Nicla fw optimizations #45
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This method works only if Wire slave thread stack is freed when deleted (ArduinoCore-mbed PR #375)
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Description
This PR introduces some firmware improvements and optimizations that aim at simplifying the code and improving its stability, in particular when using the Host board + Nicla Sense setup.
The main change is about the usage of the Eslov Int Pin. In the current released libraries, this pin is used not only for synchronization, but also to signal Nicla board that communication over the Eslov interface is going to start. There is, indeed, a change of pinMode for the ESLOV_INT_PIN. The current used mechanism is the following:
This complex mechanism was required because there was not enough stack space to start both Eslov and BLE interface and run their threads.
Now, thanks to the change introduced by PR #375 in ArduinoCore-mbed which frees the slave thread stack size when
Wire.end()is called, both Eslov interface and BLE can be activated within theBHY2.begin()function. Then, one of the two will be eventually disabled.NOTE: this PR cannot be merged before a new release of Nicla core containing the mentioned patch is done!
Other introduced changes:
NICLA_STANDALONEoption added toNiclaConfigenum. WhenBHY2.begin(NICLA_STANDALONE)is called, only BoschSensortec is started, while BLEHandler, EslovHandler and DFUManager are NOT started.About this point, some of them are still needed, in particular when issuing a Wire request from the Host board to Nicla Sense. The synchronization mechanism over ESLOV_INT_PIN (
while(!digitalRead(_eslovIntPin)) {}) may not be enough here, since the callback on Nicla side may be serviced after a certain delay. Therefore we need to add a delay to avoid that a second request is issued before the first one is handled. A more efficient solution here would have been to start a thread that checks the ESLOV_INT_PIN activity, but this could be done only for Portenta and not for the MKR family.Pull request type