);
-
-/** Draw sprite on canvas
- * @param canvas Canvas instance
- * @param sprite Sprite instance
- * @param x x coordinate
- * @param y y coordinate
- */
-void canvas_draw_sprite(Canvas* canvas, Sprite* sprite, int32_t x, int32_t y);
-
-#ifdef __cplusplus
-}
-#endif

air_labyrinth/engine/vector.c

@@ -1,62 +0,0 @@
-#include "vector.h"
-#include <math.h>
-#include <float.h>
-
-#undef vector_add
-#undef vector_sub
-#undef vector_mul
-#undef vector_div
-
-Vector vector_add(Vector a, Vector b) {
-    return (Vector){.x = a.x + b.x, .y = a.y + b.y};
-}
-
-Vector vector_sub(Vector a, Vector b) {
-    return (Vector){.x = a.x - b.x, .y = a.y - b.y};
-}
-
-Vector vector_mul(Vector a, Vector b) {
-    return (Vector){.x = a.x * b.x, .y = a.y * b.y};
-}
-
-Vector vector_div(Vector a, Vector b) {
-    return (Vector){.x = a.x / b.x, .y = a.y / b.y};
-}
-
-Vector vector_addf(Vector a, float b) {
-    return (Vector){.x = a.x + b, .y = a.y + b};
-}
-
-Vector vector_subf(Vector a, float b) {
-    return (Vector){.x = a.x - b, .y = a.y - b};
-}
-
-Vector vector_mulf(Vector a, float b) {
-    return (Vector){.x = a.x * b, .y = a.y * b};
-}
-
-Vector vector_divf(Vector a, float b) {
-    return (Vector){.x = a.x / b, .y = a.y / b};
-}
-
-float vector_length(Vector v) {
-    return sqrtf(v.x * v.x + v.y * v.y);
-}
-
-Vector vector_normalize(Vector v) {
-    float length = vector_length(v);
-    if(length < FLT_EPSILON) {
-        return (Vector){0, 0};
-    }
-    return (Vector){v.x / length, v.y / length};
-}
-
-float vector_dot(Vector a, Vector b) {
-    return a.x * b.x + a.y * b.y;
-}
-
-Vector vector_rand() {
-    float x = (rand() % __INT_MAX__) / (float)__INT_MAX__;
-    float y = (rand() % __INT_MAX__) / (float)__INT_MAX__;
-    return (Vector){x, y};
-}

air_labyrinth/engine/vector.h

@@ -1,56 +0,0 @@
-#pragma once
-#include <m-core.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef struct {
-    float x;
-    float y;
-} Vector;
-
-#define VECTOR_ZERO ((Vector){0, 0})
-
-Vector vector_add(Vector a, Vector b);
-
-Vector vector_sub(Vector a, Vector b);
-
-Vector vector_mul(Vector a, Vector b);
-
-Vector vector_div(Vector a, Vector b);
-
-Vector vector_addf(Vector a, float b);
-
-Vector vector_subf(Vector a, float b);
-
-Vector vector_mulf(Vector a, float b);
-
-Vector vector_divf(Vector a, float b);
-
-float vector_length(Vector v);
-
-Vector vector_normalize(Vector v);
-
-float vector_dot(Vector a, Vector b);
-
-Vector vector_rand();
-
-#define VECTOR_SELECT(func1, func2, a, b) \
-    _Generic(                             \
-        (b),                              \
-        float: func2,                     \
-        const float: func2,               \
-        int: func2,                       \
-        const int: func2,                 \
-        Vector: func1,                    \
-        const Vector: func1)(a, b)
-
-#define vector_add(a, b) VECTOR_SELECT(vector_add, vector_addf, a, b)
-#define vector_sub(a, b) VECTOR_SELECT(vector_sub, vector_subf, a, b)
-#define vector_mul(a, b) VECTOR_SELECT(vector_mul, vector_mulf, a, b)
-#define vector_div(a, b) VECTOR_SELECT(vector_div, vector_divf, a, b)
-
-#ifdef __cplusplus
-}
-#endif

air_labyrinth/game.c

@@ -1,371 +0,0 @@
-// Air Labyrinth -- by @CodeAllNight (https://youtube.com/@MrDerekJamison/about)
-//
-// v0.1 - Initial release (d-pad and tilt controls for player movement)
-//
-/*
-This game was made based on the [air_arkanoid]
-(https://github.com/flipperdevices/flipperzero-good-faps/tree/dev/air_arkanoid) and 
-[flipperzero-game-engine-example](https://github.com/flipperdevices/flipperzero-game-engine-example) 
-projects. Thanks to the authors of these projects for the inspiration and the code.
-*/
-
-#include "game.h"
-#include "walls.h"
-
-#define MOTION_X 1
-#define MOTION_Y 1
-
-/****** Entities: Player ******/
-
-typedef struct {
-    Vector trajectory; // Direction player would like to move.
-    float radius; // collision radius
-    int8_t dx; // x direction
-    int8_t dy; // y direction
-    Sprite* sprite; // player sprite
-} PlayerContext;
-
-// Forward declaration of player_desc, because it's used in player_spawn function.
-static const EntityDescription player_desc;
-
-static void player_spawn(Level* level, GameManager* manager) {
-    Entity* player = level_add_entity(level, &player_desc);
-
-    // Set player position.
-    // Depends on your game logic, it can be done in start entity function, but also can be done here.
-    entity_pos_set(player, (Vector){64, 28});
-
-    entity_collider_add_rect(player, 3, 2);
-
-    // Get player context
-    PlayerContext* player_context = entity_context_get(player);
-
-    // Load player sprite
-    player_context->sprite = game_manager_sprite_load(manager, "player.fxbm");
-    player_context->dx = 0;
-    player_context->dy = 0;
-    player_context->radius = 5;
-    player_context->trajectory = (Vector){0, 0};
-}
-
-static float player_x_from_pitch(float pitch) {
-    if(pitch > 9.0) {
-        return 1.0f;
-    } else if(pitch < -9.0) {
-        return -1.0f;
-    }
-    return 0;
-}
-
-static float player_y_from_roll(float roll) {
-    if(roll > 5.0) {
-        return 0.7f;
-    } else if(roll < -20.0) {
-        return -0.7f;
-    }
-    return 0;
-}
-
-static void player_update(Entity* self, GameManager* manager, void* context) {
-    // Get player context
-    PlayerContext* player = context;
-    player->dx = 0;
-    player->dy = 0;
-
-    GameContext* game_context = game_manager_game_context_get(manager);
-    if(game_context->imu_present) {
-        FURI_LOG_D(
-            "Player",
-            "pitch:%f   roll:%f  yaw:%f",
-            (double)imu_pitch_get(game_context->imu),
-            (double)imu_roll_get(game_context->imu),
-            (double)imu_yaw_get(game_context->imu));
-
-        player->trajectory = vector_add(
-            player->trajectory,
-            ((Vector){
-                player_x_from_pitch(-imu_pitch_get(game_context->imu)),
-                player_y_from_roll(-imu_roll_get(game_context->imu))}));
-    }
-
-    // Get game input
-    InputState input = game_manager_input_get(manager);
-
-    // Control player movement
-    if(input.held & GameKeyUp) {
-        player->trajectory = vector_add(player->trajectory, ((Vector){0, -0.8}));
-    }
-
-    if(input.held & GameKeyDown) {
-        player->trajectory = vector_add(player->trajectory, ((Vector){0, +0.8}));
-    }
-
-    if(input.held & GameKeyLeft) {
-        player->trajectory = vector_add(player->trajectory, ((Vector){-0.8, 0}));
-    }
-
-    if(input.held & GameKeyRight) {
-        player->trajectory = vector_add(player->trajectory, ((Vector){0.8, 0}));
-    }
-
-    // Get player position
-    Vector pos = entity_pos_get(self);
-
-    if(player->trajectory.x >= 1.0) {
-        player->dx = MOTION_X;
-        player->trajectory.x = 0;
-        pos.x += player->dx;
-    } else if(player->trajectory.x <= -1.0) {
-        player->dx = -MOTION_X;
-        player->trajectory.x = 0;
-        pos.x += player->dx;
-    }
-
-    if(player->trajectory.y >= 1.0) {
-        player->dy = MOTION_Y;
-        player->trajectory.y = 0;
-        pos.y += player->dy;
-    } else if(player->trajectory.y <= -1.0) {
-        player->dy = -MOTION_Y;
-        player->trajectory.y = 0;
-        pos.y += player->dy;
-    }
-
-    // Clamp player position to screen bounds, considering player sprite size (10x10)
-    pos.x = CLAMP(pos.x, 126, 3);
-    pos.y = CLAMP(pos.y, 62, 2);
-
-    // Set new player position
-    entity_pos_set(self, pos);
-
-    // Control game exit
-    if(input.pressed & GameKeyBack) {
-        game_manager_game_stop(manager);
-    }
-}
-
-static void player_render(Entity* self, GameManager* manager, Canvas* canvas, void* context) {
-    // Get player context
-    PlayerContext* player = context;
-
-    // Get player position
-    Vector pos = entity_pos_get(self);
-
-    // Draw player sprite
-    // We subtract 5 from x and y, because collision box is 10x10, and we want to center sprite in it.
-    //canvas_draw_sprite(canvas, player->sprite, pos.x - 5, pos.y - 5);
-
-    // Collision box is 2x2 but image is 10x10.
-    canvas_draw_sprite(canvas, player->sprite, pos.x - 5, pos.y - 5);
-
-    // Get game context
-    GameContext* game_context = game_manager_game_context_get(manager);
-
-    // Draw score
-    // canvas_printf(canvas, 80, 57, "Score: %lu", game_context->score);
-    UNUSED(game_context);
-
-    canvas_draw_str(canvas, 20, 6, "@codeallnight - ver 0.1");
-    canvas_draw_str(canvas, 10, 61, "video game module demo");
-}
-
-static const EntityDescription player_desc = {
-    .start = NULL, // called when entity is added to the level
-    .stop = NULL, // called when entity is removed from the level
-    .update = player_update, // called every frame
-    .render = player_render, // called every frame, after update
-    .collision = NULL, // called when entity collides with another entity
-    .event = NULL, // called when entity receives an event
-    .context_size =
-        sizeof(PlayerContext), // size of entity context, will be automatically allocated and freed
-};
-
-/****** Entities: Wall ******/
-
-static void wall_start(Entity* self, GameManager* manager, void* context);
-
-typedef struct {
-    float width;
-    float height;
-} WallContext;
-
-static void wall_render(Entity* self, GameManager* manager, Canvas* canvas, void* context) {
-    UNUSED(manager);
-
-    WallContext* wall = context;
-
-    Vector pos = entity_pos_get(self);
-
-    canvas_draw_box(
-        canvas, pos.x - wall->width / 2, pos.y - wall->height / 2, wall->width, wall->height);
-}
-
-static void wall_collision(Entity* self, Entity* other, GameManager* manager, void* context) {
-    WallContext* wall = context;
-
-    // Check if wall collided with player
-    if(entity_description_get(other) == &player_desc) {
-        // Increase score
-        GameContext* game_context = game_manager_game_context_get(manager);
-        game_context->score++;
-
-        PlayerContext* player = (PlayerContext*)entity_context_get(other);
-        if(player) {
-            if(player->dx || player->dy) {
-                Vector pos = entity_pos_get(other);
-
-                // TODO: Based on where we collided, we should still slide across/down the wall.
-                UNUSED(wall);
-
-                if(player->dx) {
-                    FURI_LOG_D(
-                        "Player",
-                        "Player collided with wall, dx: %d.  center:%f,%f",
-                        player->dx,
-                        (double)pos.x,
-                        (double)pos.y);
-                    pos.x -= player->dx;
-                    player->dx = 0;
-                }
-                if(player->dy) {
-                    FURI_LOG_D(
-                        "Player",
-                        "Player collided with wall, dy: %d.  center:%f,%f",
-                        player->dy,
-                        (double)pos.x,
-                        (double)pos.y);
-                    pos.y -= player->dy;
-                    player->dy = 0;
-                }
-                entity_pos_set(other, pos);
-                FURI_LOG_D("Player", "Set to center:%f,%f", (double)pos.x, (double)pos.y);
-            }
-        } else {
-            FURI_LOG_D("Player", "Player collided with wall, but context null.");
-        }
-    } else {
-        // HACK: Wall touching other items destroys each other (to help find collider issues)
-        Level* level = game_manager_current_level_get(manager);
-        level_remove_entity(level, self);
-        level_remove_entity(level, other);
-    }
-}
-
-static const EntityDescription wall_desc = {
-    .start = wall_start, // called when entity is added to the level
-    .stop = NULL, // called when entity is removed from the level
-    .update = NULL, // called every frame
-    .render = wall_render, // called every frame, after update
-    .collision = wall_collision, // called when entity collides with another entity
-    .event = NULL, // called when entity receives an event
-    .context_size =
-        sizeof(WallContext), // size of entity context, will be automatically allocated and freed
-};
-
-static uint8_t wall_index;
-
-static void wall_start(Entity* self, GameManager* manager, void* context) {
-    UNUSED(manager);
-
-    WallContext* wall = context;
-
-    // TODO: We can get the current number of items from the level (instead of wall_index).
-
-    if(wall_index < COUNT_OF(walls)) {
-        if(walls[wall_index].horizontal) {
-            wall->width = walls[wall_index].length * 2;
-            wall->height = 1 * 2;
-        } else {
-            wall->width = 1 * 2;
-            wall->height = walls[wall_index].length * 2;
-        }
-
-        entity_pos_set(
-            self,
-            (Vector){
-                walls[wall_index].x + wall->width / 2, walls[wall_index].y + wall->height / 2});
-
-        entity_collider_add_rect(self, wall->width, wall->height);
-
-        wall_index++;
-    }
-}
-
-/****** Level ******/
-
-static void level_alloc(Level* level, GameManager* manager, void* context) {
-    UNUSED(manager);
-    UNUSED(context);
-
-    // Add player entity to the level
-    player_spawn(level, manager);
-
-    // Add wall entities to the level
-    wall_index = 0;
-    for(size_t i = 0; i < COUNT_OF(walls); i++) {
-        level_add_entity(level, &wall_desc);
-    }
-}
-
-/*
-    Alloc/free is called once, when level is added/removed from the game. 
-    It useful if you have small amount of levels and entities, that can be allocated at once.
-
-    Start/stop is called when level is changed to/from this level.
-    It will save memory, because you can allocate entities only for current level.
-*/
-static const LevelBehaviour level = {
-    .alloc = level_alloc, // called once, when level allocated
-    .free = NULL, // called once, when level freed
-    .start = NULL, // called when level is changed to this level
-    .stop = NULL, // called when level is changed from this level
-    .context_size = 0, // size of level context, will be automatically allocated and freed
-};
-
-/****** Game ******/
-
-/* 
-    Write here the start code for your game, for example: creating a level and so on.
-    Game context is allocated (game.context_size) and passed to this function, you can use it to store your game data.
-*/
-static void game_start(GameManager* game_manager, void* ctx) {
-    UNUSED(game_manager);
-
-    // Do some initialization here, for example you can load score from storage.
-    // For simplicity, we will just set it to 0.
-    GameContext* game_context = ctx;
-    game_context->score = 0;
-
-    game_context->imu = imu_alloc();
-    game_context->imu_present = imu_present(game_context->imu);
-
-    // Add level to the game
-    game_manager_add_level(game_manager, &level);
-}
-
-/* 
-    Write here the stop code for your game, for example: freeing memory, if it was allocated.
-    You don't need to free level, sprites or entities, it will be done automatically.
-    Also, you don't need to free game_context, it will be done automatically, after this function.
-*/
-static void game_stop(void* ctx) {
-    GameContext* game_context = ctx;
-    imu_free(game_context->imu);
-    game_context->imu = NULL;
-
-    // Do some deinitialization here, for example you can save score to storage.
-    // For simplicity, we will just print it.
-    FURI_LOG_I("Game", "Your score: %lu", game_context->score);
-}
-
-/*
-    Yor game configuration, do not rename this variable, but you can change it's content here.  
-*/
-const Game game = {
-    .target_fps = 30, // target fps, game will try to keep this value
-    .show_fps = false, // show fps counter on the screen
-    .always_backlight = true, // keep display backlight always on
-    .start = game_start, // will be called once, when game starts
-    .stop = game_stop, // will be called once, when game stops
-    .context_size = sizeof(GameContext), // size of game context
-};

air_labyrinth/game.h

@@ -1,9 +0,0 @@
-#pragma once
-#include "engine/engine.h"
-#include "engine/sensors/imu.h"
-
-typedef struct {
-    Imu* imu;
-    bool imu_present;
-    uint32_t score;
-} GameContext;

air_labyrinth/walls.h

@@ -1,28 +0,0 @@
-#pragma once
-#include <furi.h>
-
-typedef struct {
-    bool horizontal;
-    int x;
-    int y;
-    int length;
-} Wall;
-
-#define WALL(h, y, x, l)   \
-    (Wall) {               \
-        h, x * 2, y * 2, l \
-    }
-
-Wall walls[] = {
-    WALL(true, 12, 0, 3),   WALL(false, 3, 3, 17),  WALL(false, 23, 3, 6),
-    WALL(true, 3, 4, 57),   WALL(true, 28, 4, 56),  WALL(false, 4, 7, 5),
-    WALL(false, 12, 7, 13), WALL(true, 8, 8, 34),   WALL(true, 12, 8, 42),
-    WALL(true, 24, 8, 8),   WALL(true, 16, 11, 8),  WALL(false, 17, 11, 4),
-    WALL(true, 20, 12, 22), WALL(false, 6, 17, 2),  WALL(true, 24, 19, 15),
-    WALL(true, 16, 22, 16), WALL(false, 4, 24, 1),  WALL(false, 21, 28, 2),
-    WALL(false, 6, 33, 2),  WALL(false, 13, 34, 3), WALL(false, 17, 37, 11),
-    WALL(true, 16, 41, 14), WALL(false, 20, 41, 5), WALL(true, 20, 45, 12),
-    WALL(true, 24, 45, 12), WALL(false, 4, 46, 2),  WALL(false, 9, 46, 3),
-    WALL(false, 6, 50, 3),  WALL(true, 12, 53, 7),  WALL(true, 8, 54, 6),
-    WALL(false, 4, 60, 19), WALL(false, 26, 60, 6),
-};