Bump to share (ExpressLRS#1510)

* bump/tap detection on accelerometer

* Log the g-sensor data at the end of bumping

Add float logging

* Allow single bump transfer if the radio is in the upright position

* Move deferred function calling to rxtx_common

* STM32 has no room left when debugging

* Changes as per review

* More cleanup as per review

* Tie the bump-to-share function to having motion detection enabled

* Don't do bump loan/bind if armed!

src/include/rxtx_common.h

@@ -14,3 +14,4 @@
 #include "POWERMGNT.h"
 
 void setupTargetCommon();
+void executeDeferredFunction(unsigned long now);

src/lib/GSENSOR/devGsensor.cpp

@@ -7,9 +7,12 @@
 #define OPT_HAS_GSENSOR true
 #endif
 
+#include <functional>
+
 #include "gsensor.h"
 #include "POWERMGNT.h"
 #include "config.h"
+#include "logging.h"
 
 #if defined(TARGET_TX)
 extern TxConfig config;
@@ -19,12 +22,22 @@ extern RxConfig config;
 
 Gsensor gsensor;
 
-int system_quiet_state = GSENSOR_SYSTEM_STATE_MOVING;
-int system_quiet_pre_state = GSENSOR_SYSTEM_STATE_MOVING;
+static int system_quiet_state = GSENSOR_SYSTEM_STATE_MOVING;
+static int system_quiet_pre_state = GSENSOR_SYSTEM_STATE_MOVING;
+static unsigned int bumps = 0;
+static unsigned long lastBumpTime = 0;
+static unsigned long lastBumpCommand = 0;
+
+extern bool IsArmed();
+extern void SendRxLoanOverMSP();
+extern void EnterBindingMode();
+extern void deferExecution(uint32_t ms, std::function<void()> f);
 
-extern bool ICACHE_RAM_ATTR IsArmed();
+#define GSENSOR_DURATION    10
+#define GSENSOR_SYSTEM_IDLE_INTERVAL 1000U
 
-#define GSENSOR_DURATION    1000
+#define MULTIPLE_BUMP_INTERVAL 400U
+#define BUMP_COMMAND_IDLE_TIME 10000U
 
 static void initialize()
 {
@@ -45,23 +58,56 @@ static int start()
 
 static int timeout()
 {
-    gsensor.handle();
-
-    system_quiet_state = gsensor.getSystemState();
-    //When system is idle, set power to minimum
-    if(config.GetMotionMode() == 1)
+    static unsigned long lastIdleCheckMs = 0;
+    unsigned long now = millis();
+    if (config.GetMotionMode() == 1 && gsensor.hasTriggered(now) && (now - lastBumpCommand) > BUMP_COMMAND_IDLE_TIME)
+    {
+        lastBumpTime = now;
+        bumps++;
+    }
+    if (bumps > 0 && (now - lastBumpTime > MULTIPLE_BUMP_INTERVAL))
     {
-        if((system_quiet_state == GSENSOR_SYSTEM_STATE_QUIET) && (system_quiet_pre_state == GSENSOR_SYSTEM_STATE_MOVING) && !IsArmed())
+        float x, y, z;
+        gsensor.getGSensorData(&x, &y, &z);
+        // Single bump while holding the radio antenna up and NOT armed is Loan/Bind
+        if (!IsArmed() && bumps == 1 && fabs(x) < 0.5 && y < -0.8 && fabs(z) < 0.5)
         {
-            POWERMGNT::setPower(MinPower);
+            lastBumpCommand = now;
+            if (connectionState == connected)
+            {
+                DBGLN("Loaning model");
+                SendRxLoanOverMSP();
+            }
+            else
+            {
+                DBGLN("Borrowing model");
+                // defer this calling `EnterBindingMode` for 2 seconds
+                deferExecution(2000, EnterBindingMode);
+            }
         }
-        if((system_quiet_state == GSENSOR_SYSTEM_STATE_MOVING) && (system_quiet_pre_state == GSENSOR_SYSTEM_STATE_QUIET))
+        DBGLN("Bumps %d : %f %f %f", bumps, x, y, z);
+        bumps = 0;
+    }
+    if (now - lastIdleCheckMs > GSENSOR_SYSTEM_IDLE_INTERVAL)
+    {
+        gsensor.handle();
+
+        system_quiet_state = gsensor.getSystemState();
+        //When system is idle, set power to minimum
+        if(config.GetMotionMode() == 1)
         {
-            POWERMGNT::setPower((PowerLevels_e)config.GetPower());
+            if((system_quiet_state == GSENSOR_SYSTEM_STATE_QUIET) && (system_quiet_pre_state == GSENSOR_SYSTEM_STATE_MOVING) && !IsArmed())
+            {
+                POWERMGNT::setPower(MinPower);
+            }
+            if((system_quiet_state == GSENSOR_SYSTEM_STATE_MOVING) && (system_quiet_pre_state == GSENSOR_SYSTEM_STATE_QUIET))
+            {
+                POWERMGNT::setPower((PowerLevels_e)config.GetPower());
+            }
         }
+        system_quiet_pre_state = system_quiet_state;
+        lastIdleCheckMs = now;
     }
-    system_quiet_pre_state = system_quiet_state;
-
     return GSENSOR_DURATION;
 }
 
@@ -72,4 +118,4 @@ device_t Gsensor_device = {
     .timeout = timeout
 };
 
-#endif
+#endif

src/lib/GSENSOR/gsensor.cpp

@@ -28,16 +28,17 @@ float x_average = 0;
 float y_average = 0;
 float z_average = 0;
 
-static int motion_event_counter = 0;
+static bool interrupt = false;
 
 #ifdef HAS_SMART_FAN
 extern bool is_smart_fan_control;
 uint32_t smart_fan_start_time = 0;
 #define SMART_FAN_TIME_OUT 5000
 #endif
 
-ICACHE_RAM_ATTR void handleGsensorInterrupt() {
-    motion_event_counter++;
+ICACHE_RAM_ATTR void handleGsensorInterrupt()
+{
+    interrupt = true;
 }
 
 void Gsensor::init()
@@ -96,12 +97,26 @@ float get_data_variance(float average, float *data, int length)
     return variance;
 }
 
+bool Gsensor::hasTriggered(unsigned long now)
+{
+    static unsigned long lastTriggeredMs = 0;
+
+    if (interrupt)
+    {
+        interrupt = false;
+        if (now - lastTriggeredMs > 20)
+        {
+            lastTriggeredMs = now;
+            return true;
+        }
+    }
+    return false;
+}
 
 void Gsensor::handle()
 {
-    bool data_check_quiet = false;
-
     float x, y, z;
+
     getGSensorData(&x, &y, &z);
 #ifdef HAS_SMART_FAN
     if(z < -0.5f)
@@ -125,7 +140,8 @@ void Gsensor::handle()
     {
         is_flipped = false;
     }
-    if(system_state == GSENSOR_SYSTEM_STATE_QUIET){
+    if(system_state == GSENSOR_SYSTEM_STATE_QUIET)
+    {
         x = abs(x - x_average);
         y = abs(y - y_average);
         z = abs(z - z_average);
@@ -152,30 +168,16 @@ void Gsensor::handle()
             float y_variance = get_data_variance(y_average, y_buffer, DATA_SAMPLE_LENGTH);
             float z_variance = get_data_variance(z_average, z_buffer, DATA_SAMPLE_LENGTH);
 
-            if((x_variance < QUIET_VARIANCE_THRESHOLD) & (y_variance < QUIET_VARIANCE_THRESHOLD) &
+            if((x_variance < QUIET_VARIANCE_THRESHOLD) && (y_variance < QUIET_VARIANCE_THRESHOLD) &&
                 (z_variance < QUIET_VARIANCE_THRESHOLD))
             {
-                data_check_quiet = true;
+                system_state = GSENSOR_SYSTEM_STATE_QUIET;
             }
-
         }
         else
         {
             sample_counter++;
         }
-
-        if(motion_event_counter !=0)
-        {
-            system_state = GSENSOR_SYSTEM_STATE_MOVING;
-            motion_event_counter = 0;
-        }else if(data_check_quiet)
-        {
-            system_state = GSENSOR_SYSTEM_STATE_QUIET;
-        }
-        else
-        {
-            system_state = GSENSOR_SYSTEM_STATE_MOVING;
-        }
     }
 }
 

src/lib/GSENSOR/gsensor.h

@@ -23,11 +23,8 @@ class Gsensor
 public:
     void init();
     void handle();
+    bool hasTriggered(unsigned long now);
     void getGSensorData(float *X_DataOut, float *Y_DataOut, float *Z_DataOut);
     int getSystemState();
     bool isFlipped();
-
 };
-
-
-

src/lib/GSENSOR/stk8baxx.h

@@ -79,7 +79,7 @@ class STK8xxx
 #define STK8xxx_VAL_INT_OD      bit(1)
 
 #define STK8xxx_REG_SLOPETHD    0x28
-#define STK8xxx_VAL_SLP_DFLT    0x14
+#define STK8xxx_VAL_SLP_DFLT    150 // 0x14
 
 #define STK8xxx_REG_SIGMOT2     0x2A
 #define STK8xxx_VAL_SKIP_TIME   bit(0)

src/lib/LUA/lua.cpp

@@ -29,10 +29,6 @@ static luaCallback paramCallbacks[LUA_MAX_PARAMS] = {0};
 static uint8_t lastLuaField = 0;
 static uint8_t nextStatusChunk = 0;
 
-static uint32_t startDeferredTime = 0;
-static uint32_t deferredTimeout = 0;
-static std::function<void()> deferredFunction = nullptr;
-
 static uint8_t luaSelectionOptionMax(const char *strOptions)
 {
   // Returns the max index of the semicolon-delimited option string
@@ -344,20 +340,8 @@ void registerLUAParameter(void *definition, luaCallback callback, uint8_t parent
   paramCallbacks[lastLuaField] = callback;
 }
 
-void deferExecution(uint32_t ms, std::function<void()> f)
-{
-  startDeferredTime = millis();
-  deferredTimeout = ms;
-  deferredFunction = f;
-}
-
 bool luaHandleUpdateParameter()
 {
-  if (deferredFunction!=nullptr && (millis() - startDeferredTime) > deferredTimeout)
-  {
-    deferredFunction();
-    deferredFunction = nullptr;
-  }
   if (UpdateParamReq == false)
   {
     return false;

src/lib/LUA/lua.h

@@ -126,7 +126,6 @@ void sendLuaCommandResponse(struct luaItem_command *cmd, luaCmdStep_e step, cons
 
 extern void ICACHE_RAM_ATTR luaParamUpdateReq();
 extern bool luaHandleUpdateParameter();
-extern void deferExecution(uint32_t ms, std::function<void()> f);
 
 typedef void (*luaCallback)(struct luaPropertiesCommon *item, uint8_t arg);
 void registerLUAParameter(void *definition, luaCallback callback = nullptr, uint8_t parent = 0);

src/lib/LUA/rx_devLUA.cpp

@@ -12,6 +12,8 @@
 #include "hwTimer.h"
 #include "FHSS.h"
 
+extern void deferExecution(uint32_t ms, std::function<void()> f);
+
 extern bool InLoanBindingMode;
 extern bool returnModelFromLoan;
 

src/lib/MSP/msptypes.h

@@ -17,6 +17,7 @@
 #define MSP_ELRS_SET_TX_BACKPACK_WIFI_MODE  0x0C
 #define MSP_ELRS_SET_VRX_BACKPACK_WIFI_MODE 0x0D
 #define MSP_ELRS_SET_RX_WIFI_MODE           0x0E
+#define MSP_ELRS_SET_RX_LOAN_MODE           0x0F
 
 #define MSP_ELRS_POWER_CALI_GET             0x20
 #define MSP_ELRS_POWER_CALI_SET             0x21

src/lib/logging/logging.cpp

@@ -12,7 +12,7 @@ void debugPrintf(const char* fmt, ...)
 {
   char c;
   const char *v;
-  char buf[11];
+  char buf[21];
   va_list  vlist;
   va_start(vlist,fmt);
 
@@ -36,6 +36,17 @@ void debugPrintf(const char* fmt, ...)
         case 'x':
           utoa(va_arg(vlist, uint32_t), buf, HEX);
           break;
+#if !defined(PLATFORM_STM32)
+        case 'f':
+          {
+            float val = va_arg(vlist, double);
+            itoa((int32_t)val, buf, DEC);
+            strcat(buf, ".");
+            int32_t decimals = abs((int32_t)(val * 1000)) % 1000;
+            itoa(decimals, buf + strlen(buf), DEC);
+          }
+          break;
+#endif
         default:
           break;
       }