Merge pull request #22 from bcmi-labs/speedUpBLE

Speed up dfu via BLE
arduino · Jun 17, 2021 · 1073687 · 1073687
2 parents e91fbdf + 962c613
commit 1073687
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Showing 13 changed files with 104 additions and 148 deletions.
diff --git a/Arduino_BHY2/src/Arduino_BHY2.cpp b/Arduino_BHY2/src/Arduino_BHY2.cpp
@@ -10,8 +10,6 @@
 #include "mbed.h"
 #include "Nicla_System.h"
 
-mbed::DigitalIn eslovInt(p19, PullUp);
-
 Arduino_BHY2::Arduino_BHY2() :
   _debug(NULL),
   _pingTime(0),
@@ -39,10 +37,18 @@ void Arduino_BHY2::pingI2C() {
 void Arduino_BHY2::checkEslovInt() {
   if (millis() - _startTime < _timeout) {
     //Timeout didn't expire yet
-    if (!eslovInt) {
+    if (!digitalRead(p19)) {
+      //Wait for MKR to clear Eslov Int pin
+      while(!digitalRead(p19)) {}
+      if (_debug) _debug->println("MKR released Eslov Int pin");
+
+      //Change mode for Eslov Int pin
+      //Eslov Int Pin will be used to synchronize Dfu via Eslov
+      pinMode(p19, OUTPUT);
+
+      eslovHandler.begin();
       //Eslov has been activated
       _eslovActive = true;
-      eslovHandler.begin();
     }
   } else {
     //Timeout expired
@@ -57,6 +63,7 @@ void Arduino_BHY2::setLDOTimeout(int time) {
 
 bool Arduino_BHY2::begin()
 {
+  pinMode(p19, INPUT);
   nicla::begin();
   _startTime = millis();
   nicla::enable3V3LDO();

diff --git a/Arduino_BHY2/src/BLEHandler.cpp b/Arduino_BHY2/src/BLEHandler.cpp
@@ -4,10 +4,8 @@
 
 // DFU channels
 BLEService dfuService("34c2e3b8-34aa-11eb-adc1-0242ac120002");
-auto dfuAckUuid = "34c2e3be-34aa-11eb-adc1-0242ac120002";
 auto dfuInternalUuid = "34c2e3b9-34aa-11eb-adc1-0242ac120002";
 auto dfuExternalUuid = "34c2e3ba-34aa-11eb-adc1-0242ac120002";
-BLECharacteristic dfuAckCharacteristic(dfuAckUuid, (BLERead | BLENotify), 1);
 BLECharacteristic dfuInternalCharacteristic(dfuInternalUuid, BLEWrite, sizeof(DFUPacket), true);
 BLECharacteristic dfuExternalCharacteristic(dfuExternalUuid, BLEWrite, sizeof(DFUPacket), true);
 
@@ -28,16 +26,6 @@ BLEHandler::~BLEHandler()
 {
 }
 
-void BLEHandler::writeDFUAcknowledgment()
-{
-  uint8_t ack = dfuManager.acknowledgment();
-  dfuAckCharacteristic.writeValue(ack);
-
-  if (_lastDfuPack && ack == 0x0F) {
-    dfuManager.closeDfu();
-  }
-}
-
 // DFU channel
 void BLEHandler::processDFUPacket(DFUType dfuType, BLECharacteristic characteristic) 
 {
@@ -52,9 +40,8 @@ void BLEHandler::processDFUPacket(DFUType dfuType, BLECharacteristic characteris
   if (data[0]) {
     //Last packet
     _lastDfuPack = true;
+    dfuManager.closeDfu();
   }
-
-  writeDFUAcknowledgment();
 }
 
 void BLEHandler::receivedInternalDFU(BLEDevice central, BLECharacteristic characteristic)
@@ -97,7 +84,6 @@ bool BLEHandler::begin()
   BLE.setAdvertisedService(dfuService);
   dfuService.addCharacteristic(dfuInternalCharacteristic);
   dfuService.addCharacteristic(dfuExternalCharacteristic);
-  dfuService.addCharacteristic(dfuAckCharacteristic);
   BLE.addService(dfuService);
   dfuInternalCharacteristic.setEventHandler(BLEWritten, receivedInternalDFU);
   dfuExternalCharacteristic.setEventHandler(BLEWritten, receivedExternalDFU);

diff --git a/Arduino_BHY2/src/BLEHandler.h b/Arduino_BHY2/src/BLEHandler.h
@@ -25,7 +25,6 @@ class BLEHandler {
 
   bool _lastDfuPack;
 
-  void writeDFUAcknowledgment();
   void processDFUPacket(DFUType dfuType, BLECharacteristic characteristic);
 
   static void receivedInternalDFU(BLEDevice central, BLECharacteristic characteristic);

diff --git a/Arduino_BHY2/src/DFUManager.cpp b/Arduino_BHY2/src/DFUManager.cpp
@@ -43,16 +43,23 @@ bool DFUManager::begin()
 
 void DFUManager::processPacket(DFUSource source, DFUType dfuType, const uint8_t* data)
 {
-  DFUPacket* packet = (DFUPacket*)data;
   _transferPending = true;
   _dfuSource = source;
 
-  if (source == bleDFU && eslovHandler.eslovActive) {
-    eslovHandler.eslovActive = false;
-    eslovHandler.end();
-  } else if (source == eslovDFU && bleHandler.bleActive) {
-    bleHandler.bleActive = false;
-    bleHandler.end();
+  DFUPacket* packet = (DFUPacket*)data;
+
+  if (source == bleDFU) {
+    //If Eslov is still active, turn it off
+    if (eslovHandler.eslovActive) {
+      eslovHandler.eslovActive = false;
+      eslovHandler.end();
+    }
+  } else {
+    //If BLE is still active, turn it off
+    if (bleHandler.bleActive) {
+      bleHandler.bleActive = false;
+      bleHandler.end();
+    }
   }
 
   if (_debug) {
@@ -90,10 +97,8 @@ void DFUManager::processPacket(DFUSource source, DFUType dfuType, const uint8_t*
       _debug->print("Last packet received. Remaining: ");
       _debug->println(packet->remaining);
     }
-    if (_acknowledgment == DFUAck) {
-      fclose(_target);
-      _target = NULL;
-    }
+    fclose(_target);
+    _target = NULL;
   }
 }
 

diff --git a/Arduino_BHY2/src/DFUManager.h b/Arduino_BHY2/src/DFUManager.h
@@ -28,7 +28,7 @@ struct __attribute__((packed)) DFUPacket {
     uint16_t index: 15;
     uint16_t remaining: 15;
   };
-  uint8_t data[192];
+  uint8_t data[232];
 };
 
 class DFUManager {
@@ -45,6 +45,7 @@ class DFUManager {
 
   uint8_t acknowledgment();
 
+
 private:
   static SPIFBlockDevice _bd;
   static mbed::LittleFileSystem _fs;

diff --git a/Arduino_BHY2/src/EslovHandler.cpp b/Arduino_BHY2/src/EslovHandler.cpp
@@ -18,10 +18,12 @@ EslovHandler::~EslovHandler()
 
 bool EslovHandler::begin()
 {
+  eslovBusy();
   Wire.begin(ESLOV_DEFAULT_ADDRESS);
   eslovActive = true;
   Wire.onReceive(EslovHandler::onReceive); 
   Wire.onRequest(EslovHandler::onRequest);
+  eslovAvailable();
   return true;
 }
 
@@ -35,6 +37,18 @@ void EslovHandler::onRequest()
   eslovHandler.requestEvent();
 }
 
+void EslovHandler::eslovBusy()
+{
+  //Set Eslov INT pin
+  digitalWrite(p19, LOW);
+}
+
+void EslovHandler::eslovAvailable()
+{
+  //Release Eslov INT pin
+  digitalWrite(p19, HIGH);
+}
+
 void EslovHandler::requestEvent()
 {
   if (_debug) {
@@ -56,16 +70,6 @@ void EslovHandler::requestEvent()
       _debug->println(data.size);
     }
 
-  } else if (_state == ESLOV_DFU_ACK_STATE) {
-    uint8_t ack = dfuManager.acknowledgment();
-    if (_lastDfuPack && ack == 0x0F) {
-      dfuManager.closeDfu();
-    }
-    if (_debug) {
-      _debug->print("Ack: ");
-      _debug->println(ack);
-    }
-    Wire.write(ack);
   } else if (_state == ESLOV_SENSOR_ACK_STATE) {
     uint8_t ack = sensortec.acknowledgment();
     if (_debug) {
@@ -90,35 +94,40 @@ void EslovHandler::receiveEvent(int length)
 
   while(Wire.available())
   {
+    eslovBusy();
     _rxBuffer[_rxIndex++] = Wire.read(); 
 
     // Check if packet is complete depending on its opcode
     if (_rxBuffer[0] == ESLOV_DFU_EXTERNAL_OPCODE) {
       if (_rxIndex == sizeof(DFUPacket) + 1) {
         dfuManager.processPacket(eslovDFU, DFU_EXTERNAL, &_rxBuffer[1]);
 
+        dump();
+
+        _rxIndex = 0;
+
+        //Last packet
         if (_rxBuffer[1]) {
-          _lastDfuPack = true;
+          dfuManager.closeDfu();
         }
 
-        _state = ESLOV_DFU_ACK_STATE;
-
-        dump();
-        _rxIndex = 0;
+        eslovAvailable();
       }
 
     } else if (_rxBuffer[0] == ESLOV_DFU_INTERNAL_OPCODE) {
       if (_rxIndex == sizeof(DFUPacket) + 1) {
         dfuManager.processPacket(eslovDFU, DFU_INTERNAL, &_rxBuffer[1]);
 
+        dump();
+
+        _rxIndex = 0;
+
+        //Last packet
         if (_rxBuffer[1]) {
-          _lastDfuPack = true;
+          dfuManager.closeDfu();
         }
 
-        _state = ESLOV_DFU_ACK_STATE;
-
-        dump();
-        _rxIndex = 0;
+        eslovAvailable();
       }
 
     } else if (_rxBuffer[0] == ESLOV_SENSOR_CONFIG_OPCODE) {

diff --git a/Arduino_BHY2/src/EslovHandler.h b/Arduino_BHY2/src/EslovHandler.h
@@ -38,6 +38,9 @@ class EslovHandler {
   void receiveEvent(int length);
   void requestEvent();
 
+  void eslovBusy();
+  void eslovAvailable();
+
   int _rxIndex;
   uint8_t _rxBuffer[ESLOV_MAX_LENGTH];
 

diff --git a/Arduino_BHY2_HOST/src/DFUTypes.h b/Arduino_BHY2_HOST/src/DFUTypes.h
@@ -9,7 +9,7 @@ struct __attribute__((packed)) DFUPacket {
     uint16_t index: 15;
     uint16_t remaining: 15;
   };
-  uint8_t data[192];
+  uint8_t data[232];
 };
 
 #endif