Justin B
Pull request for i.a. sensor buffer template
Dependencies: BLE_API MPU6050 mbed nRF51822
Revision 0:7c12d0922052, committed 2018-01-23
- Comitter:
- pietermaljaars
- Date:
- Tue Jan 23 09:04:55 2018 +0000
- Child:
- 1:b529e733ab71
- Commit message:
- Initial creation of project
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BLE_API.lib Tue Jan 23 09:04:55 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/Bluetooth-Low-Energy/code/BLE_API/#65474dc93927
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/battery.h Tue Jan 23 09:04:55 2018 +0000
@@ -0,0 +1,43 @@
+
+
+#ifndef __BATTERY_H__
+#define __BATTERY_H__
+
+#include "mbed.h"
+
+class Battery {
+public:
+ Battery(PinName pin) {
+ uint32_t n = (uint32_t) pin;
+ channel = 1 << (1 + n);
+ }
+
+ float read() {
+ uint32_t pre_enable_register = NRF_ADC->ENABLE;
+ uint32_t pre_config_register = NRF_ADC->CONFIG;
+
+
+ NRF_ADC->ENABLE = ADC_ENABLE_ENABLE_Enabled;
+ NRF_ADC->CONFIG = (ADC_CONFIG_RES_10bit << ADC_CONFIG_RES_Pos) |
+ (ADC_CONFIG_INPSEL_AnalogInputNoPrescaling << ADC_CONFIG_INPSEL_Pos) |
+ (ADC_CONFIG_REFSEL_VBG << ADC_CONFIG_REFSEL_Pos) |
+ (channel << ADC_CONFIG_PSEL_Pos) |
+ (ADC_CONFIG_EXTREFSEL_None << ADC_CONFIG_EXTREFSEL_Pos);
+
+ NRF_ADC->TASKS_START = 1;
+ while (((NRF_ADC->BUSY & ADC_BUSY_BUSY_Msk) >> ADC_BUSY_BUSY_Pos) == ADC_BUSY_BUSY_Busy) {
+ }
+
+ uint16_t value = NRF_ADC->RESULT;
+
+ NRF_ADC->ENABLE = pre_enable_register;
+ NRF_ADC->CONFIG = pre_config_register;
+
+ return (float)value * (1.0f / (float)0x3FF) * 1.2 * 12.2 / 2.2;
+ }
+
+private:
+ uint32_t channel;
+};
+
+#endif // __BATTERY_H__
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/eMPL_MPU6050.lib Tue Jan 23 09:04:55 2018 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/Seeed/code/eMPL_MPU6050/#6aedb937cb38
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Jan 23 09:04:55 2018 +0000
@@ -0,0 +1,298 @@
+
+#include "mbed.h"
+#include "mbed_i2c.h"
+#include "inv_mpu.h"
+#include "inv_mpu_dmp_motion_driver.h"
+#include "nrf51.h"
+#include "nrf51_bitfields.h"
+
+#include "BLE.h"
+#include "DFUService.h"
+#include "UARTService.h"
+
+
+#define LOG(...) { pc.printf(__VA_ARGS__); }
+
+#define LED_GREEN p21
+#define LED_RED p22
+#define LED_BLUE p23
+#define BUTTON_PIN p17
+#define BATTERY_PIN p1
+
+#define MPU6050_SDA p12
+#define MPU6050_SCL p13
+
+#define UART_TX p9
+#define UART_RX p11
+#define UART_CTS p8
+#define UART_RTS p10
+
+/* Starting sampling rate. */
+#define DEFAULT_MPU_HZ (100)
+
+DigitalOut blue(LED_BLUE);
+DigitalOut green(LED_GREEN);
+DigitalOut red(LED_RED);
+
+InterruptIn button(BUTTON_PIN);
+AnalogIn battery(BATTERY_PIN);
+Serial pc(UART_TX, UART_RX);
+
+InterruptIn motion_probe(p14);
+
+int read_none_count = 0;
+
+BLEDevice ble;
+UARTService *uartServicePtr;
+
+volatile bool bleIsConnected = false;
+volatile uint8_t tick_event = 0;
+volatile uint8_t motion_event = 0;
+static signed char board_orientation[9] = {
+ 1, 0, 0,
+ 0, 1, 0,
+ 0, 0, 1
+};
+
+
+void check_i2c_bus(void);
+unsigned short inv_orientation_matrix_to_scalar( const signed char *mtx);
+
+
+void connectionCallback(const Gap::ConnectionCallbackParams_t *params)
+{
+ LOG("Connected!\n");
+ bleIsConnected = true;
+}
+
+void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *cbParams)
+{
+ LOG("Disconnected!\n");
+ LOG("Restarting the advertising process\n");
+ ble.startAdvertising();
+ bleIsConnected = false;
+}
+
+void tick(void)
+{
+ static uint32_t count = 0;
+
+ LOG("%d\r\n", count++);
+ green = !green;
+}
+
+void detect(void)
+{
+ LOG("Button pressed\n");
+ blue = !blue;
+}
+
+void motion_interrupt_handle(void)
+{
+ motion_event = 1;
+}
+
+void tap_cb(unsigned char direction, unsigned char count)
+{
+ LOG("Tap motion detected\n");
+}
+
+void android_orient_cb(unsigned char orientation)
+{
+ LOG("Oriention changed\n");
+}
+
+
+int main(void)
+{
+ blue = 1;
+ green = 1;
+ red = 1;
+
+ pc.baud(115200);
+
+ wait(1);
+
+ LOG("---- Seeed Tiny BLE ----\n");
+
+ mbed_i2c_clear(MPU6050_SDA, MPU6050_SCL);
+ mbed_i2c_init(MPU6050_SDA, MPU6050_SCL);
+
+
+ if (mpu_init(0)) {
+ LOG("failed to initialize mpu6050\r\n");
+ }
+
+ /* Get/set hardware configuration. Start gyro. */
+ /* Wake up all sensors. */
+ mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL);
+ /* Push both gyro and accel data into the FIFO. */
+ mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL);
+ mpu_set_sample_rate(DEFAULT_MPU_HZ);
+
+ /* Read back configuration in case it was set improperly. */
+ unsigned char accel_fsr;
+ unsigned short gyro_rate, gyro_fsr;
+ mpu_get_sample_rate(&gyro_rate);
+ mpu_get_gyro_fsr(&gyro_fsr);
+ mpu_get_accel_fsr(&accel_fsr);
+
+ dmp_load_motion_driver_firmware();
+ dmp_set_orientation(
+ inv_orientation_matrix_to_scalar(board_orientation));
+ dmp_register_tap_cb(tap_cb);
+ dmp_register_android_orient_cb(android_orient_cb);
+
+ uint16_t dmp_features = DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP |
+ DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |
+ DMP_FEATURE_GYRO_CAL;
+ dmp_enable_feature(dmp_features);
+ dmp_set_fifo_rate(DEFAULT_MPU_HZ);
+ mpu_set_dmp_state(1);
+
+ dmp_set_interrupt_mode(DMP_INT_GESTURE);
+ dmp_set_tap_thresh(TAP_XYZ, 50);
+
+
+ motion_probe.fall(motion_interrupt_handle);
+
+
+
+ Ticker ticker;
+ ticker.attach(tick, 3);
+
+ button.fall(detect);
+
+ LOG("Initialising the nRF51822\n");
+ ble.init();
+ ble.gap().onDisconnection(disconnectionCallback);
+ ble.gap().onConnection(connectionCallback);
+
+
+ /* setup advertising */
+ ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
+ ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
+ ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
+ (const uint8_t *)"smurfs", sizeof("smurfs"));
+ ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
+ (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
+ DFUService dfu(ble);
+ UARTService uartService(ble);
+ uartServicePtr = &uartService;
+ //uartService.retargetStdout();
+
+ ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
+ ble.gap().startAdvertising();
+
+ while (true) {
+ if (motion_event) {
+
+ unsigned long sensor_timestamp;
+ short gyro[3], accel[3], sensors;
+ long quat[4];
+ unsigned char more = 1;
+
+ while (more) {
+ /* This function gets new data from the FIFO when the DMP is in
+ * use. The FIFO can contain any combination of gyro, accel,
+ * quaternion, and gesture data. The sensors parameter tells the
+ * caller which data fields were actually populated with new data.
+ * For example, if sensors == (INV_XYZ_GYRO | INV_WXYZ_QUAT), then
+ * the FIFO isn't being filled with accel data.
+ * The driver parses the gesture data to determine if a gesture
+ * event has occurred; on an event, the application will be notified
+ * via a callback (assuming that a callback function was properly
+ * registered). The more parameter is non-zero if there are
+ * leftover packets in the FIFO.
+ */
+ dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors,
+ &more);
+
+
+ /* Gyro and accel data are written to the FIFO by the DMP in chip
+ * frame and hardware units. This behavior is convenient because it
+ * keeps the gyro and accel outputs of dmp_read_fifo and
+ * mpu_read_fifo consistent.
+ */
+ if (sensors & INV_XYZ_GYRO) {
+ // LOG("GYRO: %d, %d, %d\n", gyro[0], gyro[1], gyro[2]);
+ }
+ if (sensors & INV_XYZ_ACCEL) {
+ //LOG("ACC: %d, %d, %d\n", accel[0], accel[1], accel[2]);
+ }
+
+ /* Unlike gyro and accel, quaternions are written to the FIFO in
+ * the body frame, q30. The orientation is set by the scalar passed
+ * to dmp_set_orientation during initialization.
+ */
+ if (sensors & INV_WXYZ_QUAT) {
+ // LOG("QUAT: %ld, %ld, %ld, %ld\n", quat[0], quat[1], quat[2], quat[3]);
+ }
+
+ if (sensors) {
+ read_none_count = 0;
+ } else {
+ read_none_count++;
+ if (read_none_count > 3) {
+ read_none_count = 0;
+
+ LOG("I2C may be stuck @ %d\r\n", sensor_timestamp);
+ mbed_i2c_clear(MPU6050_SDA, MPU6050_SCL);
+ }
+ }
+ }
+
+ motion_event = 0;
+ } else {
+ ble.waitForEvent();
+ }
+ }
+}
+
+/* These next two functions converts the orientation matrix (see
+ * gyro_orientation) to a scalar representation for use by the DMP.
+ * NOTE: These functions are borrowed from Invensense's MPL.
+ */
+static inline unsigned short inv_row_2_scale(const signed char *row)
+{
+ unsigned short b;
+
+ if (row[0] > 0)
+ b = 0;
+ else if (row[0] < 0)
+ b = 4;
+ else if (row[1] > 0)
+ b = 1;
+ else if (row[1] < 0)
+ b = 5;
+ else if (row[2] > 0)
+ b = 2;
+ else if (row[2] < 0)
+ b = 6;
+ else
+ b = 7; // error
+ return b;
+}
+
+unsigned short inv_orientation_matrix_to_scalar(
+ const signed char *mtx)
+{
+ unsigned short scalar;
+
+ /*
+ XYZ 010_001_000 Identity Matrix
+ XZY 001_010_000
+ YXZ 010_000_001
+ YZX 000_010_001
+ ZXY 001_000_010
+ ZYX 000_001_010
+ */
+
+ scalar = inv_row_2_scale(mtx);
+ scalar |= inv_row_2_scale(mtx + 3) << 3;
+ scalar |= inv_row_2_scale(mtx + 6) << 6;
+
+
+ return scalar;
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Jan 23 09:04:55 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/7130f322cb7e \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/nRF51822.lib Tue Jan 23 09:04:55 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/Nordic-Semiconductor/code/nRF51822/#c90ae1400bf2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tiny_ble.h Tue Jan 23 09:04:55 2018 +0000 @@ -0,0 +1,19 @@ + +#ifndef __TINY_BLE_H__ +#define __TINY_BLE_H__ + +#define LED_GREEN p21 +#define LED_RED p22 +#define LED_BLUE p23 +#define BUTTON_PIN p17 +#define BATTERY_PIN p1 + +#define MPU6050_SDA p12 +#define MPU6050_SCL p13 + +#define UART_TX p9 +#define UART_RX p11 +#define UART_CTS p8 +#define UART_RTS p10 + +#endif // __TINY_BLE_H__