ESP-IDF + BLE OTA

.github/workflows/config.yml

@@ -40,7 +40,7 @@ jobs:
       - name: Setup Python
         uses: actions/setup-python@v6
         with:
-          python-version: 3.x
+          python-version: "3.13"
       - name: Cache PlatformIO
         uses: actions/cache@v5
         with:
@@ -70,7 +70,7 @@ jobs:
       - name: Setup Python
         uses: actions/setup-python@v6
         with:
-          python-version: 3.x
+          python-version: "3.13"
       - name: Cache PlatformIO
         uses: actions/cache@v5
         with:

CMakeLists.txt

@@ -0,0 +1,3 @@
+cmake_minimum_required(VERSION 3.16.0)
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(openppg_controller)

default_8MB.csv

@@ -0,0 +1,7 @@
+# Name,   Type, SubType, Offset,  Size, Flags
+nvs,      data, nvs,     0x9000,  0x5000,
+otadata,  data, ota,     0xe000,  0x2000,
+app0,     app,  ota_0,   0x10000, 0x330000,
+app1,     app,  ota_1,   0x340000,0x330000,
+spiffs,   data, spiffs,  0x670000,0x180000,
+coredump, data, coredump,0x7F0000,0x10000,

extra_script.py

@@ -1,7 +1,7 @@
 import subprocess
 
 Import("env")
-folder = env.GetProjectOption("src_folder")
+folder = env.GetProjectOption("custom_src_folder")
 
 # Generic
 env.Replace(

inc/sp140/altimeter.h

@@ -1,32 +1,32 @@
-#ifndef INC_SP140_ALTIMETER_H_
-#define INC_SP140_ALTIMETER_H_
-
-#include "sp140/shared-config.h"
-#include "sp140/structs.h"
-#include <Arduino.h>
-#include <CircularBuffer.hpp>
-#include <freertos/semphr.h>
-
+#ifndef INC_SP140_ALTIMETER_H_
+#define INC_SP140_ALTIMETER_H_
+
+#include "sp140/shared-config.h"
+#include "sp140/structs.h"
+#include <Arduino.h>
+#include <CircularBuffer.hpp>
+#include <freertos/semphr.h>
+
 // Constants
 #define VARIO_BUFFER_SIZE 50  // Number of samples to average for vertical speed
 #define MAX_VERTICAL_SPEED 250.0f  // Maximum vertical speed to display (m/s)
-
-// Set up the barometer
-bool setupAltimeter();
-
-// Get the altitude (in meters)
-float getAltitude(const STR_DEVICE_DATA_140_V1 &deviceData);
-
-// Get the vertical speed in meters per second
-float getVerticalSpeed();
-
-// Set the ground altitude to the current altitude to compute AGL
-void setGroundAltitude(const STR_DEVICE_DATA_140_V1 &deviceData);
-
-// Get the temperature in degrees Celsius
-float getBaroTemperature();
-
-// Get the pressure in hPa
-float getBaroPressure();
-
+
+// Set up the barometer
+bool setupAltimeter();
+
+// Get the altitude (in meters)
+float getAltitude(const STR_DEVICE_DATA_140_V1 &deviceData);
+
+// Get the vertical speed in meters per second
+float getVerticalSpeed();
+
+// Set the ground altitude to the current altitude to compute AGL
+void setGroundAltitude(const STR_DEVICE_DATA_140_V1 &deviceData);
+
+// Get the temperature in degrees Celsius
+float getBaroTemperature();
+
+// Get the pressure in hPa
+float getBaroPressure();
+
 #endif  // INC_SP140_ALTIMETER_H_

inc/sp140/ble.h

@@ -11,6 +11,5 @@ extern NimBLECharacteristic* pDeviceStateCharacteristic;
 extern NimBLEServer* pServer;
 extern volatile uint16_t connectedHandle;
 extern volatile bool deviceConnected;
-extern volatile bool oldDeviceConnected;
 
 #endif  // INC_SP140_BLE_H_

inc/sp140/ble/ble_core.h

@@ -8,6 +8,12 @@ void setupBLE();
 // Allow modules to trigger advertising after disconnects.
 void restartBLEAdvertising();
 
+// Request fast connection parameters (15ms interval) for OTA transfers.
+void requestFastConnParams();
+
+// Restore normal connection parameters (~36ms interval) after OTA.
+void requestNormalConnParams();
+
 // Temporarily disable whitelist filtering so a new device can bond.
 // Advertising reopens for ~60 seconds then whitelisting is restored.
 void enterBLEPairingMode();

inc/sp140/ble/ble_ids.h

@@ -30,4 +30,11 @@
 // App writes 0x01 here to trigger a GetHwInfo request to the ESC
 #define FAST_LINK_COMMAND_UUID "45A17003-B73B-49E1-8B39-5E9ED5E1B930"
 
+// Espressif Standard OTA Service UUIDs (Android esp-ble-ota-android app)
+static const NimBLEUUID OTA_SERVICE_UUID("00008018-0000-1000-8000-00805f9b34fb");
+static const NimBLEUUID OTA_RECV_FW_UUID("00008020-0000-1000-8000-00805f9b34fb");   // Firmware data (Write/Indicate)
+static const NimBLEUUID OTA_PROGRESS_UUID("00008021-0000-1000-8000-00805f9b34fb");  // Progress (Indicate)
+static const NimBLEUUID OTA_COMMAND_UUID("00008022-0000-1000-8000-00805f9b34fb");   // Command (Write/Indicate)
+static const NimBLEUUID OTA_CUSTOMER_UUID("00008023-0000-1000-8000-00805f9b34fb");  // Customer (Indicate)
+
 #endif  // INC_SP140_BLE_BLE_IDS_H_

inc/sp140/ble/ota_service.h

@@ -0,0 +1,30 @@
+#ifndef INC_SP140_BLE_OTA_SERVICE_H_
+#define INC_SP140_BLE_OTA_SERVICE_H_
+
+#include <NimBLEDevice.h>
+
+/**
+ * Initialize the OTA BLE service.
+ * @param pServer Pointer to the NimBLEServer instance.
+ */
+void initOtaBleService(NimBLEServer* pServer);
+
+/**
+ * Check if an OTA update is currently in progress.
+ * @return true if OTA is active (should pause other tasks)
+ */
+bool isOtaInProgress();
+
+/**
+ * Abort any in-progress OTA update and reset state.
+ * Safe to call even if no OTA is in progress.
+ */
+void abortOta();
+
+/**
+ * Check if OTA has been idle too long and abort if so.
+ * Call periodically (e.g. from a monitoring task).
+ */
+void checkOtaTimeout();
+
+#endif  // INC_SP140_BLE_OTA_SERVICE_H_

inc/sp140/bms.h

@@ -49,5 +49,6 @@ extern STR_BMS_TELEMETRY_140 bmsTelemetryData;
 extern BMS_CAN* bms_can;
 
 // BMS functions
+bool initBMSCAN(SPIClass* spi);
 void updateBMSData();
 void printBMSData();

inc/sp140/device_settings.h

@@ -0,0 +1,17 @@
+#ifndef INC_SP140_DEVICE_SETTINGS_H_
+#define INC_SP140_DEVICE_SETTINGS_H_
+
+#include "structs.h"
+#include "esp32s3-config.h"
+
+// Constants
+extern const unsigned int DEFAULT_SCREEN_ROTATION;
+void refreshDeviceData();
+void writeDeviceData();
+void resetDeviceData();
+void poll_serial_commands();
+void send_device_data();
+bool sanitizeDeviceData();
+void debugHardwareConfig(const HardwareConfig& config);
+
+#endif  // INC_SP140_DEVICE_SETTINGS_H_

inc/sp140/esc.h

@@ -1,68 +1,68 @@
-#ifndef INC_SP140_ESC_H_
-#define INC_SP140_ESC_H_
-
-#include <Arduino.h>
-
-// Motor temp validity range (disconnected/invalid readings are represented as NaN)
-constexpr float MOTOR_TEMP_VALID_MIN_C = -20.0f;
-constexpr float MOTOR_TEMP_VALID_MAX_C = 140.0f;
-
-inline bool isMotorTempValidC(float tempC) {
-  return tempC > MOTOR_TEMP_VALID_MIN_C && tempC <= MOTOR_TEMP_VALID_MAX_C;
-}
-#include "sp140/structs.h"
-#include "../../inc/sp140/esp32s3-config.h"
-#include <SineEsc.h>
-#include <CanardAdapter.h>
-
-void initESC();
-void setESCThrottle(int throttlePWM);
-void readESCTelemetry();
-bool setupTWAI();
-
-// Request ESC hardware info (HW ID, FW version, bootloader, serial number).
-// Thread-safe: sets a flag consumed by readESCTelemetry() on its next tick.
-// Also called automatically the first time the ESC connects.
-void requestEscHardwareInfo();
-
-// ESC Error Decoding Functions
-String decodeRunningError(uint16_t errorCode);
-String decodeSelfCheckError(uint16_t errorCode);
-bool hasRunningError(uint16_t errorCode);
-bool hasSelfCheckError(uint16_t errorCode);
-bool hasCriticalRunningError(uint16_t errorCode);
-bool hasWarningRunningError(uint16_t errorCode);
-bool hasCriticalSelfCheckError(uint16_t errorCode);
-
-// Individual running error bit checkers
-bool hasOverCurrentError(uint16_t errorCode);
-bool hasLockedRotorError(uint16_t errorCode);
-bool hasOverTempError(uint16_t errorCode);
-bool hasOverVoltError(uint16_t errorCode);
-bool hasVoltagDropError(uint16_t errorCode);
-bool hasThrottleSatWarning(uint16_t errorCode);
-
-// Individual self-check error bit checkers
-bool hasMotorCurrentOutError(uint16_t errorCode);
-bool hasTotalCurrentOutError(uint16_t errorCode);
-bool hasMotorVoltageOutError(uint16_t errorCode);
-bool hasCapNTCError(uint16_t errorCode);
-bool hasMosNTCError(uint16_t errorCode);
-bool hasBusVoltRangeError(uint16_t errorCode);
-bool hasBusVoltSampleError(uint16_t errorCode);
-bool hasMotorZLowError(uint16_t errorCode);
-bool hasMotorZHighError(uint16_t errorCode);
-bool hasMotorVDet1Error(uint16_t errorCode);
-bool hasMotorVDet2Error(uint16_t errorCode);
-bool hasMotorIDet2Error(uint16_t errorCode);
-bool hasSwHwIncompatError(uint16_t errorCode);
-bool hasBootloaderBadError(uint16_t errorCode);
-
-// for debugging
-void dumpThrottleResponse(const sine_esc_SetThrottleSettings2Response *res);
-void dumpESCMessages();  // dumps all messages to USBSerial
-
-// External declaration of telemetry data structure
-extern STR_ESC_TELEMETRY_140 escTelemetryData;
-
-#endif  // INC_SP140_ESC_H_
+#ifndef INC_SP140_ESC_H_
+#define INC_SP140_ESC_H_
+
+#include <Arduino.h>
+
+// Motor temp validity range (disconnected/invalid readings are represented as NaN)
+constexpr float MOTOR_TEMP_VALID_MIN_C = -20.0f;
+constexpr float MOTOR_TEMP_VALID_MAX_C = 140.0f;
+
+inline bool isMotorTempValidC(float tempC) {
+  return tempC > MOTOR_TEMP_VALID_MIN_C && tempC <= MOTOR_TEMP_VALID_MAX_C;
+}
+#include "sp140/structs.h"
+#include "../../inc/sp140/esp32s3-config.h"
+#include <SineEsc.h>
+#include <CanardAdapter.h>
+
+void initESC();
+void setESCThrottle(int throttlePWM);
+void readESCTelemetry();
+bool setupTWAI();
+
+// Request ESC hardware info (HW ID, FW version, bootloader, serial number).
+// Thread-safe: sets a flag consumed by readESCTelemetry() on its next tick.
+// Also called automatically the first time the ESC connects.
+void requestEscHardwareInfo();
+
+// ESC Error Decoding Functions
+String decodeRunningError(uint16_t errorCode);
+String decodeSelfCheckError(uint16_t errorCode);
+bool hasRunningError(uint16_t errorCode);
+bool hasSelfCheckError(uint16_t errorCode);
+bool hasCriticalRunningError(uint16_t errorCode);
+bool hasWarningRunningError(uint16_t errorCode);
+bool hasCriticalSelfCheckError(uint16_t errorCode);
+
+// Individual running error bit checkers
+bool hasOverCurrentError(uint16_t errorCode);
+bool hasLockedRotorError(uint16_t errorCode);
+bool hasOverTempError(uint16_t errorCode);
+bool hasOverVoltError(uint16_t errorCode);
+bool hasVoltagDropError(uint16_t errorCode);
+bool hasThrottleSatWarning(uint16_t errorCode);
+
+// Individual self-check error bit checkers
+bool hasMotorCurrentOutError(uint16_t errorCode);
+bool hasTotalCurrentOutError(uint16_t errorCode);
+bool hasMotorVoltageOutError(uint16_t errorCode);
+bool hasCapNTCError(uint16_t errorCode);
+bool hasMosNTCError(uint16_t errorCode);
+bool hasBusVoltRangeError(uint16_t errorCode);
+bool hasBusVoltSampleError(uint16_t errorCode);
+bool hasMotorZLowError(uint16_t errorCode);
+bool hasMotorZHighError(uint16_t errorCode);
+bool hasMotorVDet1Error(uint16_t errorCode);
+bool hasMotorVDet2Error(uint16_t errorCode);
+bool hasMotorIDet2Error(uint16_t errorCode);
+bool hasSwHwIncompatError(uint16_t errorCode);
+bool hasBootloaderBadError(uint16_t errorCode);
+
+// for debugging
+void dumpThrottleResponse(const sine_esc_SetThrottleSettings2Response *res);
+void dumpESCMessages();  // dumps all messages to USBSerial
+
+// External declaration of telemetry data structure
+extern STR_ESC_TELEMETRY_140 escTelemetryData;
+
+#endif  // INC_SP140_ESC_H_

inc/sp140/structs.h

@@ -121,6 +121,16 @@ typedef struct {
 } STR_BMS_TELEMETRY_140;
 #pragma pack(pop)
 
+// Altimeter telemetry - read by multiple tasks, written by altimeter task only
+struct AltimeterTelemetry {
+  float altitude;           // Relative altitude AGL (meters)
+  float temperature;        // Barometer temperature (°C)
+  float pressure;           // Barometric pressure (hPa)
+  float verticalSpeed;      // Vertical speed (m/s)
+  unsigned long lastUpdate;  // Timestamp of last reading (millis)
+  bool connected;           // Sensor available and responding
+};
+
 // Add this struct definition near other structs
 struct MelodyRequest {
   uint16_t *notes;

partitions.csv

@@ -0,0 +1,6 @@
+# Name,   Type, SubType, Offset,  Size, Flags
+nvs,      data, nvs,     ,        0x4000,
+otadata,  data, ota,     ,        0x2000,
+app0,     app,  ota_0,   ,        3M,
+app1,     app,  ota_1,   ,        3M,
+spiffs,   data, spiffs,  ,        1500K,

platformio.ini

@@ -9,7 +9,7 @@
 ; https://docs.platformio.org/page/projectconf.html
 
 [platformio]
-libr_dir = libraries
+lib_dir = libraries
 include_dir = inc
 default_envs =
 	OpenPPG-CESP32S3-CAN-SP140
@@ -23,8 +23,11 @@ lib_ignore =
 [env:OpenPPG-CESP32S3-CAN-SP140]
 platform = espressif32@6.13.0
 board = m5stack-stamps3
-framework = arduino
-src_folder = sp140
+framework = arduino, espidf
+board_build.f_cpu = 240000000L
+board_build.flash_mode = qio
+board_build.partitions = default_8MB.csv
+custom_src_folder = sp140 ; Used by extra_script.py to rewrite PROJECT_SRC_DIR
 ; If esptool.py complains about missing intelhex, install into the tool package:
 ;   ~/.platformio/penv/bin/python -m pip install intelhex -t ~/.platformio/packages/tool-esptoolpy
 extra_scripts =
@@ -37,17 +40,8 @@ build_flags =
 	-I inc/sp140/lvgl
 	-D LV_LVGL_H_INCLUDE_SIMPLE
 	-D CORE_DEBUG_LEVEL=2
-	; NimBLE tuning
-	-D CONFIG_BT_NIMBLE_MAX_CONNECTIONS=1
-	-D CONFIG_BT_NIMBLE_MAX_BONDS=5
-	-D CONFIG_BT_NIMBLE_MAX_CCCDS=16
-	-D CONFIG_BT_NIMBLE_ROLE_CENTRAL=0
-	-D CONFIG_BT_NIMBLE_ROLE_OBSERVER=0
-	; Extended advertising disabled — NimBLE ext adv API has unrecoverable
-	; EBUSY (rc=15) state machine bug.  Legacy advertising is reliable.
-	; 2M PHY for data transfer still works (negotiated after connection).
-	-D CONFIG_BT_NIMBLE_EXT_ADV=0
-
+	-D CONFIG_ARDUINO_LOOP_STACK_SIZE=8192
+	-Wno-error=format
 build_type = debug
 debug_speed = 12000
 debug_tool = esp-builtin