v3.0.1

fix: fix datagram format

feat: add rate limiter to sender

fix: optimize log output

fix: ota update writes OTA_HOST to NVS if provided

fix: simplify ota update guard

fix: de-activate marker during ota

fix: try to fix corrupted NVS by adding a guard variable

fix: increase UART buffer len

feat: add submodule rfmarkit-interface-ng

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "third_party/rfmarkit-interface-ng"]
+	path = third_party/rfmarkit-interface-ng
+	url = https://github.com/robotflow-initiative/rfmarkit-interface-ng

components/apps/data_client.c

@@ -20,13 +20,42 @@
 #define CONFIG_UDP_RETRY 3
 
 typedef struct {
-    uint8_t addr;
-    hi229_dgram_t dgram;
-    char device_id[12];
-    uint8_t checksum;
+    uint8_t     addr;
+    uint32_t    id;            /* user defined ID       */
+    float       acc[3];           /* acceleration          */
+    float       gyr[3];           /* angular velocity      */
+    float       mag[3];           /* magnetic field        */
+    float       eul[3];           /* attitude: eular angle */
+    float       quat[4];          /* attitude: quaternion  */
+    float       pressure;         /* air pressure          */
+    uint32_t    timestamp;
+    int64_t     time_us;
+    int64_t     tsf_time_us;
+    uint32_t    seq;
+    int32_t     uart_buffer_len;
+    char        device_id[12];
+    uint8_t     checksum;
 } marker_packet_t;
 
-static const char *TAG = "app_data_client";
+//static marker_packet_t dummy_packet = {
+//    .addr = 100,
+//    .id = 101,
+//    .acc = {1, 1, 1},
+//    .gyr = {2, 2, 2},
+//    .mag = {3, 3, 3},
+//    .eul = {4, 4, 4},
+//    .quat = {5, 5, 5, 5},
+//    .pressure = 6,
+//    .timestamp = 7,
+//    .time_us = 8,
+//    .tsf_time_us = 9,
+//    .seq = 10,
+//    .uart_buffer_len = 11,
+//    .device_id = "abcdabcdabcd",
+//    .checksum = 12
+//};
+
+static const char *TAG = "app.data_client ";
 
 /**
  * @brief Compute checksum of the data
@@ -40,7 +69,32 @@ static uint8_t compute_checksum(const uint8_t *data, size_t len) {
     return sum;
 }
 
-_Noreturn void app_data_client(void *pvParameters) {
+static void tag_packet(marker_packet_t * pkt, imu_dgram_t * imu_data) {
+    pkt->id = imu_data->imu[0].id;
+    memcpy(pkt->acc, imu_data->imu[0].acc, sizeof(pkt->acc));
+    memcpy(pkt->gyr, imu_data->imu[0].gyr, sizeof(pkt->gyr));
+    memcpy(pkt->mag, imu_data->imu[0].mag, sizeof(pkt->mag));
+    memcpy(pkt->eul, imu_data->imu[0].eul, sizeof(pkt->eul));
+    memcpy(pkt->quat, imu_data->imu[0].quat, sizeof(pkt->quat));
+    pkt->pressure = imu_data->imu[0].pressure;
+    pkt->timestamp = imu_data->imu[0].timestamp;
+    pkt->time_us = imu_data->time_us;
+    pkt->tsf_time_us = imu_data->tsf_time_us;
+    pkt->seq = imu_data->seq;
+    pkt->uart_buffer_len = imu_data->uart_buffer_len;
+    pkt->checksum = 0;
+
+}
+
+static void IRAM_ATTR read_timer_cb_handler(void *arg) {
+    ESP_LOGD(TAG, "timer_cb_handler called");
+    const char signal = 0;
+    xQueueSendFromISR((QueueHandle_t) arg, &signal, NULL);
+}
+
+static QueueHandle_t read_signal_queue = NULL;
+
+    _Noreturn void app_data_client(void *pvParameters) {
     ESP_LOGI(TAG, "app_data_client started");
 
     /** Get a ring buffer pointer **/
@@ -54,6 +108,18 @@ _Noreturn void app_data_client(void *pvParameters) {
     udp_socket_t client = {0};
     esp_err_t err;
 
+    /** Limit the read FPS **/
+    if (read_signal_queue == NULL) read_signal_queue = xQueueCreate(128, sizeof(char));
+    esp_timer_handle_t read_timer;
+    const esp_timer_create_args_t blink_timer_args = {
+        .callback = &read_timer_cb_handler,
+        /** name is optional, but may help identify the timer when debugging */
+        .name = "timeout",
+        .skip_unhandled_events = true,
+        .arg = read_signal_queue
+    };
+    ESP_ERROR_CHECK(esp_timer_create(&blink_timer_args, &read_timer));
+
     while (1) {
         /** Wait for the system to be active **/
         if (!g_mcu.state.active || !g_mcu.state.ntp_synced || !g_mcu.state.discovery_completed) {
@@ -69,13 +135,18 @@ _Noreturn void app_data_client(void *pvParameters) {
                 goto handle_error;
             }
         }
-        os_delay_ms(500); // wait for uart_monitor to start
+        os_delay_ms(100); // wait for uart_monitor to start
 
         int64_t curr_index = 1;
         int64_t confirm_index = -1;
+
+        esp_timer_start_periodic(read_timer, 1000000 / g_mcu.target_fps);
+
+        imu_dgram_t imu_reading = {0};
+        char signal = 0;
         while (g_mcu.state.active) {
             /** If the queue is empty, sleep for a while **/
-            err = ring_buf_peek(serial_buf, &pkt.dgram, curr_index, &confirm_index);
+            err = ring_buf_peek(serial_buf, &imu_reading, curr_index, &confirm_index);
 
             /** The ring buffer is empty or not ready **/
             if (err != ESP_OK) {
@@ -85,7 +156,8 @@ _Noreturn void app_data_client(void *pvParameters) {
             curr_index++; // increment the index
 
             /** imu_reading is available **/
-            pkt.checksum = compute_checksum((uint8_t *) &pkt, sizeof(pkt) - sizeof(pkt.checksum));
+            tag_packet(&pkt, &imu_reading);
+            pkt.checksum = 0;
 
             /** According to the document, udp send may fail because of memory issue, this is normal **/
             for (int i = 0; i < CONFIG_UDP_RETRY; ++i) {
@@ -105,6 +177,8 @@ _Noreturn void app_data_client(void *pvParameters) {
             /** If the packet is not sent, abort **/
             if (err != ESP_OK) goto handle_error;
 
+            /** get the signal from the queue **/
+            xQueueReceive(read_signal_queue, &signal, portMAX_DELAY);
         }
 
 handle_error:

components/apps/system_loop.c

@@ -17,7 +17,7 @@
 
 ESP_EVENT_DEFINE_BASE(SYSTEM_EVENTS);
 
-static const char *TAG = "app_system_loop";
+static const char *TAG = "app.system_loop ";
 
 static void discovery_timer_cb(TimerHandle_t xTimer) {
     /** Send discovery packets if Wi-Fi connected **/
@@ -104,6 +104,7 @@ _Noreturn void app_system_loop(void *pvParameters) {
         if (bits & EV_SYS_OTA_TRIGGERED_BIT) {
             ESP_LOGI(TAG, "OTA triggered");
             esp_event_post_to(g_mcu.system_loop, SYSTEM_EVENTS, SYSTEM_OTA_EVENT, NULL, 0, portMAX_DELAY);
+            sys_set_operation_mode(false);
             sys_ota_perform();
         }
 

components/apps/uart_monitor.c

@@ -15,7 +15,7 @@
 #include "imu.h"
 #include "sys.h"
 
-static const char *TAG = "app_uart_monitor";
+static const char *TAG = "app.uart_monitor";
 
 /**
  * @brief Compute and set timestamp with us resolution
@@ -29,7 +29,7 @@ static void IRAM_ATTR tag_time_us(imu_dgram_t *imu_data) {
 static void IRAM_ATTR tag_buffer_len(imu_dgram_t *imu_data) {
     size_t uart_buffer_len = 0;
     uart_get_buffered_data_len(g_imu.port, &uart_buffer_len);
-    imu_data->uart_buffer_len = (int) uart_buffer_len;
+    imu_data->uart_buffer_len = (int32_t) uart_buffer_len;
 }
 
 _Noreturn void app_uart_monitor(void *pvParameters) {

components/ble/ble_srv.c

@@ -17,7 +17,7 @@ static int blehr_gap_event(struct ble_gap_event *event, void *arg);
 static uint8_t blehr_addr_type;
 static uint16_t conn_handle;
 
-static const char *TAG = "ble.srv";
+static const char *TAG = "ble.srv         ";
 
 
 static void blehr_advertise(void) {

components/ble/gatt_srv.c

@@ -28,7 +28,7 @@
 #include "ble_srv.h"
 #include "sys.h"
 
-static const char *TAG = "ble.gatt_srv";
+static const char *TAG = "ble.gatt_srv    ";
 
 
 static int gatt_svr_chr_wifi_info(

components/blink/blink.c

@@ -23,7 +23,7 @@ static int s_blink_idx; // Used in interrupt
 blink_config_t g_blink_cfg;
 static esp_timer_handle_t s_blink_timer;
 
-static const char *TAG = "blink";
+static const char *TAG = "blink           ";
 
 /**
  * Function to get bit from byte array
@@ -200,7 +200,8 @@ static void blink_prepare_pattern() {
     const esp_timer_create_args_t blink_timer_args = {
         .callback = &blink_timeout,
         /** name is optional, but may help identify the timer when debugging */
-        .name = "timeout"
+        .name = "timeout",
+        .skip_unhandled_events = true,
     };
 
     ESP_ERROR_CHECK(esp_timer_create(&blink_timer_args, &s_blink_timer));

components/rest_controller/rest_controller.c

@@ -32,7 +32,7 @@ typedef struct rest_server_context {
     char buffer[CONFIG_USER_CTX_BUFSIZE];
 } rest_server_context_t;
 
-static const char *TAG = "sys.controller";
+static const char *TAG = "sys.rest        ";
 
 /**
 ----------------------------------------------------------------------------------

components/rest_controller/rest_controller_handlers.c

@@ -11,7 +11,7 @@
 #include "blink.h"
 #include "imu.h"
 
-static const char *TAG = "rest_ctr_hdl";
+static const char *TAG = "sys.rest.hdl    ";
 
 #define CONFIG_PARAM_VALUE_MAX_LEN 32
 #define CONFIG_WEBSOCKET_FRAM_MAX_LEN 64
@@ -158,6 +158,8 @@ esp_err_t system_upgrade_handler(httpd_req_t *req) {
     cJSON *root = cJSON_CreateObject();
 
     char ota_host[CONFIG_PARAM_VALUE_MAX_LEN + 1] = {0};
+    mcu_var_t *p_var = NULL;
+    esp_err_t err;
 
     switch (req->method) {
         case HTTP_GET:
@@ -170,10 +172,21 @@ esp_err_t system_upgrade_handler(httpd_req_t *req) {
 
             if (strlen(ota_host) > 0) {
                 strcpy(g_mcu.ota_host, ota_host);
+                p_var = sys_find_var(CONFIG_NVS_OTA_HOST_NAME, strlen(CONFIG_NVS_OTA_HOST_NAME));
+                if (p_var != NULL) {
+                    err = sys_set_nvs_var(p_var, ota_host);
+                    if (err != ESP_OK) {
+                        cJSON_AddStringToObject(root, "status", "cannot set ota_host");
+                    } else {
+                        cJSON_AddStringToObject(root, "status", "ok");
+                    }
+                } else {
+                    cJSON_AddStringToObject(root, "status", "invalid name");
+                }
+            } else {
+                cJSON_AddStringToObject(root, "status", "ok");
             }
-
             set_sys_event(EV_SYS_OTA_TRIGGERED);
-            cJSON_AddStringToObject(root, "status", "ok");
             break;
         default:
             cJSON_AddStringToObject(root, "status", "invalid method");
@@ -234,6 +247,7 @@ esp_err_t system_power_mgmt_handler(httpd_req_t *req) {
             } else {
                 cJSON_AddStringToObject(root, "status", "invalid mode value");
             }
+            break;
         default:
             cJSON_AddStringToObject(root, "status", "invalid method");
     }

components/sys/button.c

@@ -34,7 +34,7 @@ static button_state_t button_state = IDLE;
 static uint32_t press_timestamp;
 static uint32_t release_timestamp;
 
-static const char *TAG = "sys.button";
+static const char *TAG = "sys.button      ";
 
 /**
  * @brief Button ISR handler

components/sys/discovery.c

@@ -36,7 +36,7 @@ static char discovery_msg_buffer[] = "\xe5\xe5\xe5\xe5\xe5\x01\x00""000000000000
 static SemaphoreHandle_t sync_mutex = NULL;
 static udp_socket_t client = {0};
 
-static const char *TAG = "sys.discovery";
+static const char *TAG = "sys.discovery   ";
 
 /**
  * @brief Prepare discovery message buffer ONCE

components/sys/led_status.c

@@ -13,7 +13,7 @@
 
 static SemaphoreHandle_t sync_mutex = NULL;
 
-static const char *TAG = "sys.led_status";
+static const char *TAG = "sys.led_status  ";
 
 /**
  * 1. Fast Flash When Wi-Fi is not connected

components/sys/nvs_mgmt.c

@@ -13,7 +13,7 @@
 #include "sys.h"
 #include "settings.h"
 
-static const char *TAG = "sys.nvs_mgmt";
+static const char *TAG = "sys.nvs_mgmt    ";
 
 /** MCU vars **/
 mcu_var_t g_mcu_vars[] = {
@@ -24,8 +24,8 @@ mcu_var_t g_mcu_vars[] = {
     {.name = CONFIG_NVS_NTP_HOST_NAME, .type=VAR_STR},
     {.name = CONFIG_NVS_TEST_NAME, .type =VAR_INT32},
     {.name = CONFIG_NVS_IMU_BAUD_NAME, .type=VAR_INT32},
-    {.name = CONFIG_NVS_SEQ_NAME, .type=VAR_INT32}
-
+    {.name = CONFIG_NVS_SEQ_NAME, .type=VAR_INT32},
+    {.name = CONFIG_NVS_TARGET_FPS_NAME, .type=VAR_INT32},
 };
 
 static void sys_load_nvs_configuration(void);
@@ -186,18 +186,23 @@ static void sys_load_nvs_configuration() {
     os_delay_ms(100);
 
     char value_buffer[CONFIG_VAR_STR_MAX_LEN];
+    char _protect = 0;
+    sys_load_int32_conf(CONFIG_NVS_TEST_NAME, _protect, 0); // FIXME: a workaround to protect the following variable from getting corrupted
     sys_load_str_conf(CONFIG_NVS_WIFI_SSID_NAME, g_mcu.wifi_ssid, CONFIG_WIFI_SSID);
     sys_load_str_conf(CONFIG_NVS_WIFI_PSK_NAME, g_mcu.wifi_psk, CONFIG_WIFI_PSK);
     sys_load_str_conf(CONFIG_NVS_DATA_HOST_NAME, g_mcu.data_host_ip_addr, CONFIG_DATA_HOST_IP_ADDR);
     sys_load_str_conf(CONFIG_NVS_OTA_HOST_NAME, g_mcu.ota_host, CONFIG_OTA_HOST);
     sys_load_str_conf(CONFIG_NVS_NTP_HOST_NAME, g_mcu.ntp_host_ip_addr, CONFIG_NTP_HOST_IP_ADDR);
     sys_load_int32_conf(CONFIG_NVS_IMU_BAUD_NAME, g_mcu.imu_baud, CONFIG_IMU_BAUD);
     sys_load_int32_conf(CONFIG_NVS_SEQ_NAME, g_mcu.seq, 0);
+    sys_load_int32_conf(CONFIG_NVS_TARGET_FPS_NAME, g_mcu.target_fps, CONFIG_TARGET_FPS);
+
 
     /** Temporary Fix NVS invalid variable **/
     g_mcu.imu_baud = MIN(g_mcu.imu_baud, 921600);
     g_mcu.seq = MIN(g_mcu.seq, 255);
     g_mcu.seq = MAX(g_mcu.seq, 0);
+    g_mcu.target_fps = MIN(g_mcu.target_fps, 200);
 
     /** Macro Expansion Reference, DO NOT REMOVE **/
     /**

components/sys/power_mgmt.c

@@ -21,7 +21,7 @@ static SemaphoreHandle_t sync_mutex = NULL;
 RTC_DATA_ATTR power_mgmt_ctx_t g_power_mgmt_ctx;
 static TimerHandle_t power_save_timer = NULL;
 
-static const char *TAG = "sys.pm";
+static const char *TAG = "sys.pm          ";
 
 static void power_mgmt_handle_transition(TimerHandle_t xTimer);
 

components/sys/sys.c

@@ -20,7 +20,7 @@
 /** MCU structure **/
 mcu_t g_mcu = {0};
 
-static const char *TAG = "sys";
+static const char *TAG = "sys             ";
 
 static esp_err_t esp_ota_event_handler(esp_http_client_event_t *evt) {
     switch (evt->event_id) {
@@ -96,6 +96,7 @@ static bool sys_ota_uncommitted() {
 **/
 void sys_ota_guard() {
     bool ota_uncommitted = sys_ota_uncommitted();
+#ifdef CONFIG_OTA_GUARD_ENABLED
     while (1) {
         if (ota_uncommitted) {
             if (g_mcu.state.wifi_connected) {
@@ -116,6 +117,15 @@ void sys_ota_guard() {
             break;
         }
     }
+#else
+    // TODO: sometimes the device cannot connect to Wi-Fi due to corrupted NVS
+    os_delay_ms(3000); // wait for the system to be ready)
+    if (ota_uncommitted) {
+        esp_ota_mark_app_valid_cancel_rollback();
+        ESP_LOGI(TAG, "[ota] firmware is working fine, cancel rollback");
+        esp_ota_mark_app_valid_cancel_rollback(); // cancel rollback
+    }
+#endif
 }
 
 /**

components/sys/sys.h

@@ -226,6 +226,7 @@ typedef struct {
     int32_t use_hamming;
     int32_t imu_baud;
     int32_t seq;
+    int32_t target_fps;
 } mcu_t;
 
 typedef enum {