Add accelerometer deadzone via UART and ESP-NOW.
Filter BMA456 logs by configurable LSB threshold; master can set deadzone for local sensor or slaves using ACCEL_DEADZONE (UART) and ESP-NOW broadcast until unicast delivery is restored. Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Cursor
@@ -16,6 +16,7 @@ idf_component_register(
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"cmd_handler.c"
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"cmd_version.c"
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"cmd_client_info.c"
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"cmd_accel_deadzone.c"
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"client_registry.c"
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"esp_now_comm.c"
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"esp_now_proto.c"
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@@ -73,6 +73,7 @@ Schema: `proto/esp_now_messages.proto`. Encode/decode: `esp_now_proto.c`. The ES
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| `ESPNOW_DISCOVER` | Master → broadcast `FF:FF:FF:FF:FF:FF` | `EspNowDiscover` (`network`) |
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| `ESPNOW_SLAVE_INFO` | Slave → master | `EspNowSlavePresence` |
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| `ESPNOW_HEARTBEAT` | Slave → master | `EspNowSlavePresence` (same fields) |
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| `ESPNOW_SET_ACCEL_DEADZONE` | Master → slave | `EspNowAccelDeadzone` (`deadzone` LSB) |
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`EspNowSlavePresence`: `network`, `mac` (6 bytes), `version`, `slave_id`, `available`, `used`.
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@@ -146,6 +147,7 @@ Host and master speak nanopb-encoded `UartMessage` inside UART frames (byte 0 =
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| 3 | `VERSION` | Implemented (`cmd_version.c`) |
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| 4 | `CLIENT_INFO` | Implemented (`cmd_client_info.c`) — slave list from registry |
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| 5 | `CLIENT_INPUT` | Planned |
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| 6 | `ACCEL_DEADZONE` | Implemented (`cmd_accel_deadzone.c`) — get/set accel filter LSB |
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| 16–20 | OTA / ESP-NOW OTA | Planned |
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Regenerate C code:
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@@ -173,6 +175,21 @@ Build embeds `POWERPOD_GIT_HASH` via `git rev-parse` in `main/CMakeLists.txt`.
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Encoding: `uart_send_uart_message()` in `uart_proto.c`.
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### ACCEL_DEADZONE command
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Filters BMA456 logs: a new accel line is emitted only when any axis changes by more than `deadzone` raw LSB since the last reported sample (default **100**).
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**Request:** framed `06` + nanopb `UartMessage` with `accel_deadzone_request`:
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| Field | Meaning |
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|-------|---------|
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| `write` | `false` = read, `true` = write |
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| `deadzone` | Threshold in LSB (write) |
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| `client_id` | `0` = local sensor on this node; `>0` = slave id (master) |
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| `all_clients` | Master: ESP-NOW push to every registered slave |
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**Response:** `accel_deadzone_response` with applied `deadzone`, `success`, and `slaves_updated` (ESP-NOW count).
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### CLIENT_INFO command
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**Request:** framed payload `04` only (`MessageType.CLIENT_INFO`).
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+53
-4
@@ -18,6 +18,11 @@ static const char *TAG = "[BMA456]";
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static i2c_master_dev_handle_t bma456_dev_handle;
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static bool s_bma456_ready;
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static struct bma4_dev bma456_struct;
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static uint32_t s_accel_deadzone = BMA456_DEFAULT_ACCEL_DEADZONE;
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static int16_t s_last_x;
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static int16_t s_last_y;
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static int16_t s_last_z;
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static bool s_have_last_sample;
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volatile uint8_t interrupt_status = 0;
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uint8_t int_line;
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@@ -134,6 +139,49 @@ static esp_err_t check_bma4(const char *api_name, int8_t rslt) {
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return ESP_FAIL;
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}
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static int16_t axis_delta(int16_t a, int16_t b) {
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int32_t d = (int32_t)a - (int32_t)b;
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return (int16_t)(d < 0 ? -d : d);
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}
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static bool sample_exceeds_deadzone(int16_t x, int16_t y, int16_t z) {
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if (!s_have_last_sample) {
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return true;
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}
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return axis_delta(x, s_last_x) > (int16_t)s_accel_deadzone ||
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axis_delta(y, s_last_y) > (int16_t)s_accel_deadzone ||
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axis_delta(z, s_last_z) > (int16_t)s_accel_deadzone;
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}
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bool bma456_is_ready(void) { return s_bma456_ready; }
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void bma456_set_accel_deadzone(uint32_t deadzone_lsb) {
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s_accel_deadzone = deadzone_lsb;
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s_have_last_sample = false;
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if (s_bma456_ready) {
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ESP_LOGI(TAG, "accel deadzone applied: %lu LSB", (unsigned long)deadzone_lsb);
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}
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}
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uint32_t bma456_get_accel_deadzone(void) { return s_accel_deadzone; }
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void bma456_report_accel_if_changed(int16_t x, int16_t y, int16_t z) {
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if (!s_bma456_ready) {
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return;
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}
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if (!sample_exceeds_deadzone(x, y, z)) {
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return;
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}
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s_last_x = x;
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s_last_y = y;
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s_last_z = z;
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s_have_last_sample = true;
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ESP_LOGI(TAG, "ACC X=%d Y=%d Z=%d (deadzone %lu)", x, y, z,
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(unsigned long)s_accel_deadzone);
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}
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static void remove_bma456_device(void) {
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if (bma456_dev_handle != NULL) {
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i2c_master_bus_rm_device(bma456_dev_handle);
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@@ -153,10 +201,11 @@ void read_sensor_task(void *params) {
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while (1) {
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ret = bma4_read_accel_xyz(&sens_data, &bma456_struct);
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bma4_error_codes_print_result("bma4_read_accel_xyz", ret);
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ESP_LOGI("ACC", "X: %d, Y: %d, Z: %d", sens_data.x, sens_data.y,
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sens_data.z);
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if (ret == BMA4_OK) {
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bma456_report_accel_if_changed(sens_data.x, sens_data.y, sens_data.z);
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} else {
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bma4_error_codes_print_result("bma4_read_accel_xyz", ret);
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}
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if (interrupt_status) {
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ESP_LOGI("INTERRUPT", "Da war der Interrupt resetting");
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@@ -9,7 +9,17 @@
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#define BMA456_ADDRESS 0x18
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#define BMA456_DEFAULT_ACCEL_DEADZONE 100u
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/** Initialize BMA456 on the shared I2C bus. Returns ESP_OK or logs and skips sensor use. */
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esp_err_t init_bma456(i2c_master_bus_handle_t bus_handle);
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bool bma456_is_ready(void);
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void bma456_set_accel_deadzone(uint32_t deadzone_lsb);
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uint32_t bma456_get_accel_deadzone(void);
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/** Log accel sample only when any axis changed more than deadzone since last report. */
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void bma456_report_accel_if_changed(int16_t x, int16_t y, int16_t z);
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#endif
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@@ -60,6 +60,7 @@ static client_slot_t *alloc_slot(const uint8_t mac[CLIENT_MAC_LEN],
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slot = &s_clients[i];
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slot->active = true;
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memcpy(slot->info.mac, mac, CLIENT_MAC_LEN);
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slot->info.accel_deadzone = CLIENT_REGISTRY_DEFAULT_ACCEL_DEADZONE;
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if (out_is_new != NULL) {
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*out_is_new = true;
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}
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@@ -169,6 +170,59 @@ size_t client_registry_count(void) {
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return n;
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}
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const client_info_t *client_registry_find_by_id(uint32_t id) {
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for (size_t i = 0; i < CLIENT_REGISTRY_MAX; i++) {
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if (s_clients[i].active && s_clients[i].info.id == id) {
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return &s_clients[i].info;
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}
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}
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return NULL;
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}
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esp_err_t client_registry_set_accel_deadzone(uint32_t client_id,
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uint32_t deadzone) {
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const client_info_t *info = client_registry_find_by_id(client_id);
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if (info == NULL) {
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return ESP_ERR_NOT_FOUND;
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}
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for (size_t i = 0; i < CLIENT_REGISTRY_MAX; i++) {
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if (s_clients[i].active && s_clients[i].info.id == client_id) {
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s_clients[i].info.accel_deadzone = deadzone;
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return ESP_OK;
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}
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}
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return ESP_ERR_NOT_FOUND;
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}
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esp_err_t client_registry_get_accel_deadzone(uint32_t client_id,
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uint32_t *deadzone_out) {
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if (deadzone_out == NULL) {
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return ESP_ERR_INVALID_ARG;
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}
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const client_info_t *info = client_registry_find_by_id(client_id);
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if (info == NULL) {
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return ESP_ERR_NOT_FOUND;
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}
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*deadzone_out = info->accel_deadzone;
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return ESP_OK;
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}
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size_t client_registry_set_accel_deadzone_all(uint32_t deadzone) {
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size_t n = 0;
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for (size_t i = 0; i < CLIENT_REGISTRY_MAX; i++) {
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if (!s_clients[i].active) {
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continue;
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}
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s_clients[i].info.accel_deadzone = deadzone;
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n++;
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}
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return n;
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}
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const client_info_t *client_registry_at(size_t index) {
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size_t n = 0;
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for (size_t i = 0; i < CLIENT_REGISTRY_MAX; i++) {
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@@ -19,8 +19,12 @@ typedef struct {
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/** Milliseconds since boot when last heartbeat / SLAVE_INFO was accepted. */
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uint32_t last_success_ping_at;
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uint32_t version;
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/** Accel deadzone in raw LSB per axis (master copy for ESP-NOW config). */
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uint32_t accel_deadzone;
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} client_info_t;
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#define CLIENT_REGISTRY_DEFAULT_ACCEL_DEADZONE 100u
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void client_registry_init(void);
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/** Milliseconds since boot (same clock as stored ping timestamps). */
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@@ -49,5 +53,14 @@ void client_registry_check_timeouts(uint32_t timeout_ms);
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size_t client_registry_count(void);
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const client_info_t *client_registry_at(size_t index);
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const client_info_t *client_registry_find_by_mac(const uint8_t mac[CLIENT_MAC_LEN]);
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const client_info_t *client_registry_find_by_id(uint32_t id);
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esp_err_t client_registry_set_accel_deadzone(uint32_t client_id,
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uint32_t deadzone);
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esp_err_t client_registry_get_accel_deadzone(uint32_t client_id,
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uint32_t *deadzone_out);
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/** Push deadzone to all active registry entries; returns count updated. */
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size_t client_registry_set_accel_deadzone_all(uint32_t deadzone);
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#endif
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@@ -0,0 +1,124 @@
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#include "bosch456.h"
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#include "client_registry.h"
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#include "cmd_accel_deadzone.h"
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#include "cmd_handler.h"
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#include "esp_log.h"
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#include "esp_now_comm.h"
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#include "pb_decode.h"
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#include "uart_messages.pb.h"
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#include "uart_proto.h"
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#include <string.h>
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static const char *TAG = "[ACCEL_DZ]";
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static void send_response(uint32_t deadzone, uint32_t client_id, bool success,
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uint32_t slaves_updated) {
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alox_UartMessage response = alox_UartMessage_init_zero;
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response.type = alox_MessageType_ACCEL_DEADZONE;
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response.which_payload = alox_UartMessage_accel_deadzone_response_tag;
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response.payload.accel_deadzone_response.deadzone = deadzone;
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response.payload.accel_deadzone_response.client_id = client_id;
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response.payload.accel_deadzone_response.success = success;
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response.payload.accel_deadzone_response.slaves_updated = slaves_updated;
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if (uart_send_uart_message(&response) != ESP_OK) {
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ESP_LOGE(TAG, "failed to send response");
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}
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}
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static esp_err_t push_deadzone_to_slave(const client_info_t *client,
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uint32_t deadzone) {
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if (client == NULL) {
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return ESP_ERR_INVALID_ARG;
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}
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esp_err_t err =
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client_registry_set_accel_deadzone(client->id, deadzone);
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if (err != ESP_OK) {
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return err;
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}
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return esp_now_comm_send_accel_deadzone(client->id, deadzone);
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}
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static void handle_accel_deadzone(const uint8_t *data, size_t len) {
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alox_UartMessage uart_msg = alox_UartMessage_init_zero;
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alox_AccelDeadzoneRequest req = alox_AccelDeadzoneRequest_init_zero;
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bool have_request = false;
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if (len > 0) {
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pb_istream_t stream = pb_istream_from_buffer(data, len);
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if (!pb_decode(&stream, alox_UartMessage_fields, &uart_msg)) {
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ESP_LOGW(TAG, "decode failed");
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send_response(BMA456_DEFAULT_ACCEL_DEADZONE, 0, false, 0);
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return;
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}
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if (uart_msg.which_payload ==
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alox_UartMessage_accel_deadzone_request_tag) {
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req = uart_msg.payload.accel_deadzone_request;
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have_request = true;
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}
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}
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if (!have_request) {
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req.write = false;
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req.client_id = 0;
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req.all_clients = false;
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}
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if (req.write) {
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if (req.all_clients) {
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size_t n = client_registry_set_accel_deadzone_all(req.deadzone);
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esp_err_t send_err = esp_now_comm_send_accel_deadzone(0, req.deadzone);
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if (bma456_is_ready()) {
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bma456_set_accel_deadzone(req.deadzone);
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}
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ESP_LOGI(TAG, "set deadzone %lu broadcast (registry %u)",
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(unsigned long)req.deadzone, (unsigned)n);
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send_response(req.deadzone, 0, send_err == ESP_OK || bma456_is_ready(),
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send_err == ESP_OK ? (uint32_t)n : 0);
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return;
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}
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if (req.client_id == 0) {
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bma456_set_accel_deadzone(req.deadzone);
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ESP_LOGI(TAG, "set local deadzone %lu (no ESP-NOW; use -client or -all "
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"for slaves)",
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(unsigned long)req.deadzone);
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send_response(req.deadzone, 0, true, 0);
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return;
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}
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const client_info_t *client = client_registry_find_by_id(req.client_id);
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if (client == NULL) {
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ESP_LOGW(TAG, "client id %lu not found",
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(unsigned long)req.client_id);
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send_response(req.deadzone, req.client_id, false, 0);
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return;
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}
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esp_err_t err = push_deadzone_to_slave(client, req.deadzone);
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send_response(req.deadzone, req.client_id, err == ESP_OK, err == ESP_OK);
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return;
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}
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/* Read */
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if (req.all_clients || req.client_id == 0) {
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uint32_t dz = bma456_get_accel_deadzone();
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send_response(dz, 0, true, 0);
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return;
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}
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uint32_t dz = 0;
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esp_err_t err = client_registry_get_accel_deadzone(req.client_id, &dz);
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send_response(dz, req.client_id, err == ESP_OK, 0);
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}
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void cmd_accel_deadzone_register(void) {
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if (msg_register_handler(alox_MessageType_ACCEL_DEADZONE,
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handle_accel_deadzone) != ESP_OK) {
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ESP_LOGE(TAG, "register failed");
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}
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}
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@@ -0,0 +1,6 @@
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#ifndef CMD_ACCEL_DEADZONE_H
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#define CMD_ACCEL_DEADZONE_H
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void cmd_accel_deadzone_register(void);
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#endif
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@@ -26,6 +26,8 @@ static const char *message_type_name(uint16_t id) {
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return "CLIENT_INFO";
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case alox_MessageType_CLIENT_INPUT:
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return "CLIENT_INPUT";
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case alox_MessageType_ACCEL_DEADZONE:
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return "ACCEL_DEADZONE";
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case alox_MessageType_OTA_START:
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return "OTA_START";
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case alox_MessageType_OTA_PAYLOAD:
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+81
-19
@@ -1,3 +1,4 @@
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#include "bosch456.h"
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#include "client_registry.h"
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#include "esp_now_comm.h"
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#include "esp_now_proto.h"
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@@ -109,6 +110,35 @@ static esp_err_t send_message(const uint8_t *dest_mac,
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return err;
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}
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static esp_err_t send_accel_deadzone(uint32_t client_id, uint32_t deadzone) {
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alox_EspNowMessage msg = alox_EspNowMessage_init_zero;
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msg.type = alox_EspNowMessageType_ESPNOW_SET_ACCEL_DEADZONE;
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msg.which_payload = alox_EspNowMessage_accel_deadzone_tag;
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msg.payload.accel_deadzone.deadzone = deadzone;
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msg.payload.accel_deadzone.client_id = client_id;
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return send_message(ESPNOW_BCAST, &msg);
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}
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esp_err_t esp_now_comm_send_accel_deadzone(uint32_t client_id, uint32_t deadzone) {
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if (!s_config.master) {
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return ESP_ERR_INVALID_STATE;
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}
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|
||||
esp_err_t err = send_accel_deadzone(client_id, deadzone);
|
||||
if (err == ESP_OK) {
|
||||
ESP_LOGI(TAG,
|
||||
"broadcast SET_ACCEL_DEADZONE deadzone=%lu client_id=%lu%s",
|
||||
(unsigned long)deadzone, (unsigned long)client_id,
|
||||
client_id == 0 ? " (all slaves)" : "");
|
||||
} else {
|
||||
ESP_LOGW(TAG, "broadcast SET_ACCEL_DEADZONE failed: %s",
|
||||
esp_err_to_name(err));
|
||||
}
|
||||
return err;
|
||||
}
|
||||
|
||||
static void send_presence(const uint8_t *dest_mac,
|
||||
alox_EspNowMessageType type) {
|
||||
alox_EspNowMessage msg = alox_EspNowMessage_init_zero;
|
||||
@@ -133,6 +163,29 @@ static void slave_reset_join(void) {
|
||||
s_last_discover_ms = 0;
|
||||
}
|
||||
|
||||
static void handle_slave_accel_deadzone(const uint8_t *master_mac,
|
||||
const alox_EspNowAccelDeadzone *cfg) {
|
||||
uint32_t my_id = s_own_mac[5];
|
||||
|
||||
if (cfg->client_id != 0 && cfg->client_id != my_id) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (s_slave_joined && !mac_equal(master_mac, s_master_mac)) {
|
||||
return;
|
||||
}
|
||||
|
||||
char mac_str[18];
|
||||
mac_to_str(master_mac, mac_str, sizeof(mac_str));
|
||||
|
||||
ESP_LOGI(TAG,
|
||||
"accel deadzone from master %s: %lu LSB id=%lu (sensor %s)",
|
||||
mac_str, (unsigned long)cfg->deadzone, (unsigned long)my_id,
|
||||
bma456_is_ready() ? "ok" : "not installed");
|
||||
|
||||
bma456_set_accel_deadzone(cfg->deadzone);
|
||||
}
|
||||
|
||||
static void handle_client_presence(const alox_EspNowSlavePresence *presence,
|
||||
const uint8_t mac[CLIENT_MAC_LEN]) {
|
||||
if (presence->network != s_config.network) {
|
||||
@@ -184,6 +237,7 @@ static void handle_discover(const uint8_t *sender_mac,
|
||||
memcpy(s_master_mac, sender_mac, ESP_NOW_ETH_ALEN);
|
||||
s_slave_joined = true;
|
||||
s_last_discover_ms = now;
|
||||
ensure_peer(sender_mac);
|
||||
|
||||
char mac_str[18];
|
||||
mac_to_str(sender_mac, mac_str, sizeof(mac_str));
|
||||
@@ -247,34 +301,42 @@ static void espnow_recv_cb(const esp_now_recv_info_t *info, const uint8_t *data,
|
||||
return;
|
||||
}
|
||||
|
||||
alox_EspNowMessage msg = alox_EspNowMessage_init_zero;
|
||||
uint8_t peer_mac[CLIENT_MAC_LEN];
|
||||
if (!s_config.master) {
|
||||
alox_EspNowMessage msg = alox_EspNowMessage_init_zero;
|
||||
|
||||
esp_now_proto_setup_message_decode(&msg, peer_mac);
|
||||
if (esp_now_proto_decode(data, (size_t)len, &msg) != ESP_OK) {
|
||||
if (esp_now_proto_decode(data, (size_t)len, &msg) != ESP_OK) {
|
||||
ESP_LOGW(TAG, "slave: ESP-NOW decode failed (%d bytes)", len);
|
||||
return;
|
||||
}
|
||||
|
||||
switch (msg.which_payload) {
|
||||
case alox_EspNowMessage_discover_tag:
|
||||
handle_discover(info->src_addr, &msg.payload.discover);
|
||||
break;
|
||||
case alox_EspNowMessage_accel_deadzone_tag:
|
||||
handle_slave_accel_deadzone(info->src_addr, &msg.payload.accel_deadzone);
|
||||
break;
|
||||
default:
|
||||
ESP_LOGW(TAG, "slave: unhandled ESP-NOW which=%u type=%u", msg.which_payload,
|
||||
(unsigned)msg.type);
|
||||
break;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
if (!s_config.master) {
|
||||
if (msg.type != alox_EspNowMessageType_ESPNOW_DISCOVER ||
|
||||
msg.which_payload != alox_EspNowMessage_discover_tag) {
|
||||
return;
|
||||
}
|
||||
handle_discover(info->src_addr, &msg.payload.discover);
|
||||
alox_EspNowMessage msg = alox_EspNowMessage_init_zero;
|
||||
uint8_t peer_mac[CLIENT_MAC_LEN];
|
||||
|
||||
if (esp_now_proto_decode_with_mac(data, (size_t)len, &msg, peer_mac) !=
|
||||
ESP_OK) {
|
||||
ESP_LOGW(TAG, "master: ESP-NOW decode failed (%d bytes)", len);
|
||||
return;
|
||||
}
|
||||
|
||||
const alox_EspNowSlavePresence *presence = esp_now_proto_get_presence(&msg);
|
||||
if (presence == NULL) {
|
||||
return;
|
||||
if (presence != NULL) {
|
||||
handle_client_presence(presence, peer_mac);
|
||||
}
|
||||
|
||||
if (msg.type != alox_EspNowMessageType_ESPNOW_SLAVE_INFO &&
|
||||
msg.type != alox_EspNowMessageType_ESPNOW_HEARTBEAT) {
|
||||
return;
|
||||
}
|
||||
|
||||
handle_client_presence(presence, peer_mac);
|
||||
}
|
||||
|
||||
static void master_discover_task(void *param) {
|
||||
|
||||
@@ -2,8 +2,15 @@
|
||||
#define ESP_NOW_COMM_H
|
||||
|
||||
#include "app_config.h"
|
||||
#include "client_registry.h"
|
||||
#include "esp_err.h"
|
||||
|
||||
esp_err_t esp_now_comm_init(const app_config_t *config);
|
||||
|
||||
/**
|
||||
* Master: broadcast accel deadzone (same path as DISCOVER).
|
||||
* client_id 0 = all slaves; otherwise only the slave with that id applies it.
|
||||
*/
|
||||
esp_err_t esp_now_comm_send_accel_deadzone(uint32_t client_id, uint32_t deadzone);
|
||||
|
||||
#endif
|
||||
|
||||
@@ -77,6 +77,16 @@ esp_err_t esp_now_proto_decode(const uint8_t *data, size_t len,
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
esp_err_t esp_now_proto_decode_with_mac(const uint8_t *data, size_t len,
|
||||
alox_EspNowMessage *msg,
|
||||
uint8_t mac_out[6]) {
|
||||
if (mac_out == NULL) {
|
||||
return ESP_ERR_INVALID_ARG;
|
||||
}
|
||||
esp_now_proto_setup_message_decode(msg, mac_out);
|
||||
return esp_now_proto_decode(data, len, msg);
|
||||
}
|
||||
|
||||
const alox_EspNowSlavePresence *
|
||||
esp_now_proto_get_presence(const alox_EspNowMessage *msg) {
|
||||
if (msg == NULL) {
|
||||
|
||||
@@ -14,6 +14,11 @@ esp_err_t esp_now_proto_encode(const alox_EspNowMessage *msg, uint8_t *buf,
|
||||
esp_err_t esp_now_proto_decode(const uint8_t *data, size_t len,
|
||||
alox_EspNowMessage *msg);
|
||||
|
||||
/** Decode messages that carry EspNowSlavePresence (mac callback required). */
|
||||
esp_err_t esp_now_proto_decode_with_mac(const uint8_t *data, size_t len,
|
||||
alox_EspNowMessage *msg,
|
||||
uint8_t mac_out[6]);
|
||||
|
||||
void esp_now_proto_setup_presence_encode(alox_EspNowSlavePresence *presence,
|
||||
const uint8_t mac[6]);
|
||||
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
#include "app_config.h"
|
||||
#include "cmd_handler.h"
|
||||
#include "cmd_accel_deadzone.h"
|
||||
#include "cmd_client_info.h"
|
||||
#include "cmd_version.h"
|
||||
#include "esp_now_comm.h"
|
||||
@@ -144,6 +145,7 @@ void app_main(void) {
|
||||
init_uart(cmd_queue);
|
||||
cmd_version_register();
|
||||
cmd_client_info_register();
|
||||
cmd_accel_deadzone_register();
|
||||
}
|
||||
|
||||
uint8_t current_digit = 10;
|
||||
|
||||
@@ -12,6 +12,9 @@ PB_BIND(alox_EspNowDiscover, alox_EspNowDiscover, AUTO)
|
||||
PB_BIND(alox_EspNowSlavePresence, alox_EspNowSlavePresence, AUTO)
|
||||
|
||||
|
||||
PB_BIND(alox_EspNowAccelDeadzone, alox_EspNowAccelDeadzone, AUTO)
|
||||
|
||||
|
||||
PB_BIND(alox_EspNowMessage, alox_EspNowMessage, AUTO)
|
||||
|
||||
|
||||
|
||||
@@ -14,7 +14,8 @@ typedef enum _alox_EspNowMessageType {
|
||||
alox_EspNowMessageType_ESPNOW_UNKNOWN = 0,
|
||||
alox_EspNowMessageType_ESPNOW_DISCOVER = 1,
|
||||
alox_EspNowMessageType_ESPNOW_SLAVE_INFO = 2,
|
||||
alox_EspNowMessageType_ESPNOW_HEARTBEAT = 3
|
||||
alox_EspNowMessageType_ESPNOW_HEARTBEAT = 3,
|
||||
alox_EspNowMessageType_ESPNOW_SET_ACCEL_DEADZONE = 4
|
||||
} alox_EspNowMessageType;
|
||||
|
||||
/* Struct definitions */
|
||||
@@ -31,6 +32,11 @@ typedef struct _alox_EspNowSlavePresence {
|
||||
bool used;
|
||||
} alox_EspNowSlavePresence;
|
||||
|
||||
typedef struct _alox_EspNowAccelDeadzone {
|
||||
uint32_t deadzone;
|
||||
uint32_t client_id; /* 0 = all slaves; otherwise only matching slave_id applies */
|
||||
} alox_EspNowAccelDeadzone;
|
||||
|
||||
typedef struct _alox_EspNowMessage {
|
||||
alox_EspNowMessageType type;
|
||||
pb_size_t which_payload;
|
||||
@@ -38,6 +44,7 @@ typedef struct _alox_EspNowMessage {
|
||||
alox_EspNowDiscover discover;
|
||||
alox_EspNowSlavePresence slave_info;
|
||||
alox_EspNowSlavePresence heartbeat;
|
||||
alox_EspNowAccelDeadzone accel_deadzone;
|
||||
} payload;
|
||||
} alox_EspNowMessage;
|
||||
|
||||
@@ -48,8 +55,9 @@ extern "C" {
|
||||
|
||||
/* Helper constants for enums */
|
||||
#define _alox_EspNowMessageType_MIN alox_EspNowMessageType_ESPNOW_UNKNOWN
|
||||
#define _alox_EspNowMessageType_MAX alox_EspNowMessageType_ESPNOW_HEARTBEAT
|
||||
#define _alox_EspNowMessageType_ARRAYSIZE ((alox_EspNowMessageType)(alox_EspNowMessageType_ESPNOW_HEARTBEAT+1))
|
||||
#define _alox_EspNowMessageType_MAX alox_EspNowMessageType_ESPNOW_SET_ACCEL_DEADZONE
|
||||
#define _alox_EspNowMessageType_ARRAYSIZE ((alox_EspNowMessageType)(alox_EspNowMessageType_ESPNOW_SET_ACCEL_DEADZONE+1))
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -59,9 +67,11 @@ extern "C" {
|
||||
/* Initializer values for message structs */
|
||||
#define alox_EspNowDiscover_init_default {0}
|
||||
#define alox_EspNowSlavePresence_init_default {0, {{NULL}, NULL}, 0, 0, 0, 0}
|
||||
#define alox_EspNowAccelDeadzone_init_default {0, 0}
|
||||
#define alox_EspNowMessage_init_default {_alox_EspNowMessageType_MIN, 0, {alox_EspNowDiscover_init_default}}
|
||||
#define alox_EspNowDiscover_init_zero {0}
|
||||
#define alox_EspNowSlavePresence_init_zero {0, {{NULL}, NULL}, 0, 0, 0, 0}
|
||||
#define alox_EspNowAccelDeadzone_init_zero {0, 0}
|
||||
#define alox_EspNowMessage_init_zero {_alox_EspNowMessageType_MIN, 0, {alox_EspNowDiscover_init_zero}}
|
||||
|
||||
/* Field tags (for use in manual encoding/decoding) */
|
||||
@@ -72,10 +82,13 @@ extern "C" {
|
||||
#define alox_EspNowSlavePresence_slave_id_tag 4
|
||||
#define alox_EspNowSlavePresence_available_tag 5
|
||||
#define alox_EspNowSlavePresence_used_tag 6
|
||||
#define alox_EspNowAccelDeadzone_deadzone_tag 1
|
||||
#define alox_EspNowAccelDeadzone_client_id_tag 2
|
||||
#define alox_EspNowMessage_type_tag 1
|
||||
#define alox_EspNowMessage_discover_tag 2
|
||||
#define alox_EspNowMessage_slave_info_tag 3
|
||||
#define alox_EspNowMessage_heartbeat_tag 4
|
||||
#define alox_EspNowMessage_accel_deadzone_tag 5
|
||||
|
||||
/* Struct field encoding specification for nanopb */
|
||||
#define alox_EspNowDiscover_FIELDLIST(X, a) \
|
||||
@@ -93,30 +106,41 @@ X(a, STATIC, SINGULAR, BOOL, used, 6)
|
||||
#define alox_EspNowSlavePresence_CALLBACK pb_default_field_callback
|
||||
#define alox_EspNowSlavePresence_DEFAULT NULL
|
||||
|
||||
#define alox_EspNowAccelDeadzone_FIELDLIST(X, a) \
|
||||
X(a, STATIC, SINGULAR, UINT32, deadzone, 1) \
|
||||
X(a, STATIC, SINGULAR, UINT32, client_id, 2)
|
||||
#define alox_EspNowAccelDeadzone_CALLBACK NULL
|
||||
#define alox_EspNowAccelDeadzone_DEFAULT NULL
|
||||
|
||||
#define alox_EspNowMessage_FIELDLIST(X, a) \
|
||||
X(a, STATIC, SINGULAR, UENUM, type, 1) \
|
||||
X(a, STATIC, ONEOF, MESSAGE, (payload,discover,payload.discover), 2) \
|
||||
X(a, STATIC, ONEOF, MESSAGE, (payload,slave_info,payload.slave_info), 3) \
|
||||
X(a, STATIC, ONEOF, MESSAGE, (payload,heartbeat,payload.heartbeat), 4)
|
||||
X(a, STATIC, ONEOF, MESSAGE, (payload,heartbeat,payload.heartbeat), 4) \
|
||||
X(a, STATIC, ONEOF, MESSAGE, (payload,accel_deadzone,payload.accel_deadzone), 5)
|
||||
#define alox_EspNowMessage_CALLBACK NULL
|
||||
#define alox_EspNowMessage_DEFAULT NULL
|
||||
#define alox_EspNowMessage_payload_discover_MSGTYPE alox_EspNowDiscover
|
||||
#define alox_EspNowMessage_payload_slave_info_MSGTYPE alox_EspNowSlavePresence
|
||||
#define alox_EspNowMessage_payload_heartbeat_MSGTYPE alox_EspNowSlavePresence
|
||||
#define alox_EspNowMessage_payload_accel_deadzone_MSGTYPE alox_EspNowAccelDeadzone
|
||||
|
||||
extern const pb_msgdesc_t alox_EspNowDiscover_msg;
|
||||
extern const pb_msgdesc_t alox_EspNowSlavePresence_msg;
|
||||
extern const pb_msgdesc_t alox_EspNowAccelDeadzone_msg;
|
||||
extern const pb_msgdesc_t alox_EspNowMessage_msg;
|
||||
|
||||
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
|
||||
#define alox_EspNowDiscover_fields &alox_EspNowDiscover_msg
|
||||
#define alox_EspNowSlavePresence_fields &alox_EspNowSlavePresence_msg
|
||||
#define alox_EspNowAccelDeadzone_fields &alox_EspNowAccelDeadzone_msg
|
||||
#define alox_EspNowMessage_fields &alox_EspNowMessage_msg
|
||||
|
||||
/* Maximum encoded size of messages (where known) */
|
||||
/* alox_EspNowSlavePresence_size depends on runtime parameters */
|
||||
/* alox_EspNowMessage_size depends on runtime parameters */
|
||||
#define ALOX_MAIN_PROTO_ESP_NOW_MESSAGES_PB_H_MAX_SIZE alox_EspNowDiscover_size
|
||||
#define ALOX_MAIN_PROTO_ESP_NOW_MESSAGES_PB_H_MAX_SIZE alox_EspNowAccelDeadzone_size
|
||||
#define alox_EspNowAccelDeadzone_size 12
|
||||
#define alox_EspNowDiscover_size 6
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
@@ -7,6 +7,7 @@ enum EspNowMessageType {
|
||||
ESPNOW_DISCOVER = 1;
|
||||
ESPNOW_SLAVE_INFO = 2;
|
||||
ESPNOW_HEARTBEAT = 3;
|
||||
ESPNOW_SET_ACCEL_DEADZONE = 4;
|
||||
}
|
||||
|
||||
message EspNowDiscover {
|
||||
@@ -22,11 +23,17 @@ message EspNowSlavePresence {
|
||||
bool used = 6;
|
||||
}
|
||||
|
||||
message EspNowAccelDeadzone {
|
||||
uint32 deadzone = 1;
|
||||
uint32 client_id = 2; // 0 = all slaves; otherwise only matching slave_id applies
|
||||
}
|
||||
|
||||
message EspNowMessage {
|
||||
EspNowMessageType type = 1;
|
||||
oneof payload {
|
||||
EspNowDiscover discover = 2;
|
||||
EspNowSlavePresence slave_info = 3;
|
||||
EspNowSlavePresence heartbeat = 4;
|
||||
EspNowAccelDeadzone accel_deadzone = 5;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -30,6 +30,12 @@ PB_BIND(alox_ClientInput, alox_ClientInput, AUTO)
|
||||
PB_BIND(alox_ClientInputResponse, alox_ClientInputResponse, AUTO)
|
||||
|
||||
|
||||
PB_BIND(alox_AccelDeadzoneRequest, alox_AccelDeadzoneRequest, AUTO)
|
||||
|
||||
|
||||
PB_BIND(alox_AccelDeadzoneResponse, alox_AccelDeadzoneResponse, AUTO)
|
||||
|
||||
|
||||
PB_BIND(alox_OtaStartPayload, alox_OtaStartPayload, AUTO)
|
||||
|
||||
|
||||
|
||||
@@ -17,6 +17,7 @@ typedef enum _alox_MessageType {
|
||||
alox_MessageType_VERSION = 3,
|
||||
alox_MessageType_CLIENT_INFO = 4,
|
||||
alox_MessageType_CLIENT_INPUT = 5,
|
||||
alox_MessageType_ACCEL_DEADZONE = 6,
|
||||
alox_MessageType_OTA_START = 16,
|
||||
alox_MessageType_OTA_PAYLOAD = 17,
|
||||
alox_MessageType_OTA_END = 18,
|
||||
@@ -63,6 +64,23 @@ typedef struct _alox_ClientInputResponse {
|
||||
pb_callback_t clients;
|
||||
} alox_ClientInputResponse;
|
||||
|
||||
/* write=false: read deadzone; write=true: apply deadzone (LSB per axis, raw accel units).
|
||||
client_id 0 = local BMA456 on this node; >0 = slave id on master; ignored on slave.
|
||||
all_clients = true (master only): push deadzone to every registered slave via ESP-NOW. */
|
||||
typedef struct _alox_AccelDeadzoneRequest {
|
||||
bool write;
|
||||
uint32_t deadzone;
|
||||
uint32_t client_id;
|
||||
bool all_clients;
|
||||
} alox_AccelDeadzoneRequest;
|
||||
|
||||
typedef struct _alox_AccelDeadzoneResponse {
|
||||
uint32_t deadzone;
|
||||
uint32_t client_id;
|
||||
bool success;
|
||||
uint32_t slaves_updated;
|
||||
} alox_AccelDeadzoneResponse;
|
||||
|
||||
typedef struct _alox_OtaStartPayload {
|
||||
uint32_t total_size;
|
||||
uint32_t block_size;
|
||||
@@ -95,6 +113,8 @@ typedef struct _alox_UartMessage {
|
||||
alox_OtaPayload ota_payload;
|
||||
alox_OtaEndPayload ota_end;
|
||||
alox_OtaStatusPayload ota_status;
|
||||
alox_AccelDeadzoneRequest accel_deadzone_request;
|
||||
alox_AccelDeadzoneResponse accel_deadzone_response;
|
||||
} payload;
|
||||
} alox_UartMessage;
|
||||
|
||||
@@ -122,6 +142,8 @@ extern "C" {
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/* Initializer values for message structs */
|
||||
#define alox_UartMessage_init_default {_alox_MessageType_MIN, 0, {alox_Ack_init_default}}
|
||||
#define alox_Ack_init_default {0}
|
||||
@@ -131,6 +153,8 @@ extern "C" {
|
||||
#define alox_ClientInfoResponse_init_default {{{NULL}, NULL}}
|
||||
#define alox_ClientInput_init_default {0, 0, 0, 0}
|
||||
#define alox_ClientInputResponse_init_default {{{NULL}, NULL}}
|
||||
#define alox_AccelDeadzoneRequest_init_default {0, 0, 0, 0}
|
||||
#define alox_AccelDeadzoneResponse_init_default {0, 0, 0, 0}
|
||||
#define alox_OtaStartPayload_init_default {0, 0}
|
||||
#define alox_OtaPayload_init_default {0, 0, {{NULL}, NULL}}
|
||||
#define alox_OtaEndPayload_init_default {0}
|
||||
@@ -143,6 +167,8 @@ extern "C" {
|
||||
#define alox_ClientInfoResponse_init_zero {{{NULL}, NULL}}
|
||||
#define alox_ClientInput_init_zero {0, 0, 0, 0}
|
||||
#define alox_ClientInputResponse_init_zero {{{NULL}, NULL}}
|
||||
#define alox_AccelDeadzoneRequest_init_zero {0, 0, 0, 0}
|
||||
#define alox_AccelDeadzoneResponse_init_zero {0, 0, 0, 0}
|
||||
#define alox_OtaStartPayload_init_zero {0, 0}
|
||||
#define alox_OtaPayload_init_zero {0, 0, {{NULL}, NULL}}
|
||||
#define alox_OtaEndPayload_init_zero {0}
|
||||
@@ -165,6 +191,14 @@ extern "C" {
|
||||
#define alox_ClientInput_lage_y_tag 3
|
||||
#define alox_ClientInput_bitmask_tag 4
|
||||
#define alox_ClientInputResponse_clients_tag 1
|
||||
#define alox_AccelDeadzoneRequest_write_tag 1
|
||||
#define alox_AccelDeadzoneRequest_deadzone_tag 2
|
||||
#define alox_AccelDeadzoneRequest_client_id_tag 3
|
||||
#define alox_AccelDeadzoneRequest_all_clients_tag 4
|
||||
#define alox_AccelDeadzoneResponse_deadzone_tag 1
|
||||
#define alox_AccelDeadzoneResponse_client_id_tag 2
|
||||
#define alox_AccelDeadzoneResponse_success_tag 3
|
||||
#define alox_AccelDeadzoneResponse_slaves_updated_tag 4
|
||||
#define alox_OtaStartPayload_total_size_tag 1
|
||||
#define alox_OtaStartPayload_block_size_tag 2
|
||||
#define alox_OtaPayload_block_id_tag 1
|
||||
@@ -182,6 +216,8 @@ extern "C" {
|
||||
#define alox_UartMessage_ota_payload_tag 8
|
||||
#define alox_UartMessage_ota_end_tag 9
|
||||
#define alox_UartMessage_ota_status_tag 10
|
||||
#define alox_UartMessage_accel_deadzone_request_tag 11
|
||||
#define alox_UartMessage_accel_deadzone_response_tag 12
|
||||
|
||||
/* Struct field encoding specification for nanopb */
|
||||
#define alox_UartMessage_FIELDLIST(X, a) \
|
||||
@@ -194,7 +230,9 @@ X(a, STATIC, ONEOF, MESSAGE, (payload,client_input_response,payload.client
|
||||
X(a, STATIC, ONEOF, MESSAGE, (payload,ota_start,payload.ota_start), 7) \
|
||||
X(a, STATIC, ONEOF, MESSAGE, (payload,ota_payload,payload.ota_payload), 8) \
|
||||
X(a, STATIC, ONEOF, MESSAGE, (payload,ota_end,payload.ota_end), 9) \
|
||||
X(a, STATIC, ONEOF, MESSAGE, (payload,ota_status,payload.ota_status), 10)
|
||||
X(a, STATIC, ONEOF, MESSAGE, (payload,ota_status,payload.ota_status), 10) \
|
||||
X(a, STATIC, ONEOF, MESSAGE, (payload,accel_deadzone_request,payload.accel_deadzone_request), 11) \
|
||||
X(a, STATIC, ONEOF, MESSAGE, (payload,accel_deadzone_response,payload.accel_deadzone_response), 12)
|
||||
#define alox_UartMessage_CALLBACK NULL
|
||||
#define alox_UartMessage_DEFAULT NULL
|
||||
#define alox_UartMessage_payload_ack_payload_MSGTYPE alox_Ack
|
||||
@@ -206,6 +244,8 @@ X(a, STATIC, ONEOF, MESSAGE, (payload,ota_status,payload.ota_status), 10)
|
||||
#define alox_UartMessage_payload_ota_payload_MSGTYPE alox_OtaPayload
|
||||
#define alox_UartMessage_payload_ota_end_MSGTYPE alox_OtaEndPayload
|
||||
#define alox_UartMessage_payload_ota_status_MSGTYPE alox_OtaStatusPayload
|
||||
#define alox_UartMessage_payload_accel_deadzone_request_MSGTYPE alox_AccelDeadzoneRequest
|
||||
#define alox_UartMessage_payload_accel_deadzone_response_MSGTYPE alox_AccelDeadzoneResponse
|
||||
|
||||
#define alox_Ack_FIELDLIST(X, a) \
|
||||
|
||||
@@ -254,6 +294,22 @@ X(a, CALLBACK, REPEATED, MESSAGE, clients, 1)
|
||||
#define alox_ClientInputResponse_DEFAULT NULL
|
||||
#define alox_ClientInputResponse_clients_MSGTYPE alox_ClientInput
|
||||
|
||||
#define alox_AccelDeadzoneRequest_FIELDLIST(X, a) \
|
||||
X(a, STATIC, SINGULAR, BOOL, write, 1) \
|
||||
X(a, STATIC, SINGULAR, UINT32, deadzone, 2) \
|
||||
X(a, STATIC, SINGULAR, UINT32, client_id, 3) \
|
||||
X(a, STATIC, SINGULAR, BOOL, all_clients, 4)
|
||||
#define alox_AccelDeadzoneRequest_CALLBACK NULL
|
||||
#define alox_AccelDeadzoneRequest_DEFAULT NULL
|
||||
|
||||
#define alox_AccelDeadzoneResponse_FIELDLIST(X, a) \
|
||||
X(a, STATIC, SINGULAR, UINT32, deadzone, 1) \
|
||||
X(a, STATIC, SINGULAR, UINT32, client_id, 2) \
|
||||
X(a, STATIC, SINGULAR, BOOL, success, 3) \
|
||||
X(a, STATIC, SINGULAR, UINT32, slaves_updated, 4)
|
||||
#define alox_AccelDeadzoneResponse_CALLBACK NULL
|
||||
#define alox_AccelDeadzoneResponse_DEFAULT NULL
|
||||
|
||||
#define alox_OtaStartPayload_FIELDLIST(X, a) \
|
||||
X(a, STATIC, SINGULAR, UINT32, total_size, 1) \
|
||||
X(a, STATIC, SINGULAR, UINT32, block_size, 2)
|
||||
@@ -285,6 +341,8 @@ extern const pb_msgdesc_t alox_ClientInfo_msg;
|
||||
extern const pb_msgdesc_t alox_ClientInfoResponse_msg;
|
||||
extern const pb_msgdesc_t alox_ClientInput_msg;
|
||||
extern const pb_msgdesc_t alox_ClientInputResponse_msg;
|
||||
extern const pb_msgdesc_t alox_AccelDeadzoneRequest_msg;
|
||||
extern const pb_msgdesc_t alox_AccelDeadzoneResponse_msg;
|
||||
extern const pb_msgdesc_t alox_OtaStartPayload_msg;
|
||||
extern const pb_msgdesc_t alox_OtaPayload_msg;
|
||||
extern const pb_msgdesc_t alox_OtaEndPayload_msg;
|
||||
@@ -299,6 +357,8 @@ extern const pb_msgdesc_t alox_OtaStatusPayload_msg;
|
||||
#define alox_ClientInfoResponse_fields &alox_ClientInfoResponse_msg
|
||||
#define alox_ClientInput_fields &alox_ClientInput_msg
|
||||
#define alox_ClientInputResponse_fields &alox_ClientInputResponse_msg
|
||||
#define alox_AccelDeadzoneRequest_fields &alox_AccelDeadzoneRequest_msg
|
||||
#define alox_AccelDeadzoneResponse_fields &alox_AccelDeadzoneResponse_msg
|
||||
#define alox_OtaStartPayload_fields &alox_OtaStartPayload_msg
|
||||
#define alox_OtaPayload_fields &alox_OtaPayload_msg
|
||||
#define alox_OtaEndPayload_fields &alox_OtaEndPayload_msg
|
||||
@@ -313,6 +373,8 @@ extern const pb_msgdesc_t alox_OtaStatusPayload_msg;
|
||||
/* alox_ClientInputResponse_size depends on runtime parameters */
|
||||
/* alox_OtaPayload_size depends on runtime parameters */
|
||||
#define ALOX_MAIN_PROTO_UART_MESSAGES_PB_H_MAX_SIZE alox_ClientInput_size
|
||||
#define alox_AccelDeadzoneRequest_size 16
|
||||
#define alox_AccelDeadzoneResponse_size 20
|
||||
#define alox_Ack_size 0
|
||||
#define alox_ClientInput_size 22
|
||||
#define alox_OtaEndPayload_size 6
|
||||
|
||||
@@ -9,6 +9,7 @@ enum MessageType {
|
||||
VERSION = 3;
|
||||
CLIENT_INFO = 4;
|
||||
CLIENT_INPUT = 5;
|
||||
ACCEL_DEADZONE = 6;
|
||||
OTA_START = 16;
|
||||
OTA_PAYLOAD = 17;
|
||||
OTA_END = 18;
|
||||
@@ -28,6 +29,8 @@ message UartMessage {
|
||||
OtaPayload ota_payload = 8;
|
||||
OtaEndPayload ota_end = 9;
|
||||
OtaStatusPayload ota_status = 10;
|
||||
AccelDeadzoneRequest accel_deadzone_request = 11;
|
||||
AccelDeadzoneResponse accel_deadzone_response = 12;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -67,6 +70,23 @@ message ClientInputResponse {
|
||||
repeated ClientInput clients = 1;
|
||||
}
|
||||
|
||||
// write=false: read deadzone; write=true: apply deadzone (LSB per axis, raw accel units).
|
||||
// client_id 0 = local BMA456 on this node; >0 = slave id on master; ignored on slave.
|
||||
// all_clients = true (master only): push deadzone to every registered slave via ESP-NOW.
|
||||
message AccelDeadzoneRequest {
|
||||
bool write = 1;
|
||||
uint32 deadzone = 2;
|
||||
uint32 client_id = 3;
|
||||
bool all_clients = 4;
|
||||
}
|
||||
|
||||
message AccelDeadzoneResponse {
|
||||
uint32 deadzone = 1;
|
||||
uint32 client_id = 2;
|
||||
bool success = 3;
|
||||
uint32 slaves_updated = 4;
|
||||
}
|
||||
|
||||
message OtaStartPayload {
|
||||
uint32 total_size = 1;
|
||||
uint32 block_size = 2;
|
||||
|
||||
Reference in New Issue
Block a user