File content as of revision 5:7c5630442028:

/*

Copyright (c) 2012-2014 RedBearLab

Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
and associated documentation files (the "Software"), to deal in the Software without restriction, 
including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 
and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, 
subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 
PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE 
FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

*/

/*
 *    The application works with the BLEController iOS/Android App.
 *    Type something from the Terminal to send
 *    to the BLEController App or vice verse.
 *    Characteristics received from App will print on Terminal.
 */
 
#include "mbed.h"
#include "ble/BLE.h"
#include "LIS3DH.h"
#include "strike.h"
#include "Sensor.h"

#define BLE_UUID_TXRX_SERVICE            0x0000 /**< The UUID of the Nordic UART Service. */
#define BLE_UUID_TX_CHARACTERISTIC       0x0002 /**< The UUID of the TX Characteristic. */
#define BLE_UUIDS_RX_CHARACTERISTIC      0x0003 /**< The UUID of the RX Characteristic. */

#define TXRX_BUF_LEN                     20


//you can receive less then 93 bytes at 921600 Bd
#define UART_SENSOR_COMMAND_BUFFER_SIZE (100)
#define SYSTEM_COM_BUFFER   (1024)
#define RADIO_MESSAGE_LEN   (64)
#define VERSION "alpha_20150409-01"
#define SPEW (0)
#define STRIKE_DETECT_1 (1)
#define STRIKE_DETECT_2 (2)

#define DEFAULT_TIMESTEP (10) // in milliseconds
//#define DEFAULT_FAST_FILTER (650)
//#define DEFAULT_SLOW_FILTER (975)
#define DEFAULT_BIG_HIT_THRESHOLD (3000)
#define DEFAULT_SMALL_HIT_THRESHOLD (200)
#define DEFAULT_JERK_THRESHOLD (500)

#define DEFAULT_C1_1 (0.35)
#define DEFAULT_C2_1 (0.65)
#define DEFAULT_C1_2 (0.025)
#define DEFAULT_C2_2 (0.975)

#define DEFAULT_SHADOW_DECAY (0.8)

BLE  ble;

Serial pc(P0_4, USBRX);


// The Nordic UART Service
static const uint8_t uart_base_uuid[] = {0x71, 0x3D, 0, 0, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E};
static const uint8_t uart_tx_uuid[]   = {0x71, 0x3D, 0, 3, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E};
static const uint8_t uart_rx_uuid[]   = {0x71, 0x3D, 0, 2, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E};
static const uint8_t uart_base_uuid_rev[] = {0x1E, 0x94, 0x8D, 0xF1, 0x48, 0x31, 0x94, 0xBA, 0x75, 0x4C, 0x3E, 0x50, 0, 0, 0x3D, 0x71};


uint8_t txPayload[TXRX_BUF_LEN] = {0,};
uint8_t rxPayload[TXRX_BUF_LEN] = {0,};

static uint8_t rx_buf[TXRX_BUF_LEN];
static uint8_t rx_len=0;


GattCharacteristic  txCharacteristic (uart_tx_uuid, txPayload, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
                                      
GattCharacteristic  rxCharacteristic (uart_rx_uuid, rxPayload, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
                                      
GattCharacteristic *uartChars[] = {&txCharacteristic, &rxCharacteristic};

GattService         uartService(uart_base_uuid, uartChars, sizeof(uartChars) / sizeof(GattCharacteristic *));



void interpret(char parameter, int value);
void getRadioInput(char *data, uint16_t size);
void read_accel();

Ticker measure;
Ticker spew;
uint16_t strike_value = 0;
int last_result = 0;
bool new_strike = false;
bool active = false;
static volatile int config_parameter = 0;

static volatile int mode = STRIKE_DETECT_2;
static volatile int timestep = DEFAULT_TIMESTEP;
//static volatile int fast_filter = DEFAULT_FAST_FILTER;
//static volatile int slow_filter = DEFAULT_SLOW_FILTER;
static volatile int big_hit_threshold = DEFAULT_BIG_HIT_THRESHOLD;
static volatile int small_hit_threshold = DEFAULT_SMALL_HIT_THRESHOLD;
static volatile int jerk_threshold = DEFAULT_JERK_THRESHOLD;

static volatile float c1_1 = DEFAULT_C1_1;
static volatile float c2_1 = DEFAULT_C2_1;
static volatile float c1_2 = DEFAULT_C1_2;
static volatile float c2_2 = DEFAULT_C2_2;

static volatile float shadow_decay = DEFAULT_SHADOW_DECAY;

static int16_t xzy[3];


void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
{
    pc.printf("Disconnected \r\n");
    pc.printf("Restart advertising \r\n");
    ble.startAdvertising();
}

void WrittenHandler(const GattWriteCallbackParams *Handler)
{   
    uint8_t buf[TXRX_BUF_LEN];
    uint16_t bytesRead, index;
    
    if (Handler->handle == txCharacteristic.getValueAttribute().getHandle()) 
    {
        ble.readCharacteristicValue(txCharacteristic.getValueAttribute().getHandle(), buf, &bytesRead);
        memset(txPayload, 0, TXRX_BUF_LEN);
        memcpy(txPayload, buf, TXRX_BUF_LEN);       
        pc.printf("WriteHandler \r\n");
        pc.printf("Length: %d\r\n", bytesRead);
        pc.printf("Data: ");
        for(index=0; index<bytesRead; index++)
        {
            pc.putc(txPayload[index]);        
        }
        pc.printf("\r\n");
        
        getRadioInput((char*)txPayload, bytesRead);
    }
}

void uartCB(void)
{   
    while(pc.readable())    
    {
        rx_buf[rx_len++] = pc.getc();    
        if(rx_len>=20 || rx_buf[rx_len-1]=='\0' || rx_buf[rx_len-1]=='\n')
        {
            ble.updateCharacteristicValue(rxCharacteristic.getValueAttribute().getHandle(), rx_buf, rx_len); 
            pc.printf("RecHandler \r\n");
            pc.printf("Length: ");
            pc.putc(rx_len);
            pc.printf("\r\n");
            rx_len = 0;
            break;
        }
    }
}

int main(void)
{
    ble.init();
    ble.onDisconnection(disconnectionCallback);
    ble.onDataWritten(WrittenHandler);  
    
    pc.baud(9600);
    pc.printf("TenCount \r\n");
    
    LIS3DH_init();
    
    //pc.attach( uartCB , pc.RxIrq);
   // setup advertising 
    ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
    ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
    ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
                                    (const uint8_t *)"TenCount", sizeof("TenCount") - 1);
    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
                                    (const uint8_t *)uart_base_uuid_rev, sizeof(uart_base_uuid));
    // 100ms; in multiples of 0.625ms. 
    ble.setAdvertisingInterval(160);

    ble.addService(uartService);
    
    ble.startAdvertising(); 
    pc.printf("Advertising Start \r\n");
    
    char txbuff[40] = {0};
    
    while(1)
    {
        //ble.waitForEvent(); 
         if(new_strike){
            if(mode == SPEW){
                pc.printf("s%u\r\n", strike_value);   
            }
            else{
                snprintf(txbuff, sizeof(txbuff), "s%u\r\n", strike_value);
                pc.printf("%s", txbuff);  
                ble.updateCharacteristicValue(rxCharacteristic.getValueAttribute().getHandle(), (uint8_t*)txbuff, strlen(txbuff)); 
                new_strike = false;
            }
        }
    }
}

void strike_detect1(){
    //static int16_t xzy[3];
    static Sensor* s = new Sensor();

    LIS3DH_readAll(xzy);
    //algorithm expects -/+8g, 0-4095, accelerometer reports ??? (+/-16g, 0-65535?)
    int result = parseXY(xzy[0]/16 + 2048, xzy[2]/16 + 2048, s);
    if(result){ 
        //strike_timer.reset();
        //strike_timer.start();
        strike_detect_reset(s);
        result = int((float)result*(10000.0/65535.0));
        new_strike = true;
        last_result = result;
        strike_value = result;
    }
}

void strike_detect2(){
    static float low_pass1 = 0.0;
    static float low_pass2 = 0.0;
    float RMS = 0.0;
    static float last_decay = 0.0;
    float decay = 0.0;
    static float accumulator = 0.0;
    bool accumulating = false;
    float jerk = 0.0;
    static float shadow = 0.0;

    LIS3DH_readAll(xzy);
    float t1 = xzy[0];
    float t2 = xzy[2];
    RMS = sqrt(t1*t1 + t2*t2);

    jerk = low_pass1;
    low_pass1 = c1_1*RMS + c2_1*low_pass1;
    low_pass2 = c1_2*RMS + c2_2*low_pass2;

    jerk = low_pass1 - jerk;
    if(jerk > jerk_threshold)accumulating = true;

    decay = low_pass1 - low_pass2;
    if(decay < 0) decay = 0;
    
    shadow *= shadow_decay;

    if(decay < 400){
      strike_value = ((long)accumulator/30);
      if(strike_value > small_hit_threshold && strike_value > shadow){
          new_strike = true;
          pc.printf("s%ld\r", (long)accumulator/30);
          if(strike_value > big_hit_threshold) shadow = (float) strike_value;
      }
      accumulator = 0;
      accumulating = false;
    }
    else if(accumulating)accumulator += decay;
    last_decay = decay;
}

void spew_accel_old(){
    static int counter = 0;
    static float low_pass = 0.0;
    float RMS = 0.0;
    float delta = 0.2;
    float decay = 0.0;
    
    //static int16_t xzy[3];
    LIS3DH_readAll(xzy);
    RMS = sqrt((float)xzy[0]*(float)xzy[0] + (float)xzy[2]*(float)xzy[2]);
    low_pass = delta*RMS + (1-delta)*low_pass;
    
    if(RMS > decay)decay = low_pass;
    decay = decay * 0.95;
    
    //UART.printf("%d %d %d\r\n", last_result, xzy[0], xzy[2]);  // should not be printing in interrupt, am going to hell
    pc.printf("%f, %f, %f\r\n", RMS, low_pass, decay);  // should not be printing in interrupt, am going to hell
    if(counter > 15){
        last_result = 0;
        counter = 0;
    }
    if(last_result)counter++;
}
/*
void spew_accel(){
    static float low_pass1 = 0.0;
    static float low_pass2 = 0.0;
    float RMS = 0.0;
    static float last_decay = 0.0;
    float decay = 0.0;
    static float accumulator = 0.0;
    bool accumulating = false;
    float jerk = 0.0;
    //static float biggest_jerk = 0.0;
    
    //static int16_t xzy[3];
    LIS3DH_readAll(xzy);
    //RMS = (float)xzy[0]*(float)xzy[0] + (float)xzy[2]*(float)xzy[2];
    float t1 = xzy[0];
    float t2 = xzy[2];
    RMS = sqrt(t1*t1 + t2*t2);
    //RMS = sqrt((float)xzy[0]*(float)xzy[0] + (float)xzy[2]*(float)xzy[2]);
    jerk = low_pass1;
    low_pass1 = 0.35*RMS + 0.65*low_pass1;
    low_pass2 = 0.025*RMS + 0.975*low_pass2;

    jerk = low_pass1 - jerk;
    if(jerk > 500)accumulating = true;
    //if(jerk > biggest_jerk)biggest_jerk = jerk;
    
    //if(RMS > decay)decay = RMS;
    //decay = decay * 0.9999;
    decay = low_pass1 - low_pass2;
    if(decay < 0) decay = 0;

    if(decay < 400){
      if(accumulator > 10000)UART.printf("s%ld\r", (long)accumulator/30);
      accumulator = 0;
      accumulating = false;
      //biggest_jerk = 0;
    }
    else if(accumulating)accumulator += decay;
    last_decay = decay;
    
}*/

void getRadioInput(char *data, uint16_t length)
{
  static int i = 0;
  static char parameter = '_';
  static char buffer[RADIO_MESSAGE_LEN + 1];
  int value = 0;
  
  // listen for commands coming over bluetooth
  for (int j = 0; j < length; ++j){
    char ch = data[j];

    pc.printf("looping: %c. %c\r\n", ch, parameter);

    // if ch is a message terminator, if parameter is anything other than '_', process the message
    if((ch == '\r' || ch == ';' || ch == '\n'))
    {
      if(i > 0  && parameter != '_')
      {
        buffer[i-1] = 0;
        value = atoi(buffer);
        
        interpret(parameter, value);
      }

      //  done sending, reset parameters
      parameter = '_';
      buffer[0] = 0;
      i=0;
    }
    else
    { // got anything but a message terminator
      if(i==0)
        parameter = ch; // nothing accumulated yet
      else 
        buffer[i-1] = ch;
        
      i++;
    }
    //UART.printf("%c: %s, %d\r\n",parameter, buffer, i);
  }
}

void interpret(char parameter, int value){
    
    switch(parameter){
        case 'g':
            if(value == 1){
                new_strike = false;
                //active = true;
                if(mode == STRIKE_DETECT_1)measure.attach_us(&strike_detect1, timestep*1000);
                if(mode == STRIKE_DETECT_2)measure.attach_us(&strike_detect2, timestep*1000);
            }
            if(value == 0)measure.detach(); //active = false;
        break;
        case 'm':
            mode = value;
        break;
        case 'p':
            config_parameter = value;
            //UART.printf("parameter is: %d\r\n", value);
        break;
        case 'v':
            if(config_parameter < 8)set_setting(config_parameter, value);
            else{
                //UART.printf("value is: %d\r\n", value);
                if(config_parameter == 101){
                    //fast_filter = value;
                    c1_1 = (float)value/1000.0;
                    c2_1 = 1.0 - c1_1;
                }
                if(config_parameter == 102){
                    //slow_filter = value;
                    c1_2 = (float)value/1000.0;
                    c2_2 = 1.0 - c1_2;
                }
                if(config_parameter == 103)big_hit_threshold = value;
                if(config_parameter == 104)small_hit_threshold = value;
                if(config_parameter == 105)jerk_threshold = value;
                if(config_parameter == 106){
                    float x = value;
                    shadow_decay = 0.9 + x*0.0001;
                    //UART.printf("shadow_decay is: %f\r\n", shadow_decay);
                }
            }
        break;
        case 's':
            if(value > 0){
                //measure.attach_us(&spew_accel, 1000);
                //spew.attach(&spew_accel, float(value)/1000);
                //measure.attach_us(&read_accel, 1000);
            }
            if(value == 0)spew.detach(); //active = false;
        break;
        case 't':
            //y(k) = a * y(k-1) + (1-a) * x(k)
            //a = exp (-T/tau)
            break;
        case 'z':
            pc.printf(VERSION);
        break;       
        default:
        // print stuff
        break;
    }
}