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[Firmware] Implement BLE on esp32 #201

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[Firmware] Implement BLE on esp32 #201

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1 change: 1 addition & 0 deletions firmware/Cargo.lock
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62 changes: 9 additions & 53 deletions firmware/Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,13 +14,7 @@ rust-version.workspace = true


[features]
default = [
"mcu-esp32c3",
"imu-stubbed",
"log-rtt",
"net-wifi",
"fusion-stubbed",
]
default = ["mcu-esp32c3", "imu-stubbed", "log-rtt", "net-ble", "fusion-stubbed"]
# default = [
# "mcu-nrf52840",
# "imu-stubbed",
Expand All @@ -32,35 +26,10 @@ default = [
# default = ["mcu-esp32", "imu-stubbed", "log-uart", "net-stubbed", "fusion-stubbed"]

# Supported microcontrollers
mcu-esp32 = [
"_mcu-f-esp32",
"dep:esp32-hal",
"defmt_esp_println/esp32",
"esp-backtrace/esp32",
"xtensa-lx/esp32",
"esp-wifi/esp32",
]
mcu-esp32c3 = [
"_mcu-f-esp32",
"dep:esp32c3-hal",
"defmt_esp_println/esp32c3",
"esp-backtrace/esp32c3",
"dep:riscv",
"esp-wifi/esp32c3",
]
mcu-nrf52840 = [
"_mcu-f-nrf52",
"embassy-nrf/nrf52840",
"dep:embassy-usb",
"nrf-softdevice/nrf52840",
"dep:nrf52840-pac",
]
mcu-nrf52832 = [
"_mcu-f-nrf52",
"embassy-nrf/nrf52832",
"nrf-softdevice/nrf52832",
"dep:nrf52832-pac",
]
mcu-esp32 = ["_mcu-f-esp32", "dep:esp32-hal", "defmt_esp_println/esp32", "esp-backtrace/esp32", "xtensa-lx/esp32", "esp-wifi/esp32"]
mcu-esp32c3 = ["_mcu-f-esp32", "dep:esp32c3-hal", "defmt_esp_println/esp32c3", "esp-backtrace/esp32c3", "dep:riscv", "esp-wifi/esp32c3"]
mcu-nrf52840 = ["_mcu-f-nrf52", "embassy-nrf/nrf52840", "dep:embassy-usb", "nrf-softdevice/nrf52840", "dep:nrf52840-pac"]
mcu-nrf52832 = ["_mcu-f-nrf52", "embassy-nrf/nrf52832", "nrf-softdevice/nrf52832", "dep:nrf52832-pac"]

# Wi-fi dependencies
net-wifi = ["esp-wifi?/wifi"] # use wifi
Expand Down Expand Up @@ -93,23 +62,9 @@ nrf-boot-s140 = ["nrf-softdevice/s140"] # use softdevice 140
# All features with underscores are internal only, should not be used by other crates,
# and are not covered under semver guarantees.
# nrf52 family
_mcu-f-nrf52 = [
"dep:cortex-m",
"dep:cortex-m-rt",
"dep:alloc-cortex-m",
"embassy-nrf/time-driver-rtc1",
"embassy-executor/integrated-timers",
"dep:defmt-bbq",
]

_mcu-f-esp32 = [
"dep:esp-alloc",
"dep:embedded-svc",
"dep:embassy-net",
"dep:smoltcp",
"dep:bleps",
"dep:bleps-macros",
]
_mcu-f-nrf52 = ["dep:cortex-m", "dep:cortex-m-rt", "dep:alloc-cortex-m", "embassy-nrf/time-driver-rtc1", "embassy-executor/integrated-timers", "dep:defmt-bbq"]

_mcu-f-esp32 = ["dep:esp-alloc", "dep:embedded-svc", "dep:embassy-net", "dep:smoltcp", "dep:bleps", "dep:bleps-macros"]

[dependencies]
# mcu-esp32 stuff
Expand Down Expand Up @@ -219,6 +174,7 @@ firmware_protocol = { path = "../networking/firmware_protocol", features = [
] }
paste = "1.0"
load-dotenv = "0.1"
heapless = { version = "0.7", default-features = false }

[build-dependencies]
feature_utils = "0.0.0"
Expand Down
99 changes: 65 additions & 34 deletions firmware/src/networking/ble/esp.rs
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Original file line number Diff line number Diff line change
@@ -1,3 +1,5 @@
use core::num::Wrapping;

use bleps::{
ad_structure::{
create_advertising_data, AdStructure, BR_EDR_NOT_SUPPORTED,
Expand All @@ -6,14 +8,15 @@ use bleps::{
attribute_server::AttributeServer,
Ble, HciConnector,
};
use defmt::{debug, error, trace, warn};
use defmt::{debug, error, warn};
use embassy_futures::yield_now;
use esp_wifi::{self, ble::controller::BleConnector, current_millis};
use firmware_protocol::{CbPacket, Packet, SbPacket};

use crate::aliases::ඞ::NetConcrete;
use crate::networking::Packets;

pub async fn network_task(_packets: &Packets, _net: NetConcrete) -> ! {
pub async fn network_task(packets: &Packets, _net: NetConcrete) -> ! {
// HCI is the host-controller interface, which lets the MCU communicate to the BLE hardware through a standard
// command interface
let connector = BleConnector {};
Expand All @@ -39,49 +42,77 @@ pub async fn network_task(_packets: &Packets, _net: NetConcrete) -> ! {
ble.cmd_set_le_advertise_enable(true)
.expect("Failed to start advertising");

let mut rf = || &b"Hello Bare-Metal BLE"[..];
let mut wf = |offset: u16, data: &[u8]| {
trace!("RECEIVED: {} {=[u8]:a}", offset, data);
let mut sb_packet: Option<Packet<SbPacket>> = None;
let mut cb_packet: Option<Packet<CbPacket>> = None;
let mut sb_buf = [0; 512];

let mut sb_callback = || {
if let Some(packet) = sb_packet {
let nbytes = packet.serialize_into(&mut sb_buf).unwrap();
let data = &sb_buf[..nbytes];

debug!("SEND: {=[u8]}", data);
sb_packet = None;
data
} else {
warn!("Data wasn't ready when we did work.");
&[]
}
};
let mut cb_callback = |offset: u16, data: &[u8]| {
debug!("RECV: {} {=[u8]}", offset, data);

// let mut wf2 = |offset: u16, data: &[u8]| {
// trace!("RECEIVED: {} {=[u8]:a}", offset, data);
// };
//
// let mut rf3 = || &b"Hola!"[..];
// let mut wf3 = |offset: u16, data: &[u8]| {
// trace!("RECEIVED: Offset {}, data {=[u8]:a}", offset, data);
// };
if cb_packet.is_some() {
panic!("This shouldn't have been possible!::<Packet> We are about to drop data.");
}

use bleps_macros::gatt;
let Ok(packet) = Packet::deserialize_from(data) else {
warn!("Discarding bogus packet");
return;
};
cb_packet = Some(packet);
};

gatt!([service {
bleps_macros::gatt!([service {
uuid: "133712e0-2354-11eb-9f10-fbc30a62cf38",
characteristics: [
characteristic {
uuid: "13370000-2354-11eb-9f10-fbc30a62cf38",
read: rf,
write: wf,
},
// characteristic {
// uuid: "13371111-2354-11eb-9f10-fbc30a62cf38",
// write: wf2,
// },
// characteristic {
// name: "my_characteristic",
// uuid: "13372222-2354-11eb-9f10-fbc30a62cf38",
// notify: true,
// read: rf3,
// write: wf3,
// },
],
characteristics: [characteristic {
uuid: "13370000-2354-11eb-9f10-fbc30a62cf38",
read: sb_callback,
write: cb_callback,
},],
},]);

let mut srv = AttributeServer::new(&mut ble, &mut gatt_attributes);

let mut tx_seq = 0;
let mut rx_seq = 0;
debug!("Starting BLE loop");
loop {
yield_now().await;
// First we *must* handle any clientbound data, BEFORE doing work. Otherwise we may
// experience data loss.
if let Some(packet) = cb_packet {
let (rx_seq_new, packet) = packet.split();
if rx_seq_new <= rx_seq {
warn!(
"Out of order packet received: {}, we are at {} ({})",
rx_seq_new,
rx_seq,
defmt::Debug2Format(&packet)
);
} else {
packets.clientbound.send(packet).await;
rx_seq = rx_seq_new;
}
cb_packet = None;
}

// Next, we load up the next packet.
// TODO: Switch to debug assert or remove.
assert!(sb_packet.is_none(), "This shouldn't be possible");
sb_packet = Some(Packet::new(tx_seq, packets.serverbound.recv().await));
tx_seq += 1;

// Next, we will retrieve the next data to send the server.
use bleps::attribute_server::WorkResult;
match srv.do_work() {
Ok(WorkResult::DidWork) => {}
Expand Down