piotr/edgetx-gx12
1
0
Fork 0
Code Issues 2 Pull Requests Actions Packages Projects Releases Wiki Activity

Bluetooth fixes (reconnection issues, telemetry mode not working) (#5186)

Browse Source 
Bluetooth fixes (reconnection issues, telemetry mode not working)
This commit is contained in:
Bertrand Songis
2017-09-05 18:21:29 +02:00
committed by GitHub
parent 5b5c88fb4e
commit bd6bd4deeb
12 changed files with 239 additions and 128 deletions
Download Patch File Download Diff File Expand all files Collapse all files
radio/src/bluetooth.cpp
+153 -94
View File
@@ -37,17 +37,21 @@ extern Fifo<uint8_t, 64> btTxFifo;
extern Fifo<uint8_t, 64> btRxFifo;
volatile uint8_t bluetoothState;
char bluetoothFriend[LEN_BLUETOOTH_FRIEND+1];
char bluetoothLocalAddr[LEN_BLUETOOTH_ADDR+1];
char bluetoothDistantAddr[LEN_BLUETOOTH_ADDR+1];
uint8_t bluetoothBuffer[BLUETOOTH_LINE_LENGTH+1];
uint8_t bluetoothBufferIndex = 0;
tmr10ms_t bluetoothWakeupTime = 0;
void bluetoothWrite(const uint8_t * data, uint8_t length)
{
TRACE_NOCRLF("BT>");
for (int i=0; i<length; i++) {
TRACE_NOCRLF("%02X ", data[i]);
TRACE_NOCRLF(" %02X", data[i]);
btTxFifo.push(data[i]);
}
TRACE_NOCRLF("\r\n");
bluetoothWriteWakeup();
}
void bluetoothWriteString(const char * str)
@@ -56,9 +60,10 @@ void bluetoothWriteString(const char * str)
while (*str != 0) {
btTxFifo.push(*str++);
}
bluetoothWriteWakeup();
}
char * bluetoothReadline()
char * bluetoothReadline(bool error_reset)
{
uint8_t byte;
@@ -71,12 +76,30 @@ char * bluetoothReadline()
}
TRACE_NOCRLF("%02X ", byte);
if (byte == '\n') {
bluetoothBuffer[bluetoothBufferIndex] = '\0';
bluetoothBufferIndex = 0;
TRACE("BT< %s", bluetoothBuffer);
return (char *)bluetoothBuffer;
if (bluetoothBufferIndex > 2 && bluetoothBuffer[bluetoothBufferIndex-1] == '\r') {
bluetoothBuffer[bluetoothBufferIndex-1] = '\0';
bluetoothBufferIndex = 0;
TRACE("BT< %s", bluetoothBuffer);
if (error_reset && !strcmp((char *)bluetoothBuffer, "ERROR")) {
TRACE("BT Reset...");
bluetoothDone();
bluetoothState = BLUETOOTH_STATE_OFF;
bluetoothWakeupTime = get_tmr10ms() + 100; /* 1s */
return NULL;
}
else {
if (!strncmp((char *)bluetoothBuffer, "Central:", 8))
strcpy(bluetoothLocalAddr, (char *)bluetoothBuffer+8);
else if (!strncmp((char *)bluetoothBuffer, "Peripheral:", 11))
strcpy(bluetoothLocalAddr, (char *)bluetoothBuffer+11);
return (char *)bluetoothBuffer;
}
}
else {
bluetoothBufferIndex = 0;
}
}
else if (byte != '\r') {
else {
bluetoothBuffer[bluetoothBufferIndex++] = byte;
bluetoothBufferIndex &= (BLUETOOTH_LINE_LENGTH-1);
}
@@ -96,6 +119,22 @@ void bluetoothProcessTrainerFrame(const uint8_t * bluetoothBuffer)
ppmInputValidityTimer = PPM_IN_VALID_TIMEOUT;
}
void bluetoothAppendTrainerByte(uint8_t data)
{
if (bluetoothBufferIndex < BLUETOOTH_LINE_LENGTH) {
bluetoothBuffer[bluetoothBufferIndex++] = data;
// we check for "DisConnected", but the first byte could be altered (if received in state STATE_DATA_XOR)
if (data == '\n') {
if (!strncmp((char *)&bluetoothBuffer[bluetoothBufferIndex-13], "isConnected", 11)) {
TRACE("BT< DisConnected");
bluetoothState = BLUETOOTH_STATE_DISCONNECTED;
bluetoothBufferIndex = 0;
bluetoothWakeupTime += 200; // 1s
}
}
}
}
void bluetoothProcessTrainerByte(uint8_t data)
{
static uint8_t dataState = STATE_DATA_IDLE;
@@ -107,13 +146,7 @@ void bluetoothProcessTrainerByte(uint8_t data)
bluetoothBufferIndex = 0;
}
else {
if (bluetoothBufferIndex < BLUETOOTH_PACKET_SIZE) {
bluetoothBuffer[bluetoothBufferIndex++] = data;
}
if (data == '\n' && !strncmp((char *)bluetoothBuffer, "DisConnected", 12)) {
bluetoothState = BLUETOOTH_STATE_IDLE;
bluetoothBufferIndex = 0;
}
bluetoothAppendTrainerByte(data);
}
break;
@@ -125,15 +158,13 @@ void bluetoothProcessTrainerByte(uint8_t data)
dataState = STATE_DATA_IN_FRAME ;
bluetoothBufferIndex = 0;
}
else if (bluetoothBufferIndex < BLUETOOTH_PACKET_SIZE) {
bluetoothBuffer[bluetoothBufferIndex++] = data;
else {
bluetoothAppendTrainerByte(data);
}
break;
case STATE_DATA_XOR:
if (telemetryRxBufferCount < BLUETOOTH_PACKET_SIZE) {
bluetoothBuffer[bluetoothBufferIndex++] = data ^ STUFF_MASK;
}
bluetoothAppendTrainerByte(data ^ STUFF_MASK);
dataState = STATE_DATA_IN_FRAME;
break;
@@ -142,6 +173,9 @@ void bluetoothProcessTrainerByte(uint8_t data)
bluetoothBufferIndex = 0;
dataState = STATE_DATA_START;
}
else {
bluetoothAppendTrainerByte(data);
}
break;
}
@@ -200,7 +234,7 @@ void bluetoothSendTrainer()
void bluetoothForwardTelemetry(uint8_t data)
{
bluetoothBuffer[bluetoothBufferIndex++] = data;
if (bluetoothBufferIndex == BLUETOOTH_LINE_LENGTH || (data == START_STOP && bluetoothBufferIndex > 2*FRSKY_SPORT_PACKET_SIZE)) {
if (data == START_STOP && bluetoothBufferIndex >= 2*FRSKY_SPORT_PACKET_SIZE) {
bluetoothWrite(bluetoothBuffer, bluetoothBufferIndex);
bluetoothBufferIndex = 0;
}
@@ -272,14 +306,15 @@ void bluetoothWakeup(void)
bluetoothState = BLUETOOTH_INIT;
}
}
} else if (IS_BLUETOOTH_TRAINER()){
}
else if (IS_BLUETOOTH_TRAINER()){
bluetoothState = BLUETOOTH_STATE_CONNECTED;
bluetoothWriteWakeup();
bluetoothSendTrainer();
}
}
}
#else //PCBX9E
#else // PCBX9E
void bluetoothWakeup()
{
tmr10ms_t now = get_tmr10ms();
@@ -287,92 +322,116 @@ void bluetoothWakeup()
if (now < bluetoothWakeupTime)
return;
if (g_eeGeneral.bluetoothMode == BLUETOOTH_OFF || !IS_BLUETOOTH_TRAINER()) {
bluetoothWakeupTime = now + 5; /* 50ms default */
if (g_eeGeneral.bluetoothMode == BLUETOOTH_OFF || (g_eeGeneral.bluetoothMode == BLUETOOTH_TRAINER && !IS_BLUETOOTH_TRAINER())) {
if (bluetoothState != BLUETOOTH_STATE_OFF) {
bluetoothDone();
bluetoothState = BLUETOOTH_STATE_OFF;
}
bluetoothWakeupTime = now + 10;
bluetoothWakeupTime = now + 10; /* 100ms */
}
else {
bluetoothWakeupTime = now + 2;
else if (bluetoothState == BLUETOOTH_STATE_OFF) {
bluetoothInit(BLUETOOTH_FACTORY_BAUDRATE);
bluetoothState = BLUETOOTH_STATE_FACTORY_BAUDRATE_INIT;
}
if (bluetoothState != BLUETOOTH_STATE_OFF) {
bluetoothWriteWakeup();
if (bluetoothState == BLUETOOTH_STATE_CONNECTED) {
if (g_model.trainerMode == TRAINER_MODE_MASTER_BLUETOOTH) {
bluetoothReceiveTrainer();
}
else {
bluetoothSendTrainer();
char * line = bluetoothReadline();
if (!strcmp(line, "ERROR")) {
bluetoothState = BLUETOOTH_STATE_IDLE;
}
}
if (bluetoothIsWriting()) {
return;
}
}
if (bluetoothState == BLUETOOTH_STATE_FACTORY_BAUDRATE_INIT) {
bluetoothWriteString("AT+BAUD4\r\n");
bluetoothState = BLUETOOTH_STATE_BAUDRATE_SENT;
}
else if (bluetoothState == BLUETOOTH_STATE_BAUDRATE_SENT) {
bluetoothInit(BLUETOOTH_DEFAULT_BAUDRATE);
bluetoothState = BLUETOOTH_STATE_BAUDRATE_INIT;
bluetoothReadline(false);
}
else if (bluetoothState == BLUETOOTH_STATE_CONNECTED) {
if (g_eeGeneral.bluetoothMode == BLUETOOTH_TRAINER && g_model.trainerMode == TRAINER_MODE_MASTER_BLUETOOTH) {
bluetoothReceiveTrainer();
}
else {
char * line = bluetoothReadline();
if (bluetoothState == BLUETOOTH_STATE_OFF && IS_BLUETOOTH_TRAINER()) {
char command[32];
char * cur = strAppend(command, BLUETOOTH_COMMAND_NAME);
uint8_t len = ZLEN(g_eeGeneral.bluetoothName);
if (len > 0) {
for (int i = 0; i < len; i++) {
*cur++ = idx2char(g_eeGeneral.bluetoothName[i]);
}
if (g_eeGeneral.bluetoothMode == BLUETOOTH_TRAINER && g_model.trainerMode == TRAINER_MODE_SLAVE_BLUETOOTH) {
bluetoothSendTrainer();
bluetoothWakeupTime = now + 2; /* 20ms */
}
bluetoothReadline(); // to deal with "ERROR"
}
}
else {
char * line = bluetoothReadline();
if (bluetoothState == BLUETOOTH_STATE_BAUDRATE_INIT) {
char command[32];
char * cur = strAppend(command, BLUETOOTH_COMMAND_NAME);
uint8_t len = ZLEN(g_eeGeneral.bluetoothName);
if (len > 0) {
for (int i = 0; i < len; i++) {
*cur++ = idx2char(g_eeGeneral.bluetoothName[i]);
}
else {
}
else {
#if defined(PCBHORUS)
cur = strAppend(cur, "Horus");
cur = strAppend(cur, "Horus");
#else
cur = strAppend(cur, "Taranis");
cur = strAppend(cur, "Taranis");
#endif
}
strAppend(cur, "\r\n");
bluetoothWriteString(command);
bluetoothState = BLUETOOTH_STATE_NAME_SENT;
}
else if (bluetoothState == BLUETOOTH_STATE_NAME_SENT && !strncmp(line, "OK+", 3)) {
bluetoothWriteString("AT+TXPW3\r\n");
bluetoothState = BLUETOOTH_STATE_POWER_SENT;
}
else if (bluetoothState == BLUETOOTH_STATE_POWER_SENT && (!strncmp(line, "Central:", 8) || !strncmp(line, "Peripheral:", 11))) {
if (g_model.trainerMode == TRAINER_MODE_MASTER_BLUETOOTH)
bluetoothWriteString("AT+ROLE1\r\n");
else
bluetoothWriteString("AT+ROLE0\r\n");
bluetoothState = BLUETOOTH_STATE_ROLE_SENT;
}
else if (bluetoothState == BLUETOOTH_STATE_ROLE_SENT && (!strncmp(line, "Central:", 8) || !strncmp(line, "Peripheral:", 11))) {
bluetoothState = BLUETOOTH_STATE_IDLE;
}
else if (bluetoothState == BLUETOOTH_STATE_DISCOVER_REQUESTED) {
bluetoothWriteString("AT+DISC?\r\n");
bluetoothState = BLUETOOTH_STATE_DISCOVER_SENT;
}
else if (bluetoothState == BLUETOOTH_STATE_DISCOVER_SENT && !strcmp(line, "OK+DISCS")) {
bluetoothState = BLUETOOTH_STATE_DISCOVER_START;
}
else if (bluetoothState == BLUETOOTH_STATE_DISCOVER_START && !strncmp(line, "OK+DISC:", 8)) {
TRACE("STOP");
strcpy(bluetoothFriend, &line[8]); // TODO quick & dirty
}
else if (bluetoothState == BLUETOOTH_STATE_DISCOVER_START && !strcmp(line, "OK+DISCE")) {
bluetoothState = BLUETOOTH_STATE_DISCOVER_END;
}
else if (bluetoothState == BLUETOOTH_STATE_BIND_REQUESTED) {
char command[32];
strAppend(strAppend(strAppend(command, "AT+CON"), bluetoothFriend), "\r\n");
bluetoothWriteString(command);
bluetoothState = BLUETOOTH_STATE_BIND_SENT;
}
else if ((bluetoothState == BLUETOOTH_STATE_IDLE || bluetoothState == BLUETOOTH_STATE_BIND_SENT) && !strncmp(line, "Connected:", 10)) {
strcpy(bluetoothFriend, &line[10]); // TODO quick & dirty
bluetoothState = BLUETOOTH_STATE_CONNECTED;
if (g_model.trainerMode == TRAINER_MODE_SLAVE_BLUETOOTH) {
bluetoothWakeupTime += 500; // it seems a 5s delay is needed before sending the 1st frame
}
strAppend(cur, "\r\n");
bluetoothWriteString(command);
bluetoothState = BLUETOOTH_STATE_NAME_SENT;
}
else if (bluetoothState == BLUETOOTH_STATE_NAME_SENT && (!strncmp(line, "OK+", 3) || !strncmp(line, "Central:", 8) || !strncmp(line, "Peripheral:", 11))) {
bluetoothWriteString("AT+TXPW3\r\n");
bluetoothState = BLUETOOTH_STATE_POWER_SENT;
}
else if (bluetoothState == BLUETOOTH_STATE_POWER_SENT && (!strncmp(line, "Central:", 8) || !strncmp(line, "Peripheral:", 11))) {
if (g_eeGeneral.bluetoothMode == BLUETOOTH_TRAINER && g_model.trainerMode == TRAINER_MODE_MASTER_BLUETOOTH)
bluetoothWriteString("AT+ROLE1\r\n");
else
bluetoothWriteString("AT+ROLE0\r\n");
bluetoothState = BLUETOOTH_STATE_ROLE_SENT;
}
else if (bluetoothState == BLUETOOTH_STATE_ROLE_SENT && (!strncmp(line, "Central:", 8) || !strncmp(line, "Peripheral:", 11))) {
bluetoothState = BLUETOOTH_STATE_IDLE;
}
else if (bluetoothState == BLUETOOTH_STATE_DISCOVER_REQUESTED) {
bluetoothWriteString("AT+DISC?\r\n");
bluetoothState = BLUETOOTH_STATE_DISCOVER_SENT;
}
else if (bluetoothState == BLUETOOTH_STATE_DISCOVER_SENT && !strcmp(line, "OK+DISCS")) {
bluetoothState = BLUETOOTH_STATE_DISCOVER_START;
}
else if (bluetoothState == BLUETOOTH_STATE_DISCOVER_START && !strncmp(line, "OK+DISC:", 8)) {
strcpy(bluetoothDistantAddr, &line[8]); // TODO quick & dirty
}
else if (bluetoothState == BLUETOOTH_STATE_DISCOVER_START && !strcmp(line, "OK+DISCE")) {
bluetoothState = BLUETOOTH_STATE_DISCOVER_END;
}
else if (bluetoothState == BLUETOOTH_STATE_BIND_REQUESTED) {
char command[32];
strAppend(strAppend(strAppend(command, "AT+CON"), bluetoothDistantAddr), "\r\n");
bluetoothWriteString(command);
bluetoothState = BLUETOOTH_STATE_CONNECT_SENT;
}
else if ((bluetoothState == BLUETOOTH_STATE_IDLE || bluetoothState == BLUETOOTH_STATE_DISCONNECTED || bluetoothState == BLUETOOTH_STATE_CONNECT_SENT) && !strncmp(line, "Connected:", 10)) {
strcpy(bluetoothDistantAddr, &line[10]); // TODO quick & dirty
bluetoothState = BLUETOOTH_STATE_CONNECTED;
if (g_model.trainerMode == TRAINER_MODE_SLAVE_BLUETOOTH) {
bluetoothWakeupTime += 500; // it seems a 5s delay is needed before sending the 1st frame
}
}
else if (bluetoothState == BLUETOOTH_STATE_DISCONNECTED && !line) {
char command[32];
strAppend(strAppend(strAppend(command, "AT+CON"), bluetoothDistantAddr), "\r\n");
bluetoothWriteString(command);
bluetoothWakeupTime = now + 200; /* 2s */
}
}
}
#endif