bas

Cargo.lock

@@ -757,6 +757,7 @@ dependencies = [
  "embassy-nrf",
  "embassy-sync 0.7.2",
  "embassy-time",
+ "futures",
  "nrf-softdevice",
  "panic-halt",
  "panic-probe",

Cargo.toml

@@ -18,6 +18,7 @@ embassy-time = { version = "0.5.0", features = ["tick-hz-32_768", "defmt", "defm
 panic-halt = "1.0.0"
 panic-probe = { version = "1.0.0", features = ["print-defmt"], optional = true }
 nrf-softdevice = { version = "0.1.0", features = ["s140", "ble-peripheral", "nrf52840", "nrf-softdevice-s140", "critical-section-impl", "defmt", "nrf52840-pac", "critical-section", "ble-gatt-server"] }
+futures = { version = "0.3", default-features = false, features = [] }
 
 [[bin]]
 name = "odesa"

src/main.rs

@@ -5,7 +5,7 @@ mod fmt;
 
 use core::mem;
 use core::ops::{AddAssign, SubAssign};
-use defmt::Format;
+use defmt::{error, Format};
 #[cfg(not(feature = "defmt"))]
 use panic_halt as _;
 #[cfg(feature = "defmt")]
@@ -16,18 +16,20 @@ use defmt::info;
 use embassy_executor::Spawner;
 use embassy_futures::join::{join3, join4};
 use embassy_nrf::gpio::{AnyPin, Input, OutputDrive, Pull};
-use embassy_nrf::interrupt::Priority;
+use embassy_nrf::interrupt::{InterruptExt, Priority};
 use embassy_nrf::pwm::{DutyCycle, Prescaler, SimplePwm};
-use embassy_nrf::{bind_interrupts, saadc, Peri};
+use embassy_nrf::{bind_interrupts, interrupt, saadc, Peri};
 use embassy_nrf::peripherals::SAADC;
 use embassy_nrf::saadc::{ChannelConfig, Gain, Reference, Saadc};
 use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
 use embassy_sync::mutex::Mutex;
 use embassy_sync::signal::Signal;
 use embassy_time::{with_timeout, Duration, Timer};
+use futures::future::{select, Either};
+use futures::pin_mut;
 use nrf_softdevice::{raw, Softdevice};
 use nrf_softdevice::ble::advertisement_builder::{Flag, LegacyAdvertisementBuilder, LegacyAdvertisementPayload, ServiceList, ServiceUuid16};
-use nrf_softdevice::ble::{peripheral, gatt_server};
+use nrf_softdevice::ble::{peripheral, gatt_server, Connection};
 
 #[derive(Copy, Clone, Eq, PartialEq, Format)]
 enum SysAction {
@@ -145,9 +147,11 @@ async fn main(spawner: Spawner) {
     let server = Server::new(sd).expect("failed to enable softdevice");
 
     let mut channel_config = ChannelConfig::single_ended(p.P0_31.reborrow());
+    interrupt::SAADC.set_priority(Priority::P3);
     channel_config.gain = Gain::GAIN1_6;
     channel_config.reference = Reference::INTERNAL;
     let saadc = Saadc::new(p.SAADC, AdcIrqs, saadc::Config::default(), [channel_config]);
+    saadc.calibrate().await;
 
     let pwm_text = SimplePwm::new_3ch(p.PWM0, p.P1_00, p.P1_04, p.P1_06, &Default::default());
     let pwm_heart = SimplePwm::new_3ch(p.PWM2, p.P0_17, p.P0_20, p.P0_22, &Default::default());
@@ -155,13 +159,13 @@ async fn main(spawner: Spawner) {
     spawner.spawn(touch_button(p.P0_08.into())).expect("failed to spawn touch task");
     spawner.spawn(actions_task()).expect("failed to spawn actions task");
     spawner.spawn(softdevice_task(sd)).expect("failed to spawn softdevice task");
-    spawner.spawn(battery_task(saadc)).expect("failed to spawn softdevice task");
+    // spawner.spawn(battery_task(saadc)).expect("failed to spawn softdevice task");
 
-    join4(gatt_task(server, sd), moving_radar(p.P0_06.into()), heartbeat_task(pwm_heart), light_task(pwm_text)).await;
+    join4(gatt_task(server, saadc, sd), moving_radar(p.P0_06.into()), heartbeat_task(pwm_heart), light_task(pwm_text)).await;
 }
 
 
-async fn gatt_task(server: Server, sd: &'static Softdevice) {
+async fn gatt_task(server: Server, mut saadc: Saadc<'static, 1>, sd: &'static Softdevice) {
     static ADV_DATA: LegacyAdvertisementPayload = LegacyAdvertisementBuilder::new()
         .flags(&[Flag::GeneralDiscovery, Flag::LE_Only])
         .services_16(ServiceList::Complete, &[ServiceUuid16::BATTERY])
@@ -185,11 +189,9 @@ async fn gatt_task(server: Server, sd: &'static Softdevice) {
 
         info!("advertising done!");
 
-        // Run the GATT server on the connection. This returns when the connection gets disconnected.
+
-        //
+        let battery_fut = battery_task(&mut saadc, &server, &conn);
-        // Event enums (ServerEvent's) are generated by nrf_softdevice::gatt_server
+        let gatt_fut = gatt_server::run(&conn, &server, |e| match e {
-        // proc macro when applied to the Server struct above
-        let e = gatt_server::run(&conn, &server, |e| match e {
             ServerEvent::Bas(e) => match e {
                 BatteryServiceEvent::BatteryLevelCccdWrite { notifications } => {
                     info!("battery notifications: {}", notifications)
@@ -265,10 +267,19 @@ async fn gatt_task(server: Server, sd: &'static Softdevice) {
                     info!("text color indications: {}, notifications: {}", indications, notifications)
                 }
             },
-        })
+        });
-            .await;
 
-        info!("gatt_server run exited with error: {:?}", e);
+        pin_mut!(battery_fut);
+        pin_mut!(gatt_fut);
+
+        let _ = match select(battery_fut, gatt_fut).await {
+            Either::Left((_, _)) => {
+                info!("Battery encountered an error and stopped!")
+            }
+            Either::Right((e, _)) => {
+                info!("GATT run exited with error: {:?}", e);
+            }
+        };
     }
 }
 
@@ -330,8 +341,7 @@ async fn touch_button(pin: Peri<'static, AnyPin>) {
     }
 }
 
-#[embassy_executor::task]
+async fn battery_task<'a>(saadc: &'a mut Saadc<'_, 1>, server: &'a Server, connection: &'a Connection) {
-async fn battery_task(mut saadc: Saadc<'static, 1>) {
     const REFERENCE: f32 = 3.6;
     let mut measurements = [0i16; 4];
     let mut index = 0;
@@ -348,7 +358,10 @@ async fn battery_task(mut saadc: Saadc<'static, 1>) {
             let total = (measurements.iter().sum::<i16>() / measurements.len() as i16) as u16;
             let percent = battery_mv_to_percent(total);
             info!("Battery: {=i16}, {=u16}, {}%", voltage, total, percent);
-            Timer::after_millis(2000).await;
+            if let Err(e) = server.bas.battery_level_notify(connection, &percent) {
+                error!("Error notifying battery level: {:?}", e);
+            }
+            Timer::after_millis(60000).await;
         }
     }
 }
@@ -403,7 +416,7 @@ async fn actions_task() {
 
 #[embassy_executor::task]
 async fn radar_task() {
-    const MAX_TIME: usize = 24;
+    const MAX_TIME: usize = 480;
     let mut time = MAX_TIME;
     loop {
         let action = {