Merge pull request #45 from arduino/fw_fixes_and_refactor

Nicla fw optimizations

Author: giulcioffi

examples/Nicla_IoT_Bridge/Nicla_IoT_Bridge.ino

@@ -59,11 +59,4 @@ void loop() {
   }
 
   ArduinoCloud.update();
-}
-
-void onTempChange() {
-}
-
-
-void onSecondsChange() {
-}
+}

examples/Nicla_IoT_Bridge/thingProperties.h

@@ -8,17 +8,14 @@ const char THING_ID[] = "";
 const char SSID[]     = SECRET_SSID;    // Network SSID (name)
 const char PASS[]     = SECRET_PASS;    // Network password (use for WPA, or use as key for WEP)
 
-void onTempChange();
-void onSecondsChange();
-
 float temp;
 int seconds;
 
 void initProperties(){
 
   ArduinoCloud.setThingId(THING_ID);
-  ArduinoCloud.addProperty(temp, READWRITE, ON_CHANGE, onTempChange);
-  ArduinoCloud.addProperty(seconds, READWRITE, ON_CHANGE, onSecondsChange);
+  ArduinoCloud.addProperty(temp, READ, 1 * SECONDS, NULL);
+  ArduinoCloud.addProperty(seconds, READ, 1 * SECONDS, NULL);
 
 }
 

src/Arduino_BHY2Host.cpp

@@ -48,6 +48,7 @@ void Arduino_BHY2Host::update()
       eslovHandler.update();
     } else {
       uint8_t available = availableSensorData();
+      delay(1);
       for (int i = 0; i < available; i++) {
         SensorDataPacket data;
         readSensorData(data);

src/EslovHandler.cpp

@@ -1,6 +1,6 @@
 #include "EslovHandler.h"
 
-#define ESLOV_DELAY (10)
+#define ESLOV_DELAY (1)
 
 EslovHandler::EslovHandler() :
   _rxIndex(0),
@@ -20,9 +20,7 @@ EslovHandler::~EslovHandler()
 
 bool EslovHandler::begin(bool passthrough)
 {
-  pinMode(_eslovIntPin, OUTPUT);
-  digitalWrite(_eslovIntPin, LOW);
-
+  pinMode(_eslovIntPin, INPUT);
   Wire.begin();
   Wire.setClock(400000);
   if (passthrough) {
@@ -40,16 +38,12 @@ void EslovHandler::update()
     if (_rxBuffer[0] == HOST_DFU_EXTERNAL_OPCODE || _rxBuffer[0] == HOST_DFU_INTERNAL_OPCODE) {
       if (_rxIndex == sizeof(DFUPacket) + 1) {
 
-        toggleEslovIntPin();
-
         if (!_dfuLedOn) {
           pinMode(LED_BUILTIN, OUTPUT);
           digitalWrite(LED_BUILTIN, HIGH);
           flushWire();
         }
 
-        pinMode(_eslovIntPin, INPUT);
-
         //Wait for Nicla to set _eslovIntPin HIGH, meaning that is ready to receive
         while(!digitalRead(_eslovIntPin)) {
           if (_debug) _debug->println("Waiting for Eslov Int pin to be released");
@@ -76,8 +70,6 @@ void EslovHandler::update()
         dump();
 
         _rxIndex = 0;
-
-        delay(ESLOV_DELAY);
 
         Serial.write(ack);
       }
@@ -92,9 +84,15 @@ void EslovHandler::update()
 
       SensorDataPacket sensorData;
       while (availableData) {
-        //delay(ESLOV_DELAY);
         requestSensorData(sensorData);
-        delay(ESLOV_DELAY);
+        /*
+        This delay is needed because the synchronization mechanism over the Eslov Int Pin
+        may not apply for the requests from the host board to Nicla.
+        It may happen that the onRequest callback on Nicla side is serviced after a certain delay.
+        We need to add this delay of 10ms to avoid that a second request is issued before
+        the first one is handled.
+        */
+        delay(10);
         Serial.write((uint8_t*)&sensorData, sizeof(SensorDataPacket));
         availableData--;
       }
@@ -113,7 +111,7 @@ void EslovHandler::update()
       while (availableData) {
         //delay(ESLOV_DELAY);
         requestSensorLongData(sensorData);
-        delay(ESLOV_DELAY);
+        delay(10);
         Serial.write((uint8_t*)&sensorData, sizeof(SensorLongDataPacket));
         availableData--;
       }
@@ -123,7 +121,6 @@ void EslovHandler::update()
     } else if (_rxBuffer[0] == HOST_CONFIG_SENSOR_OPCODE) {
       if (_rxIndex == sizeof(SensorConfigurationPacket) + 1) {
 
-        toggleEslovIntPin();
         SensorConfigurationPacket* config = (SensorConfigurationPacket*)&_rxBuffer[1];
         if (_debug) {
           _debug->print("received config: ");
@@ -187,31 +184,28 @@ void EslovHandler::writeDfuPacket(uint8_t *data, uint8_t length)
 
 void EslovHandler::writeStateChange(EslovState state)
 {
-  delay(ESLOV_DELAY);
   while(!digitalRead(_eslovIntPin)) {}
   uint8_t packet[2] = {ESLOV_SENSOR_STATE_OPCODE, state};
   Wire.beginTransmission(ESLOV_DEFAULT_ADDRESS);
   Wire.write((uint8_t*)packet, sizeof(packet));
   Wire.endTransmission();
-  delay(ESLOV_DELAY);
   _eslovState = state;
 }
 
 void EslovHandler::writeConfigPacket(SensorConfigurationPacket& config)
 {
-  delay(ESLOV_DELAY);
+  while(!digitalRead(_eslovIntPin)) {}
   uint8_t packet[sizeof(SensorConfigurationPacket) + 1]; 
   packet[0] = ESLOV_SENSOR_CONFIG_OPCODE;
   memcpy(&packet[1], &config, sizeof(SensorConfigurationPacket));
   Wire.beginTransmission(ESLOV_DEFAULT_ADDRESS);
   Wire.write(packet, sizeof(SensorConfigurationPacket) + 1);
   Wire.endTransmission();
-  delay(ESLOV_DELAY);
 }
 
 uint8_t EslovHandler::requestPacketAck()
-{ 
-  delay(ESLOV_DELAY);
+{
+  while(!digitalRead(_eslovIntPin)) {}
   uint8_t ret = 0;
   while(!ret) {
     ret = Wire.requestFrom(ESLOV_DEFAULT_ADDRESS, 1);
@@ -230,7 +224,6 @@ uint8_t EslovHandler::requestAvailableData()
   uint8_t ret = Wire.requestFrom(ESLOV_DEFAULT_ADDRESS, 1);
   if (!ret) return 0;
   return Wire.read();
-  delay(ESLOV_DELAY);
 }
 
 uint8_t EslovHandler::requestAvailableLongData() 
@@ -247,9 +240,8 @@ bool EslovHandler::requestSensorData(SensorDataPacket &sData)
 {
   if (_eslovState != ESLOV_READ_SENSOR_STATE) {
     writeStateChange(ESLOV_READ_SENSOR_STATE);
-    while(!digitalRead(_eslovIntPin)) {}
   }
-  //uint8_t ret = Wire.requestFrom(ESLOV_DEFAULT_ADDRESS, sizeof(SensorDataPacket));
+  while(!digitalRead(_eslovIntPin)) {}
   uint8_t ret = Wire.requestFrom(ESLOV_DEFAULT_ADDRESS, sizeof(SensorDataPacket));
   if (!ret) return false;
 
@@ -264,8 +256,8 @@ bool EslovHandler::requestSensorLongData(SensorLongDataPacket &sData)
 {
   if (_eslovState != ESLOV_READ_LONG_SENSOR_STATE) {
     writeStateChange(ESLOV_READ_LONG_SENSOR_STATE);
-    while(!digitalRead(_eslovIntPin)) {}
   }
+  while(!digitalRead(_eslovIntPin)) {}
   uint8_t ret = Wire.requestFrom(ESLOV_DEFAULT_ADDRESS, sizeof(SensorLongDataPacket));
   if (!ret) return false;
 
@@ -276,28 +268,6 @@ bool EslovHandler::requestSensorLongData(SensorLongDataPacket &sData)
   return true;
 }
 
-void EslovHandler::toggleEslovIntPin()
-{
-  if (!_intPinAsserted) {
-    // Indicates eslov presence
-    pinMode(_eslovIntPin, OUTPUT);
-    digitalWrite(_eslovIntPin, LOW);
-    _intPinAsserted = true;
-    if (_debug) {
-      _debug->println("Eslov int LOW");
-    }
-    //Use 1 sec delay to let Nicla see the LOW pin and enable Eslov
-    delay(500);
-
-    digitalWrite(_eslovIntPin, HIGH);
-    _intPinCleared = true;
-    if (_debug) {
-      _debug->println("Eslov int pin cleared");
-    }
-    delay(500);
-  }
-}
-
 void EslovHandler::niclaAsShield()
 {
   _eslovIntPin = I2C_INT_PIN;

src/EslovHandler.h

@@ -54,7 +54,6 @@ class EslovHandler {
   uint8_t requestAvailableLongData();
   bool requestSensorData(SensorDataPacket &sData);
   bool requestSensorLongData(SensorLongDataPacket &sData);
-  void toggleEslovIntPin();
 
 protected:
   void niclaAsShield();

src/sensors/SensorClass.cpp

@@ -38,7 +38,6 @@ void SensorClass::configure(float rate, uint32_t latency)
   if (BHY2Host.getNiclaConnection() == NICLA_VIA_BLE) {
     BHY2Host.configureSensor(config);
   } else {
-    eslovHandler.toggleEslovIntPin();
     uint8_t ack = 0;
     while(ack != 15) {
       BHY2Host.configureSensor(config);