ESP-IDF + BLE OTA

.github/workflows/config.yml

@@ -22,7 +22,7 @@ jobs:
         with:
           python-version: 3.x
       - run: pip install cpplint
-      - run: cpplint --linelength 140 --filter=-legal/copyright,-runtime/int,-build/include_subdir,-readability/casting,-readability/todo,-build/include_order,-build/include_what_you_use --recursive ./inc/ ./lib/ ./src/
+      - run: cpplint --linelength 140 --filter=-legal/copyright,-runtime/int,-build/include_subdir,-readability/casting,-readability/todo,-build/include_order,-build/include_what_you_use,-whitespace/newline --recursive ./inc/ ./lib/ ./src/
 
   pio-test:
     name: PlatformIO Tests

CMakeLists.txt

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

inc/sp140/altimeter.h

@@ -1,31 +1,31 @@
-#ifndef INC_SP140_ALTIMETER_H_
-#define INC_SP140_ALTIMETER_H_
-
-#include <Arduino.h>
-#include <CircularBuffer.hpp>
-#include "sp140/structs.h"
-#include "sp140/shared-config.h"
-
-// Constants
-#define VARIO_BUFFER_SIZE 25  // Number of samples to average for vertical speed
-#define MAX_VERTICAL_SPEED 250.0f  // Maximum vertical speed to display (m/s)
-
-// Set up the barometer
-bool setupAltimeter(bool alt_wire = false);
-
-// Get the altitude (in meters)
-float getAltitude(const STR_DEVICE_DATA_140_V1& deviceData);
-
-// Get the vertical speed in meters per second
-float getVerticalSpeed();
-
-// Set the ground altitude to the current altitude to compute AGL
-void setGroundAltitude(const STR_DEVICE_DATA_140_V1& deviceData);
-
-// Get the temperature in degrees Celsius
-float getBaroTemperature();
-
-// Get the pressure in hPa
-float getBaroPressure();
-
-#endif  // INC_SP140_ALTIMETER_H_
+#ifndef INC_SP140_ALTIMETER_H_
+#define INC_SP140_ALTIMETER_H_
+
+#include <Arduino.h>
+#include <CircularBuffer.hpp>
+#include "sp140/structs.h"
+#include "sp140/shared-config.h"
+
+// Constants
+#define VARIO_BUFFER_SIZE 25  // Number of samples to average for vertical speed
+#define MAX_VERTICAL_SPEED 250.0f  // Maximum vertical speed to display (m/s)
+
+// Set up the barometer
+bool setupAltimeter();
+
+// Get the altitude (in meters)
+float getAltitude(const STR_DEVICE_DATA_140_V1& deviceData);
+
+// Get the vertical speed in meters per second
+float getVerticalSpeed();
+
+// Set the ground altitude to the current altitude to compute AGL
+void setGroundAltitude(const STR_DEVICE_DATA_140_V1& deviceData);
+
+// Get the temperature in degrees Celsius
+float getBaroTemperature();
+
+// Get the pressure in hPa
+float getBaroPressure();
+
+#endif  // INC_SP140_ALTIMETER_H_

inc/sp140/ble.h

@@ -10,6 +10,5 @@ extern NimBLECharacteristic* pThrottleCharacteristic;
 extern NimBLECharacteristic* pDeviceStateCharacteristic;
 extern NimBLEServer* pServer;
 extern volatile bool deviceConnected;
-extern volatile bool oldDeviceConnected;
 
 #endif  // INC_SP140_BLE_H_

inc/sp140/ble/ble_core.h

@@ -8,4 +8,10 @@ void setupBLE();
 // Allow modules to trigger advertising after disconnects.
 void restartBLEAdvertising();
 
+// Request fast connection parameters (15ms interval) for OTA transfers.
+void requestFastConnParams();
+
+// Restore normal connection parameters (~36ms interval) after OTA.
+void requestNormalConnParams();
+
 #endif  // INC_SP140_BLE_BLE_CORE_H_

inc/sp140/ble/ble_ids.h

@@ -67,4 +67,11 @@
 #define CONTROLLER_SERVICE_UUID       "01C63B60-0891-4655-BBCA-8E745C48A175"
 #define CONTROLLER_TELEMETRY_UUID     "01C63B61-0891-4655-BBCA-8E745C48A176"
 
+// Espressif Standard OTA Service UUIDs (Android esp-ble-ota-android app)
+static const NimBLEUUID OTA_SERVICE_UUID("00008018-0000-1000-8000-00805f9b34fb");
+static const NimBLEUUID OTA_RECV_FW_UUID("00008020-0000-1000-8000-00805f9b34fb");   // Firmware data (Write/Indicate)
+static const NimBLEUUID OTA_PROGRESS_UUID("00008021-0000-1000-8000-00805f9b34fb");  // Progress (Indicate)
+static const NimBLEUUID OTA_COMMAND_UUID("00008022-0000-1000-8000-00805f9b34fb");   // Command (Write/Indicate)
+static const NimBLEUUID OTA_CUSTOMER_UUID("00008023-0000-1000-8000-00805f9b34fb");  // Customer (Indicate)
+
 #endif  // INC_SP140_BLE_BLE_IDS_H_

inc/sp140/ble/ota_service.h

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

inc/sp140/bms.h

@@ -15,5 +15,6 @@ extern STR_BMS_TELEMETRY_140 bmsTelemetryData;
 extern BMS_CAN* bms_can;
 
 // BMS functions
+bool initBMSCAN(SPIClass* spi);
 void updateBMSData();
 void printBMSData();

inc/sp140/device_settings.h

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

inc/sp140/esc.h

@@ -2,34 +2,26 @@
 #define INC_SP140_ESC_H_
 
 #include <Arduino.h>
+
+// Motor temp validity range (disconnected/invalid readings are represented as NaN)
+constexpr float MOTOR_TEMP_VALID_MIN_C = -20.0f;
+constexpr float MOTOR_TEMP_VALID_MAX_C = 140.0f;
+
+inline bool isMotorTempValidC(float tempC) {
+  return tempC > MOTOR_TEMP_VALID_MIN_C && tempC <= MOTOR_TEMP_VALID_MAX_C;
+}
 #include "sp140/structs.h"
 #include "../../inc/sp140/esp32s3-config.h"
 #include <SineEsc.h>
 #include <CanardAdapter.h>
 
-// Temperature thresholds
-#define ESC_MOS_WARN 90
-#define ESC_MOS_CRIT 110
-#define ESC_MCU_WARN 80
-#define ESC_MCU_CRIT 95
-#define ESC_CAP_WARN 85
-#define ESC_CAP_CRIT 100
-#define MOTOR_WARN 105
-#define MOTOR_CRIT 150
-
 void initESC();
 void setESCThrottle(int throttlePWM);
 void readESCTelemetry();
 bool setupTWAI();
 
-// Get the highest temperature from all ESC sensors
-float getHighestTemp(const STR_ESC_TELEMETRY_140& telemetry);
-
-// Function declarations
-TempState checkTempState(float temp, TempComponent component);
-
-// ESC Error Decoding Functions
-String decodeRunningError(uint16_t errorCode);
+// ESC Error Decoding Functions
+String decodeRunningError(uint16_t errorCode);
 String decodeSelfCheckError(uint16_t errorCode);
 bool hasRunningError(uint16_t errorCode);
 bool hasSelfCheckError(uint16_t errorCode);

inc/sp140/globals.h

@@ -21,6 +21,8 @@ extern UnifiedBatteryData unifiedBatteryData;  // Instance to hold battery data
 
 extern STR_BMS_TELEMETRY_140 bmsTelemetryData;
 
+extern AltimeterTelemetry altimeterData;
+
 // Hardware/Connection Status Flags
 extern bool bmsCanInitialized;
 extern bool escTwaiInitialized;

inc/sp140/simple_monitor.h

@@ -3,6 +3,7 @@
 
 #include <vector>
 #include <functional>
+#include <math.h>
 #include <Arduino.h>
 #include "sp140/structs.h"
 
@@ -148,6 +149,14 @@ struct SensorMonitor : public IMonitor {
 
   void check() override {
     float v = read();
+    if (isnan(v)) {
+      if (last != AlertLevel::OK) {
+        logger->log(id, AlertLevel::OK, v);
+        last = AlertLevel::OK;
+      }
+      return;
+    }
+
     AlertLevel now = AlertLevel::OK;
 
     if      (v <= thr.critLow)  now = AlertLevel::CRIT_LOW;
@@ -182,6 +191,14 @@ struct HysteresisSensorMonitor : public SensorMonitor {
 
   void check() override {
     float v = read();
+    if (isnan(v)) {
+      if (last != AlertLevel::OK) {
+        logger->log(id, AlertLevel::OK, v);
+        last = AlertLevel::OK;
+      }
+      return;
+    }
+
     AlertLevel now = last;  // Start with current state
 
     // Hysteresis logic to prevent bouncing

inc/sp140/structs.h

@@ -6,21 +6,6 @@
 
 #pragma pack(push, 1)
 
-// Temperature component enum
-enum TempComponent {
-  COMP_ESC_MOS = 0,
-  COMP_ESC_MCU = 1,
-  COMP_ESC_CAP = 2,
-  COMP_MOTOR = 3
-};
-
-enum TempState {
-  TEMP_INVALID = -1,  // Sensor reading is invalid
-  TEMP_NORMAL = 0,
-  TEMP_WARNING = 1,
-  TEMP_CRITICAL = 2
-};
-
 // Telemetry connection state
 enum class TelemetryState : uint8_t {
   NOT_CONNECTED,  // Never received data since boot
@@ -42,11 +27,6 @@ typedef struct {
   uint8_t statusFlag;
   word checksum;
   unsigned long lastUpdateMs;  // Timestamp of last telemetry update
-  TempState mos_state;         // MOS temperature state
-  TempState mcu_state;        // MCU temperature state
-  TempState cap_state;        // CAP temperature state
-  TempState motor_state;      // Motor temperature state
-  bool temp_sensor_error;     // True if any sensor is invalid
   TelemetryState escState;       // Current connection state
   uint16_t running_error;      // Runtime error bitmask
   uint16_t selfcheck_error;    // Self-check error bitmask
@@ -119,6 +99,16 @@ typedef struct {
 } STR_BMS_TELEMETRY_140;
 #pragma pack(pop)
 
+// Altimeter telemetry - read by multiple tasks, written by altimeter task only
+struct AltimeterTelemetry {
+  float altitude;           // Relative altitude AGL (meters)
+  float temperature;        // Barometer temperature (°C)
+  float pressure;           // Barometric pressure (hPa)
+  float verticalSpeed;      // Vertical speed (m/s)
+  unsigned long lastUpdate; // Timestamp of last reading (millis)
+  bool connected;           // Sensor available and responding
+};
+
 // Add this struct definition near other structs
 struct MelodyRequest {
   uint16_t* notes;
@@ -167,7 +157,7 @@ typedef struct {
   float mos_temp;               // MOSFET temperature (°C)
   float cap_temp;               // Capacitor temperature (°C)
   float mcu_temp;               // MCU temperature (°C)
-  float motor_temp;             // Motor temperature (°C)
+  float motor_temp;             // Motor temperature (°C), NaN if sensor invalid/disconnected
   int32_t eRPM;                 // Electrical RPM
   uint16_t inPWM;               // Input PWM value
   uint16_t running_error;       // Runtime error bitmask

inc/sp140/throttle.h

@@ -44,9 +44,22 @@ uint16_t readThrottleRaw();
 /** Get the most recently sampled raw throttle value (0..4095). */
 uint16_t getLastThrottleRaw();
 
-/** Convert raw pot reading (0..4095) to PWM microseconds. */
+/** Convert raw pot reading (0..4095) to PWM microseconds (full range). */
 int potRawToPwm(uint16_t raw);
 
+/**
+ * Convert raw pot reading (0..4095) to PWM microseconds using the
+ * mode-specific maximum.  In chill mode the full physical range maps to
+ * ESC_MIN_PWM..CHILL_MODE_MAX_PWM; in sport mode it maps to the full
+ * ESC_MIN_PWM..ESC_MAX_PWM range.  This gives chill mode full granular
+ * control over its limited output range instead of a hard clamp.
+ *
+ * @param raw              Raw ADC value (0..4095)
+ * @param performance_mode 0 = CHILL, 1 = SPORT
+ * @return PWM microseconds in the mode's range
+ */
+int potRawToModePwm(uint16_t raw, uint8_t performance_mode);
+
 /**
  * Apply mode-based ramp (us/tick) and clamp to the mode's max PWM.
  * Updates `prevPwm` with the final value.
@@ -86,10 +99,13 @@ bool throttleEngaged();
 /**
  * Read throttle input and return smoothed PWM value.
  * This is the core throttle processing pipeline without any state logic.
+ * Uses mode-aware mapping so the full physical range covers the mode's
+ * PWM output range.
  *
+ * @param performance_mode 0 = CHILL, 1 = SPORT
  * @return Smoothed PWM value from throttle input
  */
-int getSmoothedThrottlePwm();
+int getSmoothedThrottlePwm(uint8_t performance_mode);
 
 /**
  * Reset throttle state for clean startup/disarm.
@@ -107,8 +123,8 @@ void handleThrottle();
 
 /**
  * Calculate the cruise control PWM value from a raw pot reading.
- * Uses the same mapping as normal throttle (full range then clamp to mode max).
- * Also applies the absolute cruise max cap.
+ * Uses the same mode-aware mapping as normal throttle, then applies
+ * the absolute cruise max cap.
  *
  * @param potVal           Raw potentiometer value (0..4095)
  * @param performance_mode 0 = CHILL, 1 = SPORT

inc/sp140/utilities.h

@@ -1,15 +1,10 @@
-#ifndef INC_SP140_UTILITIES_H_
-#define INC_SP140_UTILITIES_H_
-
-#include <Arduino.h>
-
-double mapd(double x, double in_min, double in_max, double out_min, double out_max);
-
-// Function for digital time display - adds leading zeros
-String convertToDigits(byte digits);
-
-// Function to get unique chip ID
-String chipId();
+#ifndef INC_SP140_UTILITIES_H_
+#define INC_SP140_UTILITIES_H_
+
+#include <Arduino.h>
+
+// Function to get unique chip ID
+String chipId();
 
 // Definitions for main rainbow colors in WRGB format for NeoPixel.
 // The 32-bit color value is WRGB. W (White) is ignored for RGB pixels.