diff --git a/.clippy.toml b/.clippy.toml index a8f21f2..3e969e0 100644 --- a/.clippy.toml +++ b/.clippy.toml @@ -1,2 +1,2 @@ stack-size-threshold = 1024 -doc-valid-idents = ["WiFi", "GeoNetworking", "QoS", "LiPo", ".."] +doc-valid-idents = ["WiFi", "GeoNetworking", "QoS", ".."] diff --git a/Readme.md b/Readme.md index 97d547d..968afd2 100644 --- a/Readme.md +++ b/Readme.md @@ -98,7 +98,8 @@ Additional features are available through feature flags: Officially supported feature combinations are: - `esp,spat,gnss_ubx,screen` (default features, "standalone") -- `esp,spat,gnss_ubx,screen,cam_tx` ("standalone with CAM") +- `esp,spat,gnss_ubx,screen,ble` ("standalone with BLE") +- `esp,spat,gnss_ubx,screen,cam_tx,ble` ("standalone with CAM") - `esp,spat,gnss_ubx,screen,cam_tx,cam,denm` - `esp,uart,cam,denm` ("smartphone companion with UART") - `esp,ble,cam,denm,cam_tx` ("smartphone companion with BLE") diff --git a/build.rs b/build.rs index 5d86194..00deee1 100644 --- a/build.rs +++ b/build.rs @@ -9,6 +9,7 @@ fn main() -> std::io::Result<()> { println!("cargo:rustc-link-arg=-Tlinkall.x"); } + // compile protobuf definition to rust code let descriptor_path = std::path::PathBuf::from(env::var("OUT_DIR").unwrap()).join("proto_descriptor.bin"); @@ -20,16 +21,22 @@ fn main() -> std::io::Result<()> { // get git revision println!("cargo:rustc-rerun-if-changed=.git/HEAD"); + // length: + // - tag name: 6-8 chars (v0.1.0 to v1.23.42) + // - offset+hash: 0-12 chars (up to 99 commits from tag + 8 char hash) + // - SUM: 6-20 + let git_output = std::process::Command::new("git") + .args(["describe", "--tags", "--match", "v*", "--always"]) + .output() + .unwrap(); + assert!( + git_output.stderr.is_empty(), + "{}", + String::from_utf8(git_output.stderr).unwrap() + ); println!( "cargo:rustc-env=GIT_REVISION={}", - String::from_utf8( - std::process::Command::new("git") - .args(&["describe", "--always"]) - .output() - .unwrap() - .stdout, - ) - .unwrap() + String::from_utf8(git_output.stdout).unwrap() ); Ok(()) diff --git a/feat-permut.sh b/feat-permut.sh index c8d5646..9cebe55 100755 --- a/feat-permut.sh +++ b/feat-permut.sh @@ -7,15 +7,16 @@ extended=${2:-false} features_base=( - uart,cam,denm - ble,cam,denm,cam_tx - uart,ble,cam,denm - spat,gnss_ubx,screen - spat,gnss_ubx,screen,cam_tx + spat,gnss_ubx,screen # "standalone" simple + spat,gnss_ubx,screen,ble # "standalone" with BLE + spat,gnss_ubx,screen,ble,cam_tx # "standalone" with CAM + spat,gnss_ubx,screen,cam_tx,cam,denm + uart,cam,denm # "smartphone companion with UART" + ble,cam,denm,cam_tx # "smartphone companion with BLE" ) features_more=( - spat,gnss_ubx,screen,ble - spat,gnss_ubx,screen,ble,cam_tx + uart,ble,cam,denm + spat,gnss_ubx,screen,cam_tx spat,gnss_ubx,screen,cam,denm spat,gnss_ubx,screen,cam_tx,cam,denm gnss_ubx,screen,cam_tx,cam,denm diff --git a/run-standalone-ble.sh b/run-standalone-ble.sh new file mode 100755 index 0000000..6957199 --- /dev/null +++ b/run-standalone-ble.sh @@ -0,0 +1,6 @@ +#!/bin/sh + +## Builds common config for standalone device +## -> enable SPAT/ GLOSA with GNSS and a screen + BLE + +cargo run --release -F ble diff --git a/run-standalone-cam.sh b/run-standalone-cam.sh index 9bfafbe..0bc50c2 100755 --- a/run-standalone-cam.sh +++ b/run-standalone-cam.sh @@ -3,4 +3,4 @@ ## Builds common config for standalone device with automatic CAM transmission ## -> enable SPAT/ GLOSA with GNSS and a screen + CAM transmission -cargo run --release -F cam_tx +cargo run --release -F cam_tx,ble diff --git a/run-standalone-no_cam.sh b/run-standalone-simple.sh similarity index 100% rename from run-standalone-no_cam.sh rename to run-standalone-simple.sh diff --git a/src/ble.rs b/src/ble.rs index 87d710e..8ff24c4 100644 --- a/src/ble.rs +++ b/src/ble.rs @@ -23,8 +23,6 @@ pub static TX_DATA: Mutex>>> = pub static RX_DATA: Mutex>> = Mutex::new(RefCell::new(None)); pub enum BleSendable { - BatteryLevel(u8), - #[cfg(feature = "cam")] CamRaw(io::msg::RawMsgRx), #[cfg(feature = "cam")] @@ -42,7 +40,7 @@ pub enum BleSendable { } pub const DIS_SERIAL_MAX_LEN: usize = 17; -pub const DIS_FW_REVISION_MAX_LEN: usize = 16; // TODO: what do we need? +pub const DIS_FW_REVISION_MAX_LEN: usize = 20; // git-describe pub const DIS_SW_REVISION_MAX_LEN: usize = 66; // max length of get_feature_list, joined with comma pub struct DeviceInfo { @@ -88,19 +86,9 @@ pub fn string_as_padded_buf(value: &str, length: usize) -> alloc::vec::Vec { #[gatt_server] struct Server { c_its_events: CITSEvents, - battery_service: BatteryService, device_info_service: DeviceInfoService, } -#[gatt_service(uuid = service::BATTERY)] -struct BatteryService { - /// Battery Level - #[descriptor(uuid = descriptors::VALID_RANGE, read, value = [0, 100])] - #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "main", read, value = "Battery Level", type = &'static str)] - #[characteristic(uuid = characteristic::BATTERY_LEVEL, read, notify, value = 0)] - level: u8, -} - #[gatt_service(uuid = service::DEVICE_INFORMATION)] struct DeviceInfoService { /// Manufacturer name @@ -226,11 +214,8 @@ pub async fn run( // advertise and run update logic let _ = embassy_futures::join::join(ble_task(runner), async { loop { - // run advertisement and set data until a client connects - let a = advertise(&mut peripheral, &server, &short_name); - let b = data_update_task(&server); - match embassy_futures::select::select(a, b).await { - embassy_futures::select::Either::First(Ok(conn)) => { + match advertise(&mut peripheral, &server, &short_name).await { + Ok(conn) => { info!("BLE: New client connected"); // set up tasks when the connection is established to a central, so they don't run when no one is connected. @@ -245,17 +230,15 @@ pub async fn run( let _ = value_ref.replace(false); }); } - embassy_futures::select::Either::First(Err(e)) => { + Err(e) => { panic!("BLE ADV: fatal error: {e:?}"); } - _ => {} } } }) .await; } -/// Queues data for BLE notification (only when client is connected) pub fn update(payload: BleSendable) { critical_section::with(|cs| { // only add to queue when someone is connected @@ -271,24 +254,6 @@ pub fn update(payload: BleSendable) { }); } -/// Queues data for characteristic update (may notify a connected client) -/// -/// This can be used instead of `update()`, but will always write the data to the characteristic even when no client is connected. -/// So a newly connected client will be able to read an up to date value at connection and not just when new data was received. -/// -/// This is useful for (device) information which is not time-critical (like received V2X data). -pub fn set(payload: BleSendable) { - critical_section::with(|cs| { - let queue_rc = TX_DATA.borrow(cs).borrow(); - // unwrap is fine b/c we stored something in it before - let queue = queue_rc.as_ref().unwrap(); - - if queue.push(payload).is_err() { - log::error!("BLE TX queue is full"); - } - }); -} - /// Create an advertiser to use to connect to a BLE Central, and wait for it to connect. async fn advertise<'values, 'server, C: Controller>( peripheral: &mut Peripheral<'values, C, DefaultPacketPool>, @@ -410,12 +375,6 @@ async fn publishing_task(server: &Server<'_>, conn: &GattConnecti }); match new_data { - Some(BleSendable::BatteryLevel(value)) => { - if let Err(err) = server.battery_service.level.notify(conn, &value).await { - warn!("BLE: failed notifying connection of new battery level: {err:?}"); - } - } - #[cfg(feature = "cam")] Some(BleSendable::Cam(cam_event)) => match cam_event.serialize_ble_proto() { Ok(value) => { @@ -517,33 +476,6 @@ async fn publishing_task(server: &Server<'_>, conn: &GattConnecti } } -async fn data_update_task(server: &Server<'_>) { - loop { - embassy_time::Timer::after(embassy_time::Duration::from_millis(10)).await; - - let mut new_data = None; - critical_section::with(|cs| { - let queue_rc = TX_DATA.borrow(cs).borrow(); - // unwrap is fine b/c we stored something in it before - let queue = queue_rc.as_ref().unwrap(); - - if let Some(data) = queue.pop() { - new_data = Some(data); - } - }); - - #[allow(clippy::single_match)] - match new_data { - Some(BleSendable::BatteryLevel(value)) => { - if let Err(err) = server.battery_service.level.set(server, &value) { - warn!("BLE: failed setting new battery level: {err:?}"); - } - } - _ => {} - } - } -} - async fn send_raw_notify( server: &Server<'_>, conn: &GattConnection<'_, '_, P>, diff --git a/src/main.rs b/src/main.rs index 3e47857..d5956b7 100644 --- a/src/main.rs +++ b/src/main.rs @@ -59,9 +59,7 @@ mod screen; #[cfg(feature = "gnss_ubx")] mod ubx; mod util; -mod xiao; -const BAT_UPDATE_INTERVAL: esp_hal::time::Duration = esp_hal::time::Duration::from_secs(30); const WIFI_CHANNEL: radio::Channel = 180; const WIFI_TXPOWER: i8 = 10; // dBm, 2..20 #[cfg(feature = "spat")] @@ -146,10 +144,6 @@ async fn main(spawner: Spawner) -> ! { info!("Embassy initialized!"); - // Setup battery voltage readout (GPIO6 as input and GPIO26 as enable) - let mut battery = xiao::Battery::new(peripherals.ADC1, peripherals.GPIO6, peripherals.GPIO26); - // TODO: expose via BLE as battery service! - // Setup ST7789 screen // SCL: D8/ GPIO8 (SPI_SCK) // SDA: D10/ GPIO10 (SPI_MOSI) @@ -235,13 +229,16 @@ async fn main(spawner: Spawner) -> ! { ); let short_name = alloc::format!("V2X {:02x}{:02x}", serial[1], serial[2]); // max 8 chars! - let fw_revision = env!("GIT_REVISION"); + let fw_revision = core::env!("GIT_REVISION"); let sw_revision = util::get_feature_list().join(","); - - let device_info = ble::DeviceInfo::new(&mac.to_string(), &fw_revision, &sw_revision); - spawner.spawn( - ble::run(controller, name, short_name, device_info).expect("Failed to spawn BLE task"), + ble::run( + controller, + name, + short_name, + ble::DeviceInfo::new(&mac.to_string(), fw_revision, &sw_revision), + ) + .expect("Failed to spawn BLE task"), ); } @@ -287,13 +284,6 @@ async fn main(spawner: Spawner) -> ! { #[cfg(feature = "_gnss")] info!("GNSS task started, waiting for GNSS fix..."); - // Setup main loop - let (bat_percent, bat_millivolt) = battery.read(); - log::info!("Battery: {bat_millivolt} mV, {bat_percent} %"); - #[cfg(feature = "ble")] - ble::set(ble::BleSendable::BatteryLevel(bat_percent)); - let mut last_bat_update = esp_hal::time::Instant::now(); - #[cfg(any(feature = "cam_tx", feature = "uart"))] let (mut seq_no, mac_bytes) = { // unwrap is fine since [`esp_hal::efuse::MacAddress`] is just an `[u8; 6]` @@ -636,17 +626,6 @@ async fn main(spawner: Spawner) -> ! { // maintenance state.prune(); - - let cpu_now = esp_hal::time::Instant::now(); - if last_bat_update + BAT_UPDATE_INTERVAL < cpu_now { - let (bat_percent, bat_millivolt) = battery.read(); - log::info!("Battery: {bat_millivolt} mV, {bat_percent} %"); - - #[cfg(feature = "ble")] - ble::set(ble::BleSendable::BatteryLevel(bat_percent)); - - last_bat_update = cpu_now; - } } } diff --git a/src/xiao.rs b/src/xiao.rs deleted file mode 100644 index 8e6d8be..0000000 --- a/src/xiao.rs +++ /dev/null @@ -1,94 +0,0 @@ -//! XIAO ESP32-C5 Helpers - -use esp_hal::analog::adc; -use esp_hal::gpio; -use log::debug; - -type AdcPeripheral<'a> = esp_hal::peripherals::ADC1<'a>; - -pub struct Battery<'a, IoAdc> -where - IoAdc: adc::AdcChannel + gpio::AnalogPin, -{ - // using `AdcCalCurve` here gives readings in millivolts - adc_pin: adc::AdcPin, adc::AdcCalCurve>>, - adc: adc::Adc<'a, AdcPeripheral<'a>, esp_hal::Blocking>, -} - -impl<'a, IoAdc> Battery<'a, IoAdc> -where - IoAdc: adc::AdcChannel + gpio::AnalogPin, -{ - pub fn new( - adc_periph: AdcPeripheral<'a>, - adc_pin: IoAdc, - enable_pin: IoEnable, - ) -> Self { - // enable battery voltage readout - let _ = gpio::Output::new(enable_pin, gpio::Level::High, gpio::OutputConfig::default()); - - // configure ADC - let mut adc_config = adc::AdcConfig::new(); - let adc_pin = adc_config.enable_pin_with_cal(adc_pin, adc::Attenuation::_11dB); - let adc = adc::Adc::new(adc_periph, adc_config); - - Self { adc_pin, adc } - } - - /// Reads from ADC and returns battery voltage in millivolts - pub fn read_millivolts(&mut self) -> u16 { - // average over 16 samples - let mut accu = 0u16; - for _ in 0..16 { - let val = loop { - match self.adc.read_oneshot(&mut self.adc_pin) { - Ok(value) => break value, - Err(err) => { - debug!("Failed to read from ADC: {err:?}"); - } - } - }; - - accu += val; - } - let adc_val = accu / 16; - - // convert to battery voltage: 1:2 voltage divider - adc_val * 2 - } - - /// Returns estimated battery charge state in percent - #[allow(unused)] - pub fn read_percent(&mut self) -> u8 { - Self::millivolts_to_percent(self.read_millivolts()) - } - - /// Returns estimated battery charge state in percent and millivolts - pub fn read(&mut self) -> (u8, u16) { - let millivolt = self.read_millivolts(); - let percent = Self::millivolts_to_percent(millivolt); - - (percent, millivolt) - } - - /// Converts single cell LiPo battery voltage to charge state in percent - /// - /// Note: The implementation is a drastically simplified linear estimation. - /// This is known to be insufficient for an actual state of charge, but should be fine for now. - pub fn millivolts_to_percent(millivolt: u16) -> u8 { - let (full_mv, empty_mv) = (4200, 3270); // 100% to 0% SoC - - if millivolt < empty_mv { - 0 - } else if millivolt >= full_mv { - 100 - } else { - let percent = i32::from(millivolt - empty_mv) * 100 / i32::from(full_mv - empty_mv); - - #[allow(clippy::cast_possible_truncation, clippy::cast_sign_loss)] - let result = percent as u8; - - result - } - } -}