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Merged
zjwhitehead merged 1 commit into from
Mar 27, 2026
Merged

Refactor BLE pairing, whitelist, and advertising #107

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87 changes: 65 additions & 22 deletions src/sp140/ble/ble_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@ TimerHandle_t gConnTuneTimer = nullptr;
TimerHandle_t gPairingTimer = nullptr;
TimerHandle_t gAdvertisingWatchdogTimer = nullptr;
bool pairingModeActive = false;
bool pairingModeTransitionActive = false;

// Store the active connection handle for conn param updates
uint16_t activeConnHandle = 0;
Expand All @@ -36,18 +37,24 @@ void stopPairingModeTimer() {
}
}

void clearWhiteList() {
while (NimBLEDevice::getWhiteListCount() > 0) {
NimBLEDevice::whiteListRemove(NimBLEDevice::getWhiteListAddress(0));
}
}

size_t syncWhiteListFromBonds() {
clearWhiteList();
// Reconcile the whitelist to the current bond store. Advertising must be
// stopped before calling this — the BLE controller rejects whitelist changes
// while advertising with a filter (rc=524 / BLE_HS_EBUSY). Prune stale
// entries first, then add any missing bonded addresses.
for (size_t i = NimBLEDevice::getWhiteListCount(); i > 0; --i) {
const NimBLEAddress addr = NimBLEDevice::getWhiteListAddress(i - 1);
if (!NimBLEDevice::isBonded(addr)) {
NimBLEDevice::whiteListRemove(addr);
}
}

const int bondCount = NimBLEDevice::getNumBonds();
for (int i = 0; i < bondCount; ++i) {
NimBLEDevice::whiteListAdd(NimBLEDevice::getBondedAddress(i));
const NimBLEAddress addr = NimBLEDevice::getBondedAddress(i);
if (!NimBLEDevice::onWhiteList(addr)) {
NimBLEDevice::whiteListAdd(addr);
}
}

return NimBLEDevice::getWhiteListCount();
Expand Down Expand Up @@ -77,21 +84,26 @@ void applyPreferredLinkParams(TimerHandle_t timer) {
}

bool shouldAdvertiseWhilePowered() {
return pairingModeActive || NimBLEDevice::getNumBonds() > 0;
return !pairingModeTransitionActive &&
(pairingModeActive || NimBLEDevice::getNumBonds() > 0);
}

bool startAdvertising(NimBLEServer *server) {
if (server == nullptr) {
if (server == nullptr || pairingModeTransitionActive) {
return false;
}

const size_t bondCount = static_cast<size_t>(NimBLEDevice::getNumBonds());
const bool allowOpenAdvertising = pairingModeActive;

// Stop advertising BEFORE modifying the whitelist — the BLE controller
// rejects whitelist changes while advertising with a filter (BLE_HS_EBUSY).
auto *advertising = server->getAdvertising();
advertising->stop();

const size_t whiteListCount = syncWhiteListFromBonds();

if (!allowOpenAdvertising && bondCount == 0) {
auto *advertising = server->getAdvertising();
advertising->stop();
USBSerial.println(
"[BLE] No bonds present and pairing mode inactive; advertising stopped");
return false;
Expand Down Expand Up @@ -132,8 +144,6 @@ bool startAdvertising(NimBLEServer *server) {
static_cast<uint8_t>(allowOpenAdvertising ? 0x01 : 0x00)};
scanRsp.setManufacturerData(mfrData, sizeof(mfrData));

auto *advertising = server->getAdvertising();
advertising->stop();
advertising->removeAll();
const bool configured = advertising->setInstanceData(kExtAdvInstance, adv);
const bool scanRspConfigured =
Expand All @@ -148,11 +158,6 @@ bool startAdvertising(NimBLEServer *server) {
static_cast<unsigned>(bondCount), static_cast<unsigned>(whiteListCount));
return started;
#else
auto *advertising = server->getAdvertising();

// Stop before reconfiguring (safe even if not running)
advertising->stop();

// Configure payload once — NimBLE accumulates addServiceUUID calls
static bool payloadConfigured = false;
if (!payloadConfigured) {
Expand Down Expand Up @@ -252,9 +257,11 @@ class BleServerConnectionCallbacks : public NimBLEServerCallbacks {

USBSerial.printf("Device disconnected reason=%d\n", reason);

// Restart immediately, then let the watchdog keep retrying forever if this
// first post-disconnect start does not stick.
startAdvertising(server);
// Suppress the immediate advertising restart during a pairing transition —
// enterBLEPairingMode() issues its own startAdvertising after clearing bonds.
if (!pairingModeTransitionActive) {
startAdvertising(server);
}
}

void onAuthenticationComplete(NimBLEConnInfo &connInfo) override {
Expand Down Expand Up @@ -380,7 +387,43 @@ void restartBLEAdvertising() {
}

void enterBLEPairingMode() {
// Block advertising restarts (e.g. from onDisconnect) during this transition.
pairingModeTransitionActive = true;

// Single-bond model: disconnect the current peer so we can safely clear bonds.
if (deviceConnected && pServer != nullptr &&
connectedHandle != BLE_HS_CONN_HANDLE_NONE) {
pServer->disconnect(connectedHandle);
vTaskDelay(pdMS_TO_TICKS(100));
}

// Stop advertising before modifying bonds — NimBLE rejects bond deletion
// while the controller is advertising (BLE_HS_EBUSY).
if (pServer != nullptr) {
auto *adv = pServer->getAdvertising();
if (adv != nullptr) {
adv->stop();
}
}
vTaskDelay(pdMS_TO_TICKS(50));

const int bondCount = NimBLEDevice::getNumBonds();
bool cleared = false;
if (bondCount > 0) {
cleared = NimBLEDevice::deleteAllBonds();
if (!cleared) {
for (int i = NimBLEDevice::getNumBonds() - 1; i >= 0; --i) {
NimBLEDevice::deleteBond(NimBLEDevice::getBondedAddress(i));
}
cleared = NimBLEDevice::getNumBonds() == 0;
}
}
USBSerial.printf("[BLE] Cleared bonds: %s (was %d, now %d)\n",
cleared ? "OK" : (bondCount == 0 ? "NONE" : "FAILED"),
bondCount, NimBLEDevice::getNumBonds());

pairingModeActive = true;
pairingModeTransitionActive = false;

if (gPairingTimer == nullptr) {
gPairingTimer = xTimerCreate("blePair", kPairingTimeoutTicks, pdFALSE,
Expand Down
42 changes: 6 additions & 36 deletions src/sp140/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,7 +74,8 @@ int8_t bmsCS = MCP_CS;
#define SECOND_HOLD_TIME_MS 2000 // How long to hold on second press to arm
#define CRUISE_HOLD_TIME_MS 2000
#define BUTTON_SEQUENCE_TIMEOUT_MS 1500 // Time window for arm/disarm sequence
#define PERFORMANCE_MODE_HOLD_MS 3000 // Longer hold time for performance mode
#define PERFORMANCE_MODE_HOLD_MS 3000 // Longer hold time for performance mode
#define BLE_PAIRING_HOLD_MS 10000 // Hold duration to enter BLE pairing mode

// Throttle control constants moved to inc/sp140/throttle.h
#define CRUISE_MAX_PERCENTAGE \
Expand Down Expand Up @@ -851,7 +852,6 @@ void buttonHandlerTask(void *parameter) {
uint32_t lastDebounceTime = 0;
bool lastButtonState = HIGH;
bool buttonState;
bool unbondHoldHandled = false;
bool pairingHoldHandled = false;

while (true) {
Expand All @@ -865,7 +865,6 @@ void buttonHandlerTask(void *parameter) {

if (buttonState == LOW) { // Button pressed
buttonPressed = true;
unbondHoldHandled = false;
pairingHoldHandled = false;
buttonPressStartTime = currentTime;
USBSerial.println("Button pressed");
Expand All @@ -883,7 +882,7 @@ void buttonHandlerTask(void *parameter) {
// Disarmed long hold toggles performance mode on release.
if (currentState == DISARMED &&
holdDuration >= PERFORMANCE_MODE_HOLD_MS &&
holdDuration < 10000 && !unbondHoldHandled &&
holdDuration < BLE_PAIRING_HOLD_MS &&
!pairingHoldHandled) {
perfModeSwitch();
lastButtonState = buttonState;
Expand Down Expand Up @@ -928,38 +927,9 @@ void buttonHandlerTask(void *parameter) {
} else if (buttonPressed) { // Only handle other button actions if we're not in an arm sequence
uint32_t currentHoldTime = currentTime - buttonPressStartTime;

// Tiered long hold while disarmed:
// 10s = enter BLE pairing mode (single vibration)
// 20s = delete all bonds (double vibration + reboot)
if (currentState == DISARMED && currentHoldTime >= 20000 &&
!unbondHoldHandled) {
// Tier 2: Delete all bonds
const bool deleted = NimBLEDevice::deleteAllBonds();
USBSerial.printf("[BLE] Delete all bonds: %s\n",
deleted ? "OK" : "FAILED");
if (deviceConnected && pServer != nullptr &&
connectedHandle != BLE_HS_CONN_HANDLE_NONE) {
pServer->disconnect(connectedHandle);
vTaskDelay(pdMS_TO_TICKS(40));
}
pulseVibeMotor();
vTaskDelay(pdMS_TO_TICKS(300));
pulseVibeMotor();
USBSerial.println("[BLE] Bonds cleared. Rebooting with BLE locked "
"until pairing mode is reopened...");
vTaskDelay(pdMS_TO_TICKS(500));
diagnosticsMarkPlannedRestart(
PlannedRestartReason::BLE_UNBOND_REBOOT);
ESP.restart();
unbondHoldHandled = true;
buttonPressed = false;
buttonPressStartTime = currentTime;
continue;
}

if (currentState == DISARMED && currentHoldTime >= 10000 &&
!pairingHoldHandled) {
// Tier 1: Enter pairing mode (open advertising for 60s)
// Long hold while disarmed: enter BLE pairing mode (clears bonds).
if (currentState == DISARMED &&
currentHoldTime >= BLE_PAIRING_HOLD_MS && !pairingHoldHandled) {
enterBLEPairingMode();
pulseVibeMotor();
USBSerial.println("[BLE] Pairing mode activated via button hold");
Expand Down
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