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mbed-os-PF-UWBBEACON_v1_dev
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Dependencies: aconno_I2C Lis2dh12 WatchdogTimer
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main.cpp
00001 #include "main.h" 00002 // MUST USE MBED 5.10.4 2fd0c5cfbd 00003 00004 /* 00005 PRE DEPLOYMENT CHECKS!! 00006 • Ensure APP DATA address is correct 00007 */ 00008 00009 //------------------------------------------------------------------------------ 00010 //FUNCTION PROTOTYPES - NEED TO ADD ALL OF THE MISSING ONES 00011 //------------------------------------------------------------------------------ 00012 //should really add these - will just add as and when needed for now 00013 void bleShutdown(); 00014 00015 //------------------------------------------------------------------------------ 00016 // VARS 00017 //------------------------------------------------------------------------------ 00018 char RET_pf_identifier[6]; 00019 time_t RET_RTCunixtime = 0; 00020 bool RET_debug = true; 00021 time_t RET_debug_offat = 0; 00022 char GLOBAL_debug_buffer[DEBUG_BUFFERSIZE]; 00023 00024 //SENSORS 00025 float RET_voltage = 0.0; 00026 float RET_temperature = 0.0; 00027 float RET_humidity = 0.0; 00028 bool RET_motionState = false; 00029 int8_t RET_accX = 0; 00030 int8_t RET_accY = 0; 00031 int8_t RET_accZ = 0; 00032 time_t RET_motionLastDetected = 0; 00033 time_t RET_InMotionSeconds = 0; 00034 time_t RET_NoMotionSeconds = 0; 00035 bool RET_impactState = false; 00036 00037 //STATE 00038 bool RET_busy = false; 00039 bool RET_asleep = false; 00040 bool RET_coldBoot = true; 00041 00042 //BUTTON 00043 bool RET_buttonPressed = false; 00044 uint8_t RET_buttonPressCount = 0; 00045 time_t RET_buttonPressTime = 0; 00046 time_t RET_buttonReleaseTime = 0; 00047 time_t RET_buttonReleaseTime_prev = 0; 00048 time_t RET_buttonHoldTime = 0; 00049 00050 //EVENTS 00051 bool RET_haveEventsToRun = false; 00052 00053 bool EVENT_buttonPress = false; 00054 00055 bool EVENT_battery = false; 00056 time_t EVENT_battery_interval = DEFAULT_INTERVAL_BATTERY; 00057 time_t EVENT_battery_time = 0; 00058 00059 bool EVENT_motionClear = false; 00060 time_t EVENT_motionClear_interval = DEFAULT_INTERVAL_MOTIONCLEAR; 00061 time_t EVENT_motionClear_time = 0; 00062 00063 bool EVENT_buttonClear = false; 00064 time_t EVENT_buttonClear_interval = DEFAULT_INTERVAL_BUTTONCLEAR; 00065 time_t EVENT_buttonClear_time = 0; 00066 00067 bool EVENT_temperature = false; 00068 time_t EVENT_temperature_interval = DEFAULT_INTERVAL_TEMPERATURE; 00069 time_t EVENT_temperature_time = 0; 00070 00071 bool EVENT_humidity = false; 00072 time_t EVENT_humidity_interval = DEFAULT_INTERVAL_HUMIDITY; 00073 time_t EVENT_humidity_time = 0; 00074 00075 bool EVENT_settingsScan = false; 00076 time_t EVENT_settingsScan_interval = DEFAULT_INTERVAL_SETTINGSSCAN; 00077 time_t EVENT_settingsScan_time = 0; 00078 00079 bool EVENT_uwbScan = false; 00080 time_t EVENT_uwbScan_interval = 60; 00081 time_t EVENT_uwbScan_time = 0; 00082 00083 bool EVENT_resetACCInt = false; 00084 time_t EVENT_resetACCInt_interval = DEFAULT_INTERVAL_RESETACCINT; 00085 time_t EVENT_resetACCInt_time = 0; 00086 00087 00088 //BLE 00089 uint16_t RET_setting_beacon_interval_ms = DEFAULT_BEACON_INTERVAL_MS; 00090 uint16_t RET_setting_beacon_interval_ms_active = DEFAULT_BEACON_INTERVAL_MS; 00091 bool RET_bleBroadcasting = false; 00092 uint8_t RET_bleAdv_flags = 0; 00093 bool RET_UWBdetector_present = true; //BEN should be false 00094 bool RET_BLEpacketUpdate = false; 00095 bool RET_settingsReceived = false; 00096 const uint8_t bleAdv_motion_flag = 0x01; //motion detected 00097 const uint8_t bleAdv_impact_flag = 0x02; //impact detected 00098 const uint8_t bleAdv_button_pressed_flag = 0x08; //button press detected 00099 const uint8_t bleAdv_gap_connected_flag = 0x40; //device is connected 00100 #pragma pack(1) 00101 struct bleData_t { 00102 uint16_t applicationSpecificId; 00103 uint8_t firmware; 00104 uint8_t flags; 00105 uint16_t voltage; 00106 uint8_t buttonpresses; 00107 int16_t temperature; 00108 uint8_t humidity; 00109 uint8_t lux; 00110 int8_t accel_x; 00111 int8_t accel_y; 00112 int8_t accel_z; 00113 }; 00114 #pragma pack() 00115 00116 //------------------------------------------------------------------------------ 00117 //GPIO 00118 //------------------------------------------------------------------------------ 00119 InterruptIn button(PN_IN_BUTTON); 00120 InterruptIn accInt1(PN_ACC_INT1); 00121 //InterruptIn DW_irq(DW1000_IRQ); 00122 00123 //------------------------------------------------------------------------------ 00124 //PERIPHERALS 00125 //------------------------------------------------------------------------------ 00126 BLE myble; 00127 WatchdogTimer watchdog; 00128 LowPowerTicker RTCticker; 00129 LowPowerTimer LPtimer; 00130 00131 I2C i2c(PN_I2C_SDA,PN_I2C_SCL); 00132 SPI spi(PN_SPI_MOSI,PN_SPI_MISO,PN_SPI_CLK); 00133 Lis2dh12 acc(&i2c, 0x32); 00134 00135 //------------------------------------------------------------------------------ 00136 //SEMAPHORES 00137 //------------------------------------------------------------------------------ 00138 Semaphore mainthread; 00139 00140 //------------------------------------------------------------------------------ 00141 // LOW LEVEL FUNCS 00142 //------------------------------------------------------------------------------ 00143 void watchdogKick() { 00144 watchdog.kick(); 00145 } 00146 void set_8bit_flag(uint8_t& flags, uint8_t flag) { 00147 flags |= flag; 00148 } 00149 bool get_8bit_flag(uint8_t& flags, uint8_t flag) { 00150 bool result = (flags & flag); 00151 return result; 00152 } 00153 void clr_8bit_flag(uint8_t& flags, uint8_t flag) { 00154 flags &= ~flag; 00155 } 00156 void nrf_configureForSleep(){ 00157 //Disable SPI pins to reduce power 00158 //nrf_gpio_cfg_input(PN_SPI_MOSI, NRF_GPIO_PIN_NOPULL); //Don't need this one 00159 nrf_gpio_cfg_input(PN_SPI_MISO, NRF_GPIO_PIN_NOPULL); 00160 00161 //TWI0 00162 NRF_TWI0->ENABLE = TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos; 00163 *(volatile uint32_t *)0x40003FFC = 0; 00164 *(volatile uint32_t *)0x40003FFC; 00165 *(volatile uint32_t *)0x40003FFC = 1; 00166 //TWI1 00167 NRF_TWI1->ENABLE=TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos; 00168 *(volatile uint32_t *)0x40004FFC = 0; 00169 *(volatile uint32_t *)0x40004FFC; 00170 *(volatile uint32_t *)0x40004FFC = 1; 00171 } 00172 00173 void recordFirmwareAsValid() { 00174 bleShutdown(); 00175 read_app_data_from_flash(&app_data); 00176 bool write_app_data_to_flash_execute = false; 00177 if(get_flag(&app_data, app_execution_flag) == true) { 00178 clr_flag(&app_data, app_execution_flag); 00179 clr_flag(&app_data, first_run_flag); 00180 write_app_data_to_flash_execute = true; 00181 } 00182 if(app_data.current_firmware_version != FW_VERSION) { 00183 app_data.current_firmware_version = FW_VERSION; 00184 app_data.target_firmware_version = FW_VERSION; 00185 write_app_data_to_flash_execute = true; 00186 } 00187 if (write_app_data_to_flash_execute) { 00188 write_app_data_to_flash(&app_data); 00189 //read back to check 00190 ThisThread::sleep_for(200); //need this delay 00191 read_app_data_from_flash(&app_data); 00192 if (app_data.current_firmware_version == FW_VERSION) { 00193 debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "OK");debug_exe(); 00194 } else { 00195 debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "FAIL - IS BLE SHUTDOWN?");debug_exe(); 00196 } 00197 } 00198 } 00199 void updateBatteryV() { 00200 NRF52_SAADC batteryIn; 00201 batteryIn.addChannel (9); // vdd for battery 00202 batteryIn.calibrate(); 00203 //get initial reading, first reading is always low 00204 batteryIn.updateData(); batteryIn.getData ()[0]; 00205 float voltage_accumulator = 0.0; 00206 uint8_t readings = 0; 00207 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 00208 batteryIn.updateData(); 00209 voltage_accumulator += (batteryIn.getData ()[0])*(1.0/1024.0)*3.60; 00210 readings ++; 00211 } 00212 RET_voltage = (voltage_accumulator / (float)readings); 00213 } 00214 00215 00216 00217 //------------------------------------------------------------------------------ 00218 // INTERUPTS 00219 //------------------------------------------------------------------------------ 00220 void buttonPress() { 00221 RET_buttonPressTime = LPtimer.read_ms(); 00222 } 00223 void buttonRelease() { 00224 //debounce catch 00225 RET_buttonReleaseTime = LPtimer.read_ms(); 00226 if ((RET_buttonReleaseTime - RET_buttonReleaseTime_prev) > 100) { 00227 RET_buttonPressCount ++; 00228 RET_buttonHoldTime = (RET_buttonReleaseTime - RET_buttonPressTime); 00229 //temporarily enable debugging 00230 RET_debug = true; 00231 RET_debug_offat = (RET_RTCunixtime + 3600); //debug on for 1hr 00232 EVENT_buttonPress = true; 00233 mainthread.release(); 00234 } 00235 RET_buttonReleaseTime_prev = RET_buttonReleaseTime; 00236 } 00237 00238 void accInt1ISR() { 00239 //led2 = !led2; 00240 RET_motionLastDetected = RET_RTCunixtime; 00241 } 00242 00243 //------------------------------------------------------------------------------ 00244 // RTC TICKER 00245 //------------------------------------------------------------------------------ 00246 bool RET_flash_busy = false; 00247 void RTCtick() { 00248 //YOU MUST NOT CALL ANY OTHER FUNCTIONS OR DEBUG FROM INSIDE HERE!!! OR IT LOCKS UP THE DEVICE, just change vars & comparisons etc 00249 RET_RTCunixtime += 1; 00250 00251 //CHECK FOR EVENTS 00252 if (RET_haveEventsToRun == false) { 00253 if (EVENT_motionClear_time > 0 && RET_RTCunixtime >= EVENT_motionClear_time) { 00254 RET_haveEventsToRun = true; EVENT_motionClear = true; 00255 } 00256 if (EVENT_buttonClear_time > 0 && RET_RTCunixtime >= EVENT_buttonClear_time) { 00257 RET_haveEventsToRun = true; EVENT_buttonClear = true; 00258 } 00259 if (EVENT_battery_time > 0 && RET_RTCunixtime >= EVENT_battery_time) { 00260 RET_haveEventsToRun = true; EVENT_battery = true; 00261 } 00262 if (EVENT_temperature_time > 0 && RET_RTCunixtime >= EVENT_temperature_time) { 00263 RET_haveEventsToRun = true; EVENT_temperature = true; 00264 } 00265 if (EVENT_humidity_time > 0 && RET_RTCunixtime >= EVENT_humidity_time) { 00266 RET_haveEventsToRun = true; EVENT_humidity = true; 00267 } 00268 if (EVENT_settingsScan_time > 0 && RET_RTCunixtime >= EVENT_settingsScan_time) { 00269 RET_haveEventsToRun = true; EVENT_settingsScan = true; 00270 } 00271 if (EVENT_uwbScan_time > 0 && RET_RTCunixtime >= EVENT_uwbScan_time) { 00272 RET_haveEventsToRun = true; EVENT_uwbScan = true; 00273 } 00274 if (EVENT_resetACCInt_time > 0 && RET_RTCunixtime >= EVENT_resetACCInt_time) { 00275 RET_haveEventsToRun = true; EVENT_resetACCInt = true; 00276 } 00277 } 00278 00279 //CHECK FOR MOTION OPT 00280 //Had motion in last 5 seconds? 00281 if (RET_motionLastDetected > 0 && (RET_RTCunixtime-RET_motionLastDetected) < 5) { 00282 EVENT_motionClear_time = (RET_RTCunixtime + EVENT_motionClear_interval); 00283 if (RET_motionState == 0) { 00284 RET_motionState = 1; 00285 RET_BLEpacketUpdate = true; 00286 RET_haveEventsToRun = true; 00287 } 00288 } 00289 led1 = !RET_motionState; 00290 00291 //WAKE UP MAIN LOOP AND RUN ANY EVENTS 00292 if (RET_haveEventsToRun && RET_asleep) { 00293 mainthread.release(); 00294 } 00295 } 00296 00297 00298 //------------------------------------------------------------------------------ 00299 // BLE FUNCS 00300 //------------------------------------------------------------------------------ 00301 void bleBuildData(bleData_t &bleData) 00302 { 00303 bleData.applicationSpecificId = BLE_SERVICEID_UWBBEACON; 00304 bleData.firmware = FW_VERSION; 00305 //set flags 00306 if (RET_motionState) { 00307 set_8bit_flag(RET_bleAdv_flags, bleAdv_motion_flag); 00308 } else { 00309 clr_8bit_flag(RET_bleAdv_flags, bleAdv_motion_flag); 00310 } 00311 00312 if (RET_impactState) { 00313 set_8bit_flag(RET_bleAdv_flags, bleAdv_impact_flag); 00314 } else { 00315 clr_8bit_flag(RET_bleAdv_flags, bleAdv_impact_flag); 00316 } 00317 00318 if(RET_buttonPressed) { 00319 set_8bit_flag(RET_bleAdv_flags, bleAdv_button_pressed_flag); 00320 } else { 00321 clr_8bit_flag(RET_bleAdv_flags, bleAdv_button_pressed_flag); 00322 } 00323 00324 bleData.flags = RET_bleAdv_flags; 00325 bleData.voltage = RET_voltage; 00326 bleData.buttonpresses = RET_buttonPressCount; 00327 bleData.temperature = RET_temperature; 00328 bleData.humidity = 0xFF; 00329 bleData.lux = 0xFF; 00330 bleData.accel_x = 0xFF; 00331 bleData.accel_y = 0xFF; 00332 bleData.accel_z = 0xFF; 00333 } 00334 void bleUpdateAndAdvertise(void) 00335 { 00336 bleData_t bleData; 00337 bleBuildData(bleData); 00338 myble.gap().stopAdvertising(); 00339 myble.gap().setTxPower(DEFAULT_BEACON_POWER); // set tx power,valid values are -40, -20, -16, -12, -8, -4, 0, 4 00340 myble.gap().accumulateAdvertisingPayloadTxPower(DEFAULT_BEACON_POWER); // (accepted values are -40, -30, -20, -16, -12, -8, -4, 0, and 4 dBm) 00341 myble.gap().setAdvertisingInterval(RET_setting_beacon_interval_ms_active); 00342 myble.gap().updateAdvertisingPayload(GapAdvertisingData::SERVICE_DATA, (uint8_t *)&bleData, sizeof(bleData_t)); 00343 //myble.gap().updateAdvertisingPayload(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA, (uint8_t *)&bleData, sizeof(bleData_t)); 00344 myble.gap().startAdvertising(); 00345 RET_bleBroadcasting = true; 00346 RET_BLEpacketUpdate = false; 00347 } 00348 void bleSetupAdvertising(BLE::InitializationCompleteCallbackContext *params) 00349 { 00350 if (RET_pf_identifier[0] != 0x00 && RET_pf_identifier[1] != 0x00 && RET_pf_identifier[2] != 0x00) { 00351 bleData_t bleData; 00352 bleBuildData(bleData); 00353 char localname[6]; 00354 memcpy(localname,RET_pf_identifier,6); 00355 myble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE ); 00356 myble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)localname, sizeof(localname)); 00357 myble.gap().accumulateAdvertisingPayload(GapAdvertisingData::SERVICE_DATA, (uint8_t *)&bleData, sizeof(bleData_t)); 00358 ////myble.gap().accumulateAdvertisingPayload(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA, (uint8_t *)&bleData, sizeof(bleData_t)); 00359 myble.gap().setAdvertisingType(GapAdvertisingParams::ADV_NON_CONNECTABLE_UNDIRECTED); 00360 } 00361 } 00362 void bleStopAdvertising(void) 00363 { 00364 myble.gap().stopAdvertising(); 00365 RET_bleBroadcasting = false; 00366 if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "BLE Adv Stop");debug_exe();} 00367 } 00368 void bleAdvertisementCallback(const Gap::AdvertisementCallbackParams_t *params) { 00369 struct AdvertisingData_t { 00370 uint8_t length; 00371 GapAdvertisingData::DataType_t dataType; 00372 uint8_t data[0]; 00373 } PACKED; 00374 struct bleData_t { 00375 uint16_t applicationSpecificId; 00376 } PACKED; 00377 00378 //Search for the manufacturer specific data with matching application-ID 00379 AdvertisingData_t *pAdvData; 00380 for (size_t index = 0; index < params->advertisingDataLen; index += (pAdvData->length + 1)) { 00381 pAdvData = (AdvertisingData_t *)¶ms->advertisingData[index]; 00382 const bleData_t *pbleData = (const bleData_t *)pAdvData->data; 00383 00384 //BLE TYPE SWITCH 00385 switch(pbleData->applicationSpecificId) { 00386 case BLE_SERVICEID_PFDETECTOR2 : 00387 { 00388 char ble_advdata[100]; 00389 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", 00390 params->advertisingData[0], 00391 params->advertisingData[1], 00392 params->advertisingData[2], 00393 params->advertisingData[3], 00394 params->advertisingData[4], 00395 params->advertisingData[5], 00396 params->advertisingData[6], 00397 params->advertisingData[7], 00398 params->advertisingData[8], 00399 params->advertisingData[9], 00400 params->advertisingData[10], 00401 params->advertisingData[11], 00402 params->advertisingData[12], 00403 params->advertisingData[13], 00404 params->advertisingData[14], 00405 params->advertisingData[15], 00406 params->advertisingData[16], 00407 params->advertisingData[17], 00408 params->advertisingData[18], 00409 params->advertisingData[19], 00410 params->advertisingData[20]); 00411 //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();} 00412 //if(RET_debug){debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "Detector @rssi: %d",params->rssi);debug_exe();} 00413 if (params->rssi >= -75) { 00414 00415 } 00416 RET_settingsReceived = true; 00417 break; 00418 } 00419 } 00420 } 00421 } 00422 void bleConfigureScan(void) 00423 { 00424 myble.gap().setScanParams(200,200); //scan interval //scan window 00425 myble.gap().startScan(bleAdvertisementCallback); 00426 } 00427 void bleStopScan(void) 00428 { 00429 myble.gap().stopScan(); 00430 } 00431 void bleShutdown(void) 00432 { 00433 bleStopScan(); 00434 bleStopAdvertising(); 00435 myble.shutdown(); 00436 } 00437 00438 //------------------------------------------------------------------------------ 00439 // FIRST RUN 00440 //------------------------------------------------------------------------------ 00441 void firstRun() { 00442 //Set Serial Number 00443 RET_pf_identifier[0] = 'U'; 00444 RET_pf_identifier[1] = 'W'; 00445 RET_pf_identifier[2] = 'B'; 00446 RET_pf_identifier[3] = '0'; 00447 RET_pf_identifier[4] = '1'; 00448 RET_pf_identifier[5] = 0x00; 00449 00450 //GET INITITAL SENSORS 00451 updateBatteryV(); 00452 //updateTemperature 00453 //updateHumidity 00454 00455 //SET EVENT TIMES 00456 EVENT_battery_time = (RET_RTCunixtime + EVENT_battery_interval); 00457 EVENT_temperature_time = (RET_RTCunixtime + EVENT_temperature_interval); 00458 EVENT_humidity_time = (RET_RTCunixtime + EVENT_humidity_interval); 00459 EVENT_settingsScan_time = (RET_RTCunixtime + EVENT_settingsScan_interval); 00460 EVENT_uwbScan_time = (RET_RTCunixtime + EVENT_uwbScan_interval); 00461 } 00462 00463 //------------------------------------------------------------------------------ 00464 // BLE SETTINGS SCAN 00465 //------------------------------------------------------------------------------ 00466 void settingsScan() { 00467 //LED1on(0); 00468 bleStopAdvertising(); 00469 LowPowerTimer bleScan_t; 00470 bleScan_t.start(); 00471 RET_settingsReceived = false; 00472 uint32_t bleScan_startmillis = bleScan_t.read_ms(); uint32_t bleScan_runtime = 0; 00473 if (!myble.hasInitialized()) { 00474 myble.init(); 00475 while (!myble.hasInitialized() && bleScan_runtime < 1000) { 00476 bleScan_runtime = (bleScan_t.read_ms() - bleScan_startmillis); 00477 } 00478 } 00479 if (myble.hasInitialized()) { 00480 bleConfigureScan(); 00481 bleScan_startmillis = bleScan_t.read_ms(); 00482 while (bleScan_runtime < DEFAULT_SETTINGSSCANTIME_MS && RET_settingsReceived == false) { 00483 bleScan_runtime = (bleScan_t.read_ms() - bleScan_startmillis); 00484 myble.waitForEvent(); // low power wait for event 00485 } 00486 } 00487 bleScan_t.stop(); 00488 myble.gap().stopScan(); 00489 //LED1off(); 00490 } 00491 00492 //------------------------------------------------------------------------------ 00493 // UWB SCAN 00494 //------------------------------------------------------------------------------ 00495 struct __attribute__((packed, aligned(1))) DistancesFrame { 00496 uint8_t source; 00497 uint8_t destination; 00498 uint8_t type; 00499 float dist[4]; 00500 }; 00501 00502 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) 00503 //DW1000 dw(&spi,DW_irq,DW1000_CS,DW1000_RST); 00504 MM2WayRanging node(dw); 00505 00506 void uwbScan() { 00507 00508 } 00509 00510 //------------------------------------------------------------------------------ 00511 // ACC 00512 //------------------------------------------------------------------------------ 00513 void acc_configForMotionInt() { 00514 acc.setMode(LOW_POWER); 00515 acc.enableAxes(X_axis); 00516 acc.enableAxes(Y_axis); 00517 acc.enableAxes(Z_axis); 00518 acc.setODR(ODR_1Hz); 00519 acc.setScale(_8g); 00520 acc.int1Setup(0b01000000); // IntActivity 1 driven to INT1 pad 00521 //acc.setCTRL_REG2(0b11001011); //High pass filter active 00522 acc.setCTRL_REG2(0b00000000); //High pass filter off 00523 acc.int1Latch(0b00000000); //Dont latch 00524 acc.int1Threshold(7); 00525 acc.int1Duration(0x00); 00526 acc.int1Config(0b01111111); // INT2_CFG Enable XHigh, YHigh and ZHigh, triggers INT1 on any motion 00527 acc.clearIntFlag(); //reset int1 00528 } 00529 00530 void acc_updateOrientation() { 00531 //Divide by 16 to get range of +- 16 on each axis 00532 RET_accX = (acc.readXAxis() / 16); 00533 RET_accY = (acc.readYAxis() / 16); 00534 RET_accZ = (acc.readZAxis() / 16); 00535 } 00536 00537 //------------------------------------------------------------------------------ 00538 // STATE ENGINE 00539 //------------------------------------------------------------------------------ 00540 void mainStateEngine() { 00541 if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "MainStateEngine");debug_exe();} 00542 00543 if (EVENT_buttonPress) { 00544 if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_ButtonPress");debug_exe();} 00545 EVENT_buttonClear_time = (RET_RTCunixtime + EVENT_buttonClear_interval); 00546 RET_setting_beacon_interval_ms_active = DEFAULT_BEACON_INTERVAL_FAST_MS; 00547 RET_BLEpacketUpdate = true; 00548 EVENT_buttonPress = false; 00549 } 00550 00551 if (EVENT_motionClear) { 00552 if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_MotionClear");debug_exe();} 00553 EVENT_motionClear_time = 0; 00554 EVENT_motionClear = false; 00555 RET_motionState = false; 00556 RET_impactState = false; 00557 acc_updateOrientation(); //update orientation data 00558 RET_BLEpacketUpdate = true; 00559 } 00560 00561 if (EVENT_buttonClear) { 00562 if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_ButtonClear");debug_exe();} 00563 EVENT_buttonClear_time = 0; 00564 EVENT_buttonClear = false; 00565 RET_buttonPressed = false; 00566 RET_buttonPressCount = 0; 00567 RET_setting_beacon_interval_ms_active = RET_setting_beacon_interval_ms; //reset back to normal broadcast rate 00568 RET_BLEpacketUpdate = true; 00569 } 00570 00571 if (EVENT_battery) { 00572 if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_Battery");debug_exe();} 00573 EVENT_battery_time = (RET_RTCunixtime + EVENT_battery_interval); 00574 EVENT_battery = false; 00575 updateBatteryV(); 00576 RET_BLEpacketUpdate = true; 00577 } 00578 00579 if (EVENT_temperature) { 00580 if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_Temperature");debug_exe();} 00581 EVENT_temperature_time = (RET_RTCunixtime + EVENT_temperature_interval); 00582 EVENT_temperature = false; 00583 //get temperature TODO - only update ble if different to last 00584 RET_BLEpacketUpdate = true; 00585 } 00586 00587 if (EVENT_humidity) { 00588 if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_Humidity");debug_exe();} 00589 EVENT_humidity_time = (RET_RTCunixtime + EVENT_humidity_interval); 00590 EVENT_humidity = false; 00591 //get humidity TODO - only update ble if different to last 00592 RET_BLEpacketUpdate = true; 00593 } 00594 00595 if (EVENT_settingsScan) { 00596 if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_SettingsScan");debug_exe();} 00597 EVENT_settingsScan_time = (RET_RTCunixtime + EVENT_settingsScan_interval); 00598 EVENT_settingsScan = false; 00599 settingsScan(); 00600 } 00601 00602 if (EVENT_uwbScan) { 00603 if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_uwbScan");debug_exe();} 00604 EVENT_uwbScan_time = (RET_RTCunixtime + EVENT_uwbScan_interval); 00605 EVENT_uwbScan = false; 00606 } 00607 00608 /*if (EVENT_resetACCInt) { 00609 if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "EVENT_resetACCInt1");debug_exe();} 00610 EVENT_resetACCInt_time = 0; 00611 EVENT_resetACCInt = false; 00612 acc.clearIntFlag(); 00613 }*/ 00614 00615 //BLE START OR UPDATE 00616 if (RET_bleBroadcasting == false) { 00617 myble.init(bleSetupAdvertising); 00618 if (myble.hasInitialized()) { 00619 if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "BLE Start");debug_exe();} 00620 bleUpdateAndAdvertise(); 00621 } 00622 } 00623 if (RET_BLEpacketUpdate == true) { 00624 if(RET_debug) {debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer), "BLE Update only");debug_exe();} 00625 bleUpdateAndAdvertise(); //this function also sets RET_BLEpacketUpdate = false 00626 } 00627 00628 //END 00629 RET_haveEventsToRun = false; 00630 } 00631 00632 00633 00634 //------------------------------------------------------------------------------ 00635 // MAIN 00636 //------------------------------------------------------------------------------ 00637 int main() { 00638 //INIT 00639 LED1off(); 00640 ThisThread::sleep_for(2000); //Initial pause, this is needed for softdevice to init, dont remove!! If we dont have this we get crashes 00641 watchdog.configure(400.0); //6.6 mins //Do not set to less than 4500ms or can cause issues with softdevice 00642 RTCticker.attach(&RTCtick, 1.0); 00643 LPtimer.start(); 00644 button.fall(&buttonPress); 00645 button.rise(&buttonRelease); 00646 accInt1.rise(&accInt1ISR); 00647 //read_app_data_from_flash(&app_data); 00648 acc_configForMotionInt(); 00649 firstRun(); 00650 debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer),"Ready\n");debug_exe(); 00651 00652 //MAIN LOOP 00653 while(true) { 00654 RET_asleep = false; 00655 //LED2on(30); 00656 00657 00658 while(1) { 00659 debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer),"UWB SCAN START\n");debug_exe(); 00660 uwbScan(); 00661 debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer),"UWB SCAN END\n");debug_exe(); 00662 nrf_configureForSleep(); 00663 ThisThread::sleep_for(1000); 00664 } 00665 00666 00667 while(1) { 00668 acc_updateOrientation(); 00669 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(); 00670 ThisThread::sleep_for(20); 00671 } 00672 00673 //STATE ENGINE 00674 mainStateEngine(); 00675 00676 //LOG FIRST RUN - BOOTLOADER COMMS 00677 if (RET_coldBoot) { 00678 //recordFirmwareAsValid(); 00679 RET_coldBoot = 0; 00680 } 00681 00682 //DEBUGGING OFF TIMER 00683 if(RET_debug){ 00684 debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer),"TIME:%d\n",RET_RTCunixtime);debug_exe(); 00685 if (RET_RTCunixtime > RET_debug_offat) { 00686 debug_prep();snprintf(GLOBAL_debug_buffer, sizeof(GLOBAL_debug_buffer),"DEBUGGING OFF\n");debug_exe(); 00687 RET_debug = false; 00688 } 00689 } 00690 00691 //PRE-SLEEP ACTIONS 00692 acc_configForMotionInt(); 00693 watchdogKick(); 00694 //SLEEP 00695 nrf_configureForSleep(); 00696 NRFuart_uninit(); 00697 RET_asleep = true; 00698 //LED1off(); 00699 mainthread.wait(DEFAULT_SLEEP_FRAME); 00700 } 00701 }
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