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Try to use BLE resets instead of full device resets when possible
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@hedgecrw
hedgecrw committed Dec 13, 2023
1 parent 1267aca commit 947beb4
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Showing 3 changed files with 65 additions and 43 deletions.
3 changes: 2 additions & 1 deletion software/firmware/src/app/app_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,8 @@

#define BATTERY_CHECK_INTERVAL_S 300

#define BLE_INIT_TIMEOUT_MS 1000
#define BLE_INIT_TIMEOUT_MS 500
#define BLE_ADV_TIMEOUT_MS 50


// Battery Configuration -----------------------------------------------------------------------------------------------
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8 changes: 7 additions & 1 deletion software/firmware/src/tasks/app_task_maintenance.c
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Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,13 @@ void AppTaskMaintenance(void *uid)
for (int i = 0; !bluetooth_is_initialized() && (i < BLE_INIT_TIMEOUT_MS); i += 100)
vTaskDelay(pdMS_TO_TICKS(100));
if (!bluetooth_is_initialized())
system_reset(true);
{
bluetooth_reset();
for (int i = 0; !bluetooth_is_initialized() && (i < BLE_INIT_TIMEOUT_MS); i += 100)
vTaskDelay(pdMS_TO_TICKS(100));
if (!bluetooth_is_initialized())
system_reset(true);
}

// Clear the BLE address whitelist
bluetooth_clear_whitelist();
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97 changes: 56 additions & 41 deletions software/firmware/src/tasks/app_task_ranging.c
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Original file line number Diff line number Diff line change
Expand Up @@ -32,59 +32,67 @@ static void verify_app_configuration(void)
print("INFO: Verifying TotTag application configuration\n");

// Advertising should always be enabled
uint32_t retries_remaining = 5;
while (!bluetooth_is_advertising() && --retries_remaining)
if (!bluetooth_is_advertising())
{
bluetooth_start_advertising();
uint32_t waits_remaining = 50;
while (!bluetooth_is_advertising() && waits_remaining--)
for (uint32_t i = 0; !bluetooth_is_advertising() && (i < BLE_ADV_TIMEOUT_MS); i += 10)
vTaskDelay(pdMS_TO_TICKS(10));
if (!bluetooth_is_advertising())
{
bluetooth_reset();
for (int i = 0; !bluetooth_is_advertising() && (i < BLE_INIT_TIMEOUT_MS); i += 100)
vTaskDelay(pdMS_TO_TICKS(100));
if (!bluetooth_is_advertising())
system_reset(false);
}
}
if (!retries_remaining)
system_reset(false);

// Verify the current BLE-advertised role
uint8_t current_role = scheduler_get_current_role();
if (current_role != bluetooth_get_current_ranging_role())
{
retries_remaining = 5;
do
bluetooth_set_current_ranging_role(current_role);
for (uint32_t i = 0; bluetooth_is_changing_roles() && (i < BLE_ADV_TIMEOUT_MS); i += 10)
vTaskDelay(pdMS_TO_TICKS(10));
if (bluetooth_is_changing_roles())
{
bluetooth_set_current_ranging_role(current_role);
uint32_t waits_remaining = 50;
while (bluetooth_is_changing_roles() && waits_remaining--)
vTaskDelay(pdMS_TO_TICKS(10));
} while (bluetooth_is_changing_roles() && --retries_remaining);
if (!retries_remaining)
system_reset(false);
bluetooth_reset();
for (int i = 0; !bluetooth_is_advertising() && (i < BLE_INIT_TIMEOUT_MS); i += 100)
vTaskDelay(pdMS_TO_TICKS(100));
if (!bluetooth_is_advertising())
system_reset(false);
}
}

// Scanning should only be enabled if we are not already ranging with a network
retries_remaining = 5;
if (!ranging_active())
if (!ranging_active() && !bluetooth_is_scanning())
{
while (!bluetooth_is_scanning() && --retries_remaining)
bluetooth_start_scanning();
for (uint32_t i = 0; !bluetooth_is_scanning() && (i < BLE_ADV_TIMEOUT_MS); i += 10)
vTaskDelay(pdMS_TO_TICKS(10));
if (!bluetooth_is_scanning())
{
bluetooth_start_scanning();
uint32_t waits_remaining = 50;
while (!bluetooth_is_scanning() && waits_remaining--)
vTaskDelay(pdMS_TO_TICKS(10));
bluetooth_reset();
for (int i = 0; !bluetooth_is_scanning() && (i < BLE_INIT_TIMEOUT_MS); i += 100)
vTaskDelay(pdMS_TO_TICKS(100));
if (!bluetooth_is_scanning())
system_reset(false);
}
}
else
else if (ranging_active() && bluetooth_is_scanning())
{
while (bluetooth_is_scanning() && --retries_remaining)
bluetooth_stop_scanning();
for (uint32_t i = 0; bluetooth_is_scanning() && (i < BLE_ADV_TIMEOUT_MS); i += 10)
vTaskDelay(pdMS_TO_TICKS(10));
if (bluetooth_is_scanning())
{
bluetooth_stop_scanning();
uint32_t waits_remaining = 50;
while (bluetooth_is_scanning() && waits_remaining--)
vTaskDelay(pdMS_TO_TICKS(10));
bluetooth_reset();
for (int i = 0; bluetooth_is_scanning() && (i < BLE_INIT_TIMEOUT_MS); i += 100)
vTaskDelay(pdMS_TO_TICKS(100));
if (bluetooth_is_scanning())
system_reset(false);
}
}

// If switching scanning mode failed, reset the entire device
if (!retries_remaining)
system_reset(false);
}

static void handle_notification(app_notification_t notification)
Expand All @@ -96,16 +104,17 @@ static void handle_notification(app_notification_t notification)
if ((notification & APP_NOTIFY_NETWORK_FOUND) != 0)
{
// Stop scanning for additional devices
uint32_t retries_remaining = 5;
while (bluetooth_is_scanning() && --retries_remaining)
bluetooth_stop_scanning();
for (uint32_t i = 0; bluetooth_is_scanning() && (i < BLE_ADV_TIMEOUT_MS); i += 10)
vTaskDelay(pdMS_TO_TICKS(10));
if (bluetooth_is_scanning())
{
bluetooth_stop_scanning();
uint32_t waits_remaining = 50;
while (bluetooth_is_scanning() && waits_remaining--)
vTaskDelay(pdMS_TO_TICKS(10));
bluetooth_reset();
for (int i = 0; bluetooth_is_scanning() && (i < BLE_INIT_TIMEOUT_MS); i += 100)
vTaskDelay(pdMS_TO_TICKS(100));
if (bluetooth_is_scanning())
system_reset(false);
}
if (!retries_remaining)
system_reset(false);

// Determine if an actively ranging device was located
bool ranging_device_located = false, idle_device_located = false;
Expand Down Expand Up @@ -271,7 +280,13 @@ void AppTaskRanging(void *uid)
for (int i = 0; !bluetooth_is_initialized() && (i < BLE_INIT_TIMEOUT_MS); i += 100)
vTaskDelay(pdMS_TO_TICKS(100));
if (!bluetooth_is_initialized())
system_reset(true);
{
bluetooth_reset();
for (int i = 0; !bluetooth_is_initialized() && (i < BLE_INIT_TIMEOUT_MS); i += 100)
vTaskDelay(pdMS_TO_TICKS(100));
if (!bluetooth_is_initialized())
system_reset(true);
}

// Update the BLE address whitelist
bluetooth_clear_whitelist();
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