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Add reliable Android BLE ride recorder

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This commit is contained in:
Jay
2026-08-20 12:40:39 -04:00
parent 3bad2275cc
commit 6e408a3048
40 changed files with 2781 additions and 120 deletions
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main/trikke_sensor_main.c
+37 -16
View File
@@ -28,7 +28,7 @@
#define TRIKKE_I2C_FREQ_HZ 400000
#define TRIKKE_SAMPLE_RATE_HZ 100
#define TRIKKE_SAMPLE_TICKS pdMS_TO_TICKS(1000 / TRIKKE_SAMPLE_RATE_HZ)
#define TRIKKE_SAMPLE_QUEUE_DEPTH 1024
#define TRIKKE_SAMPLE_QUEUE_DEPTH 3072
#define TRIKKE_METADATA_INTERVAL_PACKETS 64
#define TRIKKE_STATUS_INTERVAL_PACKETS 64
#define TRIKKE_TRANSPORT_RETRY_DELAY_MS 10
@@ -59,9 +59,14 @@ typedef struct {
adxl345_t accelerometer;
l3g4200d_t gyroscope;
QueueHandle_t sample_queue;
StaticQueue_t sample_queue_control;
uint8_t sample_queue_storage[
TRIKKE_SAMPLE_QUEUE_DEPTH * sizeof(trikke_wire_sample_t)];
atomic_uint_least32_t sensor_read_failure_count;
atomic_uint_least32_t queue_overflow_count;
atomic_uint_least32_t loop_overrun_count;
TaskHandle_t output_task_handle;
TaskHandle_t acquisition_task_handle;
trikke_transport_t transport;
#if CONFIG_TRIKKE_TRANSPORT_BLE
trikke_ble_transport_t ble_transport;
@@ -147,6 +152,18 @@ static trikke_wire_status_t status_snapshot(
return status;
}
#if CONFIG_TRIKKE_TRANSPORT_BLE
static void session_ready(void *argument)
{
trikke_context_t *context = argument;
if (context == NULL) {
return;
}
xTaskNotifyGive(context->output_task_handle);
xTaskNotifyGive(context->acquisition_task_handle);
}
#endif
static void acquisition_task(void *argument)
{
trikke_context_t *context = argument;
@@ -407,8 +424,11 @@ void app_main(void)
usb_serial_jtag_vfs_set_tx_line_endings(ESP_LINE_ENDINGS_LF);
#endif
s_context.sample_queue =
xQueueCreate(TRIKKE_SAMPLE_QUEUE_DEPTH, sizeof(trikke_wire_sample_t));
s_context.sample_queue = xQueueCreateStatic(
TRIKKE_SAMPLE_QUEUE_DEPTH,
sizeof(trikke_wire_sample_t),
s_context.sample_queue_storage,
&s_context.sample_queue_control);
if (s_context.sample_queue == NULL) {
ESP_LOGE(TAG, "sample queue allocation failed");
l3g4200d_deinit(&s_context.gyroscope);
@@ -417,17 +437,15 @@ void app_main(void)
return;
}
TaskHandle_t output_task_handle = NULL;
TaskHandle_t acquisition_task_handle = NULL;
if (xTaskCreate(output_task, "trikke_output", 4096, &s_context, 5,
&output_task_handle) != pdPASS ||
&s_context.output_task_handle) != pdPASS ||
xTaskCreate(acquisition_task, "trikke_acquire", 4096, &s_context, 10,
&acquisition_task_handle) != pdPASS) {
if (output_task_handle != NULL) {
vTaskDelete(output_task_handle);
&s_context.acquisition_task_handle) != pdPASS) {
if (s_context.output_task_handle != NULL) {
vTaskDelete(s_context.output_task_handle);
}
if (acquisition_task_handle != NULL) {
vTaskDelete(acquisition_task_handle);
if (s_context.acquisition_task_handle != NULL) {
vTaskDelete(s_context.acquisition_task_handle);
}
vQueueDelete(s_context.sample_queue);
ESP_LOGE(TAG, "telemetry task creation failed");
@@ -439,14 +457,15 @@ void app_main(void)
#if CONFIG_TRIKKE_TRANSPORT_BLE
err = trikke_ble_transport_init(
&s_context.ble_transport, &s_context.transport);
&s_context.ble_transport, &s_context.transport,
session_ready, &s_context);
#else
err = trikke_usb_transport_init(
&s_context.usb_transport, &s_context.transport);
#endif
if (err != ESP_OK) {
vTaskDelete(output_task_handle);
vTaskDelete(acquisition_task_handle);
vTaskDelete(s_context.output_task_handle);
vTaskDelete(s_context.acquisition_task_handle);
vQueueDelete(s_context.sample_queue);
#if CONFIG_TRIKKE_TRANSPORT_BLE
ESP_LOGE(TAG, "BLE transport initialization failed: %s",
@@ -463,6 +482,8 @@ void app_main(void)
// No text may share the byte stream once framed binary output begins.
esp_log_level_set("*", ESP_LOG_NONE);
xTaskNotifyGive(output_task_handle);
xTaskNotifyGive(acquisition_task_handle);
#if !CONFIG_TRIKKE_TRANSPORT_BLE
xTaskNotifyGive(s_context.output_task_handle);
xTaskNotifyGive(s_context.acquisition_task_handle);
#endif
}