initial commit

components/CANBus_Driver/CMakeLists.txt

@@ -0,0 +1,32 @@
+set(SRCS "")
+list(APPEND SRCS
+    "src/CANBus_Driver.cpp"
+)
+
+set(INCLUDE_DIRS "")
+list(APPEND INCLUDE_DIRS "include")
+
+foreach(SRC_DIR IN LISTS SRC_DIRS)
+    file(GLOB_RECURSE SRC ${SRC_DIR}/*.c)
+    list(APPEND SRCS ${SRC})
+    list(APPEND INCLUDE_DIRS ${SRC_DIR}/include)
+endforeach()
+
+idf_component_register(
+    SRCS ${SRCS}
+    INCLUDE_DIRS ${INCLUDE_DIRS}
+    REQUIRES driver
+    PRIV_REQUIRES esp_timer fatfs esp_psram esp_mm
+)
+
+target_compile_options(
+    ${COMPONENT_LIB} PRIVATE
+        -Wno-format
+        -Wno-int-conversion
+        -Wno-incompatible-pointer-types
+        -Wunused-function
+        -Wno-unused-variable
+        -Wno-unused-function
+        -Wno-overflow
+        -Wno-unused-but-set-variable
+        -Wno-discarded-qualifiers)

components/CANBus_Driver/include/CANBus_Driver.h

@@ -0,0 +1,23 @@
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "driver/twai.h"
+
+#define CAN_TX_GPIO     (gpio_num_t)21
+#define CAN_RX_GPIO     (gpio_num_t)22
+#define CANBUS_SPEED    500000   // 500kbps
+
+#define CAN_QUEUE_LENGTH 32
+#define CAN_QUEUE_ITEM_SIZE sizeof(twai_message_t)
+#define TAG "TWAI"
+
+extern bool receiving_data;
+extern void (*can_message_handler)(twai_message_t *message);
+
+void canbus_init(void);
+void start_can_tasks(void);
+
+#ifdef __cplusplus
+}
+#endif

components/CANBus_Driver/src/CANBus_Driver.cpp

@@ -0,0 +1,59 @@
+#include "CANBus_Driver.h"
+
+QueueHandle_t canMsgQueue;
+
+void receive_can_task(void *arg) {
+     while (1) {
+    twai_message_t message;
+    esp_err_t err = twai_receive(&message, pdMS_TO_TICKS(5)); // lower timeout for faster response
+    if (err == ESP_OK) {
+      receiving_data = true;
+      if (xQueueSend(canMsgQueue, &message, 0) != pdPASS) {
+      }
+      vTaskDelay(pdMS_TO_TICKS(1));
+      // No delay after successful receive
+    } else if (err == ESP_ERR_TIMEOUT) {
+        receiving_data = false;
+      // Minimal delay when idle
+      vTaskDelay(pdMS_TO_TICKS(1));
+    } else {
+       receiving_data = false;
+      vTaskDelay(pdMS_TO_TICKS(5));
+    }
+  }
+}
+
+void process_can_queue_task(void *arg) {
+  twai_message_t message;
+  while (1) {
+    if (xQueueReceive(canMsgQueue, &message, pdMS_TO_TICKS(1)) == pdPASS) {
+            if (can_message_handler) {
+                can_message_handler(&message);
+            }
+        }
+        vTaskDelay(pdMS_TO_TICKS(1));
+  }
+}
+
+void canbus_init(void) {
+  // Configure TWAI (CAN)
+    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(CAN_TX_GPIO, CAN_RX_GPIO, TWAI_MODE_NORMAL);
+    twai_timing_config_t t_config = TWAI_TIMING_CONFIG_500KBITS();
+    twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();  // Accept all IDs
+ 
+    // Install and start TWAI driver
+    twai_driver_install(&g_config, &t_config, &f_config);
+    twai_start();
+
+    // setup TWAI
+}
+
+void start_can_tasks(void) {
+  canMsgQueue = xQueueCreate(CAN_QUEUE_LENGTH, CAN_QUEUE_ITEM_SIZE);
+  if (canMsgQueue == NULL) {
+    while (1) vTaskDelay(1000);
+  }
+
+  xTaskCreatePinnedToCore(receive_can_task, "Receive_CAN_Task", 4096, NULL, 2, NULL, 1);
+  xTaskCreatePinnedToCore(process_can_queue_task, "Process_CAN_Queue_Task", 4096, NULL, 2, NULL, 1);
+}

components/bsp_extra/CMakeLists.txt

@@ -0,0 +1,32 @@
+set(SRCS "")
+list(APPEND SRCS
+    "src/bsp_board_extra.c"
+)
+
+set(INCLUDE_DIRS "")
+list(APPEND INCLUDE_DIRS "include")
+
+foreach(SRC_DIR IN LISTS SRC_DIRS)
+    file(GLOB_RECURSE SRC ${SRC_DIR}/*.c)
+    list(APPEND SRCS ${SRC})
+    list(APPEND INCLUDE_DIRS ${SRC_DIR}/include)
+endforeach()
+
+idf_component_register(
+    SRCS ${SRCS}
+    INCLUDE_DIRS ${INCLUDE_DIRS}
+    REQUIRES driver
+    PRIV_REQUIRES esp_timer fatfs esp_psram esp_mm
+)
+
+target_compile_options(
+    ${COMPONENT_LIB} PRIVATE
+        -Wno-format
+        -Wno-int-conversion
+        -Wno-incompatible-pointer-types
+        -Wunused-function
+        -Wno-unused-variable
+        -Wno-unused-function
+        -Wno-overflow
+        -Wno-unused-but-set-variable
+        -Wno-discarded-qualifiers)

components/bsp_extra/LICENSE

@@ -0,0 +1,202 @@
+
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components/bsp_extra/idf_component.yml

@@ -0,0 +1,19 @@
+dependencies:
+  idf:
+    version: '>=5.3.0'
+
+  waveshare/esp32_p4_wifi6_touch_lcd_xc:
+    version: "*"
+
+  chmorgan/esp-audio-player:
+    version: "1.0.*"
+    public: true
+
+  chmorgan/esp-file-iterator:
+    version: "1.0.0"
+    public: true
+
+description: Board Support Package for ESP32-P4-NANO
+targets:
+- esp32p4
+version: 0.0.2

components/bsp_extra/include/bsp_board_extra.h

@@ -0,0 +1,219 @@
+/*
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <sys/cdefs.h>
+#include <stdbool.h>
+#include "esp_codec_dev.h"
+#include "esp_err.h"
+#include "driver/gpio.h"
+#include "driver/i2s_std.h"
+#include "audio_player.h"
+#include "file_iterator.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define CODEC_DEFAULT_SAMPLE_RATE           (16000)
+#define CODEC_DEFAULT_BIT_WIDTH             (16)
+#define CODEC_DEFAULT_ADC_VOLUME            (24.0)
+#define CODEC_DEFAULT_CHANNEL               (2)
+#define CODEC_DEFAULT_VOLUME                (60)
+
+#define BSP_LCD_BACKLIGHT_BRIGHTNESS_MAX    (95)
+#define BSP_LCD_BACKLIGHT_BRIGHTNESS_MIN    (0)
+#define LCD_LEDC_CH                         (CONFIG_BSP_DISPLAY_BRIGHTNESS_LEDC_CH)
+
+/**************************************************************************************************
+ * BSP Extra interface
+ * Mainly provided some I2S Codec interfaces.
+ **************************************************************************************************/
+/**
+ * @brief Player set mute.
+ *
+ * @param enable: true or false
+ *
+ * @return
+ *    - ESP_OK: Success
+ *    - Others: Fail
+ */
+esp_err_t bsp_extra_codec_mute_set(bool enable);
+
+/**
+ * @brief Player set volume.
+ *
+ * @param volume: volume set
+ * @param volume_set: volume set response
+ *
+ * @return
+ *    - ESP_OK: Success
+ *    - Others: Fail
+ */
+esp_err_t bsp_extra_codec_volume_set(int volume, int *volume_set);
+
+/** 
+ * @brief Player get volume.
+ * 
+ * @return
+ *   - volume: volume get
+ */
+int bsp_extra_codec_volume_get(void);
+
+/**
+ * @brief Stop I2S function.
+ *
+ * @return
+ *    - ESP_OK: Success
+ *    - Others: Fail
+ */
+esp_err_t bsp_extra_codec_dev_stop(void);
+
+/**
+ * @brief Resume I2S function.
+ *
+ * @return
+ *    - ESP_OK: Success
+ *    - Others: Fail
+ */
+esp_err_t bsp_extra_codec_dev_resume(void);
+
+/**
+ * @brief Set I2S format to codec.
+ *
+ * @param rate: Sample rate of sample
+ * @param bits_cfg: Bit lengths of one channel data
+ * @param ch: Channels of sample
+ *
+ * @return
+ *    - ESP_OK: Success
+ *    - Others: Fail
+ */
+esp_err_t bsp_extra_codec_set_fs(uint32_t rate, uint32_t bits_cfg, i2s_slot_mode_t ch);
+
+/**
+ * @brief Read data from recoder.
+ *
+ * @param audio_buffer: The pointer of receiving data buffer
+ * @param len: Max data buffer length
+ * @param bytes_read: Byte number that actually be read, can be NULL if not needed
+ * @param timeout_ms: Max block time
+ *
+ * @return
+ *    - ESP_OK: Success
+ *    - Others: Fail
+ */
+esp_err_t bsp_extra_i2s_read(void *audio_buffer, size_t len, size_t *bytes_read, uint32_t timeout_ms);
+
+/**
+ * @brief Write data to player.
+ *
+ * @param audio_buffer: The pointer of sent data buffer
+ * @param len: Max data buffer length
+ * @param bytes_written: Byte number that actually be sent, can be NULL if not needed
+ * @param timeout_ms: Max block time
+ *
+ * @return
+ *    - ESP_OK: Success
+ *    - Others: Fail
+ */
+esp_err_t bsp_extra_i2s_write(void *audio_buffer, size_t len, size_t *bytes_written, uint32_t timeout_ms);
+
+
+/**
+ * @brief Initialize codec play and record handle.
+ *
+ * @return
+ *      - ESP_OK: Success
+ *      - Others: Fail
+ */
+esp_err_t bsp_extra_codec_init();
+
+/**
+ * @brief Initialize audio player task.
+ *
+ * @param path file path
+ *
+ * @return
+ *      - ESP_OK: Success
+ *      - Others: Fail
+ */
+esp_err_t bsp_extra_player_init(void);
+
+/**
+ * @brief Delete audio player task.
+ *
+ * @return
+ *      - ESP_OK: Success
+ *      - Others: Fail
+ */
+esp_err_t bsp_extra_player_del(void);
+
+/**
+ * @brief Initialize a file iterator instance
+ *
+ * @param path The file path for the iterator.
+ * @param ret_instance A pointer to the file iterator instance to be returned.
+ * @return
+ *     - ESP_OK: Successfully initialized the file iterator instance.
+ *     - ESP_FAIL: Failed to initialize the file iterator instance due to invalid parameters or memory allocation failure.
+ */
+esp_err_t bsp_extra_file_instance_init(const char *path, file_iterator_instance_t **ret_instance);
+
+/**
+ * @brief Play the audio file at the specified index in the file iterator
+ *
+ * @param instance The file iterator instance.
+ * @param index The index of the file to play within the iterator.
+ * @return
+ *     - ESP_OK: Successfully started playing the audio file.
+ *     - ESP_FAIL: Failed to play the audio file due to invalid parameters or file access issues.
+ */
+esp_err_t bsp_extra_player_play_index(file_iterator_instance_t *instance, int index);
+
+/**
+ * @brief Play the audio file specified by the file path
+ *
+ * @param file_path The path to the audio file to be played.
+ * @return
+ *     - ESP_OK: Successfully started playing the audio file.
+ *     - ESP_FAIL: Failed to play the audio file due to file access issues.
+ */
+esp_err_t bsp_extra_player_play_file(const char *file_path);
+
+/**
+ * @brief Register a callback function for the audio player
+ *
+ * @param cb The callback function to be registered.
+ * @param user_data User data to be passed to the callback function.
+ */
+void bsp_extra_player_register_callback(audio_player_cb_t cb, void *user_data);
+
+/**
+ * @brief Check if the specified audio file is currently playing
+ *
+ * @param file_path The path to the audio file to check.
+ * @return
+ *     - true: The specified audio file is currently playing.
+ *     - false: The specified audio file is not currently playing.
+ */
+bool bsp_extra_player_is_playing_by_path(const char *file_path);
+
+/**
+ * @brief Check if the audio file at the specified index is currently playing
+ *
+ * @param instance The file iterator instance.
+ * @param index The index of the file to check.
+ * @return
+ *     - true: The audio file at the specified index is currently playing.
+ *     - false: The audio file at the specified index is not currently playing.
+ */
+bool bsp_extra_player_is_playing_by_index(file_iterator_instance_t *instance, int index);
+
+#ifdef __cplusplus
+}
+#endif

components/bsp_extra/src/bsp_board_extra.c

@@ -0,0 +1,259 @@
+/*
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+#include "esp_log.h"
+#include "esp_check.h"
+#include "esp_codec_dev_defaults.h"
+#include "esp_err.h"
+#include "esp_log.h"
+#include "esp_vfs_fat.h"
+#include "driver/i2c.h"
+#include "driver/i2s_std.h"
+#include "driver/gpio.h"
+#include "driver/ledc.h"
+
+#include "bsp/esp-bsp.h"
+#include "bsp_board_extra.h"
+
+static const char *TAG = "bsp_extra_board";
+
+static esp_codec_dev_handle_t play_dev_handle;
+static esp_codec_dev_handle_t record_dev_handle;
+
+static bool _is_audio_init = false;
+static bool _is_player_init = false;
+static int _vloume_intensity = CODEC_DEFAULT_VOLUME;
+
+static audio_player_cb_t audio_idle_callback = NULL;
+static void *audio_idle_cb_user_data = NULL;
+static char audio_file_path[128];
+
+/**************************************************************************************************
+ *
+ * Extra Board Function
+ *
+ **************************************************************************************************/
+
+static esp_err_t audio_mute_function(AUDIO_PLAYER_MUTE_SETTING setting)
+{
+    // Volume saved when muting and restored when unmuting. Restoring volume is necessary
+    // as es8311_set_voice_mute(true) results in voice volume (REG32) being set to zero.
+
+    bsp_extra_codec_mute_set(setting == AUDIO_PLAYER_MUTE ? true : false);
+
+    // restore the voice volume upon unmuting
+    if (setting == AUDIO_PLAYER_UNMUTE) {
+        ESP_RETURN_ON_ERROR(esp_codec_dev_set_out_vol(play_dev_handle, _vloume_intensity), TAG, "Set Codec volume failed");
+    }
+
+    return ESP_OK;
+}
+
+static void audio_callback(audio_player_cb_ctx_t *ctx)
+{
+    if (audio_idle_callback) {
+        ctx->user_ctx = audio_idle_cb_user_data;
+        audio_idle_callback(ctx);
+    }
+}
+
+esp_err_t bsp_extra_i2s_read(void *audio_buffer, size_t len, size_t *bytes_read, uint32_t timeout_ms)
+{
+    esp_err_t ret = ESP_OK;
+    ret = esp_codec_dev_read(record_dev_handle, audio_buffer, len);
+    *bytes_read = len;
+    return ret;
+}
+
+esp_err_t bsp_extra_i2s_write(void *audio_buffer, size_t len, size_t *bytes_written, uint32_t timeout_ms)
+{
+    esp_err_t ret = ESP_OK;
+    ret = esp_codec_dev_write(play_dev_handle, audio_buffer, len);
+    *bytes_written = len;
+    return ret;
+}
+
+esp_err_t bsp_extra_codec_set_fs(uint32_t rate, uint32_t bits_cfg, i2s_slot_mode_t ch)
+{
+    esp_err_t ret = ESP_OK;
+
+    esp_codec_dev_sample_info_t fs = {
+        .sample_rate = rate,
+        .channel = ch,
+        .bits_per_sample = bits_cfg,
+    };
+
+    if (play_dev_handle) {
+        ret = esp_codec_dev_close(play_dev_handle);
+    }
+    if (record_dev_handle) {
+        ret |= esp_codec_dev_close(record_dev_handle);
+        ret |= esp_codec_dev_set_in_gain(record_dev_handle, CODEC_DEFAULT_ADC_VOLUME);
+    }
+
+    if (play_dev_handle) {
+        ret |= esp_codec_dev_open(play_dev_handle, &fs);
+    }
+    if (record_dev_handle) {
+        ret |= esp_codec_dev_open(record_dev_handle, &fs);
+    }
+    return ret;
+}
+
+esp_err_t bsp_extra_codec_volume_set(int volume, int *volume_set)
+{
+    ESP_RETURN_ON_ERROR(esp_codec_dev_set_out_vol(play_dev_handle, volume), TAG, "Set Codec volume failed");
+    _vloume_intensity = volume;
+
+    ESP_LOGI(TAG, "Setting volume: %d", volume);
+
+    return ESP_OK;
+}
+
+int bsp_extra_codec_volume_get(void)
+{
+    return _vloume_intensity;
+}
+
+esp_err_t bsp_extra_codec_mute_set(bool enable)
+{
+    esp_err_t ret = ESP_OK;
+    ret = esp_codec_dev_set_out_mute(play_dev_handle, enable);
+    return ret;
+}
+
+esp_err_t bsp_extra_codec_dev_stop(void)
+{
+    esp_err_t ret = ESP_OK;
+
+    if (play_dev_handle) {
+        ret = esp_codec_dev_close(play_dev_handle);
+    }
+
+    if (record_dev_handle) {
+        ret = esp_codec_dev_close(record_dev_handle);
+    }
+    return ret;
+}
+
+esp_err_t bsp_extra_codec_dev_resume(void)
+{
+    return bsp_extra_codec_set_fs(CODEC_DEFAULT_SAMPLE_RATE, CODEC_DEFAULT_BIT_WIDTH, CODEC_DEFAULT_CHANNEL);
+}
+
+esp_err_t bsp_extra_codec_init()
+{
+    if (_is_audio_init) {
+        return ESP_OK;
+    }
+
+    play_dev_handle = bsp_audio_codec_speaker_init();
+    assert((play_dev_handle) && "play_dev_handle not initialized");
+
+    record_dev_handle = bsp_audio_codec_microphone_init();
+    assert((record_dev_handle) && "record_dev_handle not initialized");
+
+    bsp_extra_codec_set_fs(CODEC_DEFAULT_SAMPLE_RATE, CODEC_DEFAULT_BIT_WIDTH, CODEC_DEFAULT_CHANNEL);
+
+    _is_audio_init = true;
+
+    return ESP_OK;
+}
+
+esp_err_t bsp_extra_player_init(void)
+{
+    if (_is_player_init) {
+        return ESP_OK;
+    }
+
+    audio_player_config_t config = { .mute_fn = audio_mute_function,
+                                     .write_fn = bsp_extra_i2s_write,
+                                     .clk_set_fn = bsp_extra_codec_set_fs,
+                                     .priority = 5
+                                   };
+    ESP_RETURN_ON_ERROR(audio_player_new(config), TAG, "audio_player_init failed");
+    audio_player_callback_register(audio_callback, NULL);
+
+    _is_player_init = true;
+
+    return ESP_OK;
+}
+
+esp_err_t bsp_extra_player_del(void)
+{
+    _is_player_init = false;
+
+    ESP_RETURN_ON_ERROR(audio_player_delete(), TAG, "audio_player_delete failed");
+
+    return ESP_OK;
+}
+
+esp_err_t bsp_extra_file_instance_init(const char *path, file_iterator_instance_t **ret_instance)
+{
+    ESP_RETURN_ON_FALSE(path, ESP_FAIL, TAG, "path is NULL");
+    ESP_RETURN_ON_FALSE(ret_instance, ESP_FAIL, TAG, "ret_instance is NULL");
+
+    file_iterator_instance_t *file_iterator = file_iterator_new(path);
+    ESP_RETURN_ON_FALSE(file_iterator, ESP_FAIL, TAG, "file_iterator_new failed, %s", path);
+
+    *ret_instance = file_iterator;
+
+    return ESP_OK;
+}
+
+esp_err_t bsp_extra_player_play_index(file_iterator_instance_t *instance, int index)
+{
+    ESP_RETURN_ON_FALSE(instance, ESP_FAIL, TAG, "instance is NULL");
+
+    ESP_LOGI(TAG, "play_index(%d)", index);
+    char filename[128];
+    int retval = file_iterator_get_full_path_from_index(instance, index, filename, sizeof(filename));
+    ESP_RETURN_ON_FALSE(retval != 0, ESP_FAIL, TAG, "file_iterator_get_full_path_from_index failed");
+
+    ESP_LOGI(TAG, "opening file '%s'", filename);
+    FILE *fp = fopen(filename, "rb");
+    ESP_RETURN_ON_FALSE(fp, ESP_FAIL, TAG, "unable to open file");
+
+    ESP_LOGI(TAG, "Playing '%s'", filename);
+    ESP_RETURN_ON_ERROR(audio_player_play(fp), TAG, "audio_player_play failed");
+
+    memcpy(audio_file_path, filename, sizeof(audio_file_path));
+
+    return ESP_OK;
+}
+
+esp_err_t bsp_extra_player_play_file(const char *file_path)
+{
+    ESP_LOGI(TAG, "opening file '%s'", file_path);
+    FILE *fp = fopen(file_path, "rb");
+    ESP_RETURN_ON_FALSE(fp, ESP_FAIL, TAG, "unable to open file");
+
+    ESP_LOGI(TAG, "Playing '%s'", file_path);
+    ESP_RETURN_ON_ERROR(audio_player_play(fp), TAG, "audio_player_play failed");
+
+    memcpy(audio_file_path, file_path, sizeof(audio_file_path));
+
+    return ESP_OK;
+}
+
+void bsp_extra_player_register_callback(audio_player_cb_t cb, void *user_data)
+{
+    audio_idle_callback = cb;
+    audio_idle_cb_user_data = user_data;
+}
+
+bool bsp_extra_player_is_playing_by_path(const char *file_path)
+{
+    return (strcmp(audio_file_path, file_path) == 0);
+}
+
+bool bsp_extra_player_is_playing_by_index(file_iterator_instance_t *instance, int index)
+{
+    return (index == file_iterator_get_index(instance));
+}

components/gps_locator/CMakeLists.txt

@@ -0,0 +1,6 @@
+idf_component_register(
+    SRCS "gps_locator.cpp"
+    INCLUDE_DIRS "include"
+    REQUIRES lvgl esp_system
+    PRIV_REQUIRES vfs fatfs
+)

components/gps_locator/gps_locator.cpp

@@ -0,0 +1,430 @@
+#include "gps_locator.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#include "images/area_locked_tile.h"
+
+LV_IMG_DECLARE(area_locked_tile);
+
+lv_obj_t* GPSLocator::map_container = nullptr;
+lv_obj_t* GPSLocator::map_group = nullptr;
+lv_obj_t** GPSLocator::tile_components = nullptr;
+int GPSLocator::top_left_tile_x = 0;
+int GPSLocator::top_left_tile_y = 0;
+int GPSLocator::new_top_left_tile_x = 0;
+int GPSLocator::new_top_left_tile_y = 0;
+int GPSLocator::new_marker_offset_x = 0;
+int GPSLocator::new_marker_offset_y = 0;
+int GPSLocator::marker_offset_x = 0;
+int GPSLocator::marker_offset_y = 0;
+int GPSLocator::tile_count = 0;
+bool GPSLocator::initialized = false;
+bool GPSLocator::is_loading = false;
+
+struct TileSlot {
+    uint8_t* buf;          // Pixel buffer
+    lv_image_dsc_t img;    // LVGL image descriptor
+};
+
+TileSlot* tiles = nullptr;
+
+bool GPSLocator::init(lv_obj_t* parent_screen) {
+    if (is_loading) return true;
+
+    tile_count = MAP_TILES_GRID_COLS * MAP_TILES_GRID_ROWS;
+
+    tiles = (TileSlot*)calloc(tile_count, sizeof(TileSlot));
+    if (!tiles) {
+        printf("Failed to allocate tile slots\n");
+        return false;
+    }
+
+    // Create map container
+    map_container = lv_obj_create(parent_screen);
+    lv_obj_set_size(map_container, MAP_WIDTH, MAP_HEIGHT);  
+    lv_obj_center(map_container);
+    lv_obj_set_style_pad_all(map_container, 0, 0);
+    lv_obj_set_style_border_width(map_container, 0, 0);
+    lv_obj_set_style_radius(map_container, 0, 0);
+    lv_obj_set_style_bg_color(map_container, lv_color_make(0,0,0), 0);
+    lv_obj_remove_flag(map_container, LV_OBJ_FLAG_SCROLLABLE);
+
+    create_tile_components();
+
+    initialized = true;
+    return true;
+}
+
+void GPSLocator::create_tile_components() {
+    if (!tile_components) {
+        tile_components = (lv_obj_t**)calloc(tile_count, sizeof(lv_obj_t*));
+        if (!tile_components) {
+            printf("Failed to allocate tile_components array\n");
+            return;
+        }
+    }
+
+    if (!map_group) {
+        map_group = lv_obj_create(map_container);
+        lv_obj_set_size(map_group, MAP_TILES_TILE_SIZE * MAP_TILES_GRID_COLS, MAP_TILES_TILE_SIZE * MAP_TILES_GRID_ROWS);
+        lv_obj_set_style_pad_all(map_group, 0, 0);
+        lv_obj_set_style_border_width(map_group, 0, 0);
+        lv_obj_set_pos(map_group, 0, 0);
+        
+        // Create grid of image widgets for tiles
+        for (int i = 0; i < tile_count; i++) {
+            tile_components[i] = lv_image_create(map_group);
+
+            int row = i / MAP_TILES_GRID_COLS;
+            int col = i % MAP_TILES_GRID_COLS;
+            
+            lv_obj_set_pos(tile_components[i], col * MAP_TILES_TILE_SIZE, row * MAP_TILES_TILE_SIZE);
+            lv_obj_set_size(tile_components[i], MAP_TILES_TILE_SIZE, MAP_TILES_TILE_SIZE);
+
+            // Set default background while tiles load
+            lv_obj_set_style_bg_opa(tile_components[i], LV_OPA_COVER, 0);
+        }
+    }
+}
+
+bool GPSLocator::load_tile_images() {
+    if (is_loading) {
+        printf("GPSLocator: Already loading\n");
+        return false;
+    }
+    is_loading = true;
+
+    for (int row = 0; row < MAP_TILES_GRID_ROWS; row++) {
+        for (int col = 0; col < MAP_TILES_GRID_COLS; col++) {
+            int index = row * MAP_TILES_GRID_COLS + col;
+            int tile_x = top_left_tile_x + col;
+            int tile_y = top_left_tile_y + row;
+
+            // Load tile from SD card
+            bool loaded = fetch_images_from_sd(index, tile_x, tile_y);
+            
+            if (loaded) {
+                // Get the tile image data and set it
+                lv_image_set_src(tile_components[index], &tiles[index].img);
+            } else {
+                tiles[col].img = area_locked_tile;          // Copy descriptor
+                tiles[col].buf = nullptr;                   // No writable buffer
+                lv_image_set_src(tile_components[index], &area_locked_tile);
+            }
+        }
+    }
+
+    is_loading = false;
+
+    printf("GPSLocator: Tile images loaded\n");
+
+    return true;
+}
+
+bool GPSLocator::fetch_images_from_sd(int index, int tile_x, int tile_y) {
+    TileSlot& slot = tiles[index];
+    
+    char path[256];
+    snprintf(path, sizeof(path), "%s/%s/%d/%d/%d.bin", 
+             BASE_PATH, TILE_FOLDER, MAP_ZOOM, tile_x, tile_y);
+    
+    FILE *f = fopen(path, "rb");
+    if (!f) {
+        printf("Tile not found: %s", path);
+        return false;
+    }
+    
+    // Skip 12-byte header
+    fseek(f, 12, SEEK_SET);
+    
+    size_t img_size = MAP_TILES_TILE_SIZE * MAP_TILES_TILE_SIZE * MAP_TILES_BYTES_PER_PIXEL;
+
+    if (!slot.buf) {
+        slot.buf = (uint8_t*)heap_caps_malloc(img_size, MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
+        if (!slot.buf) {
+            printf("Tile %d: allocation failed\n", index);
+            fclose(f);
+            return false;
+        }
+    }
+    
+    // Clear buffer
+    memset(slot.buf, 0, img_size);
+
+    // Read tile data
+    size_t bytes_read = fread(slot.buf, 1, img_size, f);
+    fclose(f);
+
+    if (bytes_read != img_size) {
+        printf("Incomplete tile read: %zu bytes", bytes_read);
+    }
+    
+    // Setup image descriptor
+    slot.img.header.w = MAP_TILES_TILE_SIZE;
+    slot.img.header.h = MAP_TILES_TILE_SIZE;
+    slot.img.header.cf = MAP_TILES_COLOR_FORMAT;
+    slot.img.header.stride = MAP_TILES_TILE_SIZE * MAP_TILES_BYTES_PER_PIXEL;
+    slot.img.data = slot.buf;
+    slot.img.data_size = img_size;
+
+    return true;
+}
+
+void GPSLocator::get_tile_coordinates(double latitude, double longitude, double &tile_x, double &tile_y) {
+    tile_x = ((longitude + 180.0) / 360.0 * (1 << MAP_ZOOM));
+    double lat_rad = latitude * M_PI / 180.0;
+    tile_y = (1.0 - asinh(tan(lat_rad)) / M_PI) / 2.0 * (1 << MAP_ZOOM);
+}
+
+void GPSLocator::get_marker_offsets(double &tile_x, double &tile_y, int &offset_x, int &offset_y) {
+    offset_x = (int)((tile_x - (int)tile_x) * MAP_TILES_TILE_SIZE);
+    offset_y = (int)((tile_y - (int)tile_y) * MAP_TILES_TILE_SIZE);
+}
+
+void GPSLocator::center_map_on_gps() {
+    printf("GPSLocator: Centering on GPS coordinates\n");
+
+    lv_obj_align(map_group, LV_ALIGN_TOP_LEFT, 0 - marker_offset_x, 0 - marker_offset_y);
+}
+
+static void anim_set_x_cb(void * obj, int32_t v) {
+    lv_obj_set_x((lv_obj_t *)obj, v);
+}
+
+static void anim_set_y_cb(void * obj, int32_t v) {
+    lv_obj_set_y((lv_obj_t *)obj, v);
+}
+
+void GPSLocator::animate_map_center() {
+    printf("Animate from (%d, %d) to (%d, %d)\n", marker_offset_x, marker_offset_y, new_marker_offset_x, new_marker_offset_y);
+
+    // X animation
+    lv_anim_t ax;
+    lv_anim_init(&ax);
+    lv_anim_set_var(&ax, map_group);
+    lv_anim_set_time(&ax, STEP_ANIMATION_DURATION);
+    lv_anim_set_exec_cb(&ax, anim_set_x_cb);
+    lv_anim_set_values(&ax, 0 - marker_offset_x, 0 - new_marker_offset_x);
+    lv_anim_start(&ax);
+
+    // Y animation
+    lv_anim_t ay;
+    lv_anim_init(&ay);
+    lv_anim_set_var(&ay, map_group);
+    lv_anim_set_time(&ay, STEP_ANIMATION_DURATION);
+    lv_anim_set_exec_cb(&ay, anim_set_y_cb);
+    lv_anim_set_values(&ay, 0 - marker_offset_y, 0 - new_marker_offset_y);
+    lv_anim_start(&ay);
+
+    marker_offset_x = new_marker_offset_x;
+    marker_offset_y = new_marker_offset_y;
+}
+
+void GPSLocator::show_initial_location(double latitude, double longitude) {
+    if (!initialized) return;
+
+    printf("GPSLocator: Showing location at %.6f, %.6f\n", latitude, longitude);
+
+    double tile_x, tile_y;
+    get_tile_coordinates(latitude, longitude, tile_x, tile_y);
+    get_marker_offsets(tile_x, tile_y, marker_offset_x, marker_offset_y);
+
+    // store integer tile coordinates
+    // shift to top-left tile of grid
+    top_left_tile_x = (int)tile_x - (int)(MAP_TILES_GRID_COLS / 2);
+    top_left_tile_y = (int)tile_y - (int)(MAP_TILES_GRID_ROWS / 2);
+
+    // Load tile images and move map to center
+    load_tile_images();
+    center_map_on_gps();
+}
+
+void GPSLocator::set_fallback_tile(int col) {
+   tiles[col].img = area_locked_tile;          // Copy descriptor
+   tiles[col].buf = nullptr;                   // No writable buffer
+   lv_image_set_src(GPSLocator::tile_components[col], &area_locked_tile);
+}
+
+void GPSLocator::shift_up() {
+    // Shift tile mapping up by one row
+    
+    for (int row = MAP_TILES_GRID_ROWS - 1; row >= 0; row--) {
+        if (row > 0) {
+            for (int col = 0; col < MAP_TILES_GRID_COLS; col++) {
+                int from_index = (row - 1) * MAP_TILES_GRID_COLS + col;
+                int to_index = row * MAP_TILES_GRID_COLS + col;
+                
+                std::swap(tiles[to_index], tiles[from_index]);
+            }
+        } else {
+
+            // load new top row asynchronously
+            xTaskCreate([](void* param) {
+                struct TileUpdate { int col; bool loaded; };
+                for (int col = 0; col < MAP_TILES_GRID_COLS; col++) {
+                    int tile_x = GPSLocator::top_left_tile_x + col;
+                    bool loaded = GPSLocator::fetch_images_from_sd(col, tile_x, GPSLocator::new_top_left_tile_y);
+                    TileUpdate* update = new TileUpdate{col, loaded};
+                    lv_async_call([](void* p) {
+                        auto* upd = static_cast<TileUpdate*>(p);
+                        if (upd->loaded) {
+                            lv_image_set_src(tile_components[upd->col], &tiles[upd->col].img);
+                        } else {
+                            set_fallback_tile(upd->col);
+                        }
+                        delete upd;
+                    }, update);
+                }
+                vTaskDelete(NULL);
+            }, "tile_load_task", 4096, NULL, 5, NULL);
+        }
+    }
+}
+
+void GPSLocator::shift_down() {
+    // Shift tile mapping down by one row
+
+    for (int row = 0; row < MAP_TILES_GRID_ROWS; row++) {
+        if (row < MAP_TILES_GRID_ROWS - 1) {
+            for (int col = 0; col < MAP_TILES_GRID_COLS; col++) {
+                int from_index = row * MAP_TILES_GRID_COLS + col;
+                int to_index = (row + 1) * MAP_TILES_GRID_COLS + col;
+                
+                std::swap(tiles[to_index], tiles[from_index]);
+            }
+        } else {
+
+            // load new bottom row asynchronously
+            xTaskCreate([](void* param) {
+                struct TileUpdate { int col; bool loaded; };
+                for (int col = 0; col < MAP_TILES_GRID_COLS; col++) {
+                    int tile_x = GPSLocator::top_left_tile_x + col;
+                    int tile_y = GPSLocator::new_top_left_tile_y + (MAP_TILES_GRID_ROWS - 1);
+                    int index = (MAP_TILES_GRID_ROWS - 1) * MAP_TILES_GRID_COLS + col;
+                    bool loaded = GPSLocator::fetch_images_from_sd(index, tile_x, tile_y);
+                    TileUpdate* update = new TileUpdate{index, loaded};
+                    lv_async_call([](void* p) {
+                        auto* upd = static_cast<TileUpdate*>(p);
+                        if (upd->loaded) {
+                            lv_image_set_src(tile_components[upd->col], &tiles[upd->col].img);
+                        } else {
+                            set_fallback_tile(upd->col);
+                        } 
+                        delete upd;
+                    }, update);
+                }
+                vTaskDelete(NULL);
+            }, "tile_load_down", 4096, NULL, 5, NULL);
+        }
+    }
+}
+
+void GPSLocator::shift_left() {
+    // Shift tile mapping left by one column
+    for (int row = 0; row < MAP_TILES_GRID_ROWS; row++) {
+        for (int col = MAP_TILES_GRID_COLS - 1; col > 0; col--) {
+            int to_index   = row * MAP_TILES_GRID_COLS + col;
+            int from_index = row * MAP_TILES_GRID_COLS + (col - 1);
+
+            std::swap(tiles[to_index], tiles[from_index]);
+        }
+    }
+
+    // Now reload column 0 asynchronously
+    xTaskCreate([](void* param) {
+        struct TileUpdate { int index; bool loaded; };
+        int left_col = 0;
+        for (int row = 0; row < MAP_TILES_GRID_ROWS; row++) {
+            int index = row * MAP_TILES_GRID_COLS + left_col;
+            int tile_x = GPSLocator::new_top_left_tile_x;
+            int tile_y = GPSLocator::top_left_tile_y + row;
+            bool loaded = GPSLocator::fetch_images_from_sd(index, tile_x, tile_y);
+            TileUpdate* update = new TileUpdate{index, loaded};
+            lv_async_call([](void* p) {
+                auto* upd = static_cast<TileUpdate*>(p);
+                if (upd->loaded) {
+                    lv_image_set_src(tile_components[upd->index], &tiles[upd->index].img);
+                } else {
+                    set_fallback_tile(upd->index);
+                }
+                delete upd;
+            }, update);
+        }
+        vTaskDelete(NULL);
+    }, "tile_load_left", 4096, NULL, 5, NULL);
+}
+
+void GPSLocator::shift_right() {
+    // Shift columns LEFT
+    for (int row = 0; row < MAP_TILES_GRID_ROWS; row++) {
+        for (int col = 0; col < MAP_TILES_GRID_COLS - 1; col++) {
+
+            int to_index   = row * MAP_TILES_GRID_COLS + col;
+            int from_index = row * MAP_TILES_GRID_COLS + (col + 1);
+
+            std::swap(tiles[to_index], tiles[from_index]);
+        }
+    }
+
+    // Now reload rightmost column asynchronously
+    xTaskCreate([](void* param) {
+        struct TileUpdate { int index; bool loaded; };
+        int right_col = MAP_TILES_GRID_COLS - 1;
+        for (int row = 0; row < MAP_TILES_GRID_ROWS; row++) {
+            int index = row * MAP_TILES_GRID_COLS + right_col;
+            int tile_x = GPSLocator::new_top_left_tile_x + right_col;
+            int tile_y = GPSLocator::top_left_tile_y + row;
+            bool loaded = GPSLocator::fetch_images_from_sd(index, tile_x, tile_y);
+            TileUpdate* update = new TileUpdate{index, loaded};
+            lv_async_call([](void* p) {
+                auto* upd = static_cast<TileUpdate*>(p);
+                if (upd->loaded) {
+                    lv_image_set_src(tile_components[upd->index], &tiles[upd->index].img);
+                } else {
+                    set_fallback_tile(upd->index);
+                }
+                delete upd;
+            }, update);
+        }
+        vTaskDelete(NULL);
+    }, "tile_load_right", 4096, NULL, 5, NULL);
+}
+
+void GPSLocator::move_location(double latitude, double longitude) {
+    if (!initialized) return;
+
+    double new_tile_x, new_tile_y;
+    get_tile_coordinates(latitude, longitude, new_tile_x, new_tile_y);
+
+    new_top_left_tile_x = (int)new_tile_x - 1;
+    new_top_left_tile_y = (int)new_tile_y - 1;
+
+    if (top_left_tile_x != new_top_left_tile_x || top_left_tile_y != new_top_left_tile_y) {
+        // Still within current center tile, just update offsets
+        if (new_top_left_tile_x < top_left_tile_x) {
+           shift_left();
+           marker_offset_x = marker_offset_x + MAP_TILES_TILE_SIZE;
+        } else if (new_top_left_tile_x > top_left_tile_x) {
+            shift_right();
+            marker_offset_x = marker_offset_x - MAP_TILES_TILE_SIZE;
+        }
+        if (new_top_left_tile_y < top_left_tile_y) {
+            shift_up();
+            marker_offset_y = marker_offset_y + MAP_TILES_TILE_SIZE;
+        } else if (new_top_left_tile_y > top_left_tile_y) {
+            shift_down();
+            marker_offset_y = marker_offset_y - MAP_TILES_TILE_SIZE;
+        }
+
+        top_left_tile_x = new_top_left_tile_x;
+        top_left_tile_y = new_top_left_tile_y;
+    }
+    
+    get_marker_offsets(new_tile_x, new_tile_y, new_marker_offset_x, new_marker_offset_y);
+
+    animate_map_center();
+}

components/gps_locator/images/area_locked_tile.h

@@ -0,0 +1,295 @@
+#ifdef __has_include
+    #if __has_include("lvgl.h")
+        #ifndef LV_LVGL_H_INCLUDE_SIMPLE
+            #define LV_LVGL_H_INCLUDE_SIMPLE
+        #endif
+    #endif
+#endif
+
+#if defined(LV_LVGL_H_INCLUDE_SIMPLE)
+    #include "lvgl.h"
+#else
+    #include "lvgl/lvgl.h"
+#endif
+
+
+#ifndef LV_ATTRIBUTE_MEM_ALIGN
+#define LV_ATTRIBUTE_MEM_ALIGN
+#endif
+
+#ifndef LV_ATTRIBUTE_IMAGE_AREA_LOCKED_TILE
+#define LV_ATTRIBUTE_IMAGE_AREA_LOCKED_TILE
+#endif
+
+const LV_ATTRIBUTE_MEM_ALIGN LV_ATTRIBUTE_LARGE_CONST LV_ATTRIBUTE_IMAGE_AREA_LOCKED_TILE uint8_t area_locked_tile_map[] = {
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+};
+
+const lv_image_dsc_t area_locked_tile = {
+    .header = {
+        .magic = LV_IMAGE_HEADER_MAGIC,
+        .cf = LV_COLOR_FORMAT_RGB565,
+        .flags = 0,          
+        .w = 256,
+        .h = 256,
+        .reserved_2 = 0
+    },
+    .data_size = 65536 * 2,
+    .data = area_locked_tile_map,
+    .reserved = NULL
+};

components/gps_locator/include/gps_locator.h

@@ -0,0 +1,75 @@
+#pragma once
+
+#include "lvgl.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define MAP_TILES_TILE_SIZE 256
+#define MAP_TILES_GRID_COLS 3
+#define MAP_TILES_GRID_ROWS 3
+#define MAP_TILES_BYTES_PER_PIXEL 2
+#define MAP_TILES_COLOR_FORMAT LV_COLOR_FORMAT_RGB565
+#define MAP_HEIGHT 500
+#define MAP_WIDTH 500
+#define MAP_ZOOM 16
+#define BASE_PATH "/sdcard"
+#define TILE_FOLDER "tiles1"
+#define STEP_ANIMATION_DURATION 500
+
+class GPSLocator {
+public:
+    static lv_obj_t** tile_components;
+
+    // Initialize the simple map system
+    static bool init(lv_obj_t* parent_screen);
+    
+    // Display map at specific coordinates
+    static void show_initial_location(double latitude, double longitude);
+
+    // Update location (for moving GPS)
+    static void move_location(double latitude, double longitude);
+
+    static bool fetch_images_from_sd(int index, int tile_x, int tile_y);
+
+    // Cleanup
+    static void cleanup();
+
+private:
+    static lv_obj_t* map_container;
+    static lv_obj_t* map_group;
+    static int tile_count;
+    static int top_left_tile_x;
+    static int top_left_tile_y;
+    static int new_top_left_tile_x;
+    static int new_top_left_tile_y;
+    static int marker_offset_x;
+    static int marker_offset_y;
+    static int new_marker_offset_x;
+    static int new_marker_offset_y;
+    static bool initialized;
+    static bool is_loading;
+    static int tile_mapping[MAP_TILES_GRID_ROWS * MAP_TILES_GRID_COLS];
+
+    static void create_tile_components();
+    static bool load_tile_images();
+    static void set_fallback_tile(int col);
+    static void get_tile_coordinates(double latitude, double longitude, double &tile_x, double &tile_y);
+    static void get_marker_offsets(double &tile_x, double &tile_y, int &offset_x, int &offset_y);
+    
+    static void deinit();
+    static void center_map_on_gps();
+    static void animate_map_center();
+    static void shift_right();
+    static void shift_left();
+    static void shift_down();
+    static void shift_up();
+    static bool is_location_within_center(int new_latitude, int new_longitude);
+    static void show_loading_popup();
+    static void hide_loading_popup();
+};
+
+#ifdef __cplusplus
+}
+#endif