init
Dependencies: aconno_I2C Lis2dh12 WatchdogTimer
main.cpp@58:8d4a354816b1, 2020-02-17 (annotated)
- Committer:
- pathfindr
- Date:
- Mon Feb 17 23:24:52 2020 +0000
- Revision:
- 58:8d4a354816b1
- Parent:
- 57:066dfbe8b4b9
usb
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pathfindr | 58:8d4a354816b1 | 1 | #include "main.h" |
pathfindr | 51:9078e6928412 | 2 | // MUST USE MBED 5.10.4 2fd0c5cfbd |
pathfindr | 51:9078e6928412 | 3 | |
pathfindr | 51:9078e6928412 | 4 | /* |
pathfindr | 51:9078e6928412 | 5 | PRE DEPLOYMENT CHECKS!! |
pathfindr | 51:9078e6928412 | 6 | • Ensure APP DATA address is correct |
pathfindr | 51:9078e6928412 | 7 | */ |
pathfindr | 51:9078e6928412 | 8 | |
pathfindr | 21:e0b866630c27 | 9 | //------------------------------------------------------------------------------ |
pathfindr | 37:505ef618f06c | 10 | //FUNCTION PROTOTYPES - NEED TO ADD ALL OF THE MISSING ONES |
pathfindr | 0:94b743e06998 | 11 | //------------------------------------------------------------------------------ |
pathfindr | 45:6c7f5b556d74 | 12 | //should really add these - will just add as and when needed for now |
pathfindr | 57:066dfbe8b4b9 | 13 | void bleShutdown(); |
pathfindr | 0:94b743e06998 | 14 | |
pathfindr | 0:94b743e06998 | 15 | //------------------------------------------------------------------------------ |
pathfindr | 57:066dfbe8b4b9 | 16 | // VARS |
pathfindr | 51:9078e6928412 | 17 | //------------------------------------------------------------------------------ |
pathfindr | 57:066dfbe8b4b9 | 18 | char RET_pf_identifier[6]; |
pathfindr | 57:066dfbe8b4b9 | 19 | time_t RET_RTCunixtime = 0; |
pathfindr | 57:066dfbe8b4b9 | 20 | bool RET_debug = true; |
pathfindr | 57:066dfbe8b4b9 | 21 | time_t RET_debug_offat = 0; |
pathfindr | 52:bd7678eade77 | 22 | char GLOBAL_debug_buffer[DEBUG_BUFFERSIZE]; |
pathfindr | 34:4493c9f6d707 | 23 | |
pathfindr | 57:066dfbe8b4b9 | 24 | //SENSORS |
pathfindr | 57:066dfbe8b4b9 | 25 | float RET_voltage = 0.0; |
pathfindr | 57:066dfbe8b4b9 | 26 | float RET_temperature = 0.0; |
pathfindr | 57:066dfbe8b4b9 | 27 | float RET_humidity = 0.0; |
pathfindr | 57:066dfbe8b4b9 | 28 | bool RET_motionState = false; |
pathfindr | 58:8d4a354816b1 | 29 | int8_t RET_accX = 0; |
pathfindr | 58:8d4a354816b1 | 30 | int8_t RET_accY = 0; |
pathfindr | 58:8d4a354816b1 | 31 | int8_t RET_accZ = 0; |
pathfindr | 58:8d4a354816b1 | 32 | time_t RET_motionLastDetected = 0; |
pathfindr | 58:8d4a354816b1 | 33 | time_t RET_InMotionSeconds = 0; |
pathfindr | 58:8d4a354816b1 | 34 | time_t RET_NoMotionSeconds = 0; |
pathfindr | 57:066dfbe8b4b9 | 35 | bool RET_impactState = false; |
pathfindr | 57:066dfbe8b4b9 | 36 | |
pathfindr | 13:29f67f256709 | 37 | //STATE |
pathfindr | 52:bd7678eade77 | 38 | bool RET_busy = false; |
pathfindr | 57:066dfbe8b4b9 | 39 | bool RET_asleep = false; |
pathfindr | 57:066dfbe8b4b9 | 40 | bool RET_coldBoot = true; |
pathfindr | 57:066dfbe8b4b9 | 41 | |
pathfindr | 57:066dfbe8b4b9 | 42 | //BUTTON |
pathfindr | 57:066dfbe8b4b9 | 43 | bool RET_buttonPressed = false; |
pathfindr | 52:bd7678eade77 | 44 | uint8_t RET_buttonPressCount = 0; |
pathfindr | 52:bd7678eade77 | 45 | time_t RET_buttonPressTime = 0; |
pathfindr | 52:bd7678eade77 | 46 | time_t RET_buttonReleaseTime = 0; |
pathfindr | 52:bd7678eade77 | 47 | time_t RET_buttonReleaseTime_prev = 0; |
pathfindr | 52:bd7678eade77 | 48 | time_t RET_buttonHoldTime = 0; |
pathfindr | 57:066dfbe8b4b9 | 49 | |
pathfindr | 57:066dfbe8b4b9 | 50 | //EVENTS |
pathfindr | 57:066dfbe8b4b9 | 51 | bool RET_haveEventsToRun = false; |
pathfindr | 57:066dfbe8b4b9 | 52 | |
pathfindr | 57:066dfbe8b4b9 | 53 | bool EVENT_buttonPress = false; |
pathfindr | 57:066dfbe8b4b9 | 54 | |
pathfindr | 57:066dfbe8b4b9 | 55 | bool EVENT_battery = false; |
pathfindr | 57:066dfbe8b4b9 | 56 | time_t EVENT_battery_interval = DEFAULT_INTERVAL_BATTERY; |
pathfindr | 57:066dfbe8b4b9 | 57 | time_t EVENT_battery_time = 0; |
pathfindr | 57:066dfbe8b4b9 | 58 | |
pathfindr | 57:066dfbe8b4b9 | 59 | bool EVENT_motionClear = false; |
pathfindr | 57:066dfbe8b4b9 | 60 | time_t EVENT_motionClear_interval = DEFAULT_INTERVAL_MOTIONCLEAR; |
pathfindr | 57:066dfbe8b4b9 | 61 | time_t EVENT_motionClear_time = 0; |
pathfindr | 57:066dfbe8b4b9 | 62 | |
pathfindr | 57:066dfbe8b4b9 | 63 | bool EVENT_buttonClear = false; |
pathfindr | 57:066dfbe8b4b9 | 64 | time_t EVENT_buttonClear_interval = DEFAULT_INTERVAL_BUTTONCLEAR; |
pathfindr | 57:066dfbe8b4b9 | 65 | time_t EVENT_buttonClear_time = 0; |
pathfindr | 57:066dfbe8b4b9 | 66 | |
pathfindr | 57:066dfbe8b4b9 | 67 | bool EVENT_temperature = false; |
pathfindr | 57:066dfbe8b4b9 | 68 | time_t EVENT_temperature_interval = DEFAULT_INTERVAL_TEMPERATURE; |
pathfindr | 57:066dfbe8b4b9 | 69 | time_t EVENT_temperature_time = 0; |
pathfindr | 57:066dfbe8b4b9 | 70 | |
pathfindr | 57:066dfbe8b4b9 | 71 | bool EVENT_humidity = false; |
pathfindr | 57:066dfbe8b4b9 | 72 | time_t EVENT_humidity_interval = DEFAULT_INTERVAL_HUMIDITY; |
pathfindr | 57:066dfbe8b4b9 | 73 | time_t EVENT_humidity_time = 0; |
pathfindr | 57:066dfbe8b4b9 | 74 | |
pathfindr | 57:066dfbe8b4b9 | 75 | bool EVENT_settingsScan = false; |
pathfindr | 57:066dfbe8b4b9 | 76 | time_t EVENT_settingsScan_interval = DEFAULT_INTERVAL_SETTINGSSCAN; |
pathfindr | 57:066dfbe8b4b9 | 77 | time_t EVENT_settingsScan_time = 0; |
pathfindr | 57:066dfbe8b4b9 | 78 | |
pathfindr | 57:066dfbe8b4b9 | 79 | bool EVENT_uwbScan = false; |
pathfindr | 58:8d4a354816b1 | 80 | time_t EVENT_uwbScan_interval = 60; |
pathfindr | 57:066dfbe8b4b9 | 81 | time_t EVENT_uwbScan_time = 0; |
pathfindr | 57:066dfbe8b4b9 | 82 | |
pathfindr | 58:8d4a354816b1 | 83 | bool EVENT_resetACCInt = false; |
pathfindr | 58:8d4a354816b1 | 84 | time_t EVENT_resetACCInt_interval = DEFAULT_INTERVAL_RESETACCINT; |
pathfindr | 58:8d4a354816b1 | 85 | time_t EVENT_resetACCInt_time = 0; |
pathfindr | 58:8d4a354816b1 | 86 | |
pathfindr | 58:8d4a354816b1 | 87 | |
pathfindr | 52:bd7678eade77 | 88 | //BLE |
pathfindr | 57:066dfbe8b4b9 | 89 | uint16_t RET_setting_beacon_interval_ms = DEFAULT_BEACON_INTERVAL_MS; |
pathfindr | 57:066dfbe8b4b9 | 90 | uint16_t RET_setting_beacon_interval_ms_active = DEFAULT_BEACON_INTERVAL_MS; |
pathfindr | 54:2840f2d50734 | 91 | bool RET_bleBroadcasting = false; |
pathfindr | 54:2840f2d50734 | 92 | uint8_t RET_bleAdv_flags = 0; |
pathfindr | 57:066dfbe8b4b9 | 93 | bool RET_UWBdetector_present = true; //BEN should be false |
pathfindr | 57:066dfbe8b4b9 | 94 | bool RET_BLEpacketUpdate = false; |
pathfindr | 57:066dfbe8b4b9 | 95 | bool RET_settingsReceived = false; |
pathfindr | 57:066dfbe8b4b9 | 96 | const uint8_t bleAdv_motion_flag = 0x01; //motion detected |
pathfindr | 57:066dfbe8b4b9 | 97 | const uint8_t bleAdv_impact_flag = 0x02; //impact detected |
pathfindr | 57:066dfbe8b4b9 | 98 | const uint8_t bleAdv_button_pressed_flag = 0x08; //button press detected |
pathfindr | 57:066dfbe8b4b9 | 99 | const uint8_t bleAdv_gap_connected_flag = 0x40; //device is connected |
pathfindr | 54:2840f2d50734 | 100 | #pragma pack(1) |
pathfindr | 54:2840f2d50734 | 101 | struct bleData_t { |
pathfindr | 54:2840f2d50734 | 102 | uint16_t applicationSpecificId; |
pathfindr | 54:2840f2d50734 | 103 | uint8_t firmware; |
pathfindr | 54:2840f2d50734 | 104 | uint8_t flags; |
pathfindr | 54:2840f2d50734 | 105 | uint16_t voltage; |
pathfindr | 54:2840f2d50734 | 106 | uint8_t buttonpresses; |
pathfindr | 54:2840f2d50734 | 107 | int16_t temperature; |
pathfindr | 54:2840f2d50734 | 108 | uint8_t humidity; |
pathfindr | 54:2840f2d50734 | 109 | uint8_t lux; |
pathfindr | 54:2840f2d50734 | 110 | int8_t accel_x; |
pathfindr | 54:2840f2d50734 | 111 | int8_t accel_y; |
pathfindr | 54:2840f2d50734 | 112 | int8_t accel_z; |
pathfindr | 54:2840f2d50734 | 113 | }; |
pathfindr | 54:2840f2d50734 | 114 | #pragma pack() |
pathfindr | 57:066dfbe8b4b9 | 115 | |
pathfindr | 0:94b743e06998 | 116 | //------------------------------------------------------------------------------ |
pathfindr | 9:b0a1535b8ef2 | 117 | //GPIO |
pathfindr | 9:b0a1535b8ef2 | 118 | //------------------------------------------------------------------------------ |
pathfindr | 34:4493c9f6d707 | 119 | InterruptIn button(PN_IN_BUTTON); |
pathfindr | 58:8d4a354816b1 | 120 | InterruptIn accInt1(PN_ACC_INT1); |
pathfindr | 58:8d4a354816b1 | 121 | //InterruptIn DW_irq(DW1000_IRQ); |
pathfindr | 9:b0a1535b8ef2 | 122 | |
pathfindr | 9:b0a1535b8ef2 | 123 | //------------------------------------------------------------------------------ |
pathfindr | 7:e9a19750700d | 124 | //PERIPHERALS |
pathfindr | 0:94b743e06998 | 125 | //------------------------------------------------------------------------------ |
pathfindr | 57:066dfbe8b4b9 | 126 | BLE myble; |
pathfindr | 52:bd7678eade77 | 127 | WatchdogTimer watchdog; |
pathfindr | 37:505ef618f06c | 128 | LowPowerTicker RTCticker; |
pathfindr | 51:9078e6928412 | 129 | LowPowerTimer LPtimer; |
pathfindr | 9:b0a1535b8ef2 | 130 | |
pathfindr | 58:8d4a354816b1 | 131 | I2C i2c(PN_I2C_SDA,PN_I2C_SCL); |
pathfindr | 58:8d4a354816b1 | 132 | SPI spi(PN_SPI_MOSI,PN_SPI_MISO,PN_SPI_CLK); |
pathfindr | 58:8d4a354816b1 | 133 | Lis2dh12 acc(&i2c, 0x32); |
pathfindr | 58:8d4a354816b1 | 134 | |
pathfindr | 9:b0a1535b8ef2 | 135 | //------------------------------------------------------------------------------ |
pathfindr | 52:bd7678eade77 | 136 | //SEMAPHORES |
pathfindr | 9:b0a1535b8ef2 | 137 | //------------------------------------------------------------------------------ |
pathfindr | 9:b0a1535b8ef2 | 138 | Semaphore mainthread; |
pathfindr | 9:b0a1535b8ef2 | 139 | |
pathfindr | 9:b0a1535b8ef2 | 140 | //------------------------------------------------------------------------------ |
pathfindr | 9:b0a1535b8ef2 | 141 | // LOW LEVEL FUNCS |
pathfindr | 34:4493c9f6d707 | 142 | //------------------------------------------------------------------------------ |
pathfindr | 52:bd7678eade77 | 143 | void watchdogKick() { |
pathfindr | 52:bd7678eade77 | 144 | watchdog.kick(); |
pathfindr | 52:bd7678eade77 | 145 | } |
pathfindr | 51:9078e6928412 | 146 | void set_8bit_flag(uint8_t& flags, uint8_t flag) { |
pathfindr | 51:9078e6928412 | 147 | flags |= flag; |
pathfindr | 51:9078e6928412 | 148 | } |
pathfindr | 51:9078e6928412 | 149 | bool get_8bit_flag(uint8_t& flags, uint8_t flag) { |
pathfindr | 51:9078e6928412 | 150 | bool result = (flags & flag); |
pathfindr | 51:9078e6928412 | 151 | return result; |
pathfindr | 51:9078e6928412 | 152 | } |
pathfindr | 51:9078e6928412 | 153 | void clr_8bit_flag(uint8_t& flags, uint8_t flag) { |
pathfindr | 51:9078e6928412 | 154 | flags &= ~flag; |
pathfindr | 51:9078e6928412 | 155 | } |
pathfindr | 50:a94e70c00fff | 156 | void nrf_configureForSleep(){ |
pathfindr | 50:a94e70c00fff | 157 | //Disable SPI pins to reduce power |
pathfindr | 50:a94e70c00fff | 158 | //nrf_gpio_cfg_input(PN_SPI_MOSI, NRF_GPIO_PIN_NOPULL); //Don't need this one |
pathfindr | 34:4493c9f6d707 | 159 | nrf_gpio_cfg_input(PN_SPI_MISO, NRF_GPIO_PIN_NOPULL); |
pathfindr | 50:a94e70c00fff | 160 | |
pathfindr | 50:a94e70c00fff | 161 | //TWI0 |
pathfindr | 52:bd7678eade77 | 162 | NRF_TWI0->ENABLE = TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos; |
pathfindr | 50:a94e70c00fff | 163 | *(volatile uint32_t *)0x40003FFC = 0; |
pathfindr | 50:a94e70c00fff | 164 | *(volatile uint32_t *)0x40003FFC; |
pathfindr | 50:a94e70c00fff | 165 | *(volatile uint32_t *)0x40003FFC = 1; |
pathfindr | 50:a94e70c00fff | 166 | //TWI1 |
pathfindr | 52:bd7678eade77 | 167 | NRF_TWI1->ENABLE=TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos; |
pathfindr | 50:a94e70c00fff | 168 | *(volatile uint32_t *)0x40004FFC = 0; |
pathfindr | 50:a94e70c00fff | 169 | *(volatile uint32_t *)0x40004FFC; |
pathfindr | 50:a94e70c00fff | 170 | *(volatile uint32_t *)0x40004FFC = 1; |
pathfindr | 6:388d3c7efdd9 | 171 | } |
pathfindr | 57:066dfbe8b4b9 | 172 | |
pathfindr | 45:6c7f5b556d74 | 173 | void recordFirmwareAsValid() { |
pathfindr | 57:066dfbe8b4b9 | 174 | bleShutdown(); |
pathfindr | 45:6c7f5b556d74 | 175 | read_app_data_from_flash(&app_data); |
pathfindr | 45:6c7f5b556d74 | 176 | bool write_app_data_to_flash_execute = false; |
pathfindr | 45:6c7f5b556d74 | 177 | if(get_flag(&app_data, app_execution_flag) == true) { |
pathfindr | 45:6c7f5b556d74 | 178 | clr_flag(&app_data, app_execution_flag); |
pathfindr | 45:6c7f5b556d74 | 179 | clr_flag(&app_data, first_run_flag); |
pathfindr | 45:6c7f5b556d74 | 180 | write_app_data_to_flash_execute = true; |
pathfindr | 45:6c7f5b556d74 | 181 | } |
pathfindr | 45:6c7f5b556d74 | 182 | if(app_data.current_firmware_version != FW_VERSION) { |
pathfindr | 45:6c7f5b556d74 | 183 | app_data.current_firmware_version = FW_VERSION; |
pathfindr | 45:6c7f5b556d74 | 184 | app_data.target_firmware_version = FW_VERSION; |
pathfindr | 45:6c7f5b556d74 | 185 | write_app_data_to_flash_execute = true; |
pathfindr | 45:6c7f5b556d74 | 186 | } |
pathfindr | 45:6c7f5b556d74 | 187 | if (write_app_data_to_flash_execute) { |
pathfindr | 45:6c7f5b556d74 | 188 | write_app_data_to_flash(&app_data); |
pathfindr | 51:9078e6928412 | 189 | //read back to check |
pathfindr | 51:9078e6928412 | 190 | ThisThread::sleep_for(200); //need this delay |
pathfindr | 51:9078e6928412 | 191 | read_app_data_from_flash(&app_data); |
pathfindr | 51:9078e6928412 | 192 | if (app_data.current_firmware_version == FW_VERSION) { |
pathfindr | 51:9078e6928412 | 193 | debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "OK");debug_exe(); |
pathfindr | 51:9078e6928412 | 194 | } else { |
pathfindr | 51:9078e6928412 | 195 | debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "FAIL - IS BLE SHUTDOWN?");debug_exe(); |
pathfindr | 51:9078e6928412 | 196 | } |
pathfindr | 51:9078e6928412 | 197 | } |
pathfindr | 45:6c7f5b556d74 | 198 | } |
pathfindr | 51:9078e6928412 | 199 | void updateBatteryV() { |
pathfindr | 19:22261767c87a | 200 | NRF52_SAADC batteryIn; |
pathfindr | 19:22261767c87a | 201 | batteryIn.addChannel(9); // vdd for battery |
pathfindr | 19:22261767c87a | 202 | batteryIn.calibrate(); |
pathfindr | 49:15ddd84ec9fa | 203 | //get initial reading, first reading is always low |
pathfindr | 49:15ddd84ec9fa | 204 | batteryIn.updateData(); batteryIn.getData()[0]; |
pathfindr | 49:15ddd84ec9fa | 205 | float voltage_accumulator = 0.0; |
pathfindr | 49:15ddd84ec9fa | 206 | uint8_t readings = 0; |
pathfindr | 49:15ddd84ec9fa | 207 | for (uint8_t i = 1; i <= 50; i++) { // need to get it 2 times to get accurate data, first one is always low for some reason |
pathfindr | 19:22261767c87a | 208 | batteryIn.updateData(); |
pathfindr | 49:15ddd84ec9fa | 209 | voltage_accumulator += (batteryIn.getData()[0])*(1.0/1024.0)*3.60; |
pathfindr | 49:15ddd84ec9fa | 210 | readings ++; |
pathfindr | 19:22261767c87a | 211 | } |
pathfindr | 51:9078e6928412 | 212 | RET_voltage = (voltage_accumulator / (float)readings); |
pathfindr | 22:810425eb76e1 | 213 | } |
pathfindr | 57:066dfbe8b4b9 | 214 | |
pathfindr | 57:066dfbe8b4b9 | 215 | |
pathfindr | 57:066dfbe8b4b9 | 216 | |
pathfindr | 19:22261767c87a | 217 | //------------------------------------------------------------------------------ |
pathfindr | 58:8d4a354816b1 | 218 | // INTERUPTS |
pathfindr | 19:22261767c87a | 219 | //------------------------------------------------------------------------------ |
pathfindr | 19:22261767c87a | 220 | void buttonPress() { |
pathfindr | 51:9078e6928412 | 221 | RET_buttonPressTime = LPtimer.read_ms(); |
pathfindr | 19:22261767c87a | 222 | } |
pathfindr | 19:22261767c87a | 223 | void buttonRelease() { |
pathfindr | 51:9078e6928412 | 224 | //debounce catch |
pathfindr | 51:9078e6928412 | 225 | RET_buttonReleaseTime = LPtimer.read_ms(); |
pathfindr | 57:066dfbe8b4b9 | 226 | if ((RET_buttonReleaseTime - RET_buttonReleaseTime_prev) > 100) { |
pathfindr | 51:9078e6928412 | 227 | RET_buttonPressCount ++; |
pathfindr | 51:9078e6928412 | 228 | RET_buttonHoldTime = (RET_buttonReleaseTime - RET_buttonPressTime); |
pathfindr | 57:066dfbe8b4b9 | 229 | //temporarily enable debugging |
pathfindr | 51:9078e6928412 | 230 | RET_debug = true; |
pathfindr | 52:bd7678eade77 | 231 | RET_debug_offat = (RET_RTCunixtime + 3600); //debug on for 1hr |
pathfindr | 57:066dfbe8b4b9 | 232 | EVENT_buttonPress = true; |
pathfindr | 57:066dfbe8b4b9 | 233 | mainthread.release(); |
pathfindr | 51:9078e6928412 | 234 | } |
pathfindr | 51:9078e6928412 | 235 | RET_buttonReleaseTime_prev = RET_buttonReleaseTime; |
pathfindr | 19:22261767c87a | 236 | } |
pathfindr | 57:066dfbe8b4b9 | 237 | |
pathfindr | 58:8d4a354816b1 | 238 | void accInt1ISR() { |
pathfindr | 58:8d4a354816b1 | 239 | //led2 = !led2; |
pathfindr | 58:8d4a354816b1 | 240 | RET_motionLastDetected = RET_RTCunixtime; |
pathfindr | 58:8d4a354816b1 | 241 | } |
pathfindr | 57:066dfbe8b4b9 | 242 | |
pathfindr | 19:22261767c87a | 243 | //------------------------------------------------------------------------------ |
pathfindr | 19:22261767c87a | 244 | // RTC TICKER |
pathfindr | 51:9078e6928412 | 245 | //------------------------------------------------------------------------------ |
pathfindr | 54:2840f2d50734 | 246 | bool RET_flash_busy = false; |
pathfindr | 9:b0a1535b8ef2 | 247 | void RTCtick() { |
pathfindr | 51:9078e6928412 | 248 | //YOU MUST NOT CALL ANY OTHER FUNCTIONS OR DEBUG FROM INSIDE HERE!!! OR IT LOCKS UP THE DEVICE, just change vars & comparisons etc |
pathfindr | 19:22261767c87a | 249 | RET_RTCunixtime += 1; |
pathfindr | 51:9078e6928412 | 250 | |
pathfindr | 57:066dfbe8b4b9 | 251 | //CHECK FOR EVENTS |
pathfindr | 57:066dfbe8b4b9 | 252 | if (RET_haveEventsToRun == false) { |
pathfindr | 57:066dfbe8b4b9 | 253 | if (EVENT_motionClear_time > 0 && RET_RTCunixtime >= EVENT_motionClear_time) { |
pathfindr | 57:066dfbe8b4b9 | 254 | RET_haveEventsToRun = true; EVENT_motionClear = true; |
pathfindr | 57:066dfbe8b4b9 | 255 | } |
pathfindr | 57:066dfbe8b4b9 | 256 | if (EVENT_buttonClear_time > 0 && RET_RTCunixtime >= EVENT_buttonClear_time) { |
pathfindr | 57:066dfbe8b4b9 | 257 | RET_haveEventsToRun = true; EVENT_buttonClear = true; |
pathfindr | 57:066dfbe8b4b9 | 258 | } |
pathfindr | 57:066dfbe8b4b9 | 259 | if (EVENT_battery_time > 0 && RET_RTCunixtime >= EVENT_battery_time) { |
pathfindr | 57:066dfbe8b4b9 | 260 | RET_haveEventsToRun = true; EVENT_battery = true; |
pathfindr | 51:9078e6928412 | 261 | } |
pathfindr | 57:066dfbe8b4b9 | 262 | if (EVENT_temperature_time > 0 && RET_RTCunixtime >= EVENT_temperature_time) { |
pathfindr | 57:066dfbe8b4b9 | 263 | RET_haveEventsToRun = true; EVENT_temperature = true; |
pathfindr | 57:066dfbe8b4b9 | 264 | } |
pathfindr | 57:066dfbe8b4b9 | 265 | if (EVENT_humidity_time > 0 && RET_RTCunixtime >= EVENT_humidity_time) { |
pathfindr | 57:066dfbe8b4b9 | 266 | RET_haveEventsToRun = true; EVENT_humidity = true; |
pathfindr | 57:066dfbe8b4b9 | 267 | } |
pathfindr | 57:066dfbe8b4b9 | 268 | if (EVENT_settingsScan_time > 0 && RET_RTCunixtime >= EVENT_settingsScan_time) { |
pathfindr | 57:066dfbe8b4b9 | 269 | RET_haveEventsToRun = true; EVENT_settingsScan = true; |
pathfindr | 57:066dfbe8b4b9 | 270 | } |
pathfindr | 57:066dfbe8b4b9 | 271 | if (EVENT_uwbScan_time > 0 && RET_RTCunixtime >= EVENT_uwbScan_time) { |
pathfindr | 57:066dfbe8b4b9 | 272 | RET_haveEventsToRun = true; EVENT_uwbScan = true; |
pathfindr | 9:b0a1535b8ef2 | 273 | } |
pathfindr | 58:8d4a354816b1 | 274 | if (EVENT_resetACCInt_time > 0 && RET_RTCunixtime >= EVENT_resetACCInt_time) { |
pathfindr | 58:8d4a354816b1 | 275 | RET_haveEventsToRun = true; EVENT_resetACCInt = true; |
pathfindr | 58:8d4a354816b1 | 276 | } |
pathfindr | 49:15ddd84ec9fa | 277 | } |
pathfindr | 52:bd7678eade77 | 278 | |
pathfindr | 58:8d4a354816b1 | 279 | //CHECK FOR MOTION OPT |
pathfindr | 58:8d4a354816b1 | 280 | //Had motion in last 5 seconds? |
pathfindr | 58:8d4a354816b1 | 281 | if (RET_motionLastDetected > 0 && (RET_RTCunixtime-RET_motionLastDetected) < 5) { |
pathfindr | 58:8d4a354816b1 | 282 | EVENT_motionClear_time = (RET_RTCunixtime + EVENT_motionClear_interval); |
pathfindr | 58:8d4a354816b1 | 283 | if (RET_motionState == 0) { |
pathfindr | 58:8d4a354816b1 | 284 | RET_motionState = 1; |
pathfindr | 58:8d4a354816b1 | 285 | RET_BLEpacketUpdate = true; |
pathfindr | 58:8d4a354816b1 | 286 | RET_haveEventsToRun = true; |
pathfindr | 58:8d4a354816b1 | 287 | } |
pathfindr | 58:8d4a354816b1 | 288 | } |
pathfindr | 58:8d4a354816b1 | 289 | led1 = !RET_motionState; |
pathfindr | 58:8d4a354816b1 | 290 | |
pathfindr | 58:8d4a354816b1 | 291 | //WAKE UP MAIN LOOP AND RUN ANY EVENTS |
pathfindr | 58:8d4a354816b1 | 292 | if (RET_haveEventsToRun && RET_asleep) { |
pathfindr | 57:066dfbe8b4b9 | 293 | mainthread.release(); |
pathfindr | 41:07e41dbd5304 | 294 | } |
pathfindr | 38:476a9b5629a1 | 295 | } |
pathfindr | 24:c161db07557f | 296 | |
pathfindr | 57:066dfbe8b4b9 | 297 | |
pathfindr | 52:bd7678eade77 | 298 | //------------------------------------------------------------------------------ |
pathfindr | 52:bd7678eade77 | 299 | // BLE FUNCS |
pathfindr | 52:bd7678eade77 | 300 | //------------------------------------------------------------------------------ |
pathfindr | 52:bd7678eade77 | 301 | void bleBuildData(bleData_t &bleData) |
pathfindr | 52:bd7678eade77 | 302 | { |
pathfindr | 57:066dfbe8b4b9 | 303 | bleData.applicationSpecificId = BLE_SERVICEID_UWBBEACON; |
pathfindr | 52:bd7678eade77 | 304 | bleData.firmware = FW_VERSION; |
pathfindr | 52:bd7678eade77 | 305 | //set flags |
pathfindr | 57:066dfbe8b4b9 | 306 | if (RET_motionState) { |
pathfindr | 57:066dfbe8b4b9 | 307 | set_8bit_flag(RET_bleAdv_flags, bleAdv_motion_flag); |
pathfindr | 52:bd7678eade77 | 308 | } else { |
pathfindr | 57:066dfbe8b4b9 | 309 | clr_8bit_flag(RET_bleAdv_flags, bleAdv_motion_flag); |
pathfindr | 57:066dfbe8b4b9 | 310 | } |
pathfindr | 57:066dfbe8b4b9 | 311 | |
pathfindr | 57:066dfbe8b4b9 | 312 | if (RET_impactState) { |
pathfindr | 57:066dfbe8b4b9 | 313 | set_8bit_flag(RET_bleAdv_flags, bleAdv_impact_flag); |
pathfindr | 57:066dfbe8b4b9 | 314 | } else { |
pathfindr | 57:066dfbe8b4b9 | 315 | clr_8bit_flag(RET_bleAdv_flags, bleAdv_impact_flag); |
pathfindr | 52:bd7678eade77 | 316 | } |
pathfindr | 57:066dfbe8b4b9 | 317 | |
pathfindr | 57:066dfbe8b4b9 | 318 | if(RET_buttonPressed) { |
pathfindr | 57:066dfbe8b4b9 | 319 | set_8bit_flag(RET_bleAdv_flags, bleAdv_button_pressed_flag); |
pathfindr | 52:bd7678eade77 | 320 | } else { |
pathfindr | 57:066dfbe8b4b9 | 321 | clr_8bit_flag(RET_bleAdv_flags, bleAdv_button_pressed_flag); |
pathfindr | 52:bd7678eade77 | 322 | } |
pathfindr | 57:066dfbe8b4b9 | 323 | |
pathfindr | 52:bd7678eade77 | 324 | bleData.flags = RET_bleAdv_flags; |
pathfindr | 57:066dfbe8b4b9 | 325 | bleData.voltage = RET_voltage; |
pathfindr | 57:066dfbe8b4b9 | 326 | bleData.buttonpresses = RET_buttonPressCount; |
pathfindr | 57:066dfbe8b4b9 | 327 | bleData.temperature = RET_temperature; |
pathfindr | 52:bd7678eade77 | 328 | bleData.humidity = 0xFF; |
pathfindr | 52:bd7678eade77 | 329 | bleData.lux = 0xFF; |
pathfindr | 52:bd7678eade77 | 330 | bleData.accel_x = 0xFF; |
pathfindr | 52:bd7678eade77 | 331 | bleData.accel_y = 0xFF; |
pathfindr | 52:bd7678eade77 | 332 | bleData.accel_z = 0xFF; |
pathfindr | 52:bd7678eade77 | 333 | } |
pathfindr | 57:066dfbe8b4b9 | 334 | void bleUpdateAndAdvertise(void) |
pathfindr | 52:bd7678eade77 | 335 | { |
pathfindr | 52:bd7678eade77 | 336 | bleData_t bleData; |
pathfindr | 52:bd7678eade77 | 337 | bleBuildData(bleData); |
pathfindr | 52:bd7678eade77 | 338 | myble.gap().stopAdvertising(); |
pathfindr | 52:bd7678eade77 | 339 | myble.gap().setTxPower(DEFAULT_BEACON_POWER); // set tx power,valid values are -40, -20, -16, -12, -8, -4, 0, 4 |
pathfindr | 52:bd7678eade77 | 340 | myble.gap().accumulateAdvertisingPayloadTxPower(DEFAULT_BEACON_POWER); // (accepted values are -40, -30, -20, -16, -12, -8, -4, 0, and 4 dBm) |
pathfindr | 57:066dfbe8b4b9 | 341 | myble.gap().setAdvertisingInterval(RET_setting_beacon_interval_ms_active); |
pathfindr | 52:bd7678eade77 | 342 | myble.gap().updateAdvertisingPayload(GapAdvertisingData::SERVICE_DATA, (uint8_t *)&bleData, sizeof(bleData_t)); |
pathfindr | 52:bd7678eade77 | 343 | //myble.gap().updateAdvertisingPayload(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA, (uint8_t *)&bleData, sizeof(bleData_t)); |
pathfindr | 52:bd7678eade77 | 344 | myble.gap().startAdvertising(); |
pathfindr | 52:bd7678eade77 | 345 | RET_bleBroadcasting = true; |
pathfindr | 57:066dfbe8b4b9 | 346 | RET_BLEpacketUpdate = false; |
pathfindr | 52:bd7678eade77 | 347 | } |
pathfindr | 52:bd7678eade77 | 348 | void bleSetupAdvertising(BLE::InitializationCompleteCallbackContext *params) |
pathfindr | 52:bd7678eade77 | 349 | { |
pathfindr | 52:bd7678eade77 | 350 | if (RET_pf_identifier[0] != 0x00 && RET_pf_identifier[1] != 0x00 && RET_pf_identifier[2] != 0x00) { |
pathfindr | 52:bd7678eade77 | 351 | bleData_t bleData; |
pathfindr | 52:bd7678eade77 | 352 | bleBuildData(bleData); |
pathfindr | 52:bd7678eade77 | 353 | char localname[6]; |
pathfindr | 52:bd7678eade77 | 354 | memcpy(localname,RET_pf_identifier,6); |
pathfindr | 52:bd7678eade77 | 355 | myble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE ); |
pathfindr | 52:bd7678eade77 | 356 | myble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)localname, sizeof(localname)); |
pathfindr | 52:bd7678eade77 | 357 | myble.gap().accumulateAdvertisingPayload(GapAdvertisingData::SERVICE_DATA, (uint8_t *)&bleData, sizeof(bleData_t)); |
pathfindr | 57:066dfbe8b4b9 | 358 | ////myble.gap().accumulateAdvertisingPayload(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA, (uint8_t *)&bleData, sizeof(bleData_t)); |
pathfindr | 52:bd7678eade77 | 359 | myble.gap().setAdvertisingType(GapAdvertisingParams::ADV_NON_CONNECTABLE_UNDIRECTED); |
pathfindr | 52:bd7678eade77 | 360 | } |
pathfindr | 52:bd7678eade77 | 361 | } |
pathfindr | 52:bd7678eade77 | 362 | void bleStopAdvertising(void) |
pathfindr | 52:bd7678eade77 | 363 | { |
pathfindr | 52:bd7678eade77 | 364 | myble.gap().stopAdvertising(); |
pathfindr | 52:bd7678eade77 | 365 | RET_bleBroadcasting = false; |
pathfindr | 52:bd7678eade77 | 366 | if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "BLE Adv Stop");debug_exe();} |
pathfindr | 52:bd7678eade77 | 367 | } |
pathfindr | 52:bd7678eade77 | 368 | void bleAdvertisementCallback(const Gap::AdvertisementCallbackParams_t *params) { |
pathfindr | 52:bd7678eade77 | 369 | struct AdvertisingData_t { |
pathfindr | 52:bd7678eade77 | 370 | uint8_t length; |
pathfindr | 52:bd7678eade77 | 371 | GapAdvertisingData::DataType_t dataType; |
pathfindr | 52:bd7678eade77 | 372 | uint8_t data[0]; |
pathfindr | 52:bd7678eade77 | 373 | } PACKED; |
pathfindr | 52:bd7678eade77 | 374 | struct bleData_t { |
pathfindr | 52:bd7678eade77 | 375 | uint16_t applicationSpecificId; |
pathfindr | 52:bd7678eade77 | 376 | } PACKED; |
pathfindr | 52:bd7678eade77 | 377 | |
pathfindr | 52:bd7678eade77 | 378 | //Search for the manufacturer specific data with matching application-ID |
pathfindr | 52:bd7678eade77 | 379 | AdvertisingData_t *pAdvData; |
pathfindr | 52:bd7678eade77 | 380 | for (size_t index = 0; index < params->advertisingDataLen; index += (pAdvData->length + 1)) { |
pathfindr | 52:bd7678eade77 | 381 | pAdvData = (AdvertisingData_t *)¶ms->advertisingData[index]; |
pathfindr | 52:bd7678eade77 | 382 | const bleData_t *pbleData = (const bleData_t *)pAdvData->data; |
pathfindr | 52:bd7678eade77 | 383 | |
pathfindr | 52:bd7678eade77 | 384 | //BLE TYPE SWITCH |
pathfindr | 52:bd7678eade77 | 385 | switch(pbleData->applicationSpecificId) { |
pathfindr | 57:066dfbe8b4b9 | 386 | case BLE_SERVICEID_PFDETECTOR2 : |
pathfindr | 52:bd7678eade77 | 387 | { |
pathfindr | 52:bd7678eade77 | 388 | char ble_advdata[100]; |
pathfindr | 52:bd7678eade77 | 389 | snprintf(ble_advdata, sizeof(ble_advdata), "%02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x", |
pathfindr | 52:bd7678eade77 | 390 | params->advertisingData[0], |
pathfindr | 52:bd7678eade77 | 391 | params->advertisingData[1], |
pathfindr | 52:bd7678eade77 | 392 | params->advertisingData[2], |
pathfindr | 52:bd7678eade77 | 393 | params->advertisingData[3], |
pathfindr | 52:bd7678eade77 | 394 | params->advertisingData[4], |
pathfindr | 52:bd7678eade77 | 395 | params->advertisingData[5], |
pathfindr | 52:bd7678eade77 | 396 | params->advertisingData[6], |
pathfindr | 52:bd7678eade77 | 397 | params->advertisingData[7], |
pathfindr | 52:bd7678eade77 | 398 | params->advertisingData[8], |
pathfindr | 52:bd7678eade77 | 399 | params->advertisingData[9], |
pathfindr | 52:bd7678eade77 | 400 | params->advertisingData[10], |
pathfindr | 52:bd7678eade77 | 401 | params->advertisingData[11], |
pathfindr | 52:bd7678eade77 | 402 | params->advertisingData[12], |
pathfindr | 52:bd7678eade77 | 403 | params->advertisingData[13], |
pathfindr | 52:bd7678eade77 | 404 | params->advertisingData[14], |
pathfindr | 52:bd7678eade77 | 405 | params->advertisingData[15], |
pathfindr | 52:bd7678eade77 | 406 | params->advertisingData[16], |
pathfindr | 52:bd7678eade77 | 407 | params->advertisingData[17], |
pathfindr | 52:bd7678eade77 | 408 | params->advertisingData[18], |
pathfindr | 52:bd7678eade77 | 409 | params->advertisingData[19], |
pathfindr | 52:bd7678eade77 | 410 | params->advertisingData[20]); |
pathfindr | 52:bd7678eade77 | 411 | //if(RET_debug){debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), " Mac: [%02x%02x%02x%02x%02x%02x], rssi: %d, AType: %u, Id: %s",params->peerAddr[5], params->peerAddr[4], params->peerAddr[3], params->peerAddr[2], params->peerAddr[1], params->peerAddr[0],params->rssi, pAdvData->dataType, ble_advdata);debug_exe();} |
pathfindr | 54:2840f2d50734 | 412 | //if(RET_debug){debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "Detector @rssi: %d",params->rssi);debug_exe();} |
pathfindr | 52:bd7678eade77 | 413 | if (params->rssi >= -75) { |
pathfindr | 57:066dfbe8b4b9 | 414 | |
pathfindr | 52:bd7678eade77 | 415 | } |
pathfindr | 57:066dfbe8b4b9 | 416 | RET_settingsReceived = true; |
pathfindr | 52:bd7678eade77 | 417 | break; |
pathfindr | 52:bd7678eade77 | 418 | } |
pathfindr | 52:bd7678eade77 | 419 | } |
pathfindr | 52:bd7678eade77 | 420 | } |
pathfindr | 52:bd7678eade77 | 421 | } |
pathfindr | 52:bd7678eade77 | 422 | void bleConfigureScan(void) |
pathfindr | 52:bd7678eade77 | 423 | { |
pathfindr | 54:2840f2d50734 | 424 | myble.gap().setScanParams(200,200); //scan interval //scan window |
pathfindr | 52:bd7678eade77 | 425 | myble.gap().startScan(bleAdvertisementCallback); |
pathfindr | 52:bd7678eade77 | 426 | } |
pathfindr | 52:bd7678eade77 | 427 | void bleStopScan(void) |
pathfindr | 52:bd7678eade77 | 428 | { |
pathfindr | 52:bd7678eade77 | 429 | myble.gap().stopScan(); |
pathfindr | 52:bd7678eade77 | 430 | } |
pathfindr | 52:bd7678eade77 | 431 | void bleShutdown(void) |
pathfindr | 52:bd7678eade77 | 432 | { |
pathfindr | 52:bd7678eade77 | 433 | bleStopScan(); |
pathfindr | 52:bd7678eade77 | 434 | bleStopAdvertising(); |
pathfindr | 52:bd7678eade77 | 435 | myble.shutdown(); |
pathfindr | 52:bd7678eade77 | 436 | } |
pathfindr | 8:7351f8c4cd60 | 437 | |
pathfindr | 14:9a54b1b65bc8 | 438 | //------------------------------------------------------------------------------ |
pathfindr | 57:066dfbe8b4b9 | 439 | // FIRST RUN |
pathfindr | 14:9a54b1b65bc8 | 440 | //------------------------------------------------------------------------------ |
pathfindr | 57:066dfbe8b4b9 | 441 | void firstRun() { |
pathfindr | 57:066dfbe8b4b9 | 442 | //Set Serial Number |
pathfindr | 57:066dfbe8b4b9 | 443 | RET_pf_identifier[0] = 'U'; |
pathfindr | 57:066dfbe8b4b9 | 444 | RET_pf_identifier[1] = 'W'; |
pathfindr | 57:066dfbe8b4b9 | 445 | RET_pf_identifier[2] = 'B'; |
pathfindr | 57:066dfbe8b4b9 | 446 | RET_pf_identifier[3] = '0'; |
pathfindr | 57:066dfbe8b4b9 | 447 | RET_pf_identifier[4] = '1'; |
pathfindr | 57:066dfbe8b4b9 | 448 | RET_pf_identifier[5] = 0x00; |
pathfindr | 51:9078e6928412 | 449 | |
pathfindr | 57:066dfbe8b4b9 | 450 | //GET INITITAL SENSORS |
pathfindr | 57:066dfbe8b4b9 | 451 | updateBatteryV(); |
pathfindr | 57:066dfbe8b4b9 | 452 | //updateTemperature |
pathfindr | 57:066dfbe8b4b9 | 453 | //updateHumidity |
pathfindr | 45:6c7f5b556d74 | 454 | |
pathfindr | 57:066dfbe8b4b9 | 455 | //SET EVENT TIMES |
pathfindr | 57:066dfbe8b4b9 | 456 | EVENT_battery_time = (RET_RTCunixtime + EVENT_battery_interval); |
pathfindr | 57:066dfbe8b4b9 | 457 | EVENT_temperature_time = (RET_RTCunixtime + EVENT_temperature_interval); |
pathfindr | 57:066dfbe8b4b9 | 458 | EVENT_humidity_time = (RET_RTCunixtime + EVENT_humidity_interval); |
pathfindr | 57:066dfbe8b4b9 | 459 | EVENT_settingsScan_time = (RET_RTCunixtime + EVENT_settingsScan_interval); |
pathfindr | 57:066dfbe8b4b9 | 460 | EVENT_uwbScan_time = (RET_RTCunixtime + EVENT_uwbScan_interval); |
pathfindr | 40:4270e09e59f2 | 461 | } |
pathfindr | 40:4270e09e59f2 | 462 | |
pathfindr | 40:4270e09e59f2 | 463 | //------------------------------------------------------------------------------ |
pathfindr | 57:066dfbe8b4b9 | 464 | // BLE SETTINGS SCAN |
pathfindr | 13:29f67f256709 | 465 | //------------------------------------------------------------------------------ |
pathfindr | 57:066dfbe8b4b9 | 466 | void settingsScan() { |
pathfindr | 58:8d4a354816b1 | 467 | //LED1on(0); |
pathfindr | 57:066dfbe8b4b9 | 468 | bleStopAdvertising(); |
pathfindr | 57:066dfbe8b4b9 | 469 | LowPowerTimer bleScan_t; |
pathfindr | 57:066dfbe8b4b9 | 470 | bleScan_t.start(); |
pathfindr | 57:066dfbe8b4b9 | 471 | RET_settingsReceived = false; |
pathfindr | 57:066dfbe8b4b9 | 472 | uint32_t bleScan_startmillis = bleScan_t.read_ms(); uint32_t bleScan_runtime = 0; |
pathfindr | 57:066dfbe8b4b9 | 473 | if (!myble.hasInitialized()) { |
pathfindr | 57:066dfbe8b4b9 | 474 | myble.init(); |
pathfindr | 57:066dfbe8b4b9 | 475 | while (!myble.hasInitialized() && bleScan_runtime < 1000) { |
pathfindr | 57:066dfbe8b4b9 | 476 | bleScan_runtime = (bleScan_t.read_ms() - bleScan_startmillis); |
pathfindr | 39:f767b8037475 | 477 | } |
pathfindr | 39:f767b8037475 | 478 | } |
pathfindr | 57:066dfbe8b4b9 | 479 | if (myble.hasInitialized()) { |
pathfindr | 57:066dfbe8b4b9 | 480 | bleConfigureScan(); |
pathfindr | 57:066dfbe8b4b9 | 481 | bleScan_startmillis = bleScan_t.read_ms(); |
pathfindr | 57:066dfbe8b4b9 | 482 | while (bleScan_runtime < DEFAULT_SETTINGSSCANTIME_MS && RET_settingsReceived == false) { |
pathfindr | 57:066dfbe8b4b9 | 483 | bleScan_runtime = (bleScan_t.read_ms() - bleScan_startmillis); |
pathfindr | 57:066dfbe8b4b9 | 484 | myble.waitForEvent(); // low power wait for event |
pathfindr | 22:810425eb76e1 | 485 | } |
pathfindr | 20:5404841fdd2b | 486 | } |
pathfindr | 57:066dfbe8b4b9 | 487 | bleScan_t.stop(); |
pathfindr | 57:066dfbe8b4b9 | 488 | myble.gap().stopScan(); |
pathfindr | 58:8d4a354816b1 | 489 | //LED1off(); |
pathfindr | 58:8d4a354816b1 | 490 | } |
pathfindr | 58:8d4a354816b1 | 491 | |
pathfindr | 58:8d4a354816b1 | 492 | //------------------------------------------------------------------------------ |
pathfindr | 58:8d4a354816b1 | 493 | // UWB SCAN |
pathfindr | 58:8d4a354816b1 | 494 | //------------------------------------------------------------------------------ |
pathfindr | 58:8d4a354816b1 | 495 | struct __attribute__((packed, aligned(1))) DistancesFrame { |
pathfindr | 58:8d4a354816b1 | 496 | uint8_t source; |
pathfindr | 58:8d4a354816b1 | 497 | uint8_t destination; |
pathfindr | 58:8d4a354816b1 | 498 | uint8_t type; |
pathfindr | 58:8d4a354816b1 | 499 | float dist[4]; |
pathfindr | 58:8d4a354816b1 | 500 | }; |
pathfindr | 58:8d4a354816b1 | 501 | |
pathfindr | 58:8d4a354816b1 | 502 | DW1000 dw(PN_SPI_MOSI, PN_SPI_MISO, PN_SPI_CLK, DW1000_CS, DW1000_IRQ, DW1000_RST); // Device driver instanceSPI pins: (MOSI, MISO, SCLK, CS, IRQ) |
pathfindr | 58:8d4a354816b1 | 503 | //DW1000 dw(&spi,DW_irq,DW1000_CS,DW1000_RST); |
pathfindr | 58:8d4a354816b1 | 504 | MM2WayRanging node(dw); |
pathfindr | 58:8d4a354816b1 | 505 | |
pathfindr | 58:8d4a354816b1 | 506 | void uwbScan() { |
pathfindr | 58:8d4a354816b1 | 507 | |
pathfindr | 58:8d4a354816b1 | 508 | } |
pathfindr | 58:8d4a354816b1 | 509 | |
pathfindr | 58:8d4a354816b1 | 510 | //------------------------------------------------------------------------------ |
pathfindr | 58:8d4a354816b1 | 511 | // ACC |
pathfindr | 58:8d4a354816b1 | 512 | //------------------------------------------------------------------------------ |
pathfindr | 58:8d4a354816b1 | 513 | void acc_configForMotionInt() { |
pathfindr | 58:8d4a354816b1 | 514 | acc.setMode(LOW_POWER); |
pathfindr | 58:8d4a354816b1 | 515 | acc.enableAxes(X_axis); |
pathfindr | 58:8d4a354816b1 | 516 | acc.enableAxes(Y_axis); |
pathfindr | 58:8d4a354816b1 | 517 | acc.enableAxes(Z_axis); |
pathfindr | 58:8d4a354816b1 | 518 | acc.setODR(ODR_1Hz); |
pathfindr | 58:8d4a354816b1 | 519 | acc.setScale(_8g); |
pathfindr | 58:8d4a354816b1 | 520 | acc.int1Setup(0b01000000); // IntActivity 1 driven to INT1 pad |
pathfindr | 58:8d4a354816b1 | 521 | //acc.setCTRL_REG2(0b11001011); //High pass filter active |
pathfindr | 58:8d4a354816b1 | 522 | acc.setCTRL_REG2(0b00000000); //High pass filter off |
pathfindr | 58:8d4a354816b1 | 523 | acc.int1Latch(0b00000000); //Dont latch |
pathfindr | 58:8d4a354816b1 | 524 | acc.int1Threshold(7); |
pathfindr | 58:8d4a354816b1 | 525 | acc.int1Duration(0x00); |
pathfindr | 58:8d4a354816b1 | 526 | acc.int1Config(0b01111111); // INT2_CFG Enable XHigh, YHigh and ZHigh, triggers INT1 on any motion |
pathfindr | 58:8d4a354816b1 | 527 | acc.clearIntFlag(); //reset int1 |
pathfindr | 58:8d4a354816b1 | 528 | } |
pathfindr | 58:8d4a354816b1 | 529 | |
pathfindr | 58:8d4a354816b1 | 530 | void acc_updateOrientation() { |
pathfindr | 58:8d4a354816b1 | 531 | //Divide by 16 to get range of +- 16 on each axis |
pathfindr | 58:8d4a354816b1 | 532 | RET_accX = (acc.readXAxis() / 16); |
pathfindr | 58:8d4a354816b1 | 533 | RET_accY = (acc.readYAxis() / 16); |
pathfindr | 58:8d4a354816b1 | 534 | RET_accZ = (acc.readZAxis() / 16); |
pathfindr | 48:64b1613941d5 | 535 | } |
pathfindr | 24:c161db07557f | 536 | |
pathfindr | 7:e9a19750700d | 537 | //------------------------------------------------------------------------------ |
pathfindr | 7:e9a19750700d | 538 | // STATE ENGINE |
pathfindr | 7:e9a19750700d | 539 | //------------------------------------------------------------------------------ |
pathfindr | 6:388d3c7efdd9 | 540 | void mainStateEngine() { |
pathfindr | 58:8d4a354816b1 | 541 | if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "MainStateEngine");debug_exe();} |
pathfindr | 57:066dfbe8b4b9 | 542 | |
pathfindr | 57:066dfbe8b4b9 | 543 | if (EVENT_buttonPress) { |
pathfindr | 58:8d4a354816b1 | 544 | if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_ButtonPress");debug_exe();} |
pathfindr | 57:066dfbe8b4b9 | 545 | EVENT_buttonClear_time = (RET_RTCunixtime + EVENT_buttonClear_interval); |
pathfindr | 57:066dfbe8b4b9 | 546 | RET_setting_beacon_interval_ms_active = DEFAULT_BEACON_INTERVAL_FAST_MS; |
pathfindr | 57:066dfbe8b4b9 | 547 | RET_BLEpacketUpdate = true; |
pathfindr | 57:066dfbe8b4b9 | 548 | EVENT_buttonPress = false; |
pathfindr | 57:066dfbe8b4b9 | 549 | } |
pathfindr | 57:066dfbe8b4b9 | 550 | |
pathfindr | 57:066dfbe8b4b9 | 551 | if (EVENT_motionClear) { |
pathfindr | 58:8d4a354816b1 | 552 | if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_MotionClear");debug_exe();} |
pathfindr | 57:066dfbe8b4b9 | 553 | EVENT_motionClear_time = 0; |
pathfindr | 58:8d4a354816b1 | 554 | EVENT_motionClear = false; |
pathfindr | 57:066dfbe8b4b9 | 555 | RET_motionState = false; |
pathfindr | 57:066dfbe8b4b9 | 556 | RET_impactState = false; |
pathfindr | 58:8d4a354816b1 | 557 | acc_updateOrientation(); //update orientation data |
pathfindr | 57:066dfbe8b4b9 | 558 | RET_BLEpacketUpdate = true; |
pathfindr | 57:066dfbe8b4b9 | 559 | } |
pathfindr | 57:066dfbe8b4b9 | 560 | |
pathfindr | 57:066dfbe8b4b9 | 561 | if (EVENT_buttonClear) { |
pathfindr | 58:8d4a354816b1 | 562 | if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_ButtonClear");debug_exe();} |
pathfindr | 57:066dfbe8b4b9 | 563 | EVENT_buttonClear_time = 0; |
pathfindr | 58:8d4a354816b1 | 564 | EVENT_buttonClear = false; |
pathfindr | 57:066dfbe8b4b9 | 565 | RET_buttonPressed = false; |
pathfindr | 57:066dfbe8b4b9 | 566 | RET_buttonPressCount = 0; |
pathfindr | 57:066dfbe8b4b9 | 567 | RET_setting_beacon_interval_ms_active = RET_setting_beacon_interval_ms; //reset back to normal broadcast rate |
pathfindr | 57:066dfbe8b4b9 | 568 | RET_BLEpacketUpdate = true; |
pathfindr | 57:066dfbe8b4b9 | 569 | } |
pathfindr | 57:066dfbe8b4b9 | 570 | |
pathfindr | 57:066dfbe8b4b9 | 571 | if (EVENT_battery) { |
pathfindr | 58:8d4a354816b1 | 572 | if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_Battery");debug_exe();} |
pathfindr | 57:066dfbe8b4b9 | 573 | EVENT_battery_time = (RET_RTCunixtime + EVENT_battery_interval); |
pathfindr | 58:8d4a354816b1 | 574 | EVENT_battery = false; |
pathfindr | 57:066dfbe8b4b9 | 575 | updateBatteryV(); |
pathfindr | 57:066dfbe8b4b9 | 576 | RET_BLEpacketUpdate = true; |
pathfindr | 57:066dfbe8b4b9 | 577 | } |
pathfindr | 57:066dfbe8b4b9 | 578 | |
pathfindr | 57:066dfbe8b4b9 | 579 | if (EVENT_temperature) { |
pathfindr | 58:8d4a354816b1 | 580 | if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_Temperature");debug_exe();} |
pathfindr | 57:066dfbe8b4b9 | 581 | EVENT_temperature_time = (RET_RTCunixtime + EVENT_temperature_interval); |
pathfindr | 57:066dfbe8b4b9 | 582 | EVENT_temperature = false; |
pathfindr | 57:066dfbe8b4b9 | 583 | //get temperature TODO - only update ble if different to last |
pathfindr | 58:8d4a354816b1 | 584 | RET_BLEpacketUpdate = true; |
pathfindr | 57:066dfbe8b4b9 | 585 | } |
pathfindr | 57:066dfbe8b4b9 | 586 | |
pathfindr | 57:066dfbe8b4b9 | 587 | if (EVENT_humidity) { |
pathfindr | 58:8d4a354816b1 | 588 | if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_Humidity");debug_exe();} |
pathfindr | 57:066dfbe8b4b9 | 589 | EVENT_humidity_time = (RET_RTCunixtime + EVENT_humidity_interval); |
pathfindr | 57:066dfbe8b4b9 | 590 | EVENT_humidity = false; |
pathfindr | 57:066dfbe8b4b9 | 591 | //get humidity TODO - only update ble if different to last |
pathfindr | 58:8d4a354816b1 | 592 | RET_BLEpacketUpdate = true; |
pathfindr | 57:066dfbe8b4b9 | 593 | } |
pathfindr | 57:066dfbe8b4b9 | 594 | |
pathfindr | 57:066dfbe8b4b9 | 595 | if (EVENT_settingsScan) { |
pathfindr | 58:8d4a354816b1 | 596 | if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_SettingsScan");debug_exe();} |
pathfindr | 57:066dfbe8b4b9 | 597 | EVENT_settingsScan_time = (RET_RTCunixtime + EVENT_settingsScan_interval); |
pathfindr | 57:066dfbe8b4b9 | 598 | EVENT_settingsScan = false; |
pathfindr | 57:066dfbe8b4b9 | 599 | settingsScan(); |
pathfindr | 57:066dfbe8b4b9 | 600 | } |
pathfindr | 57:066dfbe8b4b9 | 601 | |
pathfindr | 57:066dfbe8b4b9 | 602 | if (EVENT_uwbScan) { |
pathfindr | 58:8d4a354816b1 | 603 | if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_uwbScan");debug_exe();} |
pathfindr | 57:066dfbe8b4b9 | 604 | EVENT_uwbScan_time = (RET_RTCunixtime + EVENT_uwbScan_interval); |
pathfindr | 57:066dfbe8b4b9 | 605 | EVENT_uwbScan = false; |
pathfindr | 57:066dfbe8b4b9 | 606 | } |
pathfindr | 58:8d4a354816b1 | 607 | |
pathfindr | 58:8d4a354816b1 | 608 | /*if (EVENT_resetACCInt) { |
pathfindr | 58:8d4a354816b1 | 609 | if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_resetACCInt1");debug_exe();} |
pathfindr | 58:8d4a354816b1 | 610 | EVENT_resetACCInt_time = 0; |
pathfindr | 58:8d4a354816b1 | 611 | EVENT_resetACCInt = false; |
pathfindr | 58:8d4a354816b1 | 612 | acc.clearIntFlag(); |
pathfindr | 58:8d4a354816b1 | 613 | }*/ |
pathfindr | 57:066dfbe8b4b9 | 614 | |
pathfindr | 57:066dfbe8b4b9 | 615 | //BLE START OR UPDATE |
pathfindr | 57:066dfbe8b4b9 | 616 | if (RET_bleBroadcasting == false) { |
pathfindr | 57:066dfbe8b4b9 | 617 | myble.init(bleSetupAdvertising); |
pathfindr | 57:066dfbe8b4b9 | 618 | if (myble.hasInitialized()) { |
pathfindr | 57:066dfbe8b4b9 | 619 | if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "BLE Start");debug_exe();} |
pathfindr | 57:066dfbe8b4b9 | 620 | bleUpdateAndAdvertise(); |
pathfindr | 34:4493c9f6d707 | 621 | } |
pathfindr | 6:388d3c7efdd9 | 622 | } |
pathfindr | 57:066dfbe8b4b9 | 623 | if (RET_BLEpacketUpdate == true) { |
pathfindr | 57:066dfbe8b4b9 | 624 | if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "BLE Update only");debug_exe();} |
pathfindr | 58:8d4a354816b1 | 625 | bleUpdateAndAdvertise(); //this function also sets RET_BLEpacketUpdate = false |
pathfindr | 58:8d4a354816b1 | 626 | } |
pathfindr | 57:066dfbe8b4b9 | 627 | |
pathfindr | 57:066dfbe8b4b9 | 628 | //END |
pathfindr | 57:066dfbe8b4b9 | 629 | RET_haveEventsToRun = false; |
pathfindr | 6:388d3c7efdd9 | 630 | } |
pathfindr | 6:388d3c7efdd9 | 631 | |
pathfindr | 58:8d4a354816b1 | 632 | |
pathfindr | 58:8d4a354816b1 | 633 | |
pathfindr | 7:e9a19750700d | 634 | //------------------------------------------------------------------------------ |
pathfindr | 7:e9a19750700d | 635 | // MAIN |
pathfindr | 7:e9a19750700d | 636 | //------------------------------------------------------------------------------ |
pathfindr | 50:a94e70c00fff | 637 | int main() { |
pathfindr | 24:c161db07557f | 638 | //INIT |
pathfindr | 51:9078e6928412 | 639 | LED1off(); |
pathfindr | 51:9078e6928412 | 640 | ThisThread::sleep_for(2000); //Initial pause, this is needed for softdevice to init, dont remove!! If we dont have this we get crashes |
pathfindr | 54:2840f2d50734 | 641 | watchdog.configure(400.0); //6.6 mins //Do not set to less than 4500ms or can cause issues with softdevice |
pathfindr | 24:c161db07557f | 642 | RTCticker.attach(&RTCtick, 1.0); |
pathfindr | 51:9078e6928412 | 643 | LPtimer.start(); |
pathfindr | 34:4493c9f6d707 | 644 | button.fall(&buttonPress); |
pathfindr | 24:c161db07557f | 645 | button.rise(&buttonRelease); |
pathfindr | 58:8d4a354816b1 | 646 | accInt1.rise(&accInt1ISR); |
pathfindr | 57:066dfbe8b4b9 | 647 | //read_app_data_from_flash(&app_data); |
pathfindr | 58:8d4a354816b1 | 648 | acc_configForMotionInt(); |
pathfindr | 57:066dfbe8b4b9 | 649 | firstRun(); |
pathfindr | 58:8d4a354816b1 | 650 | debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer),"Ready\n");debug_exe(); |
pathfindr | 13:29f67f256709 | 651 | |
pathfindr | 34:4493c9f6d707 | 652 | //MAIN LOOP |
pathfindr | 52:bd7678eade77 | 653 | while(true) { |
pathfindr | 39:f767b8037475 | 654 | RET_asleep = false; |
pathfindr | 58:8d4a354816b1 | 655 | //LED2on(30); |
pathfindr | 58:8d4a354816b1 | 656 | |
pathfindr | 58:8d4a354816b1 | 657 | |
pathfindr | 58:8d4a354816b1 | 658 | while(1) { |
pathfindr | 58:8d4a354816b1 | 659 | debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer),"UWB SCAN START\n");debug_exe(); |
pathfindr | 58:8d4a354816b1 | 660 | uwbScan(); |
pathfindr | 58:8d4a354816b1 | 661 | debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer),"UWB SCAN END\n");debug_exe(); |
pathfindr | 58:8d4a354816b1 | 662 | nrf_configureForSleep(); |
pathfindr | 58:8d4a354816b1 | 663 | ThisThread::sleep_for(1000); |
pathfindr | 58:8d4a354816b1 | 664 | } |
pathfindr | 58:8d4a354816b1 | 665 | |
pathfindr | 58:8d4a354816b1 | 666 | |
pathfindr | 58:8d4a354816b1 | 667 | while(1) { |
pathfindr | 58:8d4a354816b1 | 668 | acc_updateOrientation(); |
pathfindr | 58:8d4a354816b1 | 669 | debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer),"X:%d Y:%d D:%d\n",RET_accX,RET_accY,RET_accZ);debug_exe(); |
pathfindr | 58:8d4a354816b1 | 670 | ThisThread::sleep_for(20); |
pathfindr | 58:8d4a354816b1 | 671 | } |
pathfindr | 40:4270e09e59f2 | 672 | |
pathfindr | 42:f482f4cdb319 | 673 | //STATE ENGINE |
pathfindr | 9:b0a1535b8ef2 | 674 | mainStateEngine(); |
pathfindr | 51:9078e6928412 | 675 | |
pathfindr | 34:4493c9f6d707 | 676 | //LOG FIRST RUN - BOOTLOADER COMMS |
pathfindr | 34:4493c9f6d707 | 677 | if (RET_coldBoot) { |
pathfindr | 57:066dfbe8b4b9 | 678 | //recordFirmwareAsValid(); |
pathfindr | 34:4493c9f6d707 | 679 | RET_coldBoot = 0; |
pathfindr | 34:4493c9f6d707 | 680 | } |
pathfindr | 51:9078e6928412 | 681 | |
pathfindr | 57:066dfbe8b4b9 | 682 | //DEBUGGING OFF TIMER |
pathfindr | 57:066dfbe8b4b9 | 683 | if(RET_debug){ |
pathfindr | 58:8d4a354816b1 | 684 | debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer),"TIME:%d\n",RET_RTCunixtime);debug_exe(); |
pathfindr | 57:066dfbe8b4b9 | 685 | if (RET_RTCunixtime > RET_debug_offat) { |
pathfindr | 57:066dfbe8b4b9 | 686 | debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer),"DEBUGGING OFF\n");debug_exe(); |
pathfindr | 57:066dfbe8b4b9 | 687 | RET_debug = false; |
pathfindr | 52:bd7678eade77 | 688 | } |
pathfindr | 57:066dfbe8b4b9 | 689 | } |
pathfindr | 57:066dfbe8b4b9 | 690 | |
pathfindr | 9:b0a1535b8ef2 | 691 | //PRE-SLEEP ACTIONS |
pathfindr | 58:8d4a354816b1 | 692 | acc_configForMotionInt(); |
pathfindr | 57:066dfbe8b4b9 | 693 | watchdogKick(); |
pathfindr | 57:066dfbe8b4b9 | 694 | //SLEEP |
pathfindr | 50:a94e70c00fff | 695 | nrf_configureForSleep(); |
pathfindr | 34:4493c9f6d707 | 696 | NRFuart_uninit(); |
pathfindr | 39:f767b8037475 | 697 | RET_asleep = true; |
pathfindr | 58:8d4a354816b1 | 698 | //LED1off(); |
pathfindr | 26:fa3579737329 | 699 | mainthread.wait(DEFAULT_SLEEP_FRAME); |
pathfindr | 34:4493c9f6d707 | 700 | } |
pathfindr | 7:e9a19750700d | 701 | } |