Activate softdevice

firmware/Cargo.toml

@@ -14,21 +14,21 @@ rust-version.workspace = true
 
 
 [features]
-default = [
-  "mcu-esp32c3",
-  "imu-stubbed",
-  "log-rtt",
-  "net-wifi",
-  "fusion-stubbed",
-]
 # default = [
-#   "mcu-nrf52840",
+#   "mcu-esp32c3",
 #   "imu-stubbed",
 #   "log-rtt",
-#   "net-stubbed",
+#   "net-wifi",
 #   "fusion-stubbed",
-#   "nrf-boot-s140",
 # ]
+default = [
+  "mcu-nrf52840",
+  "imu-stubbed",
+  "log-rtt",
+  "net-ble",
+  "fusion-stubbed",
+  "nrf-boot-s140",
+]
 # default = ["mcu-esp32", "imu-stubbed", "log-uart", "net-wifi", "fusion-stubbed"]
 
 # Supported microcontrollers
@@ -67,9 +67,9 @@ mcu-nrf52832 = [
 ]
 
 # Wi-fi dependencies
-net-wifi = ["esp-wifi/wifi", "dep:smoltcp"]                 # use wifi
-net-ble = ["esp-wifi/ble", "dep:bleps", "dep:bleps-macros"]
-net-stubbed = []                                            # Stubs out network
+net-wifi = ["esp-wifi/wifi", "dep:smoltcp"]                  # use wifi
+net-ble = ["esp-wifi?/ble", "dep:bleps", "dep:bleps-macros"]
+net-stubbed = []                                             # Stubs out network
 
 # Supported IMUs
 imu-bmi160 = []

firmware/build.rs

@@ -125,7 +125,7 @@ impl MemoryLayout {
 	const S140: MemoryLayout = MemoryLayout {
 		mbr_size: 0x1000,
 		sd_flash_size: 0x26000,
-		sd_ram_size: 0x8,
+		sd_ram_size: 50_000,
 	};
 	/// Softdevice 132.
 	const S132: MemoryLayout = MemoryLayout {

firmware/crates/panic_defmt/src/lib.rs

@@ -13,10 +13,8 @@ fn panic(info: &core::panic::PanicInfo) -> ! {
 		if let Some(location) = info.location() {
 			let (file, line, column) =
 				(location.file(), location.line(), location.column());
-			error!(
-				"A panic occured in '{}', at line {}, column {}",
-				file, line, column
-			);
+			error!("Panic in '{}'", file);
+			error!("Panic was at line {}, column {}", line, column);
 		} else {
 			error!("A panic occured at an unknown location");
 		}

firmware/src/main.rs

@@ -68,8 +68,13 @@ fn main() -> ! {
 			.unwrap();
 		s.spawn(crate::networking::network_task(packets)).unwrap();
 		s.spawn(crate::imu::imu_task(quat, p.i2c, p.delay)).unwrap();
+
 		#[cfg(bbq)]
 		s.spawn(logger_task(bbq, bbq_peripheral)).unwrap();
+
+		#[cfg(any(feature = "nrf-boot-s140", feature = "nrf-boot-s132"))]
+		s.spawn(crate::networking::ble::ඞ::softdevice_task())
+			.unwrap()
 	});
 }
 

firmware/src/networking/ble/mod.rs

@@ -1,3 +1,7 @@
-#[cfg(feature = "net-ble")]
+#[cfg(mcu_f_esp32)]
 #[path = "esp.rs"]
 pub mod ඞ;
+
+#[cfg(mcu_f_nrf52)]
+#[path = "nrf.rs"]
+pub mod ඞ;

firmware/src/networking/ble/nrf.rs

@@ -0,0 +1,36 @@
+use defmt::{debug, error};
+use embassy_futures::yield_now;
+use embassy_time::Duration;
+use nrf_softdevice::Softdevice;
+
+use crate::networking::protocol::Packets;
+
+pub async fn network_task(_packets: &Packets) -> ! {
+	debug!("Starting BLE loop");
+	loop {
+		yield_now().await;
+	}
+}
+
+#[embassy_executor::task]
+pub async fn softdevice_task() -> ! {
+	error!("softdevice task");
+	embassy_time::Timer::after(Duration::from_millis(1000)).await;
+
+	#[cfg(any(feature = "nrf-boot-s140", feature = "nrf-boot-s132"))]
+	let sd = crate::networking::ble::ඞ::init_softdevice().await;
+	error!("after init");
+
+	embassy_time::Timer::after(Duration::from_millis(1000)).await;
+	sd.run().await
+}
+
+pub async fn init_softdevice() -> &'static mut Softdevice {
+	let config = nrf_softdevice::Config::default();
+	error!("after config");
+
+	embassy_time::Timer::after(Duration::from_millis(1000)).await;
+	let sd = Softdevice::enable(&config);
+	error!("enabled softdevice");
+	sd
+}

firmware/src/peripherals/nrf52.rs

@@ -6,6 +6,8 @@ use crate::aliases::ඞ::UsbDriverConcrete;
 
 use defmt::debug;
 use embassy_nrf::interrupt;
+use embassy_nrf::interrupt::InterruptExt;
+use embassy_nrf::interrupt::Priority;
 use embassy_nrf::twim::{self, Twim};
 use embassy_nrf::uarte::{self, Uarte};
 use paste::paste;
@@ -24,7 +26,14 @@ pub fn get_peripherals() -> Peripherals<
 	UartConcrete<'static>,
 	UsbDriverConcrete<'static>,
 > {
-	let p = embassy_nrf::init(Default::default());
+	// With softdevice, certain interrupt priorities are used by softdevice.
+	// https://github.com/embassy-rs/nrf-softdevice#interrupt-priority
+	//
+	// We therefore have to set interrupt priorities manually.
+	let mut cfg = embassy_nrf::config::Config::default();
+	// cfg.gpiote_interrupt_priority = Priority::P2;
+	cfg.time_interrupt_priority = Priority::P2;
+	let p = embassy_nrf::init(cfg);
 
 	// Fix issue on rev 3 boards where AP is protected, preventing debugging/rtt.
 	#[cfg(feature = "mcu-nrf52840")] // TODO: Add nrf52832 support
@@ -111,6 +120,7 @@ pub fn get_peripherals() -> Peripherals<
 	let twim = {
 		let config = twim::Config::default();
 		let irq = interrupt::take!(SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
+		irq.set_priority(Priority::P3);
 		Twim::new(
 			p.TWISPI0,
 			irq,
@@ -126,6 +136,7 @@ pub fn get_peripherals() -> Peripherals<
 
 	let uarte = {
 		let irq = interrupt::take!(UARTE0_UART0);
+		irq.set_priority(Priority::P3);
 		let mut config = uarte::Config::default();
 		config.parity = uarte::Parity::EXCLUDED;
 		config.baudrate = uarte::Baudrate::BAUD115200;
@@ -142,7 +153,9 @@ pub fn get_peripherals() -> Peripherals<
 	let usb_driver = {
 		use embassy_nrf::usb::{self, Driver};
 		let irq = interrupt::take!(USBD);
+		irq.set_priority(Priority::P3);
 		let power_irq = interrupt::take!(POWER_CLOCK);
+		power_irq.set_priority(Priority::P3);
 		let d = Driver::new(p.USBD, irq, usb::PowerUsb::new(power_irq));
 		debug!("Initialized usb_driver");
 		d