jtbx/esp32-c_its-companion
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Add basic BLE I/O

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This commit is contained in:
Jannik Beyerstedt 2026-05-11 21:08:23 +02:00 • committed by Jannik Beyerstedt
commit 17b84d9aec
13 changed files with 806 additions and 23 deletions
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47
src/main.rs
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@ -18,6 +18,9 @@ compile_error!("feature \"cam_tx\" needs a time and position source (either GNSS
// we can't have both GNSS drivers enabled at the same time
#[cfg(all(feature = "gnss_ubx", feature = "gnss_l67k"))]
compile_error!("feature \"gnss_ubx\" and feature \"gnss_l67k\" cannot be enabled at the same time");
// at least one V2X feature needs to be enabled
#[cfg(not(any(feature = "spat", feature = "cam", feature = "denm")))]
compile_error!("at least one V2X feature (\"spat\", \"cam\" or \"denm\") needs to be enabled");
use alloc::string::ToString as _;
use alloc::vec::Vec;
@ -45,9 +48,11 @@ use log::{error, info, warn};
extern crate alloc;
mod applogic;
#[cfg(feature = "ble")]
mod ble;
mod cache;
mod geo_alg;
#[cfg(feature = "uart")]
#[cfg(any(feature = "uart", feature = "ble"))]
mod io;
#[cfg(feature = "screen")]
mod screen;
@ -89,7 +94,7 @@ static SERIAL: Mutex<RefCell<Option<esp_hal::uart::Uart<'static, esp_hal::Blocki
#[esp_rtos::main]
async fn main(spawner: Spawner) -> ! {
// generator version: 1.3.0
// generator parameters: --chip esp32c5 -o esp32c5-wroom-1-psram -o alloc -o log -o unstable-hal -o wifi -o esp-backtrace -o embassy
// generator parameters: --chip esp32c5 -o esp32c5-wroom-1-psram -o alloc -o log -o unstable-hal -o wifi -o esp-backtrace -o embassy -o ble-trouble
esp_println::logger::init_logger_from_env();
@ -107,6 +112,8 @@ async fn main(spawner: Spawner) -> ! {
// - GPIO28
esp_alloc::heap_allocator!(#[esp_hal::ram(reclaimed)] size: 65536);
// COEX needs more RAM - so we've added some more
esp_alloc::heap_allocator!(size: 64 * 1024);
esp_alloc::psram_allocator!(peripherals.PSRAM, esp_hal::psram);
let timg0 = TimerGroup::new(peripherals.TIMG0);
@ -188,6 +195,13 @@ async fn main(spawner: Spawner) -> ! {
let mac = esp_hal::efuse::base_mac_address();
info!("WiFi MAC: {mac}");
// Setup BLE
#[cfg(feature = "ble")]
{
let controller = ble::make_controller(peripherals.BT);
spawner.spawn(ble::run(controller).expect("Failed to spawn BLE task"));
}
// Setup GNSS:
// Seeed XIAO L67K:
// RX: D7/ GPIO12
@ -365,6 +379,17 @@ async fn main(spawner: Spawner) -> ! {
}
}
#[cfg(feature = "ble")]
{
critical_section::with(|cs| {
let mut data_rc = ble::RX_DATA.borrow(cs).borrow_mut();
if let Some(pos) = data_rc.take() {
let gnss_update_ref = GNSS_UPDATE.borrow(cs);
gnss_update_ref.replace(Some(pos.into()));
}
});
}
#[cfg(feature = "_gnss")]
{
let mut new_position = false;
@ -474,6 +499,13 @@ async fn main(spawner: Spawner) -> ! {
} => {
#[cfg(feature = "cam")]
applogic::cam::handle_cam(&etsi);
// Send data to BLE thread
#[cfg(all(feature = "ble", feature = "cam"))]
critical_section::with(|cs| {
let ble_update_ref = ble::TX_DATA.borrow(cs);
ble_update_ref.replace(Some(ble::BleSendable::Cam(etsi.into())));
});
}
#[cfg(feature = "denm")]
@ -481,7 +513,16 @@ async fn main(spawner: Spawner) -> ! {
geonetworking: _,
transport: _,
etsi,
} => applogic::denm::handle_denm(&etsi),
} => {
applogic::denm::handle_denm(&etsi);
// Send data to BLE thread
#[cfg(feature = "ble")]
critical_section::with(|cs| {
let ble_update_ref = ble::TX_DATA.borrow(cs);
ble_update_ref.replace(Some(ble::BleSendable::Denm(etsi.into())));
});
}
#[cfg(feature = "denm")]
ItsMessage::DenmV1 {
geonetworking: _,