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:
parent
e5db0b21c7
commit
ee38ce551a
58
goTool/cmd_deadzone.go
Normal file
58
goTool/cmd_deadzone.go
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@ -0,0 +1,58 @@
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package main
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import (
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"flag"
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"fmt"
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"google.golang.org/protobuf/proto"
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"powerpod/gotool/pb"
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)
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func runDeadzone(sp *serialPort, args []string) error {
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fs := flag.NewFlagSet("deadzone", flag.ExitOnError)
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write := fs.Bool("set", false, "write deadzone (default: read)")
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deadzone := fs.Uint("value", 100, "deadzone in raw accel LSB (with -set)")
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clientID := fs.Uint("client", 0, "client id (0=local master BMA456)")
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all := fs.Bool("all", false, "apply to all registered slaves (master only)")
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if err := fs.Parse(args); err != nil {
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return err
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}
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req := &pb.AccelDeadzoneRequest{
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Write: *write,
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Deadzone: uint32(*deadzone),
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ClientId: uint32(*clientID),
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AllClients: *all,
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}
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msg := &pb.UartMessage{
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Type: pb.MessageType_ACCEL_DEADZONE,
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Payload: &pb.UartMessage_AccelDeadzoneRequest{
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AccelDeadzoneRequest: req,
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},
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}
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body, err := proto.Marshal(msg)
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if err != nil {
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return fmt.Errorf("encode request: %w", err)
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}
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payload := append([]byte{byte(pb.MessageType_ACCEL_DEADZONE)}, body...)
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respPayload, err := sp.exchangePayload(payload, "ACCEL_DEADZONE")
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if err != nil {
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return err
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}
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var respMsg pb.UartMessage
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if err := proto.Unmarshal(respPayload[1:], &respMsg); err != nil {
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return fmt.Errorf("decode response: %w", err)
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}
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r := respMsg.GetAccelDeadzoneResponse()
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if r == nil {
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return fmt.Errorf("response missing accel_deadzone_response")
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}
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fmt.Printf("deadzone=%d client_id=%d success=%v slaves_updated=%d\n",
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r.GetDeadzone(), r.GetClientId(), r.GetSuccess(), r.GetSlavesUpdated())
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return nil
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}
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@ -13,7 +13,8 @@ func usage() {
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fmt.Fprintf(os.Stderr, "usage: gotool -port /dev/ttyUSB0 <command>\n\n")
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fmt.Fprintf(os.Stderr, "commands:\n")
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fmt.Fprintf(os.Stderr, " version firmware version and git hash\n")
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fmt.Fprintf(os.Stderr, " clients registered ESP-NOW slaves on the master\n\n")
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fmt.Fprintf(os.Stderr, " clients registered ESP-NOW slaves on the master\n")
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fmt.Fprintf(os.Stderr, " deadzone get/set accelerometer deadzone (LSB)\n\n")
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flag.PrintDefaults()
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}
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@ -41,6 +42,8 @@ func main() {
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runErr = runVersion(sp)
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case "clients", "client-info":
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runErr = runClients(sp)
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case "deadzone", "accel-deadzone":
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runErr = runDeadzone(sp, flag.Args()[1:])
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default:
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fmt.Fprintf(os.Stderr, "unknown command %q\n\n", cmd)
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usage()
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@ -30,6 +30,7 @@ const (
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MessageType_VERSION MessageType = 3
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MessageType_CLIENT_INFO MessageType = 4
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MessageType_CLIENT_INPUT MessageType = 5
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MessageType_ACCEL_DEADZONE MessageType = 6
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MessageType_OTA_START MessageType = 16
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MessageType_OTA_PAYLOAD MessageType = 17
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MessageType_OTA_END MessageType = 18
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@ -46,6 +47,7 @@ var (
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3: "VERSION",
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4: "CLIENT_INFO",
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5: "CLIENT_INPUT",
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6: "ACCEL_DEADZONE",
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16: "OTA_START",
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17: "OTA_PAYLOAD",
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18: "OTA_END",
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@ -59,6 +61,7 @@ var (
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"VERSION": 3,
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"CLIENT_INFO": 4,
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"CLIENT_INPUT": 5,
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"ACCEL_DEADZONE": 6,
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"OTA_START": 16,
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"OTA_PAYLOAD": 17,
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"OTA_END": 18,
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@ -108,6 +111,8 @@ type UartMessage struct {
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// *UartMessage_OtaPayload
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// *UartMessage_OtaEnd
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// *UartMessage_OtaStatus
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// *UartMessage_AccelDeadzoneRequest
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// *UartMessage_AccelDeadzoneResponse
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Payload isUartMessage_Payload `protobuf_oneof:"payload"`
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unknownFields protoimpl.UnknownFields
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sizeCache protoimpl.SizeCache
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@ -238,6 +243,24 @@ func (x *UartMessage) GetOtaStatus() *OtaStatusPayload {
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return nil
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}
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func (x *UartMessage) GetAccelDeadzoneRequest() *AccelDeadzoneRequest {
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if x != nil {
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if x, ok := x.Payload.(*UartMessage_AccelDeadzoneRequest); ok {
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return x.AccelDeadzoneRequest
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}
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}
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return nil
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}
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func (x *UartMessage) GetAccelDeadzoneResponse() *AccelDeadzoneResponse {
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if x != nil {
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if x, ok := x.Payload.(*UartMessage_AccelDeadzoneResponse); ok {
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return x.AccelDeadzoneResponse
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}
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}
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return nil
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}
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type isUartMessage_Payload interface {
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isUartMessage_Payload()
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}
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@ -278,6 +301,14 @@ type UartMessage_OtaStatus struct {
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OtaStatus *OtaStatusPayload `protobuf:"bytes,10,opt,name=ota_status,json=otaStatus,proto3,oneof"`
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}
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type UartMessage_AccelDeadzoneRequest struct {
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AccelDeadzoneRequest *AccelDeadzoneRequest `protobuf:"bytes,11,opt,name=accel_deadzone_request,json=accelDeadzoneRequest,proto3,oneof"`
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}
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type UartMessage_AccelDeadzoneResponse struct {
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AccelDeadzoneResponse *AccelDeadzoneResponse `protobuf:"bytes,12,opt,name=accel_deadzone_response,json=accelDeadzoneResponse,proto3,oneof"`
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}
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func (*UartMessage_AckPayload) isUartMessage_Payload() {}
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func (*UartMessage_EchoPayload) isUartMessage_Payload() {}
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@ -296,6 +327,10 @@ func (*UartMessage_OtaEnd) isUartMessage_Payload() {}
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func (*UartMessage_OtaStatus) isUartMessage_Payload() {}
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func (*UartMessage_AccelDeadzoneRequest) isUartMessage_Payload() {}
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func (*UartMessage_AccelDeadzoneResponse) isUartMessage_Payload() {}
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type Ack struct {
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state protoimpl.MessageState `protogen:"open.v1"`
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unknownFields protoimpl.UnknownFields
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@ -676,6 +711,145 @@ func (x *ClientInputResponse) GetClients() []*ClientInput {
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return nil
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}
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// write=false: read deadzone; write=true: apply deadzone (LSB per axis, raw accel units).
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// client_id 0 = local BMA456 on this node; >0 = slave id on master; ignored on slave.
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// all_clients = true (master only): push deadzone to every registered slave via ESP-NOW.
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type AccelDeadzoneRequest struct {
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state protoimpl.MessageState `protogen:"open.v1"`
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Write bool `protobuf:"varint,1,opt,name=write,proto3" json:"write,omitempty"`
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Deadzone uint32 `protobuf:"varint,2,opt,name=deadzone,proto3" json:"deadzone,omitempty"`
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ClientId uint32 `protobuf:"varint,3,opt,name=client_id,json=clientId,proto3" json:"client_id,omitempty"`
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AllClients bool `protobuf:"varint,4,opt,name=all_clients,json=allClients,proto3" json:"all_clients,omitempty"`
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unknownFields protoimpl.UnknownFields
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sizeCache protoimpl.SizeCache
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}
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func (x *AccelDeadzoneRequest) Reset() {
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*x = AccelDeadzoneRequest{}
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mi := &file_uart_messages_proto_msgTypes[8]
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ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
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ms.StoreMessageInfo(mi)
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}
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func (x *AccelDeadzoneRequest) String() string {
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return protoimpl.X.MessageStringOf(x)
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}
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func (*AccelDeadzoneRequest) ProtoMessage() {}
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func (x *AccelDeadzoneRequest) ProtoReflect() protoreflect.Message {
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mi := &file_uart_messages_proto_msgTypes[8]
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if x != nil {
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ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
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if ms.LoadMessageInfo() == nil {
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ms.StoreMessageInfo(mi)
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}
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return ms
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}
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return mi.MessageOf(x)
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}
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// Deprecated: Use AccelDeadzoneRequest.ProtoReflect.Descriptor instead.
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func (*AccelDeadzoneRequest) Descriptor() ([]byte, []int) {
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return file_uart_messages_proto_rawDescGZIP(), []int{8}
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}
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func (x *AccelDeadzoneRequest) GetWrite() bool {
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if x != nil {
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return x.Write
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}
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return false
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}
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func (x *AccelDeadzoneRequest) GetDeadzone() uint32 {
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if x != nil {
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return x.Deadzone
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}
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return 0
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}
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func (x *AccelDeadzoneRequest) GetClientId() uint32 {
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if x != nil {
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return x.ClientId
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}
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return 0
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}
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func (x *AccelDeadzoneRequest) GetAllClients() bool {
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if x != nil {
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return x.AllClients
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}
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return false
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}
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type AccelDeadzoneResponse struct {
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state protoimpl.MessageState `protogen:"open.v1"`
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Deadzone uint32 `protobuf:"varint,1,opt,name=deadzone,proto3" json:"deadzone,omitempty"`
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ClientId uint32 `protobuf:"varint,2,opt,name=client_id,json=clientId,proto3" json:"client_id,omitempty"`
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Success bool `protobuf:"varint,3,opt,name=success,proto3" json:"success,omitempty"`
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SlavesUpdated uint32 `protobuf:"varint,4,opt,name=slaves_updated,json=slavesUpdated,proto3" json:"slaves_updated,omitempty"`
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unknownFields protoimpl.UnknownFields
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sizeCache protoimpl.SizeCache
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}
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func (x *AccelDeadzoneResponse) Reset() {
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*x = AccelDeadzoneResponse{}
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mi := &file_uart_messages_proto_msgTypes[9]
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ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
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ms.StoreMessageInfo(mi)
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}
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func (x *AccelDeadzoneResponse) String() string {
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return protoimpl.X.MessageStringOf(x)
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}
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func (*AccelDeadzoneResponse) ProtoMessage() {}
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func (x *AccelDeadzoneResponse) ProtoReflect() protoreflect.Message {
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mi := &file_uart_messages_proto_msgTypes[9]
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if x != nil {
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ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
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if ms.LoadMessageInfo() == nil {
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ms.StoreMessageInfo(mi)
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}
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return ms
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}
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return mi.MessageOf(x)
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}
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// Deprecated: Use AccelDeadzoneResponse.ProtoReflect.Descriptor instead.
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func (*AccelDeadzoneResponse) Descriptor() ([]byte, []int) {
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return file_uart_messages_proto_rawDescGZIP(), []int{9}
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}
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func (x *AccelDeadzoneResponse) GetDeadzone() uint32 {
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if x != nil {
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return x.Deadzone
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}
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return 0
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}
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func (x *AccelDeadzoneResponse) GetClientId() uint32 {
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if x != nil {
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return x.ClientId
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}
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return 0
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}
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func (x *AccelDeadzoneResponse) GetSuccess() bool {
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if x != nil {
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return x.Success
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}
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return false
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}
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func (x *AccelDeadzoneResponse) GetSlavesUpdated() uint32 {
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if x != nil {
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return x.SlavesUpdated
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}
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return 0
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}
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type OtaStartPayload struct {
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state protoimpl.MessageState `protogen:"open.v1"`
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TotalSize uint32 `protobuf:"varint,1,opt,name=total_size,json=totalSize,proto3" json:"total_size,omitempty"`
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@ -686,7 +860,7 @@ type OtaStartPayload struct {
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func (x *OtaStartPayload) Reset() {
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*x = OtaStartPayload{}
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mi := &file_uart_messages_proto_msgTypes[8]
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mi := &file_uart_messages_proto_msgTypes[10]
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ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
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ms.StoreMessageInfo(mi)
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}
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@ -698,7 +872,7 @@ func (x *OtaStartPayload) String() string {
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func (*OtaStartPayload) ProtoMessage() {}
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func (x *OtaStartPayload) ProtoReflect() protoreflect.Message {
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mi := &file_uart_messages_proto_msgTypes[8]
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mi := &file_uart_messages_proto_msgTypes[10]
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if x != nil {
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ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
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if ms.LoadMessageInfo() == nil {
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@ -711,7 +885,7 @@ func (x *OtaStartPayload) ProtoReflect() protoreflect.Message {
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// Deprecated: Use OtaStartPayload.ProtoReflect.Descriptor instead.
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func (*OtaStartPayload) Descriptor() ([]byte, []int) {
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return file_uart_messages_proto_rawDescGZIP(), []int{8}
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return file_uart_messages_proto_rawDescGZIP(), []int{10}
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}
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func (x *OtaStartPayload) GetTotalSize() uint32 {
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@ -739,7 +913,7 @@ type OtaPayload struct {
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func (x *OtaPayload) Reset() {
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*x = OtaPayload{}
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mi := &file_uart_messages_proto_msgTypes[9]
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mi := &file_uart_messages_proto_msgTypes[11]
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ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
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ms.StoreMessageInfo(mi)
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}
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@ -751,7 +925,7 @@ func (x *OtaPayload) String() string {
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func (*OtaPayload) ProtoMessage() {}
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func (x *OtaPayload) ProtoReflect() protoreflect.Message {
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mi := &file_uart_messages_proto_msgTypes[9]
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mi := &file_uart_messages_proto_msgTypes[11]
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if x != nil {
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ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
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if ms.LoadMessageInfo() == nil {
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@ -764,7 +938,7 @@ func (x *OtaPayload) ProtoReflect() protoreflect.Message {
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// Deprecated: Use OtaPayload.ProtoReflect.Descriptor instead.
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func (*OtaPayload) Descriptor() ([]byte, []int) {
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return file_uart_messages_proto_rawDescGZIP(), []int{9}
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return file_uart_messages_proto_rawDescGZIP(), []int{11}
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}
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func (x *OtaPayload) GetBlockId() uint32 {
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@ -797,7 +971,7 @@ type OtaEndPayload struct {
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func (x *OtaEndPayload) Reset() {
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*x = OtaEndPayload{}
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mi := &file_uart_messages_proto_msgTypes[10]
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mi := &file_uart_messages_proto_msgTypes[12]
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ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
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ms.StoreMessageInfo(mi)
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}
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@ -809,7 +983,7 @@ func (x *OtaEndPayload) String() string {
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func (*OtaEndPayload) ProtoMessage() {}
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func (x *OtaEndPayload) ProtoReflect() protoreflect.Message {
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mi := &file_uart_messages_proto_msgTypes[10]
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mi := &file_uart_messages_proto_msgTypes[12]
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if x != nil {
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ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
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if ms.LoadMessageInfo() == nil {
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@ -822,7 +996,7 @@ func (x *OtaEndPayload) ProtoReflect() protoreflect.Message {
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// Deprecated: Use OtaEndPayload.ProtoReflect.Descriptor instead.
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func (*OtaEndPayload) Descriptor() ([]byte, []int) {
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return file_uart_messages_proto_rawDescGZIP(), []int{10}
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return file_uart_messages_proto_rawDescGZIP(), []int{12}
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}
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func (x *OtaEndPayload) GetStatus() uint32 {
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@ -841,7 +1015,7 @@ type OtaStatusPayload struct {
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func (x *OtaStatusPayload) Reset() {
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*x = OtaStatusPayload{}
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mi := &file_uart_messages_proto_msgTypes[11]
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mi := &file_uart_messages_proto_msgTypes[13]
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ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
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ms.StoreMessageInfo(mi)
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}
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@ -853,7 +1027,7 @@ func (x *OtaStatusPayload) String() string {
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func (*OtaStatusPayload) ProtoMessage() {}
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func (x *OtaStatusPayload) ProtoReflect() protoreflect.Message {
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mi := &file_uart_messages_proto_msgTypes[11]
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mi := &file_uart_messages_proto_msgTypes[13]
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if x != nil {
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ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
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if ms.LoadMessageInfo() == nil {
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@ -866,7 +1040,7 @@ func (x *OtaStatusPayload) ProtoReflect() protoreflect.Message {
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// Deprecated: Use OtaStatusPayload.ProtoReflect.Descriptor instead.
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func (*OtaStatusPayload) Descriptor() ([]byte, []int) {
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return file_uart_messages_proto_rawDescGZIP(), []int{11}
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return file_uart_messages_proto_rawDescGZIP(), []int{13}
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}
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func (x *OtaStatusPayload) GetStatus() uint32 {
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@ -880,7 +1054,7 @@ var File_uart_messages_proto protoreflect.FileDescriptor
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const file_uart_messages_proto_rawDesc = "" +
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"\n" +
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"\x13uart_messages.proto\x12\x04alox\"\xdc\x04\n" +
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"\x13uart_messages.proto\x12\x04alox\"\x87\x06\n" +
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"\vUartMessage\x12%\n" +
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"\x04type\x18\x01 \x01(\x0e2\x11.alox.MessageTypeR\x04type\x12,\n" +
|
||||
"\vack_payload\x18\x02 \x01(\v2\t.alox.AckH\x00R\n" +
|
||||
@ -895,7 +1069,9 @@ const file_uart_messages_proto_rawDesc = "" +
|
||||
"\aota_end\x18\t \x01(\v2\x13.alox.OtaEndPayloadH\x00R\x06otaEnd\x127\n" +
|
||||
"\n" +
|
||||
"ota_status\x18\n" +
|
||||
" \x01(\v2\x16.alox.OtaStatusPayloadH\x00R\totaStatusB\t\n" +
|
||||
" \x01(\v2\x16.alox.OtaStatusPayloadH\x00R\totaStatus\x12R\n" +
|
||||
"\x16accel_deadzone_request\x18\v \x01(\v2\x1a.alox.AccelDeadzoneRequestH\x00R\x14accelDeadzoneRequest\x12U\n" +
|
||||
"\x17accel_deadzone_response\x18\f \x01(\v2\x1b.alox.AccelDeadzoneResponseH\x00R\x15accelDeadzoneResponseB\t\n" +
|
||||
"\apayload\"\x05\n" +
|
||||
"\x03Ack\"!\n" +
|
||||
"\vEchoPayload\x12\x12\n" +
|
||||
@ -920,7 +1096,18 @@ const file_uart_messages_proto_rawDesc = "" +
|
||||
"\x06lage_y\x18\x03 \x01(\x02R\x05lageY\x12\x18\n" +
|
||||
"\abitmask\x18\x04 \x01(\rR\abitmask\"B\n" +
|
||||
"\x13ClientInputResponse\x12+\n" +
|
||||
"\aclients\x18\x01 \x03(\v2\x11.alox.ClientInputR\aclients\"O\n" +
|
||||
"\aclients\x18\x01 \x03(\v2\x11.alox.ClientInputR\aclients\"\x86\x01\n" +
|
||||
"\x14AccelDeadzoneRequest\x12\x14\n" +
|
||||
"\x05write\x18\x01 \x01(\bR\x05write\x12\x1a\n" +
|
||||
"\bdeadzone\x18\x02 \x01(\rR\bdeadzone\x12\x1b\n" +
|
||||
"\tclient_id\x18\x03 \x01(\rR\bclientId\x12\x1f\n" +
|
||||
"\vall_clients\x18\x04 \x01(\bR\n" +
|
||||
"allClients\"\x91\x01\n" +
|
||||
"\x15AccelDeadzoneResponse\x12\x1a\n" +
|
||||
"\bdeadzone\x18\x01 \x01(\rR\bdeadzone\x12\x1b\n" +
|
||||
"\tclient_id\x18\x02 \x01(\rR\bclientId\x12\x18\n" +
|
||||
"\asuccess\x18\x03 \x01(\bR\asuccess\x12%\n" +
|
||||
"\x0eslaves_updated\x18\x04 \x01(\rR\rslavesUpdated\"O\n" +
|
||||
"\x0fOtaStartPayload\x12\x1d\n" +
|
||||
"\n" +
|
||||
"total_size\x18\x01 \x01(\rR\ttotalSize\x12\x1d\n" +
|
||||
@ -934,14 +1121,15 @@ const file_uart_messages_proto_rawDesc = "" +
|
||||
"\rOtaEndPayload\x12\x16\n" +
|
||||
"\x06status\x18\x01 \x01(\rR\x06status\"*\n" +
|
||||
"\x10OtaStatusPayload\x12\x16\n" +
|
||||
"\x06status\x18\x01 \x01(\rR\x06status*\xb0\x01\n" +
|
||||
"\x06status\x18\x01 \x01(\rR\x06status*\xc4\x01\n" +
|
||||
"\vMessageType\x12\v\n" +
|
||||
"\aUNKNOWN\x10\x00\x12\a\n" +
|
||||
"\x03ACK\x10\x01\x12\b\n" +
|
||||
"\x04ECHO\x10\x02\x12\v\n" +
|
||||
"\aVERSION\x10\x03\x12\x0f\n" +
|
||||
"\vCLIENT_INFO\x10\x04\x12\x10\n" +
|
||||
"\fCLIENT_INPUT\x10\x05\x12\r\n" +
|
||||
"\fCLIENT_INPUT\x10\x05\x12\x12\n" +
|
||||
"\x0eACCEL_DEADZONE\x10\x06\x12\r\n" +
|
||||
"\tOTA_START\x10\x10\x12\x0f\n" +
|
||||
"\vOTA_PAYLOAD\x10\x11\x12\v\n" +
|
||||
"\aOTA_END\x10\x12\x12\x0e\n" +
|
||||
@ -962,7 +1150,7 @@ func file_uart_messages_proto_rawDescGZIP() []byte {
|
||||
}
|
||||
|
||||
var file_uart_messages_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
|
||||
var file_uart_messages_proto_msgTypes = make([]protoimpl.MessageInfo, 12)
|
||||
var file_uart_messages_proto_msgTypes = make([]protoimpl.MessageInfo, 14)
|
||||
var file_uart_messages_proto_goTypes = []any{
|
||||
(MessageType)(0), // 0: alox.MessageType
|
||||
(*UartMessage)(nil), // 1: alox.UartMessage
|
||||
@ -973,10 +1161,12 @@ var file_uart_messages_proto_goTypes = []any{
|
||||
(*ClientInfoResponse)(nil), // 6: alox.ClientInfoResponse
|
||||
(*ClientInput)(nil), // 7: alox.ClientInput
|
||||
(*ClientInputResponse)(nil), // 8: alox.ClientInputResponse
|
||||
(*OtaStartPayload)(nil), // 9: alox.OtaStartPayload
|
||||
(*OtaPayload)(nil), // 10: alox.OtaPayload
|
||||
(*OtaEndPayload)(nil), // 11: alox.OtaEndPayload
|
||||
(*OtaStatusPayload)(nil), // 12: alox.OtaStatusPayload
|
||||
(*AccelDeadzoneRequest)(nil), // 9: alox.AccelDeadzoneRequest
|
||||
(*AccelDeadzoneResponse)(nil), // 10: alox.AccelDeadzoneResponse
|
||||
(*OtaStartPayload)(nil), // 11: alox.OtaStartPayload
|
||||
(*OtaPayload)(nil), // 12: alox.OtaPayload
|
||||
(*OtaEndPayload)(nil), // 13: alox.OtaEndPayload
|
||||
(*OtaStatusPayload)(nil), // 14: alox.OtaStatusPayload
|
||||
}
|
||||
var file_uart_messages_proto_depIdxs = []int32{
|
||||
0, // 0: alox.UartMessage.type:type_name -> alox.MessageType
|
||||
@ -985,17 +1175,19 @@ var file_uart_messages_proto_depIdxs = []int32{
|
||||
4, // 3: alox.UartMessage.version_response:type_name -> alox.VersionResponse
|
||||
6, // 4: alox.UartMessage.client_info_response:type_name -> alox.ClientInfoResponse
|
||||
8, // 5: alox.UartMessage.client_input_response:type_name -> alox.ClientInputResponse
|
||||
9, // 6: alox.UartMessage.ota_start:type_name -> alox.OtaStartPayload
|
||||
10, // 7: alox.UartMessage.ota_payload:type_name -> alox.OtaPayload
|
||||
11, // 8: alox.UartMessage.ota_end:type_name -> alox.OtaEndPayload
|
||||
12, // 9: alox.UartMessage.ota_status:type_name -> alox.OtaStatusPayload
|
||||
5, // 10: alox.ClientInfoResponse.clients:type_name -> alox.ClientInfo
|
||||
7, // 11: alox.ClientInputResponse.clients:type_name -> alox.ClientInput
|
||||
12, // [12:12] is the sub-list for method output_type
|
||||
12, // [12:12] is the sub-list for method input_type
|
||||
12, // [12:12] is the sub-list for extension type_name
|
||||
12, // [12:12] is the sub-list for extension extendee
|
||||
0, // [0:12] is the sub-list for field type_name
|
||||
11, // 6: alox.UartMessage.ota_start:type_name -> alox.OtaStartPayload
|
||||
12, // 7: alox.UartMessage.ota_payload:type_name -> alox.OtaPayload
|
||||
13, // 8: alox.UartMessage.ota_end:type_name -> alox.OtaEndPayload
|
||||
14, // 9: alox.UartMessage.ota_status:type_name -> alox.OtaStatusPayload
|
||||
9, // 10: alox.UartMessage.accel_deadzone_request:type_name -> alox.AccelDeadzoneRequest
|
||||
10, // 11: alox.UartMessage.accel_deadzone_response:type_name -> alox.AccelDeadzoneResponse
|
||||
5, // 12: alox.ClientInfoResponse.clients:type_name -> alox.ClientInfo
|
||||
7, // 13: alox.ClientInputResponse.clients:type_name -> alox.ClientInput
|
||||
14, // [14:14] is the sub-list for method output_type
|
||||
14, // [14:14] is the sub-list for method input_type
|
||||
14, // [14:14] is the sub-list for extension type_name
|
||||
14, // [14:14] is the sub-list for extension extendee
|
||||
0, // [0:14] is the sub-list for field type_name
|
||||
}
|
||||
|
||||
func init() { file_uart_messages_proto_init() }
|
||||
@ -1013,6 +1205,8 @@ func file_uart_messages_proto_init() {
|
||||
(*UartMessage_OtaPayload)(nil),
|
||||
(*UartMessage_OtaEnd)(nil),
|
||||
(*UartMessage_OtaStatus)(nil),
|
||||
(*UartMessage_AccelDeadzoneRequest)(nil),
|
||||
(*UartMessage_AccelDeadzoneResponse)(nil),
|
||||
}
|
||||
type x struct{}
|
||||
out := protoimpl.TypeBuilder{
|
||||
@ -1020,7 +1214,7 @@ func file_uart_messages_proto_init() {
|
||||
GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
|
||||
RawDescriptor: unsafe.Slice(unsafe.StringData(file_uart_messages_proto_rawDesc), len(file_uart_messages_proto_rawDesc)),
|
||||
NumEnums: 1,
|
||||
NumMessages: 12,
|
||||
NumMessages: 14,
|
||||
NumExtensions: 0,
|
||||
NumServices: 0,
|
||||
},
|
||||
|
||||
@ -38,6 +38,32 @@ func (s *serialPort) Close() error {
|
||||
return s.port.Close()
|
||||
}
|
||||
|
||||
func (s *serialPort) exchangePayload(payload []byte, cmdName string) ([]byte, error) {
|
||||
if len(payload) == 0 {
|
||||
return nil, fmt.Errorf("empty payload")
|
||||
}
|
||||
frame, err := uartframe.EncodeFrame(payload)
|
||||
if err != nil {
|
||||
return nil, fmt.Errorf("encode frame: %w", err)
|
||||
}
|
||||
|
||||
log.Printf("sending %s command (%d bytes): % x", cmdName, len(frame), frame)
|
||||
if _, err := s.port.Write(frame); err != nil {
|
||||
return nil, fmt.Errorf("write: %w", err)
|
||||
}
|
||||
|
||||
respPayload, err := uartframe.ReadFrame(s.port, nil)
|
||||
if err != nil {
|
||||
return nil, fmt.Errorf("read response: %w", err)
|
||||
}
|
||||
|
||||
log.Printf("response payload (%d bytes): % x", len(respPayload), respPayload)
|
||||
if len(respPayload) == 0 {
|
||||
return nil, fmt.Errorf("empty response payload")
|
||||
}
|
||||
return respPayload, nil
|
||||
}
|
||||
|
||||
func (s *serialPort) exchange(cmdID byte, cmdName string) ([]byte, error) {
|
||||
frame, err := uartframe.EncodeFrame([]byte{cmdID})
|
||||
if err != nil {
|
||||
|
||||
@ -16,6 +16,7 @@ idf_component_register(
|
||||
"cmd_handler.c"
|
||||
"cmd_version.c"
|
||||
"cmd_client_info.c"
|
||||
"cmd_accel_deadzone.c"
|
||||
"client_registry.c"
|
||||
"esp_now_comm.c"
|
||||
"esp_now_proto.c"
|
||||
|
||||
@ -73,6 +73,7 @@ Schema: `proto/esp_now_messages.proto`. Encode/decode: `esp_now_proto.c`. The ES
|
||||
| `ESPNOW_DISCOVER` | Master → broadcast `FF:FF:FF:FF:FF:FF` | `EspNowDiscover` (`network`) |
|
||||
| `ESPNOW_SLAVE_INFO` | Slave → master | `EspNowSlavePresence` |
|
||||
| `ESPNOW_HEARTBEAT` | Slave → master | `EspNowSlavePresence` (same fields) |
|
||||
| `ESPNOW_SET_ACCEL_DEADZONE` | Master → slave | `EspNowAccelDeadzone` (`deadzone` LSB) |
|
||||
|
||||
`EspNowSlavePresence`: `network`, `mac` (6 bytes), `version`, `slave_id`, `available`, `used`.
|
||||
|
||||
@ -146,6 +147,7 @@ Host and master speak nanopb-encoded `UartMessage` inside UART frames (byte 0 =
|
||||
| 3 | `VERSION` | Implemented (`cmd_version.c`) |
|
||||
| 4 | `CLIENT_INFO` | Implemented (`cmd_client_info.c`) — slave list from registry |
|
||||
| 5 | `CLIENT_INPUT` | Planned |
|
||||
| 6 | `ACCEL_DEADZONE` | Implemented (`cmd_accel_deadzone.c`) — get/set accel filter LSB |
|
||||
| 16–20 | OTA / ESP-NOW OTA | Planned |
|
||||
|
||||
Regenerate C code:
|
||||
@ -173,6 +175,21 @@ Build embeds `POWERPOD_GIT_HASH` via `git rev-parse` in `main/CMakeLists.txt`.
|
||||
|
||||
Encoding: `uart_send_uart_message()` in `uart_proto.c`.
|
||||
|
||||
### ACCEL_DEADZONE command
|
||||
|
||||
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**).
|
||||
|
||||
**Request:** framed `06` + nanopb `UartMessage` with `accel_deadzone_request`:
|
||||
|
||||
| Field | Meaning |
|
||||
|-------|---------|
|
||||
| `write` | `false` = read, `true` = write |
|
||||
| `deadzone` | Threshold in LSB (write) |
|
||||
| `client_id` | `0` = local sensor on this node; `>0` = slave id (master) |
|
||||
| `all_clients` | Master: ESP-NOW push to every registered slave |
|
||||
|
||||
**Response:** `accel_deadzone_response` with applied `deadzone`, `success`, and `slaves_updated` (ESP-NOW count).
|
||||
|
||||
### CLIENT_INFO command
|
||||
|
||||
**Request:** framed payload `04` only (`MessageType.CLIENT_INFO`).
|
||||
|
||||
@ -18,6 +18,11 @@ static const char *TAG = "[BMA456]";
|
||||
static i2c_master_dev_handle_t bma456_dev_handle;
|
||||
static bool s_bma456_ready;
|
||||
static struct bma4_dev bma456_struct;
|
||||
static uint32_t s_accel_deadzone = BMA456_DEFAULT_ACCEL_DEADZONE;
|
||||
static int16_t s_last_x;
|
||||
static int16_t s_last_y;
|
||||
static int16_t s_last_z;
|
||||
static bool s_have_last_sample;
|
||||
|
||||
volatile uint8_t interrupt_status = 0;
|
||||
uint8_t int_line;
|
||||
@ -134,6 +139,49 @@ static esp_err_t check_bma4(const char *api_name, int8_t rslt) {
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
static int16_t axis_delta(int16_t a, int16_t b) {
|
||||
int32_t d = (int32_t)a - (int32_t)b;
|
||||
return (int16_t)(d < 0 ? -d : d);
|
||||
}
|
||||
|
||||
static bool sample_exceeds_deadzone(int16_t x, int16_t y, int16_t z) {
|
||||
if (!s_have_last_sample) {
|
||||
return true;
|
||||
}
|
||||
return axis_delta(x, s_last_x) > (int16_t)s_accel_deadzone ||
|
||||
axis_delta(y, s_last_y) > (int16_t)s_accel_deadzone ||
|
||||
axis_delta(z, s_last_z) > (int16_t)s_accel_deadzone;
|
||||
}
|
||||
|
||||
bool bma456_is_ready(void) { return s_bma456_ready; }
|
||||
|
||||
void bma456_set_accel_deadzone(uint32_t deadzone_lsb) {
|
||||
s_accel_deadzone = deadzone_lsb;
|
||||
s_have_last_sample = false;
|
||||
if (s_bma456_ready) {
|
||||
ESP_LOGI(TAG, "accel deadzone applied: %lu LSB", (unsigned long)deadzone_lsb);
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t bma456_get_accel_deadzone(void) { return s_accel_deadzone; }
|
||||
|
||||
void bma456_report_accel_if_changed(int16_t x, int16_t y, int16_t z) {
|
||||
if (!s_bma456_ready) {
|
||||
return;
|
||||
}
|
||||
if (!sample_exceeds_deadzone(x, y, z)) {
|
||||
return;
|
||||
}
|
||||
|
||||
s_last_x = x;
|
||||
s_last_y = y;
|
||||
s_last_z = z;
|
||||
s_have_last_sample = true;
|
||||
|
||||
ESP_LOGI(TAG, "ACC X=%d Y=%d Z=%d (deadzone %lu)", x, y, z,
|
||||
(unsigned long)s_accel_deadzone);
|
||||
}
|
||||
|
||||
static void remove_bma456_device(void) {
|
||||
if (bma456_dev_handle != NULL) {
|
||||
i2c_master_bus_rm_device(bma456_dev_handle);
|
||||
@ -153,10 +201,11 @@ void read_sensor_task(void *params) {
|
||||
|
||||
while (1) {
|
||||
ret = bma4_read_accel_xyz(&sens_data, &bma456_struct);
|
||||
if (ret == BMA4_OK) {
|
||||
bma456_report_accel_if_changed(sens_data.x, sens_data.y, sens_data.z);
|
||||
} else {
|
||||
bma4_error_codes_print_result("bma4_read_accel_xyz", ret);
|
||||
|
||||
ESP_LOGI("ACC", "X: %d, Y: %d, Z: %d", sens_data.x, sens_data.y,
|
||||
sens_data.z);
|
||||
}
|
||||
|
||||
if (interrupt_status) {
|
||||
ESP_LOGI("INTERRUPT", "Da war der Interrupt resetting");
|
||||
|
||||
@ -9,7 +9,17 @@
|
||||
|
||||
#define BMA456_ADDRESS 0x18
|
||||
|
||||
#define BMA456_DEFAULT_ACCEL_DEADZONE 100u
|
||||
|
||||
/** Initialize BMA456 on the shared I2C bus. Returns ESP_OK or logs and skips sensor use. */
|
||||
esp_err_t init_bma456(i2c_master_bus_handle_t bus_handle);
|
||||
|
||||
bool bma456_is_ready(void);
|
||||
|
||||
void bma456_set_accel_deadzone(uint32_t deadzone_lsb);
|
||||
uint32_t bma456_get_accel_deadzone(void);
|
||||
|
||||
/** Log accel sample only when any axis changed more than deadzone since last report. */
|
||||
void bma456_report_accel_if_changed(int16_t x, int16_t y, int16_t z);
|
||||
|
||||
#endif
|
||||
|
||||
@ -60,6 +60,7 @@ static client_slot_t *alloc_slot(const uint8_t mac[CLIENT_MAC_LEN],
|
||||
slot = &s_clients[i];
|
||||
slot->active = true;
|
||||
memcpy(slot->info.mac, mac, CLIENT_MAC_LEN);
|
||||
slot->info.accel_deadzone = CLIENT_REGISTRY_DEFAULT_ACCEL_DEADZONE;
|
||||
if (out_is_new != NULL) {
|
||||
*out_is_new = true;
|
||||
}
|
||||
@ -169,6 +170,59 @@ size_t client_registry_count(void) {
|
||||
return n;
|
||||
}
|
||||
|
||||
const client_info_t *client_registry_find_by_id(uint32_t id) {
|
||||
for (size_t i = 0; i < CLIENT_REGISTRY_MAX; i++) {
|
||||
if (s_clients[i].active && s_clients[i].info.id == id) {
|
||||
return &s_clients[i].info;
|
||||
}
|
||||
}
|
||||
return NULL;
|
||||
}
|
||||
|
||||
esp_err_t client_registry_set_accel_deadzone(uint32_t client_id,
|
||||
uint32_t deadzone) {
|
||||
const client_info_t *info = client_registry_find_by_id(client_id);
|
||||
if (info == NULL) {
|
||||
return ESP_ERR_NOT_FOUND;
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < CLIENT_REGISTRY_MAX; i++) {
|
||||
if (s_clients[i].active && s_clients[i].info.id == client_id) {
|
||||
s_clients[i].info.accel_deadzone = deadzone;
|
||||
return ESP_OK;
|
||||
}
|
||||
}
|
||||
return ESP_ERR_NOT_FOUND;
|
||||
}
|
||||
|
||||
esp_err_t client_registry_get_accel_deadzone(uint32_t client_id,
|
||||
uint32_t *deadzone_out) {
|
||||
if (deadzone_out == NULL) {
|
||||
return ESP_ERR_INVALID_ARG;
|
||||
}
|
||||
|
||||
const client_info_t *info = client_registry_find_by_id(client_id);
|
||||
if (info == NULL) {
|
||||
return ESP_ERR_NOT_FOUND;
|
||||
}
|
||||
|
||||
*deadzone_out = info->accel_deadzone;
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
size_t client_registry_set_accel_deadzone_all(uint32_t deadzone) {
|
||||
size_t n = 0;
|
||||
|
||||
for (size_t i = 0; i < CLIENT_REGISTRY_MAX; i++) {
|
||||
if (!s_clients[i].active) {
|
||||
continue;
|
||||
}
|
||||
s_clients[i].info.accel_deadzone = deadzone;
|
||||
n++;
|
||||
}
|
||||
return n;
|
||||
}
|
||||
|
||||
const client_info_t *client_registry_at(size_t index) {
|
||||
size_t n = 0;
|
||||
for (size_t i = 0; i < CLIENT_REGISTRY_MAX; i++) {
|
||||
|
||||
@ -19,8 +19,12 @@ typedef struct {
|
||||
/** Milliseconds since boot when last heartbeat / SLAVE_INFO was accepted. */
|
||||
uint32_t last_success_ping_at;
|
||||
uint32_t version;
|
||||
/** Accel deadzone in raw LSB per axis (master copy for ESP-NOW config). */
|
||||
uint32_t accel_deadzone;
|
||||
} client_info_t;
|
||||
|
||||
#define CLIENT_REGISTRY_DEFAULT_ACCEL_DEADZONE 100u
|
||||
|
||||
void client_registry_init(void);
|
||||
|
||||
/** Milliseconds since boot (same clock as stored ping timestamps). */
|
||||
@ -49,5 +53,14 @@ void client_registry_check_timeouts(uint32_t timeout_ms);
|
||||
size_t client_registry_count(void);
|
||||
const client_info_t *client_registry_at(size_t index);
|
||||
const client_info_t *client_registry_find_by_mac(const uint8_t mac[CLIENT_MAC_LEN]);
|
||||
const client_info_t *client_registry_find_by_id(uint32_t id);
|
||||
|
||||
esp_err_t client_registry_set_accel_deadzone(uint32_t client_id,
|
||||
uint32_t deadzone);
|
||||
esp_err_t client_registry_get_accel_deadzone(uint32_t client_id,
|
||||
uint32_t *deadzone_out);
|
||||
|
||||
/** Push deadzone to all active registry entries; returns count updated. */
|
||||
size_t client_registry_set_accel_deadzone_all(uint32_t deadzone);
|
||||
|
||||
#endif
|
||||
|
||||
124
main/cmd_accel_deadzone.c
Normal file
124
main/cmd_accel_deadzone.c
Normal file
@ -0,0 +1,124 @@
|
||||
#include "bosch456.h"
|
||||
#include "client_registry.h"
|
||||
#include "cmd_accel_deadzone.h"
|
||||
#include "cmd_handler.h"
|
||||
#include "esp_log.h"
|
||||
#include "esp_now_comm.h"
|
||||
#include "pb_decode.h"
|
||||
#include "uart_messages.pb.h"
|
||||
#include "uart_proto.h"
|
||||
#include <string.h>
|
||||
|
||||
static const char *TAG = "[ACCEL_DZ]";
|
||||
|
||||
static void send_response(uint32_t deadzone, uint32_t client_id, bool success,
|
||||
uint32_t slaves_updated) {
|
||||
alox_UartMessage response = alox_UartMessage_init_zero;
|
||||
response.type = alox_MessageType_ACCEL_DEADZONE;
|
||||
response.which_payload = alox_UartMessage_accel_deadzone_response_tag;
|
||||
response.payload.accel_deadzone_response.deadzone = deadzone;
|
||||
response.payload.accel_deadzone_response.client_id = client_id;
|
||||
response.payload.accel_deadzone_response.success = success;
|
||||
response.payload.accel_deadzone_response.slaves_updated = slaves_updated;
|
||||
|
||||
if (uart_send_uart_message(&response) != ESP_OK) {
|
||||
ESP_LOGE(TAG, "failed to send response");
|
||||
}
|
||||
}
|
||||
|
||||
static esp_err_t push_deadzone_to_slave(const client_info_t *client,
|
||||
uint32_t deadzone) {
|
||||
if (client == NULL) {
|
||||
return ESP_ERR_INVALID_ARG;
|
||||
}
|
||||
|
||||
esp_err_t err =
|
||||
client_registry_set_accel_deadzone(client->id, deadzone);
|
||||
if (err != ESP_OK) {
|
||||
return err;
|
||||
}
|
||||
|
||||
return esp_now_comm_send_accel_deadzone(client->id, deadzone);
|
||||
}
|
||||
|
||||
static void handle_accel_deadzone(const uint8_t *data, size_t len) {
|
||||
alox_UartMessage uart_msg = alox_UartMessage_init_zero;
|
||||
alox_AccelDeadzoneRequest req = alox_AccelDeadzoneRequest_init_zero;
|
||||
bool have_request = false;
|
||||
|
||||
if (len > 0) {
|
||||
pb_istream_t stream = pb_istream_from_buffer(data, len);
|
||||
if (!pb_decode(&stream, alox_UartMessage_fields, &uart_msg)) {
|
||||
ESP_LOGW(TAG, "decode failed");
|
||||
send_response(BMA456_DEFAULT_ACCEL_DEADZONE, 0, false, 0);
|
||||
return;
|
||||
}
|
||||
if (uart_msg.which_payload ==
|
||||
alox_UartMessage_accel_deadzone_request_tag) {
|
||||
req = uart_msg.payload.accel_deadzone_request;
|
||||
have_request = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (!have_request) {
|
||||
req.write = false;
|
||||
req.client_id = 0;
|
||||
req.all_clients = false;
|
||||
}
|
||||
|
||||
if (req.write) {
|
||||
if (req.all_clients) {
|
||||
size_t n = client_registry_set_accel_deadzone_all(req.deadzone);
|
||||
esp_err_t send_err = esp_now_comm_send_accel_deadzone(0, req.deadzone);
|
||||
|
||||
if (bma456_is_ready()) {
|
||||
bma456_set_accel_deadzone(req.deadzone);
|
||||
}
|
||||
|
||||
ESP_LOGI(TAG, "set deadzone %lu broadcast (registry %u)",
|
||||
(unsigned long)req.deadzone, (unsigned)n);
|
||||
send_response(req.deadzone, 0, send_err == ESP_OK || bma456_is_ready(),
|
||||
send_err == ESP_OK ? (uint32_t)n : 0);
|
||||
return;
|
||||
}
|
||||
|
||||
if (req.client_id == 0) {
|
||||
bma456_set_accel_deadzone(req.deadzone);
|
||||
ESP_LOGI(TAG, "set local deadzone %lu (no ESP-NOW; use -client or -all "
|
||||
"for slaves)",
|
||||
(unsigned long)req.deadzone);
|
||||
send_response(req.deadzone, 0, true, 0);
|
||||
return;
|
||||
}
|
||||
|
||||
const client_info_t *client = client_registry_find_by_id(req.client_id);
|
||||
if (client == NULL) {
|
||||
ESP_LOGW(TAG, "client id %lu not found",
|
||||
(unsigned long)req.client_id);
|
||||
send_response(req.deadzone, req.client_id, false, 0);
|
||||
return;
|
||||
}
|
||||
|
||||
esp_err_t err = push_deadzone_to_slave(client, req.deadzone);
|
||||
send_response(req.deadzone, req.client_id, err == ESP_OK, err == ESP_OK);
|
||||
return;
|
||||
}
|
||||
|
||||
/* Read */
|
||||
if (req.all_clients || req.client_id == 0) {
|
||||
uint32_t dz = bma456_get_accel_deadzone();
|
||||
send_response(dz, 0, true, 0);
|
||||
return;
|
||||
}
|
||||
|
||||
uint32_t dz = 0;
|
||||
esp_err_t err = client_registry_get_accel_deadzone(req.client_id, &dz);
|
||||
send_response(dz, req.client_id, err == ESP_OK, 0);
|
||||
}
|
||||
|
||||
void cmd_accel_deadzone_register(void) {
|
||||
if (msg_register_handler(alox_MessageType_ACCEL_DEADZONE,
|
||||
handle_accel_deadzone) != ESP_OK) {
|
||||
ESP_LOGE(TAG, "register failed");
|
||||
}
|
||||
}
|
||||
6
main/cmd_accel_deadzone.h
Normal file
6
main/cmd_accel_deadzone.h
Normal file
@ -0,0 +1,6 @@
|
||||
#ifndef CMD_ACCEL_DEADZONE_H
|
||||
#define CMD_ACCEL_DEADZONE_H
|
||||
|
||||
void cmd_accel_deadzone_register(void);
|
||||
|
||||
#endif
|
||||
@ -26,6 +26,8 @@ static const char *message_type_name(uint16_t id) {
|
||||
return "CLIENT_INFO";
|
||||
case alox_MessageType_CLIENT_INPUT:
|
||||
return "CLIENT_INPUT";
|
||||
case alox_MessageType_ACCEL_DEADZONE:
|
||||
return "ACCEL_DEADZONE";
|
||||
case alox_MessageType_OTA_START:
|
||||
return "OTA_START";
|
||||
case alox_MessageType_OTA_PAYLOAD:
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
#include "bosch456.h"
|
||||
#include "client_registry.h"
|
||||
#include "esp_now_comm.h"
|
||||
#include "esp_now_proto.h"
|
||||
@ -109,6 +110,35 @@ static esp_err_t send_message(const uint8_t *dest_mac,
|
||||
return err;
|
||||
}
|
||||
|
||||
static esp_err_t send_accel_deadzone(uint32_t client_id, uint32_t deadzone) {
|
||||
alox_EspNowMessage msg = alox_EspNowMessage_init_zero;
|
||||
|
||||
msg.type = alox_EspNowMessageType_ESPNOW_SET_ACCEL_DEADZONE;
|
||||
msg.which_payload = alox_EspNowMessage_accel_deadzone_tag;
|
||||
msg.payload.accel_deadzone.deadzone = deadzone;
|
||||
msg.payload.accel_deadzone.client_id = client_id;
|
||||
|
||||
return send_message(ESPNOW_BCAST, &msg);
|
||||
}
|
||||
|
||||
esp_err_t esp_now_comm_send_accel_deadzone(uint32_t client_id, uint32_t deadzone) {
|
||||
if (!s_config.master) {
|
||||
return ESP_ERR_INVALID_STATE;
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
if (!s_config.master) {
|
||||
alox_EspNowMessage msg = alox_EspNowMessage_init_zero;
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
alox_EspNowMessage msg = alox_EspNowMessage_init_zero;
|
||||
uint8_t peer_mac[CLIENT_MAC_LEN];
|
||||
|
||||
esp_now_proto_setup_message_decode(&msg, peer_mac);
|
||||
if (esp_now_proto_decode(data, (size_t)len, &msg) != ESP_OK) {
|
||||
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);
|
||||
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 (msg.type != alox_EspNowMessageType_ESPNOW_SLAVE_INFO &&
|
||||
msg.type != alox_EspNowMessageType_ESPNOW_HEARTBEAT) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (presence != NULL) {
|
||||
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;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user