diff --git a/.clippy.toml b/.clippy.toml index 3e969e0..a8f21f2 100644 --- a/.clippy.toml +++ b/.clippy.toml @@ -1,2 +1,2 @@ stack-size-threshold = 1024 -doc-valid-idents = ["WiFi", "GeoNetworking", "QoS", ".."] +doc-valid-idents = ["WiFi", "GeoNetworking", "QoS", "LiPo", ".."] diff --git a/Readme.md b/Readme.md index 968afd2..97d547d 100644 --- a/Readme.md +++ b/Readme.md @@ -98,8 +98,7 @@ 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,ble` ("standalone with BLE") -- `esp,spat,gnss_ubx,screen,cam_tx,ble` ("standalone with CAM") +- `esp,spat,gnss_ubx,screen,cam_tx` ("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 00deee1..5d86194 100644 --- a/build.rs +++ b/build.rs @@ -9,7 +9,6 @@ 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"); @@ -21,22 +20,16 @@ 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(git_output.stdout).unwrap() + String::from_utf8( + std::process::Command::new("git") + .args(&["describe", "--always"]) + .output() + .unwrap() + .stdout, + ) + .unwrap() ); Ok(()) diff --git a/feat-permut.sh b/feat-permut.sh index 9cebe55..c8d5646 100755 --- a/feat-permut.sh +++ b/feat-permut.sh @@ -7,16 +7,15 @@ extended=${2:-false} features_base=( - 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" + uart,cam,denm + ble,cam,denm,cam_tx + uart,ble,cam,denm + spat,gnss_ubx,screen + spat,gnss_ubx,screen,cam_tx ) features_more=( - uart,ble,cam,denm - spat,gnss_ubx,screen,cam_tx + spat,gnss_ubx,screen,ble + spat,gnss_ubx,screen,ble,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 deleted file mode 100755 index 6957199..0000000 --- a/run-standalone-ble.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/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 0bc50c2..9bfafbe 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,ble +cargo run --release -F cam_tx diff --git a/run-standalone-simple.sh b/run-standalone-no_cam.sh similarity index 100% rename from run-standalone-simple.sh rename to run-standalone-no_cam.sh diff --git a/src/ble.rs b/src/ble.rs index 8ff24c4..87d710e 100644 --- a/src/ble.rs +++ b/src/ble.rs @@ -23,6 +23,8 @@ 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")] @@ -40,7 +42,7 @@ pub enum BleSendable { } pub const DIS_SERIAL_MAX_LEN: usize = 17; -pub const DIS_FW_REVISION_MAX_LEN: usize = 20; // git-describe +pub const DIS_FW_REVISION_MAX_LEN: usize = 16; // TODO: what do we need? pub const DIS_SW_REVISION_MAX_LEN: usize = 66; // max length of get_feature_list, joined with comma pub struct DeviceInfo { @@ -86,9 +88,19 @@ 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 @@ -214,8 +226,11 @@ pub async fn run( // advertise and run update logic let _ = embassy_futures::join::join(ble_task(runner), async { loop { - match advertise(&mut peripheral, &server, &short_name).await { - Ok(conn) => { + // 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)) => { 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. @@ -230,15 +245,17 @@ pub async fn run( let _ = value_ref.replace(false); }); } - Err(e) => { + embassy_futures::select::Either::First(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 @@ -254,6 +271,24 @@ 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>, @@ -375,6 +410,12 @@ 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) => { @@ -476,6 +517,33 @@ 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 d5956b7..3e47857 100644 --- a/src/main.rs +++ b/src/main.rs @@ -59,7 +59,9 @@ 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")] @@ -144,6 +146,10 @@ 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) @@ -229,16 +235,13 @@ async fn main(spawner: Spawner) -> ! { ); let short_name = alloc::format!("V2X {:02x}{:02x}", serial[1], serial[2]); // max 8 chars! - let fw_revision = core::env!("GIT_REVISION"); + let fw_revision = 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, - ble::DeviceInfo::new(&mac.to_string(), fw_revision, &sw_revision), - ) - .expect("Failed to spawn BLE task"), + ble::run(controller, name, short_name, device_info).expect("Failed to spawn BLE task"), ); } @@ -284,6 +287,13 @@ 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]` @@ -626,6 +636,17 @@ 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 new file mode 100644 index 0000000..8e6d8be --- /dev/null +++ b/src/xiao.rs @@ -0,0 +1,94 @@ +//! 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 + } + } +}