Make frequency configurable without recompilation

Kconfig

@@ -33,7 +33,10 @@ config APP_FEET_ROTATION
 
 choice
     prompt "Frequency of KAT Sensors refreshment"
-    default APP_KAT_FREQ_100
+    default APP_KAT_FREQ_PARAM
+
+config APP_KAT_FREQ_PARAM
+    bool "Use configurable refresh rate 50..133 Hz"
 
 config APP_KAT_FREQ_133
     bool "Use 133Hz refresh rate (unstable)"
@@ -44,6 +47,9 @@ config APP_KAT_FREQ_114
 config APP_KAT_FREQ_100
     bool "Use 100Hz refresh rate"
 
+config APP_KAT_FREQ_86
+    bool "Use ~86Hz refresh rate (like standard receiver)"
+
 config APP_KAT_FREQ_80
     bool "Use 80Hz refresh rate"
 
@@ -62,9 +68,11 @@ endchoice
 # with at least 2 intervals required for each sensor to update.
 config APP_KAT_CONN_INTERVAL
     int
+    default 9 if APP_KAT_FREQ_PARAM  # default param == default receiver
     default 6 if APP_KAT_FREQ_133
     default 7 if APP_KAT_FREQ_114
     default 8 if APP_KAT_FREQ_100
+    default 9 if APP_KAT_FREQ_86
     default 10 if APP_KAT_FREQ_80
     default 12 if APP_KAT_FREQ_67
     default 14 if APP_KAT_FREQ_57

prj.conf

@@ -61,7 +61,8 @@ CONFIG_SERIAL=n
 # CONFIG_APP_KEEP_CONNECTIONS=n
 # CONFIG_APP_DEBUG_BOOT_CONNECTIONS=n
 
-CONFIG_APP_KAT_FREQ_133=y
+CONFIG_APP_KAT_FREQ_PARAM=y
+# CONFIG_APP_KAT_FREQ_133=y
 # CONFIG_APP_KAT_FREQ_114=y
 # CONFIG_APP_KAT_FREQ_100=y
 

scripts/config/get-freq.cmd

@@ -0,0 +1,2 @@
+powershell.exe -ExecutionPolicy Bypass -File y-get-frequency.ps1
+pause

scripts/config/set-freq-100hz.cmd

@@ -0,0 +1,2 @@
+powershell.exe -ExecutionPolicy Bypass -File y-set-frequency.ps1 --Frequency 100
+pause

scripts/config/set-freq-133hz.cmd

@@ -0,0 +1,2 @@
+powershell.exe -ExecutionPolicy Bypass -File y-set-frequency.ps1 --Frequency 133
+pause

scripts/config/set-freq-88hz.cmd

@@ -0,0 +1,2 @@
+powershell.exe -ExecutionPolicy Bypass -File y-set-frequency.ps1 --Frequency 88
+pause

scripts/config/y-get-frequency.ps1

@@ -0,0 +1,84 @@
+# Script configuration
+$katPath = "C:\Program Files (x86)\KAT Gateway\"
+
+# Load Gateway's communication helper library
+if (!(Test-Path $katPath -PathType Container)) {
+    throw  "KAT Gateway expected to be installed in '${katPath}'"
+}
+
+if (Get-Process -name "KAT Gateway" -ErrorAction SilentlyContinue) {
+    throw "Please stop KAT Gateway."
+}
+
+Add-Type -Path "C:\Program Files (x86)\KAT Gateway\IBizLibrary.dll"
+
+#
+# Detect known Receiver version
+#
+[IBizLibrary.ComUtility]::KatDevice='walk_c2'
+if (Test-Path([IBizLibrary.ComUtility]::Device_Config_File_Walk_C2_Path)) {
+    Write-Host "Gateway with configuration for Kat Walk C2/C2+ detected."
+} else {
+    [IBizLibrary.ComUtility]::KatDevice='walk_c2_core'
+    if (Test-Path([IBizLibrary.ComUtility]::Device_Config_File_Walk_C2_Path)) {
+        Write-Host "Gateway with configuration for Kat Walk C2 Core detected."
+    } else {
+        throw "Not found gateway configuration for neither Kat Walk C2/C2+ nor C2 Core."
+    }
+}
+[IBizLibrary.Configs].GetMethod('C2ReceiverPairingInfoRead').invoke($null, $null)
+if ($null -eq [IBizLibrary.KATSDKInterfaceHelper]::receiverPairingInfoSave.ReceiverSN) {
+    throw "Gateway configuration for the treadmill is not found."
+}
+
+#
+# Check the connected device.
+#
+[IBizLibrary.KATSDKInterfaceHelper].GetMethod('GetDeviceConnectionStatus').invoke($null, $null)
+
+$platforms = [IBizLibrary.KATSDKInterfaceHelper]::walk_c2_Count + [IBizLibrary.KATSDKInterfaceHelper]::walk_c2_core_Count
+
+if ($platforms -lt 1) {
+    throw "Please connect the receiver USB dongle."
+}
+
+if ($platforms -gt 1) {
+    throw "Please connect only the receiver USB dongle without the original treadmill cable."
+}
+
+if ([IBizLibrary.KATSDKInterfaceHelper]::walk_c2_Count -eq 1 -and [IBizLibrary.ComUtility]::KatDevice -ne 'walk_c2') {
+    throw "The dongle flashed for Kat Walk C2/C2+, but gateway configuration is not."
+}
+if ([IBizLibrary.KATSDKInterfaceHelper]::walk_c2_core_Count -eq 1 -and [IBizLibrary.ComUtility]::KatDevice -ne 'walk_c2_core') {
+    throw "The dongle flashed for Kat Walk C2 Core, but gateway configuration is not."
+}
+
+$dev = New-Object IBizLibrary.KATSDKInterfaceHelper+KATModels
+for($devNo=0; $devNo -lt [IBizLibrary.KATSDKInterfaceHelper]::deviceCount; $devNo ++) {
+    [IBizLibrary.KATSDKInterfaceHelper]::GetDevicesDesc([ref]$dev, $devNo)
+    if ($dev.deviceType -eq 1) {
+        break;
+    }
+}
+
+if ($dev.device -ne "nRF KAT-VR Receiver") {
+    throw "Please connect 'nRF KAT-VR Receiver' dongle, not the original treadmill ("+$dev.device+")"
+}
+
+#
+#
+#
+
+# Request correction floats
+[byte[]]$ans = New-Object byte[] 32
+[byte[]]$command = 0x20,0x1f,0x55,0xAA,0x00,0x00,0xDC,0xF0 + $ans
+[IBizLibrary.KATSDKInterfaceHelper]::SendHIDCommand($dev.serialNumber, $command, 32, $ans, 32)
+
+if ($ans[5] -ne 0xDC -and $ans[6] -ne 0xF0) {
+    throw "No answer from device, please try again"
+}
+
+$Freq  = [System.BitConverter]::ToInt16($ans, 7)
+
+Write-Host "Receiver set up to " $Freq " Hz"
+

scripts/config/y-set-frequency.ps1

@@ -0,0 +1,89 @@
+param (
+    [int16]$Frequency = 86
+)
+
+# Script configuration
+$katPath = "C:\Program Files (x86)\KAT Gateway\"
+
+# Load Gateway's communication helper library
+if (!(Test-Path $katPath -PathType Container)) {
+    throw  "KAT Gateway expected to be installed in '${katPath}'"
+}
+
+if (Get-Process -name "KAT Gateway" -ErrorAction SilentlyContinue) {
+    throw "Please stop KAT Gateway."
+}
+
+Add-Type -Path "C:\Program Files (x86)\KAT Gateway\IBizLibrary.dll"
+
+#
+# Detect known Receiver version
+#
+[IBizLibrary.ComUtility]::KatDevice='walk_c2'
+if (Test-Path([IBizLibrary.ComUtility]::Device_Config_File_Walk_C2_Path)) {
+    Write-Host "Gateway with configuration for Kat Walk C2/C2+ detected."
+} else {
+    [IBizLibrary.ComUtility]::KatDevice='walk_c2_core'
+    if (Test-Path([IBizLibrary.ComUtility]::Device_Config_File_Walk_C2_Path)) {
+        Write-Host "Gateway with configuration for Kat Walk C2 Core detected."
+    } else {
+        throw "Not found gateway configuration for neither Kat Walk C2/C2+ nor C2 Core."
+    }
+}
+[IBizLibrary.Configs].GetMethod('C2ReceiverPairingInfoRead').invoke($null, $null)
+if ($null -eq [IBizLibrary.KATSDKInterfaceHelper]::receiverPairingInfoSave.ReceiverSN) {
+    throw "Gateway configuration for the treadmill is not found."
+}
+
+#
+# Check the connected device.
+#
+[IBizLibrary.KATSDKInterfaceHelper].GetMethod('GetDeviceConnectionStatus').invoke($null, $null)
+
+$platforms = [IBizLibrary.KATSDKInterfaceHelper]::walk_c2_Count + [IBizLibrary.KATSDKInterfaceHelper]::walk_c2_core_Count
+
+if ($platforms -lt 1) {
+    throw "Please connect the receiver USB dongle."
+}
+
+if ($platforms -gt 1) {
+    throw "Please connect only the receiver USB dongle without the original treadmill cable."
+}
+
+if ([IBizLibrary.KATSDKInterfaceHelper]::walk_c2_Count -eq 1 -and [IBizLibrary.ComUtility]::KatDevice -ne 'walk_c2') {
+    throw "The dongle flashed for Kat Walk C2/C2+, but gateway configuration is not."
+}
+if ([IBizLibrary.KATSDKInterfaceHelper]::walk_c2_core_Count -eq 1 -and [IBizLibrary.ComUtility]::KatDevice -ne 'walk_c2_core') {
+    throw "The dongle flashed for Kat Walk C2 Core, but gateway configuration is not."
+}
+
+$dev = New-Object IBizLibrary.KATSDKInterfaceHelper+KATModels
+for($devNo=0; $devNo -lt [IBizLibrary.KATSDKInterfaceHelper]::deviceCount; $devNo ++) {
+    [IBizLibrary.KATSDKInterfaceHelper]::GetDevicesDesc([ref]$dev, $devNo)
+    if ($dev.deviceType -eq 1) {
+        break;
+    }
+}
+
+if ($dev.device -ne "nRF KAT-VR Receiver") {
+    throw "Please connect 'nRF KAT-VR Receiver' dongle, not the original treadmill ("+$dev.device+")"
+}
+
+#
+#
+#
+
+$FreqArr = [System.BitConverter]::GetBytes($Frequency)
+
+# Request correction floats
+[byte[]]$ans = New-Object byte[] 32
+[byte[]]$command = 0x20,0x1f,0x55,0xAA,0x00,0x00,0xDD,0xF0 + $FreqArr + $ans
+[IBizLibrary.KATSDKInterfaceHelper]::SendHIDCommand($dev.serialNumber, $command, 32, $ans, 32)
+
+if ($ans[5] -ne 0xDD -and $ans[6] -ne 0xF0) {
+    throw "No answer from device, please try again"
+}
+
+$Freq = [System.BitConverter]::ToInt16($ans, 7)
+
+Write-Host "Receiver configuration updated to " $Freq " Hz"

src/kat_ble.c

@@ -157,8 +157,23 @@ static const struct bt_conn_le_create_param btConnCreateParam = BT_CONN_LE_CREAT
 
 // Note: btConnParam and btConnParamUpdate should differ by only for timeout argument.
 #define KAT_BT_CONN_PARAM(timeout) BT_LE_CONN_PARAM_INIT(CONFIG_APP_KAT_CONN_INTERVAL, CONFIG_APP_KAT_CONN_INTERVAL, 5, timeout)
-static const struct bt_le_conn_param btConnParam = KAT_BT_CONN_PARAM(500);
-static const struct bt_le_conn_param btConnParamUpdate = KAT_BT_CONN_PARAM(100);
+static struct bt_le_conn_param btConnParam = KAT_BT_CONN_PARAM(500);
+static struct bt_le_conn_param btConnParamUpdate = KAT_BT_CONN_PARAM(100);
+
+#ifdef CONFIG_APP_KAT_FREQ_PARAM
+short KatBleUpdateFrequency = 86;
+void kat_ble_update_freq_param()
+{
+    short interval = 800 / KatBleUpdateFrequency;
+    interval = CLAMP(interval, 6, 16);
+    KatBleUpdateFrequency = 800 / interval;
+    btConnParam.interval_max = interval;
+    btConnParam.interval_min = interval;
+    btConnParamUpdate.interval_max = interval;
+    btConnParamUpdate.interval_min = interval;
+    printk("Set connection interval to %d (%d Hz update rate)\n", interval, KatBleUpdateFrequency);
+}
+#endif
 
 ASYNC_FUNC(kat_ble_connect_next, K_MSEC(100))
 {

src/kat_ble.h

@@ -11,6 +11,12 @@
  * BLE subsystem management API and settings.
  */
 
+// Dynamic setting settings update frequency
+#ifdef CONFIG_APP_KAT_FREQ_PARAM
+extern short KatBleUpdateFrequency;
+void kat_ble_update_freq_param();
+#endif
+
 // Number of paired bluetooth sensors
 extern int NumKatBleDevices;
 

src/kat_main.h

@@ -104,4 +104,9 @@ void kat_settings_async_save(void);
     void _do_async_##name(struct k_work *)
 
 
+// Enable configuration subsystem if any of the dynamic params enabled
+#if defined(CONFIG_APP_FEET_ROTATION) || defined(CONFIG_APP_KAT_FREQ_PARAM)
+#define __KAT_CONFIG_COMMANDS__
+#endif
+
 #endif // __KAT_MAIN_H__

src/kat_usb_pack.c

@@ -78,15 +78,21 @@ typedef __PACKED_UNION
                 // 5 unused bytes
             }
             ansfoot;
+            #ifdef __KAT_CONFIG_COMMANDS__
             __PACKED_STRUCT
             {
                 uint8_t nrfSettingId;
-                __PACKED_STRUCT
+                __PACKED_UNION
                 {
-                    float left, right;
-                } footCorrection;
+                    __PACKED_STRUCT
+                    {
+                        float left, right;
+                    } footCorrection;
+                    short updateFreq;
+                };
             }
             ansnrfsetting;
+            #endif
         };
     }
     data;
@@ -121,20 +127,23 @@ enum tKatUsbCommand
     cCloseVibration = 0xA0,
     cSetOutput = 0xA1, // LED & Vibration
 
-#if defined(CONFIG_APP_FEET_ROTATION)
+#if defined(__KAT_CONFIG_COMMANDS__)
     // Non-KAT protocol extension command to tweak extended settings.
     cNRFSettingGet = 0xDC,
     cNRFSettingSet = 0xDD,
 #endif
 };
 
-#if defined(CONFIG_APP_FEET_ROTATION)
+#if defined(__KAT_CONFIG_COMMANDS__)
 /* nRF settings */
 enum tKatExtendedUsbParam
 {
     #ifdef CONFIG_APP_FEET_ROTATION
     csFootAngles = 0xFA,
     #endif
+    #ifdef CONFIG_APP_KAT_FREQ_PARAM
+    csUpdateFreq = 0xF0,
+    #endif
 };
 #endif
 
@@ -251,19 +260,35 @@ bool kat_usb_handle_request(uint8_t *buf, int size)
         // Noop, we don't have control for LED of vibration here.
         return false;
 
-#if defined(CONFIG_APP_FEET_ROTATION)
+#if defined(__KAT_CONFIG_COMMANDS__)
     case cNRFSettingSet:
         switch(pack->data.ansnrfsetting.nrfSettingId) {
+
+        #ifdef CONFIG_APP_KAT_FREQ_PARAM
+        case csUpdateFreq:
+            KatBleUpdateFrequency = pack->data.ansnrfsetting.updateFreq;
+            kat_ble_update_freq_param();
+            break;
+        #endif
+
         #ifdef CONFIG_APP_FEET_ROTATION
         case csFootAngles:
             KatCorrectLeft = pack->data.ansnrfsetting.footCorrection.left;
             KatCorrectRight = pack->data.ansnrfsetting.footCorrection.right;
+            break;
         #endif
         }
         kat_settings_async_save();
         [[fallthrough]];
     case cNRFSettingGet:
         switch(pack->data.ansnrfsetting.nrfSettingId) {
+
+        #ifdef CONFIG_APP_KAT_FREQ_PARAM
+        case csUpdateFreq:
+            pack->data.ansnrfsetting.updateFreq = KatBleUpdateFrequency;
+            return true;
+        #endif
+
         #ifdef CONFIG_APP_FEET_ROTATION
         case csFootAngles:
             pack->data.ansnrfsetting.footCorrection.left = KatCorrectLeft;

src/main.c

@@ -48,6 +48,9 @@ int kat_settings_set_cb(const char *key, size_t len, settings_read_cb read_cb, v
 #ifdef CONFIG_APP_FEET_ROTATION
     READ_SIMPLE_SETTING("correctLeft", KatCorrectLeft, 0.0f);
     READ_SIMPLE_SETTING("correctRight", KatCorrectRight, 0.0f);
+#endif
+#ifdef CONFIG_APP_KAT_FREQ_PARAM
+    READ_SIMPLE_SETTING("updateFreq", KatBleUpdateFrequency, (kat_ble_update_freq_param(), 86));
 #endif
     READ_SIMPLE_SETTING("devCnt", NumKatBleDevices, 0);
 
@@ -101,6 +104,11 @@ int kat_settings_export_cb(int(*export_func)(const char *name, const void *val,
     if (ret < 0) return ret;
 #endif
 
+#ifdef CONFIG_APP_KAT_FREQ_PARAM
+    ret = export_func("katrc/updateFreq", &KatBleUpdateFrequency, sizeof(KatBleUpdateFrequency));
+    if (ret < 0) return ret;
+#endif
+
     ret = export_func("katrc/serial", &katUsbSerial, sizeof(katUsbSerial));
     if (ret < 0) return ret;