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bldc/nrf/nrf_driver.c

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/*
Copyright 2016 - 2019 Benjamin Vedder benjamin@vedder.se
This file is part of the VESC firmware.
The VESC firmware is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
The VESC firmware is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <string.h>
#include "nrf_driver.h"
#include "rf.h"
#include "rfhelp.h"
#include "conf_general.h"
#include "app.h"
#include "buffer.h"
#include "commands.h"
#include "crc.h"
#include "packet.h"
#include "mc_interface.h"
#include "app.h"
// Settings
#define MAX_PL_LEN 25
#define RX_BUFFER_SIZE PACKET_MAX_PL_LEN
#define ALIVE_INTERVAL 100 // Send alive packets at this rate
#define NRF_RESTART_TIMEOUT 500 // Restart the NRF if nothing has been received or acked for this time
// Variables
static THD_WORKING_AREA(rx_thread_wa, 2048);
static THD_WORKING_AREA(tx_thread_wa, 256);
static mote_state mstate;
static uint8_t rx_buffer[RX_BUFFER_SIZE];
static int nosend_cnt;
static int nrf_restart_rx_time;
static int nrf_restart_tx_time;
static systime_t pairing_time_end = 0;
static volatile bool pairing_active = false;
static volatile bool tx_running = false;
static volatile bool tx_stop = true;
static volatile bool rx_running = false;
static volatile bool rx_stop = true;
static volatile bool ext_nrf = false;
static volatile int driver_paused = 0;
// This is a hack to prevent race conditions when updating the appconf
// from the nrf thread
static volatile bool from_nrf = false;
// Functions
static THD_FUNCTION(rx_thread, arg);
static THD_FUNCTION(tx_thread, arg);
static int rf_tx_wrapper(char *data, int len);
bool nrf_driver_init(void) {
if (from_nrf) {
return true;
}
ext_nrf = false;
nrf_driver_stop();
if (!rfhelp_init()) {
return false;
}
nosend_cnt = 0;
nrf_restart_rx_time = 0;
nrf_restart_tx_time = 0;
pairing_time_end = 0;
pairing_active = false;
rx_stop = false;
tx_stop = false;
chThdCreateStatic(rx_thread_wa, sizeof(rx_thread_wa), NORMALPRIO - 1, rx_thread, NULL);
chThdCreateStatic(tx_thread_wa, sizeof(tx_thread_wa), NORMALPRIO - 1, tx_thread, NULL);
rx_running = true;
tx_running = true;
return true;
}
void nrf_driver_init_ext_nrf(void) {
ext_nrf = true;
if (!tx_running) {
tx_stop = false;
chThdCreateStatic(tx_thread_wa, sizeof(tx_thread_wa), NORMALPRIO - 1, tx_thread, NULL);
}
}
void nrf_driver_stop(void) {
if (from_nrf || ext_nrf) {
return;
}
if (rx_running) {
rfhelp_stop();
}
tx_stop = true;
rx_stop = true;
while (rx_running || tx_running) {
chThdSleepMilliseconds(1);
}
}
void nrf_driver_start_pairing(int ms) {
if (ext_nrf) {
pairing_time_end = chVTGetSystemTimeX() + MS2ST(ms);
if (!pairing_active) {
pairing_active = true;
unsigned char data[5];
data[0] = COMM_EXT_NRF_ESB_SET_CH_ADDR;
data[1] = 67;
data[2] = 0xC6;
data[3] = 0xC5;
data[4] = 0x0;
commands_send_packet_nrf(data, 5);
}
} else {
if (!rx_running) {
return;
}
pairing_time_end = chVTGetSystemTimeX() + MS2ST(ms);
if (!pairing_active) {
pairing_active = true;
nrf_config conf = app_get_configuration()->app_nrf_conf;
conf.address[0] = 0xC6;
conf.address[1] = 0xC5;
conf.address[2] = 0x0;
conf.channel = 67;
conf.crc_type = NRF_CRC_1B;
conf.retries = 3;
conf.retry_delay = NRF_RETR_DELAY_1000US;
conf.send_crc_ack = true;
conf.speed = NRF_SPEED_1M;
rfhelp_update_conf(&conf);
}
}
}
static int rf_tx_wrapper(char *data, int len) {
int res = 0;
if (ext_nrf) {
uint8_t buffer[len + 1];
buffer[0] = COMM_EXT_NRF_ESB_SEND_DATA;
memcpy(buffer + 1, data, len);
commands_send_packet_nrf(buffer, len + 1);
} else {
res = rfhelp_send_data_crc(data, len);
if (res == 0) {
nrf_restart_tx_time = NRF_RESTART_TIMEOUT;
}
}
return res;
}
static THD_FUNCTION(tx_thread, arg) {
(void)arg;
chRegSetThreadName("Nrf TX");
tx_running = true;
for(;;) {
if (tx_stop) {
tx_running = false;
return;
}
nosend_cnt++;
if (nosend_cnt >= ALIVE_INTERVAL && !pairing_active) {
uint8_t pl[18];
int32_t index = 0;
static uint8_t seq_cnt = 0;
seq_cnt++;
setup_values val = mc_interface_get_setup_values();
float wh_left = 0;
pl[index++] = MOTE_PACKET_ALIVE;
buffer_append_float16(pl, mc_interface_get_battery_level(&wh_left), 1e3, &index);
buffer_append_float32(pl, mc_interface_get_speed(), 1e3, &index);
buffer_append_float32(pl, mc_interface_get_distance_abs(), 1e3, &index);
buffer_append_float16(pl, mc_interface_temp_fet_filtered(), 1e1, &index);
buffer_append_float16(pl, mc_interface_temp_motor_filtered(), 1e1, &index);
pl[index++] = seq_cnt;
buffer_append_float32(pl, wh_left, 1e3, &index);
buffer_append_float32(pl, val.wh_tot, 1e4, &index);
buffer_append_float32(pl, val.wh_charge_tot, 1e4, &index);
pl[index++] = (uint8_t)((int8_t)(mc_interface_get_tot_current_directional_filtered() /
(mc_interface_get_configuration()->l_current_max *
mc_interface_get_configuration()->l_current_max_scale) * 100.0));
if (driver_paused == 0) {
rf_tx_wrapper((char*)pl, index);
}
nosend_cnt = 0;
}
if (driver_paused > 0) {
driver_paused--;
}
if (chVTGetSystemTimeX() > pairing_time_end && pairing_active) {
pairing_active = false;
if (ext_nrf) {
const app_configuration *appconf_ptr = app_get_configuration();
unsigned char data[5];
data[0] = COMM_EXT_NRF_ESB_SET_CH_ADDR;
data[1] = appconf_ptr->app_nrf_conf.channel;
data[2] = appconf_ptr->app_nrf_conf.address[0];
data[3] = appconf_ptr->app_nrf_conf.address[1];
data[4] = appconf_ptr->app_nrf_conf.address[2];
commands_send_packet_nrf(data, 5);
} else {
nrf_config conf = app_get_configuration()->app_nrf_conf;
rfhelp_update_conf(&conf);
}
unsigned char data[2];
data[0] = COMM_NRF_START_PAIRING;
data[1] = NRF_PAIR_FAIL;
commands_send_packet(data, 2);
}
chThdSleepMilliseconds(1);
}
}
static THD_FUNCTION(rx_thread, arg) {
(void)arg;
chRegSetThreadName("Nrf RX");
rx_running = true;
for(;;) {
if (driver_paused != 0) {
chThdSleepMilliseconds(5);
continue;
}
if (rx_stop) {
rx_running = false;
return;
}
uint8_t buf[32];
int len;
int pipe;
for(;;) {
int res = rfhelp_read_rx_data_crc((char*)buf, &len, &pipe);
// If something was read
if (res >= 0) {
nrf_driver_process_packet(buf, len);
}
// Stop when there is no more data to read.
if (res <= 0) {
break;
} else {
// Sleep a bit to prevent locking the other threads.
chThdSleepMilliseconds(1);
}
}
chThdSleepMilliseconds(5);
// Restart the nrf if nothing has been received for a while
if (nrf_restart_rx_time > 0 && nrf_restart_tx_time > 0) {
nrf_restart_rx_time -= 5;
nrf_restart_tx_time -= 5;
} else {
rfhelp_power_up();
rfhelp_restart();
nrf_restart_rx_time = NRF_RESTART_TIMEOUT;
nrf_restart_tx_time = NRF_RESTART_TIMEOUT;
}
}
}
void nrf_driver_send_buffer(unsigned char *data, unsigned int len) {
uint8_t send_buffer[MAX_PL_LEN];
if (len <= (MAX_PL_LEN - 1)) {
uint32_t ind = 0;
send_buffer[ind++] = MOTE_PACKET_PROCESS_SHORT_BUFFER;
memcpy(send_buffer + ind, data, len);
ind += len;
rf_tx_wrapper((char*)send_buffer, ind);
nosend_cnt = 0;
} else {
unsigned int end_a = 0;
unsigned int len2 = len - (MAX_PL_LEN - 5);
for (unsigned int i = 0;i < len2;i += (MAX_PL_LEN - 2)) {
if (i > 255) {
break;
}
end_a = i + (MAX_PL_LEN - 2);
uint8_t send_len = (MAX_PL_LEN - 2);
send_buffer[0] = MOTE_PACKET_FILL_RX_BUFFER;
send_buffer[1] = i;
if ((i + (MAX_PL_LEN - 2)) <= len2) {
memcpy(send_buffer + 2, data + i, send_len);
} else {
send_len = len2 - i;
memcpy(send_buffer + 2, data + i, send_len);
}
rf_tx_wrapper((char*)send_buffer, send_len + 2);
nosend_cnt = 0;
}
for (unsigned int i = end_a;i < len2;i += (MAX_PL_LEN - 3)) {
uint8_t send_len = (MAX_PL_LEN - 3);
send_buffer[0] = MOTE_PACKET_FILL_RX_BUFFER_LONG;
send_buffer[1] = i >> 8;
send_buffer[2] = i & 0xFF;
if ((i + (MAX_PL_LEN - 3)) <= len2) {
memcpy(send_buffer + 3, data + i, send_len);
} else {
send_len = len2 - i;
memcpy(send_buffer + 3, data + i, send_len);
}
rf_tx_wrapper((char*)send_buffer, send_len + 3);
nosend_cnt = 0;
}
uint32_t ind = 0;
send_buffer[ind++] = MOTE_PACKET_PROCESS_RX_BUFFER;
send_buffer[ind++] = len >> 8;
send_buffer[ind++] = len & 0xFF;
unsigned short crc = crc16(data, len);
send_buffer[ind++] = (uint8_t)(crc >> 8);
send_buffer[ind++] = (uint8_t)(crc & 0xFF);
memcpy(send_buffer + 5, data + len2, len - len2);
ind += len - len2;
rf_tx_wrapper((char*)send_buffer, ind);
nosend_cnt = 0;
}
}
void nrf_driver_process_packet(unsigned char *buf, unsigned char len) {
MOTE_PACKET packet = buf[0];
chuck_data cdata;
int32_t ind = 0;
int buttons;
nrf_restart_rx_time = NRF_RESTART_TIMEOUT;
switch (packet) {
case MOTE_PACKET_BATT_LEVEL:
// TODO!
break;
case MOTE_PACKET_BUTTONS:
ind = 1;
mstate.js_x = buf[ind++];
mstate.js_y = buf[ind++];
buttons = buf[ind++];
mstate.bt_c = buttons & (1 << 0);
mstate.bt_z = buttons & (1 << 1);
mstate.bt_push = buttons & (1 << 2);
mstate.rev_has_state = buttons & (1 << 3);
mstate.is_rev = buttons & (1 << 4);
mstate.vbat = (float)buffer_get_int16(buf, &ind) / 1000.0;
cdata.js_x = 255 - mstate.js_x;
cdata.js_y = mstate.js_y;
cdata.bt_c = mstate.bt_c;
cdata.bt_z = mstate.bt_z;
cdata.rev_has_state = mstate.rev_has_state;
cdata.is_rev = mstate.is_rev;
app_nunchuk_update_output(&cdata);
break;
case MOTE_PACKET_FILL_RX_BUFFER:
memcpy(rx_buffer + buf[1], buf + 2, len - 2);
break;
case MOTE_PACKET_FILL_RX_BUFFER_LONG: {
int rxbuf_ind = (unsigned int)buf[1] << 8;
rxbuf_ind |= buf[2];
if (rxbuf_ind < RX_BUFFER_SIZE) {
memcpy(rx_buffer + rxbuf_ind, buf + 3, len - 3);
}
}
break;
case MOTE_PACKET_PROCESS_RX_BUFFER: {
ind = 1;
int rxbuf_len = (unsigned int)buf[ind++] << 8;
rxbuf_len |= (unsigned int)buf[ind++];
if (rxbuf_len > RX_BUFFER_SIZE) {
break;
}
uint8_t crc_high = buf[ind++];
uint8_t crc_low = buf[ind++];
memcpy(rx_buffer + rxbuf_len - (len - ind), buf + ind, len - ind);
if (crc16(rx_buffer, rxbuf_len)
== ((unsigned short) crc_high << 8
| (unsigned short) crc_low)) {
// Wait a bit in case retries are still made
chThdSleepMilliseconds(2);
from_nrf = true;
commands_process_packet(rx_buffer, rxbuf_len, nrf_driver_send_buffer);
from_nrf = false;
}
}
break;
case MOTE_PACKET_PROCESS_SHORT_BUFFER:
// Wait a bit in case retries are still made
chThdSleepMilliseconds(2);
from_nrf = true;
commands_process_packet(buf + 1, len - 1, nrf_driver_send_buffer);
from_nrf = false;
break;
case MOTE_PACKET_PAIRING_INFO: {
ind = 1;
if (!pairing_active) {
break;
}
pairing_active = false;
app_configuration appconf = *app_get_configuration();
appconf.app_nrf_conf.address[0] = buf[ind++];
appconf.app_nrf_conf.address[1] = buf[ind++];
appconf.app_nrf_conf.address[2] = buf[ind++];
appconf.app_nrf_conf.channel = buf[ind++];
appconf.app_nrf_conf.crc_type = NRF_CRC_1B;
appconf.app_nrf_conf.retries = 3;
appconf.app_nrf_conf.retry_delay = NRF_RETR_DELAY_1000US;
appconf.app_nrf_conf.send_crc_ack = true;
appconf.app_nrf_conf.speed = NRF_SPEED_1M;
if (ext_nrf) {
unsigned char data[5];
data[0] = COMM_EXT_NRF_ESB_SET_CH_ADDR;
data[1] = appconf.app_nrf_conf.channel;
data[2] = appconf.app_nrf_conf.address[0];
data[3] = appconf.app_nrf_conf.address[1];
data[4] = appconf.app_nrf_conf.address[2];
commands_send_packet_nrf(data, 5);
}
appconf.app_chuk_conf.ctrl_type = CHUK_CTRL_TYPE_CURRENT;
from_nrf = true;
conf_general_store_app_configuration(&appconf);
app_set_configuration(&appconf);
commands_send_appconf(COMM_GET_APPCONF, &appconf);
unsigned char data[2];
data[0] = COMM_NRF_START_PAIRING;
data[1] = NRF_PAIR_OK;
commands_send_packet(data, 2);
from_nrf = false;
} break;
default:
break;
}
}
bool nrf_driver_is_pairing(void) {
return pairing_active;
}
bool nrf_driver_ext_nrf_running(void) {
return ext_nrf;
}
void nrf_driver_pause(int ms) {
driver_paused = ms;
}
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