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BLE joystick changes #183

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dad94b8
BLE joystick changes
dlktdr Oct 26, 2024
74ac3bf
Update HeadTracker.pro
dlktdr Oct 26, 2024
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20 changes: 13 additions & 7 deletions firmware/src/arduino_nano_33_ble.overlay
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Original file line number Diff line number Diff line change
Expand Up @@ -25,9 +25,10 @@
};

/* Flash Layout
* Bootloader 0x00000 - 0x10000 (Size 0x10000 65536 Bytes)
* Code 0x10000 - 0xFC000 (Size 0xEC000 966656 Bytes)
* NVM Data 0xFC000 - 0x100000 (Size 0x4000 16384 Bytes)
* Bootloader 0x00000 - 0x10000 (Size 0x10000 65536 Bytes)
* Code 0x10000 - 0xFB000 (Size 0xEB000 962560 Bytes)
* BTPersistance 0xFB000 - 0xFD000 (Size 0x2000 8192 Bytes)
* HTData 0xFD000 - 0x100000 (Size 0x3000 12288 Bytes)
*/

/delete-node/ &storage_partition;
Expand All @@ -40,13 +41,18 @@

code_partition: partition@10000 {
label = "code";
reg = <0x10000 0xEC000>;
reg = <0x10000 0xEB000>;
read-only;
};

storage_partition: partition@FC000 {
label = "storagept";
reg = <0xFC000 0x4000>;
storage_partition: partition@FB000 {
label = "storagept";
reg = <0xFB000 0x3000>;
};

ht_data_partition: partition@FD000 {
label = "htdatapt";
reg = <0xFE000 0x2000>;
};
};
};
Expand Down
80 changes: 40 additions & 40 deletions firmware/src/src/basetrackersettings.h
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Original file line number Diff line number Diff line change
Expand Up @@ -751,9 +751,9 @@ class BaseTrackerSettings {
inline const bool& getCh5Arm() {return ch5arm;}
void setCh5Arm(bool val=false) { ch5arm = val; }

// Bluetooth Mode (0-Off, 1- Head, 2-Receive, 3-Scanner, BT_HID_Joystick)
inline const uint8_t& getBtMode() {return btmode;}
bool setBtMode(uint8_t val=0) {
// Bluetooth Mode (-1=Uninit, 0-Disable, 1-Head, 2-Receive, 3-Scanner, 4-Gamepad)
inline const int8_t& getBtMode() {return btmode;}
bool setBtMode(int8_t val=0) {
if(val >= 0 && val <= 4) {
btmode = val;
return true;
Expand Down Expand Up @@ -852,58 +852,58 @@ class BaseTrackerSettings {
btpairedaddress[17] = '\0';
}

// Raw Sensor Mag X
// Raw Sensor Mag X(uT)
void setDataMagX(float val) { magx = val; }

// Raw Sensor Mag Y
// Raw Sensor Mag Y(uT)
void setDataMagY(float val) { magy = val; }

// Raw Sensor Mag Z
// Raw Sensor Mag Z(uT)
void setDataMagZ(float val) { magz = val; }

// Raw Sensor Gyro X
// Raw Sensor Gyro X(dps)
void setDataGyroX(float val) { gyrox = val; }

// Raw Sensor Gyro Y
// Raw Sensor Gyro Y(dps)
void setDataGyroY(float val) { gyroy = val; }

// Raw Sensor Gyro Z
// Raw Sensor Gyro Z(dps)
void setDataGyroZ(float val) { gyroz = val; }

// Raw Sensor Accel X
// Raw Sensor Accel X(g)
void setDataAccX(float val) { accx = val; }

// Raw Sensor Accel Y
// Raw Sensor Accel Y(g)
void setDataAccY(float val) { accy = val; }

// Raw Sensor Accel Z
// Raw Sensor Accel Z(g)
void setDataAccZ(float val) { accz = val; }

// Calibrated Mag X
// Calibrated Mag X(uT)
void setDataOff_MagX(float val) { off_magx = val; }

// Calibrated Mag Y
// Calibrated Mag Y(uT)
void setDataOff_MagY(float val) { off_magy = val; }

// Calibrated Mag Z
// Calibrated Mag Z(uT)
void setDataOff_MagZ(float val) { off_magz = val; }

// Calibrated Gyro X
// Calibrated Gyro X(dps)
void setDataOff_GyroX(float val) { off_gyrox = val; }

// Calibrated Gyro Y
// Calibrated Gyro Y(dps)
void setDataOff_GyroY(float val) { off_gyroy = val; }

// Calibrated Gyro Z
// Calibrated Gyro Z(dps)
void setDataOff_GyroZ(float val) { off_gyroz = val; }

// Calibrated Accel X
// Calibrated Accel X(g)
void setDataOff_AccX(float val) { off_accx = val; }

// Calibrated Accel Y
// Calibrated Accel Y(g)
void setDataOff_AccY(float val) { off_accy = val; }

// Calibrated Accel Z
// Calibrated Accel Z(g)
void setDataOff_AccZ(float val) { off_accz = val; }

// Board Tilt Output (us)
Expand Down Expand Up @@ -1552,7 +1552,7 @@ class BaseTrackerSettings {
bool sboutinv = true; // SBUS Transmit Inverted
bool crsftxinv = false; // Invert CRSF output
bool ch5arm = false; // Set channel 5 to 2000us
uint8_t btmode = 0; // Bluetooth Mode (0-Off, 1- Head, 2-Receive, 3-Scanner, BT_HID_Joystick)
int8_t btmode = 0; // Bluetooth Mode (-1=Uninit, 0-Disable, 1-Head, 2-Receive, 3-Scanner, 4-Gamepad)
bool rstonwave = false; // Reset on Proximity Sense
bool butlngps = false; // Long Press on the Button to Enable/Disable Tilt Roll and Pan
bool rstontlt = false; // Reset Center on a Head Tilt
Expand All @@ -1570,24 +1570,24 @@ class BaseTrackerSettings {
char btpairedaddress[19]; // Bluetooth Remote address to Pair With

// Real Time Data
float magx = 0; // Raw Sensor Mag X
float magy = 0; // Raw Sensor Mag Y
float magz = 0; // Raw Sensor Mag Z
float gyrox = 0; // Raw Sensor Gyro X
float gyroy = 0; // Raw Sensor Gyro Y
float gyroz = 0; // Raw Sensor Gyro Z
float accx = 0; // Raw Sensor Accel X
float accy = 0; // Raw Sensor Accel Y
float accz = 0; // Raw Sensor Accel Z
float off_magx = 0; // Calibrated Mag X
float off_magy = 0; // Calibrated Mag Y
float off_magz = 0; // Calibrated Mag Z
float off_gyrox = 0; // Calibrated Gyro X
float off_gyroy = 0; // Calibrated Gyro Y
float off_gyroz = 0; // Calibrated Gyro Z
float off_accx = 0; // Calibrated Accel X
float off_accy = 0; // Calibrated Accel Y
float off_accz = 0; // Calibrated Accel Z
float magx = 0; // Raw Sensor Mag X(uT)
float magy = 0; // Raw Sensor Mag Y(uT)
float magz = 0; // Raw Sensor Mag Z(uT)
float gyrox = 0; // Raw Sensor Gyro X(dps)
float gyroy = 0; // Raw Sensor Gyro Y(dps)
float gyroz = 0; // Raw Sensor Gyro Z(dps)
float accx = 0; // Raw Sensor Accel X(g)
float accy = 0; // Raw Sensor Accel Y(g)
float accz = 0; // Raw Sensor Accel Z(g)
float off_magx = 0; // Calibrated Mag X(uT)
float off_magy = 0; // Calibrated Mag Y(uT)
float off_magz = 0; // Calibrated Mag Z(uT)
float off_gyrox = 0; // Calibrated Gyro X(dps)
float off_gyroy = 0; // Calibrated Gyro Y(dps)
float off_gyroz = 0; // Calibrated Gyro Z(dps)
float off_accx = 0; // Calibrated Accel X(g)
float off_accy = 0; // Calibrated Accel Y(g)
float off_accz = 0; // Calibrated Accel Z(g)
uint16_t tiltout = 0; // Board Tilt Output (us)
uint16_t rollout = 0; // Board Roll Output (us)
uint16_t panout = 0; // Board Pan Output (us)
Expand Down
66 changes: 46 additions & 20 deletions firmware/src/src/ble.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
#include <zephyr/bluetooth/conn.h>
#include <zephyr/bluetooth/uuid.h>
#include <zephyr/logging/log.h>
#include <zephyr/settings/settings.h>
#include <zephyr/kernel.h>

#include "io.h"
Expand All @@ -35,7 +36,7 @@ LOG_MODULE_REGISTER(ble);
// Globals
volatile bool bleconnected = false;
volatile bool btscanonly = false;
btmodet curmode = BTDISABLE;
btmodet curmode = BTNOTINIT;

// UUID's
struct bt_uuid_16 ccc = BT_UUID_INIT_16(0x2902);
Expand All @@ -53,22 +54,30 @@ struct k_poll_event btRunEvents[1] = {

void bt_ready(int error)
{
if (IS_ENABLED(CONFIG_SETTINGS)) {
LOG_INF("Loading Presistent Settings");
settings_load_subtree("bt");
}
k_poll_signal_raise(&btThreadRunSignal, 1);
LOG_INF("Ready");
}

void bt_init()
{
LOG_INF("Initializing");
int err = bt_enable(bt_ready);
if (err) {
LOG_ERR("Bluetooth init failed (err %d)", err);
LOG_ERR("Initialization failed (err %d)", err);
return;
}
LOG_INF("Bluetooth initialized");

}

void bt_Thread()
{
int64_t usduration = 0;
uint64_t usduration = 0;
int bt_inverval = 0;
uint64_t btPeriod = BT_PERIOD;
while (1) {
k_poll(btRunEvents, 1, K_FOREVER);

Expand All @@ -77,12 +86,15 @@ void bt_Thread()
continue;
}

usduration = micros64();

// Check if bluetooth mode has changed
if(curmode != trkset.getBtMode())
if(curmode != trkset.getBtMode()) {
btPeriod = BT_PERIOD;
BTSetMode((btmodet)trkset.getBtMode());
}

usduration = micros64();

int rv = 0;
switch (curmode) {
case BTPARAHEAD:
BTHeadExecute(); // Peripheral BLE device
Expand All @@ -93,19 +105,28 @@ void bt_Thread()
case BTSCANONLY:
break;
case BTJOYSTICK:
BTJoystickExecute();
rv = BTJoystickExecute();
if(rv != bt_inverval) {
bt_inverval = rv;
btPeriod = bt_inverval * 1250;
if(btPeriod < 7500) {
LOG_ERR("Joystick Interval Too Short, Setting to 7500");
btPeriod = 7500;
}
LOG_INF("Joystick Interval Set to %d, Period %llu", bt_inverval, btPeriod);
}
break;
default:
break;
}

// Adjust sleep for a more accurate period
usduration = micros64() - usduration;
if (BT_PERIOD - usduration <
BT_PERIOD * 0.7) { // Took a long time. Will crash if sleep is too short
k_usleep(BT_PERIOD);
if (usduration > btPeriod) { // Took a long time. Will crash if sleep is too short
LOG_ERR("Missed deadline (%llu) period(%llu)", usduration, btPeriod);
k_usleep(btPeriod);
} else {
k_usleep(BT_PERIOD - usduration);
k_usleep(btPeriod - usduration);
}
}
}
Expand All @@ -117,18 +138,24 @@ void BTSetMode(btmodet mode)

k_sem_give(&btPauseSem);

// Clear persistent pairing data if the user changed the mode
// otherwise if mode = BTNOTINIT, then we are just starting up
if(IS_ENABLED(CONFIG_SETTINGS) && curmode != BTNOTINIT) {
LOG_INF("Clearing Pairing Data");
bt_unpair(BT_ID_DEFAULT, NULL);
}

// Shut Down
btscanonly = false;
switch (curmode) {
case BTPARAHEAD:
BTHeadStop();
break;
case BTPARARMT:
BTRmtStop();
btscanonly = false;
break;
case BTSCANONLY:
BTRmtStop();
btscanonly = false;
break;
case BTJOYSTICK:
BTJoystickStop();
Expand Down Expand Up @@ -159,10 +186,9 @@ void BTSetMode(btmodet mode)
default:
break;
}
curmode = mode;

k_sem_take(&btPauseSem, K_NO_WAIT);

curmode = mode;
}

btmodet BTGetMode() { return curmode; }
Expand Down Expand Up @@ -239,19 +265,19 @@ int8_t BTGetRSSI()

bool leparamrequested(struct bt_conn *conn, struct bt_le_conn_param *param)
{
LOG_INF("Bluetooth Params Request. IntMax:%d IntMin:%d Lat:%d Timeout:%d", param->interval_max,
LOG_INF("Params Requested. IntMax:%d IntMin:%d Lat:%d Timeout:%d", param->interval_max,
param->interval_min, param->latency, param->timeout);
return true;
}

void leparamupdated(struct bt_conn *conn, uint16_t interval, uint16_t latency, uint16_t timeout)
{
LOG_INF("Bluetooth Params Updated. Int:%d Lat:%d Timeout:%d", interval, latency, timeout);
LOG_INF("Params Updated. Int:%d Lat:%d Timeout:%d", interval, latency, timeout);
}

void securitychanged(struct bt_conn *conn, bt_security_t level, enum bt_security_err err)
{
LOG_INF("Bluetooth Security Changed. Lvl:%d Err:%d", level, err);
LOG_INF("Security Changed. Lvl:%d Err:%d", level, err);
}

const char *printPhy(int phy)
Expand All @@ -271,7 +297,7 @@ const char *printPhy(int phy)

void lephyupdated(struct bt_conn *conn, struct bt_conn_le_phy_info *param)
{
LOG_INF("Bluetooth PHY Updated. RxPHY:%d TxPHY:%d", param->rx_phy, param->tx_phy);
LOG_INF("PHY Updated. RxPHY:%s TxPHY:%s", printPhy(param->rx_phy), printPhy(param->tx_phy));
}

#else
Expand Down
3 changes: 3 additions & 0 deletions firmware/src/src/boards/features.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,9 @@ void getBoardFeatures(DynamicJsonDocument &json)
#endif
#if defined(CONFIG_BT)
array.add("BT");
#if defined(CONFIG_BT_SETTINGS)
array.add("BTJOYSTICK");
#endif
#endif
#if defined(CONFIG_WIFI)
array.add("WIFI");
Expand Down
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