02601 DPS310 精密气压高度传感器
兼容 STEMMA QT / Qwiic 完整技术资料

[env:esp32dev]
platform = espressif32@6.13.0
board = esp32dev
framework = arduino
; Arduino-ESP32 核心3.x(ESP-IDF5)在这台机器上链接报错:
;   undefined reference to `esp_bt_controller_mem_release'
; 是工具链BT库版本不匹配的已知问题，跟代码无关。固定用2.0.17这个稳定核心版本绕开。
; (跟 U1205 BMM150 / ESP32 2.8黄屏\AI开发记录 里踩过的坑是同一个，写法照抄。)
platform_packages =
    framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32/releases/download/2.0.17/esp32-2.0.17.zip
upload_port = COM20
monitor_port = COM20
monitor_speed = 115200

// DPS310 精密气压/温度/海拔传感器 · ESP32-2432S028 (2.8" 黄屏/CYD) · 板载TFT气压表UI
// I2C: SCL=IO22, SDA=IO27 (CN1接口，跟HC-SR04/I2C扫描/BMM150指南针工程共用同一组引脚)
// DPS310 STEMMA QT/Qwiic 版默认I2C地址0x77，若SDO拉低则为0x76，开机时两个都探测一遍。
// 屏幕驱动(位带SPI ST7789 + 5x7点阵字库 + 画圆/线/三角形等图元)照抄BMM150指南针工程里
// 已验证过的 main.ino，没有改动驱动部分；在此基础上把"指南针表盘"换成"气压表表盘"。
// 传感器读数用官方 Adafruit_DPS310 库（连同 Adafruit_Sensor / Adafruit_BusIO 依赖一起
// 拷贝到本工程 lib/ 目录下，不依赖联网下载）。
#include <Wire.h>
#include <math.h>
#include "soc/gpio_struct.h"
#include "Adafruit_DPS310.h"

#define I2C_SCL_PIN 22
#define I2C_SDA_PIN 27

#define LCD_W 240
#define LCD_H 320

// ESP32-2432S028 / CYD 2.8 inch ST7789 internal LCD pins.
#define PIN_SCK  14
#define PIN_SDA  13
#define PIN_CS   15
#define PIN_DC   2
#define PIN_BLK  21

#define SCK_MASK (1UL << PIN_SCK)
#define SDA_MASK (1UL << PIN_SDA)
#define CS_MASK  (1UL << PIN_CS)
#define DC_MASK  (1UL << PIN_DC)
#define BLK_MASK (1UL << PIN_BLK)

#define FAST_HIGH(mask) (GPIO.out_w1ts = (mask))
#define FAST_LOW(mask)  (GPIO.out_w1tc = (mask))

#define SCK_0 FAST_LOW(SCK_MASK)
#define SCK_1 FAST_HIGH(SCK_MASK)
#define SDA_0 FAST_LOW(SDA_MASK)
#define SDA_1 FAST_HIGH(SDA_MASK)
#define CS_0  FAST_LOW(CS_MASK)
#define CS_1  FAST_HIGH(CS_MASK)
#define DC_0  FAST_LOW(DC_MASK)
#define DC_1  FAST_HIGH(DC_MASK)
#define BLK_1 FAST_HIGH(BLK_MASK)

// 16位 RGB565 颜色
#define BLACK    0x0000
#define WHITE    0xFFFF
#define RED      0xF800
#define GREEN    0x07E0
#define BLUE     0x001F
#define CYAN     0x07FF
#define YELLOW   0xFFE0
#define GREY     0x4208
#define DKGREY   0x2104
#define ORANGE   0xFD20
#define NAVY     0x000C
#define SKYBLUE  0x2D7C
#define PANEL_BG 0x18E3   // 深蓝灰，卡片底色
#define RING_BG  0x0841   // 表盘底色，比纯黑亮一点点，有层次感

static const uint8_t FONT[][6] = {
  {' ', 0x00, 0x00, 0x00, 0x00, 0x00},
  {':', 0x00, 0x36, 0x36, 0x00, 0x00},
  {'.', 0x00, 0x60, 0x60, 0x00, 0x00},
  {'-', 0x08, 0x08, 0x08, 0x08, 0x08},
  {'0', 0x3E, 0x51, 0x49, 0x45, 0x3E},
  {'1', 0x00, 0x42, 0x7F, 0x40, 0x00},
  {'2', 0x42, 0x61, 0x51, 0x49, 0x46},
  {'3', 0x21, 0x41, 0x45, 0x4B, 0x31},
  {'4', 0x18, 0x14, 0x12, 0x7F, 0x10},
  {'5', 0x27, 0x45, 0x45, 0x45, 0x39},
  {'6', 0x3C, 0x4A, 0x49, 0x49, 0x30},
  {'7', 0x01, 0x71, 0x09, 0x05, 0x03},
  {'8', 0x36, 0x49, 0x49, 0x49, 0x36},
  {'9', 0x06, 0x49, 0x49, 0x29, 0x1E},
  {'A', 0x7E, 0x11, 0x11, 0x11, 0x7E},
  {'B', 0x7F, 0x49, 0x49, 0x49, 0x36},
  {'C', 0x3E, 0x41, 0x41, 0x41, 0x22},
  {'D', 0x7F, 0x41, 0x41, 0x22, 0x1C},
  {'E', 0x7F, 0x49, 0x49, 0x49, 0x41},
  {'F', 0x7F, 0x09, 0x09, 0x09, 0x01},
  {'G', 0x3E, 0x41, 0x49, 0x49, 0x7A},
  {'H', 0x7F, 0x08, 0x08, 0x08, 0x7F},
  {'I', 0x00, 0x41, 0x7F, 0x41, 0x00},
  {'K', 0x7F, 0x08, 0x14, 0x22, 0x41},
  {'L', 0x7F, 0x40, 0x40, 0x40, 0x40},
  {'M', 0x7F, 0x02, 0x0C, 0x02, 0x7F},
  {'N', 0x7F, 0x04, 0x08, 0x10, 0x7F},
  {'O', 0x3E, 0x41, 0x41, 0x41, 0x3E},
  {'P', 0x7F, 0x09, 0x09, 0x09, 0x06},
  {'R', 0x7F, 0x09, 0x19, 0x29, 0x46},
  {'S', 0x46, 0x49, 0x49, 0x49, 0x31},
  {'T', 0x01, 0x01, 0x7F, 0x01, 0x01},
  {'U', 0x3F, 0x40, 0x40, 0x40, 0x3F},
  {'V', 0x1F, 0x20, 0x40, 0x20, 0x1F},
  {'W', 0x3F, 0x40, 0x38, 0x40, 0x3F},
  {'X', 0x63, 0x14, 0x08, 0x14, 0x63},
  {'x', 0x44, 0x28, 0x10, 0x28, 0x44},
  {'Y', 0x07, 0x08, 0x70, 0x08, 0x07},
  {'Z', 0x61, 0x51, 0x49, 0x45, 0x43},
};

static void spiSendByte(uint8_t value) {
  for (uint8_t i = 0; i < 8; i++) {
    SCK_0;
    if (value & 0x80) { SDA_1; } else { SDA_0; }
    value <<= 1;
    SCK_1;
    SCK_0;
  }
}

static void sendCmd(uint8_t value) { DC_0; spiSendByte(value); }
static void sendData(uint8_t value) { DC_1; spiSendByte(value); }

static void setWindow(uint16_t x0, uint16_t y0, uint16_t x1, uint16_t y1) {
  sendCmd(0x2A);
  sendData(x0 >> 8); sendData(x0 & 0xFF); sendData(x1 >> 8); sendData(x1 & 0xFF);
  sendCmd(0x2B);
  sendData(y0 >> 8); sendData(y0 & 0xFF); sendData(y1 >> 8); sendData(y1 & 0xFF);
  sendCmd(0x2C);
}

static void fillRect(int16_t x, int16_t y, int16_t w, int16_t h, uint16_t color) {
  if (w <= 0 || h <= 0) return;
  if (x < 0) { w += x; x = 0; }
  if (y < 0) { h += y; y = 0; }
  if (x >= LCD_W || y >= LCD_H || w <= 0 || h <= 0) return;
  if (x + w > LCD_W) w = LCD_W - x;
  if (y + h > LCD_H) h = LCD_H - y;
  setWindow(x, y, x + w - 1, y + h - 1);
  for (uint32_t i = 0; i < (uint32_t)w * h; i++) {
    sendData(color >> 8);
    sendData(color & 0xFF);
  }
}

static void fillScreen(uint16_t color) {
  setWindow(0, 0, LCD_W - 1, LCD_H - 1);
  for (uint32_t i = 0; i < (uint32_t)LCD_W * LCD_H; i++) {
    sendData(color >> 8);
    sendData(color & 0xFF);
  }
}

static const uint8_t *glyphFor(char c) {
  for (uint8_t i = 0; i < sizeof(FONT) / sizeof(FONT[0]); i++) {
    if (FONT[i][0] == c) return &FONT[i][1];
  }
  return &FONT[0][1];
}

static void drawCharBg(uint16_t x, uint16_t y, char c, uint16_t color, uint16_t bg, uint8_t scale) {
  const uint8_t *g = glyphFor(c);
  uint16_t w = 6 * scale;
  uint16_t h = 8 * scale;
  setWindow(x, y, x + w - 1, y + h - 1);
  for (uint8_t py = 0; py < h; py++) {
    uint8_t row = py / scale;
    for (uint8_t px = 0; px < w; px++) {
      uint8_t col = px / scale;
      bool on = false;
      if (col < 5 && row < 7) on = g[col] & (1 << row);
      uint16_t out = on ? color : bg;
      sendData(out >> 8);
      sendData(out & 0xFF);
    }
  }
}

static void drawTextBg(uint16_t x, uint16_t y, const char *text, uint16_t color, uint16_t bg, uint8_t scale) {
  while (*text) {
    drawCharBg(x, y, *text++, color, bg, scale);
    x += 6 * scale;
  }
}

static void drawText(uint16_t x, uint16_t y, const char *text, uint16_t color, uint8_t scale) {
  drawTextBg(x, y, text, color, BLACK, scale);
}

static uint16_t textWidth(const char *text, uint8_t scale) {
  return strlen(text) * 6 * scale;
}

// 居中画一行字，center x 是文字整体的水平中心点
static void drawTextCentered(uint16_t centerX, uint16_t y, const char *text, uint16_t color, uint16_t bg, uint8_t scale) {
  uint16_t w = textWidth(text, scale);
  uint16_t x = (centerX > w / 2) ? centerX - w / 2 : 0;
  drawTextBg(x, y, text, color, bg, scale);
}

// ---------------- 基础图形：点/线/圆/填充圆/三角形 ----------------

static void setPixel(int16_t x, int16_t y, uint16_t color) {
  if (x < 0 || y < 0 || x >= LCD_W || y >= LCD_H) return;
  fillRect(x, y, 1, 1, color);
}

static void drawLine(int16_t x0, int16_t y0, int16_t x1, int16_t y1, uint16_t color) {
  int16_t dx = abs(x1 - x0), sx = x0 < x1 ? 1 : -1;
  int16_t dy = -abs(y1 - y0), sy = y0 < y1 ? 1 : -1;
  int16_t err = dx + dy, e2;
  for (;;) {
    setPixel(x0, y0, color);
    if (x0 == x1 && y0 == y1) break;
    e2 = 2 * err;
    if (e2 >= dy) { err += dy; x0 += sx; }
    if (e2 <= dx) { err += dx; y0 += sy; }
  }
}

// 稍微加粗的线：主线 + 垂直方向各偏移1px，指针/刻度看起来不会细得像发丝
static void drawThickLine(int16_t x0, int16_t y0, int16_t x1, int16_t y1, uint16_t color) {
  drawLine(x0, y0, x1, y1, color);
  float dx = x1 - x0, dy = y1 - y0;
  float len = sqrtf(dx * dx + dy * dy);
  if (len < 1) return;
  int16_t ox = (int16_t)roundf(-dy / len);
  int16_t oy = (int16_t)roundf(dx / len);
  drawLine(x0 + ox, y0 + oy, x1 + ox, y1 + oy, color);
  drawLine(x0 - ox, y0 - oy, x1 - ox, y1 - oy, color);
}

static void drawCircle(int16_t cx, int16_t cy, int16_t r, uint16_t color) {
  int16_t x = r, y = 0, err = 0;
  while (x >= y) {
    setPixel(cx + x, cy + y, color); setPixel(cx + y, cy + x, color);
    setPixel(cx - y, cy + x, color); setPixel(cx - x, cy + y, color);
    setPixel(cx - x, cy - y, color); setPixel(cx - y, cy - x, color);
    setPixel(cx + y, cy - x, color); setPixel(cx + x, cy - y, color);
    y++;
    if (err <= 0) { err += 2 * y + 1; }
    if (err > 0) { x--; err -= 2 * x + 1; }
  }
}

static void fillCircle(int16_t cx, int16_t cy, int16_t r, uint16_t color) {
  for (int16_t dy = -r; dy <= r; dy++) {
    int16_t dx = (int16_t)sqrtf((float)(r * r - dy * dy));
    fillRect(cx - dx, cy + dy, 2 * dx + 1, 1, color);
  }
}

// 圆角矩形卡片（角是简单裁掉的斜角，不是真正圆弧，够用且不慢）
static void fillRoundRect(int16_t x, int16_t y, int16_t w, int16_t h, int16_t r, uint16_t color) {
  fillRect(x + r, y, w - 2 * r, h, color);
  fillRect(x, y + r, r, h - 2 * r, color);
  fillRect(x + w - r, y + r, r, h - 2 * r, color);
  for (int16_t dy = 0; dy <= r; dy++) {
    int16_t dx = (int16_t)sqrtf((float)(r * r - dy * dy));
    fillRect(x + r - dx, y + r - dy, dx, 1, color);
    fillRect(x + w - r, y + r - dy, dx, 1, color);
    fillRect(x + r - dx, y + h - r + dy - 1, dx, 1, color);
    fillRect(x + w - r, y + h - r + dy - 1, dx, 1, color);
  }
}

// 实心三角形（用于指针箭头），扫描线填充
static void fillTriangle(int16_t x0, int16_t y0, int16_t x1, int16_t y1, int16_t x2, int16_t y2, uint16_t color) {
  if (y0 > y1) { int16_t t; t = y0; y0 = y1; y1 = t; t = x0; x0 = x1; x1 = t; }
  if (y1 > y2) { int16_t t; t = y1; y1 = y2; y2 = t; t = x1; x1 = x2; x2 = t; }
  if (y0 > y1) { int16_t t; t = y0; y0 = y1; y1 = t; t = x0; x0 = x1; x1 = t; }
  if (y0 == y2) return;
  for (int16_t y = y0; y <= y2; y++) {
    bool secondHalf = y > y1 || y1 == y0;
    int16_t xa = x0 + (int32_t)(x2 - x0) * (y - y0) / (y2 - y0);
    int16_t xb;
    if (secondHalf) {
      xb = (y1 == y2) ? x2 : x1 + (int32_t)(x2 - x1) * (y - y1) / (y2 - y1);
    } else {
      xb = (y0 == y1) ? x1 : x0 + (int32_t)(x1 - x0) * (y - y0) / (y1 - y0);
    }
    if (xa > xb) { int16_t t = xa; xa = xb; xb = t; }
    fillRect(xa, y, xb - xa + 1, 1, color);
  }
}

static void tftInit() {
  pinMode(PIN_SCK, OUTPUT);
  pinMode(PIN_SDA, OUTPUT);
  pinMode(PIN_CS, OUTPUT);
  pinMode(PIN_DC, OUTPUT);
  pinMode(PIN_BLK, OUTPUT);

  SCK_1; CS_1; BLK_1;
  delay(100);
  CS_0;

  sendCmd(0x11);
  delay(120);
  sendCmd(0x3A); sendData(0x05);
  sendCmd(0xC5); sendData(0x1A);
  sendCmd(0x36); sendData(0x00);
  sendCmd(0xB2); sendData(0x05); sendData(0x05); sendData(0x00); sendData(0x33); sendData(0x33);
  sendCmd(0xB7); sendData(0x05);
  sendCmd(0xBB); sendData(0x3F);
  sendCmd(0xC0); sendData(0x2C);
  sendCmd(0xC2); sendData(0x01);
  sendCmd(0xC3); sendData(0x0F);
  sendCmd(0xC4); sendData(0x20);
  sendCmd(0xC6); sendData(0x01);
  sendCmd(0xD0); sendData(0xA4); sendData(0xA1);
  sendCmd(0xE8); sendData(0x03);
  sendCmd(0xE9); sendData(0x09); sendData(0x09); sendData(0x08);

  sendCmd(0xE0);
  sendData(0xD0); sendData(0x05); sendData(0x09); sendData(0x09);
  sendData(0x08); sendData(0x14); sendData(0x28); sendData(0x33);
  sendData(0x3F); sendData(0x07); sendData(0x13); sendData(0x14);
  sendData(0x28); sendData(0x30);

  sendCmd(0xE1);
  sendData(0xD0); sendData(0x05); sendData(0x09); sendData(0x09);
  sendData(0x08); sendData(0x03); sendData(0x24); sendData(0x32);
  sendData(0x32); sendData(0x3B); sendData(0x14); sendData(0x13);
  sendData(0x28); sendData(0x2F);

  sendCmd(0x20); // this 2.8" ST7789 panel needs INVOFF, not INVON
  sendCmd(0x29);
  CS_0;
}

// ---------------- 气压表 UI 布局 ----------------
// 表盘圆心/半径，往下留够两张数据卡片(气压数值 + 海拔/温度)的空间
#define CX        120
#define CY        124
#define R_OUTER   54
#define R_NEEDLE  (R_OUTER - 16)   // 指针红色箭头长度，必须小于下面的清屏半径
#define R_TAIL    18               // 指针白色尾部
#define R_CLEAR   (R_OUTER - 14)   // 每帧只清空这个半径内的区域来擦掉旧指针，刻度圈不用重画

// 仿经典机械气压表：表盘不是整圆，底部留个缺口，指针在表盘范围内摆动。
// 表盘范围不写死成海平面气压(950~1050hPa)——站点气压跟海拔强相关，高海拔地区
// 实测气压可能只有7~800多hPa，写死950下限会导致指针一直卡在最左端。改成开机
// 拿到第一次真实读数后，以该读数为中心(四舍五入取整)、上下各留30hPa，这样不管
// 装在什么海拔的地方，指针都能落在表盘中段正常摆动。
#define GAUGE_SPAN_HPA  60.0f
#define GAUGE_START_DEG (-120)   // 缺口左端(左下方)
#define GAUGE_END_DEG   (120)    // 缺口右端(右下方)，总扫过 240 度

Adafruit_DPS310 dps;
bool dpsFound = false;
float gaugeCenterHpa = 1013.25f;  // 开机拿到第一次真实读数后会被重新赋值

static float gaugeMinHpa() { return gaugeCenterHpa - GAUGE_SPAN_HPA / 2.0f; }
static float gaugeMaxHpa() { return gaugeCenterHpa + GAUGE_SPAN_HPA / 2.0f; }

static float pressureToDeg(float hpa) {
  float t = (hpa - gaugeMinHpa()) / GAUGE_SPAN_HPA;
  if (t < 0) t = 0;
  if (t > 1) t = 1;
  return GAUGE_START_DEG + t * (GAUGE_END_DEG - GAUGE_START_DEG);
}

static void polar(float deg, float r, int16_t *x, int16_t *y) {
  float rad = deg * PI / 180.0f;
  float s = sinf(rad), c = -cosf(rad);
  *x = CX + (int16_t)(s * r);
  *y = CY + (int16_t)(c * r);
}

static void drawDial() {
  // 表盘底色 + 双层外圈，比单线圆更有"仪表"质感（只画缺口范围内的弧）
  fillCircle(CX, CY, R_OUTER + 3, DKGREY);
  fillCircle(CX, CY, R_OUTER, RING_BG);

  int16_t px, py;
  int16_t steps = 60;
  for (int16_t i = 0; i <= steps; i++) {
    float deg = GAUGE_START_DEG + (float)i / steps * (GAUGE_END_DEG - GAUGE_START_DEG);
    polar(deg, R_OUTER, &px, &py);
    setPixel(px, py, SKYBLUE);
    polar(deg, R_OUTER + 3, &px, &py);
    setPixel(px, py, GREY);
  }

  // 以表盘中心值(开机时第一次真实读数)为基准，每10hPa一个刻度，共7个刻度
  // (中心±30/±20/±10/中心)，两端和正中间三个刻度用黄色高亮
  for (int i = -3; i <= 3; i++) {
    float hpa = gaugeCenterHpa + i * 10.0f;
    float deg = pressureToDeg(hpa);
    bool major = (i == -3 || i == 0 || i == 3);
    int16_t rOut = R_OUTER - 2;
    int16_t rIn = major ? (rOut - 10) : (rOut - 5);
    uint16_t tickColor = major ? YELLOW : SKYBLUE;
    int16_t x0, y0, x1, y1;
    polar(deg, rIn, &x0, &y0);
    polar(deg, rOut, &x1, &y1);
    drawLine(x0, y0, x1, y1, tickColor);
  }

  char buf[16];
  snprintf(buf, sizeof(buf), "%d", (int)(gaugeCenterHpa + 0.5f));
  drawTextCentered(CX, CY - R_OUTER - 15, buf, CYAN, BLACK, 1);
  int16_t lx, ly, rx, ry;
  polar(GAUGE_START_DEG, R_OUTER + 14, &lx, &ly);
  polar(GAUGE_END_DEG, R_OUTER + 14, &rx, &ry);
  snprintf(buf, sizeof(buf), "%d", (int)(gaugeMinHpa() + 0.5f));
  drawTextCentered(lx, ly - 3, buf, WHITE, BLACK, 1);
  snprintf(buf, sizeof(buf), "%d", (int)(gaugeMaxHpa() + 0.5f));
  drawTextCentered(rx, ry - 3, buf, WHITE, BLACK, 1);
}

// 只清空指针占用的内圆区域，表盘外圈/刻度/字母不用每次重画，减少闪烁
static void clearNeedleArea() {
  fillCircle(CX, CY, R_CLEAR, RING_BG);
}

static void drawNeedle(float hpa) {
  float deg = pressureToDeg(hpa);
  float rad = deg * PI / 180.0f;
  float s = sinf(rad), c = -cosf(rad);
  int16_t tipX = CX + (int16_t)(s * R_NEEDLE);
  int16_t tipY = CY + (int16_t)(c * R_NEEDLE);
  int16_t tailX = CX - (int16_t)(s * R_TAIL);
  int16_t tailY = CY - (int16_t)(c * R_TAIL);

  // 指针尾部(灰白)
  drawThickLine(CX, CY, tailX, tailY, WHITE);

  // 指针头部画成三角箭头(红色)，比直线更像真实气压表指针
  float perpX = -c, perpY = s;
  float baseX = CX + s * (R_NEEDLE - 14);
  float baseY = CY + c * (R_NEEDLE - 14);
  int16_t leftX  = (int16_t)(baseX + perpX * 5);
  int16_t leftY  = (int16_t)(baseY + perpY * 5);
  int16_t rightX = (int16_t)(baseX - perpX * 5);
  int16_t rightY = (int16_t)(baseY - perpY * 5);
  fillTriangle(tipX, tipY, leftX, leftY, rightX, rightY, RED);
  drawThickLine(CX, CY, (int16_t)baseX, (int16_t)baseY, RED);

  fillCircle(CX, CY, 4, YELLOW);
  drawCircle(CX, CY, 4, DKGREY);
}

#define CARD1_Y (CY + R_OUTER + 18)
#define CARD1_H 32
#define CARD2_Y (CARD1_Y + CARD1_H + 8)
#define CARD2_H 56

// 表盘(drawDial)不在这里画——表盘中心值要等开机拿到第一次真实读数后才知道，
// 见 setup() 里 drawDial() 的调用时机。
static void drawStaticChrome() {
  fillScreen(BLACK);
  fillRect(0, 0, LCD_W, 34, NAVY);
  drawTextCentered(LCD_W / 2, 9, "DPS310 BAROMETER", CYAN, NAVY, 2);
  fillRoundRect(8, CARD1_Y, LCD_W - 16, CARD1_H, 6, PANEL_BG);
  fillRoundRect(8, CARD2_Y, LCD_W - 16, CARD2_H, 6, PANEL_BG);
}

static void showStatus(const char *msg, uint16_t color) {
  fillRect(8, CARD1_Y, LCD_W - 16, CARD1_H, PANEL_BG);
  drawTextCentered(LCD_W / 2, CARD1_Y + (CARD1_H - 16) / 2, msg, color, PANEL_BG, 2);
}

static void drawPressureCard(float hpa) {
  fillRoundRect(8, CARD1_Y, LCD_W - 16, CARD1_H, 6, PANEL_BG);
  char buf[16];
  snprintf(buf, sizeof(buf), "%4d hPa", (int)(hpa + 0.5f));
  drawTextCentered(LCD_W / 2, CARD1_Y + (CARD1_H - 24) / 2, buf, ORANGE, PANEL_BG, 3);
}

// 海拔 + 温度两行，负数、超过三位数的读数都留够宽度不会挤在一起
static void drawEnvCard(float altitudeM, float tempC) {
  fillRect(10, CARD2_Y + 4, LCD_W - 20, CARD2_H - 8, PANEL_BG);
  char altBuf[16], tempBuf[16];
  dtostrf(altitudeM, 7, 1, altBuf);
  dtostrf(tempC, 6, 1, tempBuf);
  char line1[20], line2[20];
  snprintf(line1, sizeof(line1), "ALT %sm", altBuf);
  snprintf(line2, sizeof(line2), "TEMP %sC", tempBuf);
  drawTextBg(14, CARD2_Y + 8, line1, GREEN, PANEL_BG, 2);
  drawTextBg(14, CARD2_Y + 30, line2, GREEN, PANEL_BG, 2);
}

static bool findDPS310() {
  if (dps.begin_I2C(0x77, &Wire)) return true;
  if (dps.begin_I2C(0x76, &Wire)) return true;
  return false;
}

// DPS310数据手册规格：气压量程300~1200hPa，温度量程-40~85℃。读回来的数值
// 只要超出这个物理量程，就一定是I2C通信出了问题(模块被拔掉/接触不良/虚焊)读到的
// 垃圾字节，不是真实传感器数据——曾经实测遇到过"模块拔掉了屏幕却还显示
// TEMP 4999.9℃、ALT -47524m"这种情况，根源是getEvents()本身不检查总线读取
// 是否真正成功(库内部固定return true)，必须在这一层自己加合理性校验。
static bool readingIsSane(float hpa, float tempC) {
  return hpa > 300.0f && hpa < 1200.0f && tempC > -40.0f && tempC < 85.0f;
}

// 连接/重连 + 校准表盘中心：开机第一次调用，以及运行中检测到断线/读数异常时
// 也会重新调用一遍，行为跟开机时完全一致(不会残留断线前的假数据)。
static void connectSensor() {
  showStatus("CONNECTING", YELLOW);
  while (!findDPS310()) {
    showStatus("DPS310 NOT FOUND", RED);
    Serial.println("dps310 init failed, retrying...");
    delay(1000);
  }
  dpsFound = true;

  dps.configurePressure(DPS310_64HZ, DPS310_64SAMPLES);
  dps.configureTemperature(DPS310_64HZ, DPS310_64SAMPLES);

  showStatus("CALIBRATING", YELLOW);
  sensors_event_t temp_event, pressure_event;
  while (!dps.temperatureAvailable() || !dps.pressureAvailable()) {
    delay(20);
  }
  dps.getEvents(&temp_event, &pressure_event);
  // 用第一次真实读数(四舍五入取整)当表盘中心，见 pressureToDeg 上方注释
  gaugeCenterHpa = (float)(int)(pressure_event.pressure + 0.5f);
  drawDial();

  showStatus("READY", GREEN);
  delay(400);
}

void setup() {
  Serial.begin(115200);
  tftInit();
  drawStaticChrome();
  Wire.begin(I2C_SDA_PIN, I2C_SCL_PIN);
  connectSensor();
}

void loop() {
  sensors_event_t temp_event, pressure_event;

  if (!dps.temperatureAvailable() || !dps.pressureAvailable()) {
    delay(20);
    return;
  }

  dps.getEvents(&temp_event, &pressure_event);
  float hpa = pressure_event.pressure;
  float tempC = temp_event.temperature;

  if (!readingIsSane(hpa, tempC)) {
    // 读到了物理上不可能的数值，当作断线处理：不显示这帧数据，重新走一遍
    // connectSensor()（会先卡在"DPS310 NOT FOUND"直到总线恢复正常）
    Serial.printf("reading out of sane range (pressure=%.2f temp=%.2f), "
                  "treating as disconnected\n", hpa, tempC);
    connectSensor();
    return;
  }

  float altitudeM = dps.readAltitude();

  clearNeedleArea();
  drawNeedle(hpa);
  drawPressureCard(hpa);
  drawEnvCard(altitudeM, tempC);

  Serial.printf("pressure=%.2f hPa  temp=%.2f C  altitude=%.2f m\n", hpa, tempC, altitudeM);
  delay(150);
}