ROHMUSDC
/
Nordic_UART_TEMPLATE_ROHM
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Dependencies: BLE_API mbed nRF51822 Nordic_UART_TEMPLATE_ROHM
Dependents: Nordic_UART_TEMPLATE_ROHM
Fork of
UART_TEMPLATE
by 
daniel veilleux
Diff: main.cpp
- Revision:
- 7:71046927a0e9
- Parent:
- 6:6860e53dc7ae
--- a/main.cpp Mon Sep 28 19:00:02 2015 +0000
+++ b/main.cpp Fri Dec 18 00:19:01 2015 +0000
@@ -43,14 +43,17 @@
* Contact Information: engineering@rohmsemiconductor.com
*/
+#define nRF52DevKit
+
#define AnalogTemp //BDE0600, Analog Temperature Sensor
#define AnalogUV //ML8511, Analog UV Sensor
#define HallSensor //BU52011, Hall Switch Sensor
#define RPR0521 //RPR0521, ALS/PROX Sensor
#define KMX62 //KMX61, Accel/Mag Sensor
-#define color //BH1745, Color Sensor
-#define KX022 //KX022, Accelerometer Sensor
+#define Color //BH1745, Color Sensor
+#define KX122 //KX122, Accelerometer Sensor
#define Pressure //BM1383, Barometric Pressure Sensor
+#define KXG03 //KXG03, Gyroscopic Sensor
#include "mbed.h"
#include "BLEDevice.h"
@@ -71,33 +74,42 @@
// Global Variables
BLEDevice m_ble;
-Serial m_serial_port(p9, p11); // TX pin, RX pin
+Serial m_serial_port(p9, p11); // TX pin, RX pin Original
+//Serial m_serial_port(p8, p10); // TX pin, RX pin
DigitalOut m_cmd_led(LED1);
DigitalOut m_error_led(LED2);
UARTService *m_uart_service_ptr;
-DigitalIn testButton(p20);
-InterruptIn sw4Press(p20);
-I2C i2c(p30,p7);
+DigitalIn testButton(p20); //Original
+//DigitalIn testButton(p19);
+InterruptIn sw4Press(p20); //Original
+//InterruptIn sw4Press(p19);
+I2C i2c(p30,p7); //Original DK Kit
+//I2C i2c(p26,p27);
bool RepStart = true;
bool NoRepStart = false;
int i = 1;
//Sensor Variables
#ifdef AnalogTemp
-AnalogIn BDE0600_Temp(p3);
+AnalogIn BDE0600_Temp(p3); //Original Dev Kit
+//AnalogIn BDE0600_Temp(p28);
uint16_t BDE0600_Temp_value;
float BDE0600_output;
#endif
#ifdef AnalogUV
-AnalogIn ML8511_UV(p5);
+AnalogIn ML8511_UV(p5); //Original Dev Kit
+//AnalogIn ML8511_UV(p30);
uint16_t ML8511_UV_value;
float ML8511_output;
#endif
#ifdef HallSensor
-DigitalIn Hall_GPIO0(p14);
-DigitalIn Hall_GPIO1(p15);
+DigitalIn Hall_GPIO0(p14); //Original Dev Kit
+DigitalIn Hall_GPIO1(p15); //Original Dev Kit
+//DigitalIn Hall_GPIO0(p13);
+//DigitalIn Hall_GPIO1(p14);
+
int Hall_Return1;
int Hall_Return0;
#endif
@@ -144,7 +156,7 @@
float MEMS_Mag_Conv_Zout = 0;
#endif
-#ifdef color
+#ifdef Color
int BH1745_addr_w = 0x72;
int BH1745_addr_r = 0x73;
@@ -162,33 +174,33 @@
#endif
-#ifdef KX022
-int KX022_addr_w = 0x3C;
-int KX022_addr_r = 0x3D;
+#ifdef KX122
+int KX122_addr_w = 0x3C;
+int KX122_addr_r = 0x3D;
-char KX022_Accel_CNTL1[2] = {0x18, 0x41};
-char KX022_Accel_ODCNTL[2] = {0x1B, 0x02};
-char KX022_Accel_CNTL3[2] = {0x1A, 0xD8};
-char KX022_Accel_TILT_TIMER[2] = {0x22, 0x01};
-char KX022_Accel_CNTL2[2] = {0x18, 0xC1};
+char KX122_Accel_CNTL1[2] = {0x18, 0x41};
+char KX122_Accel_ODCNTL[2] = {0x1B, 0x02};
+char KX122_Accel_CNTL3[2] = {0x1A, 0xD8};
+char KX122_Accel_TILT_TIMER[2] = {0x22, 0x01};
+char KX122_Accel_CNTL2[2] = {0x18, 0xC1};
-char KX022_Content_ReadData[6];
-char KX022_Addr_Accel_ReadData = 0x06;
+char KX122_Content_ReadData[6];
+char KX122_Addr_Accel_ReadData = 0x06;
-float KX022_Accel_X;
-float KX022_Accel_Y;
-float KX022_Accel_Z;
+float KX122_Accel_X;
+float KX122_Accel_Y;
+float KX122_Accel_Z;
-short int KX022_Accel_X_RawOUT = 0;
-short int KX022_Accel_Y_RawOUT = 0;
-short int KX022_Accel_Z_RawOUT = 0;
+short int KX122_Accel_X_RawOUT = 0;
+short int KX122_Accel_Y_RawOUT = 0;
+short int KX122_Accel_Z_RawOUT = 0;
-int KX022_Accel_X_LB = 0;
-int KX022_Accel_X_HB = 0;
-int KX022_Accel_Y_LB = 0;
-int KX022_Accel_Y_HB = 0;
-int KX022_Accel_Z_LB = 0;
-int KX022_Accel_Z_HB = 0;
+int KX122_Accel_X_LB = 0;
+int KX122_Accel_X_HB = 0;
+int KX122_Accel_Y_LB = 0;
+int KX122_Accel_Y_HB = 0;
+int KX122_Accel_Z_LB = 0;
+int KX122_Accel_Z_HB = 0;
#endif
#ifdef Pressure
@@ -216,6 +228,45 @@
float BM1383_Deci;
#endif
+#ifdef KXG03
+int j = 11;
+int t = 1;
+short int aveX = 0;
+short int aveX2 = 0;
+short int aveX3 = 0;
+short int aveY = 0;
+short int aveY2 = 0;
+short int aveY3 = 0;
+short int aveZ = 0;
+short int aveZ2 = 0;
+short int aveZ3 = 0;
+float ave22;
+float ave33;
+int KXG03_addr_w = 0x9C; //write
+int KXG03_addr_r = 0x9D; //read
+char KXG03_STBY_REG[2] = {0x43, 0x00};
+char KXG03_Content_ReadData[6];
+//char KXG03_Content_Accel_ReadData[6];
+char KXG03_Addr_ReadData = 0x02;
+//char KXG03_Addr_Accel_ReadData = 0x08;
+float KXG03_Gyro_XX;
+float KXG03_Gyro_X;
+float KXG03_Gyro_Y;
+float KXG03_Gyro_Z;
+short int KXG03_Gyro_X_RawOUT = 0;
+short int KXG03_Gyro_Y_RawOUT = 0;
+short int KXG03_Gyro_Z_RawOUT = 0;
+short int KXG03_Gyro_X_RawOUT2 = 0;
+short int KXG03_Gyro_Y_RawOUT2 = 0;
+short int KXG03_Gyro_Z_RawOUT2 = 0;
+float KXG03_Accel_X;
+float KXG03_Accel_Y;
+float KXG03_Accel_Z;
+short int KXG03_Accel_X_RawOUT = 0;
+short int KXG03_Accel_Y_RawOUT = 0;
+short int KXG03_Accel_Z_RawOUT = 0;
+#endif
+
/**
* This callback is used whenever a disconnection occurs.
*/
@@ -289,7 +340,7 @@
uint32_t len = 0;
if(i == 1) {
- #ifdef color
+ #ifdef Color
if (m_ble.getGapState().connected) {
//Read color Portion from the IC
i2c.write(BH1745_addr_w, &BH1745_Addr_color_ReadData, 1, RepStart);
@@ -492,39 +543,39 @@
i++;
}
else if(i==7){
- #ifdef KX022
+ #ifdef KX122
if (m_ble.getGapState().connected) {
- //Read KX022 Portion from the IC
- i2c.write(KX022_addr_w, &KX022_Addr_Accel_ReadData, 1, RepStart);
- i2c.read(KX022_addr_r, &KX022_Content_ReadData[0], 6, NoRepStart);
+ //Read KX122 Portion from the IC
+ i2c.write(KX122_addr_w, &KX122_Addr_Accel_ReadData, 1, RepStart);
+ i2c.read(KX122_addr_r, &KX122_Content_ReadData[0], 6, NoRepStart);
//reconfigure the data (taken from arduino code)
- KX022_Accel_X_RawOUT = (KX022_Content_ReadData[1]<<8) | (KX022_Content_ReadData[0]);
- KX022_Accel_Y_RawOUT = (KX022_Content_ReadData[3]<<8) | (KX022_Content_ReadData[2]);
- KX022_Accel_Z_RawOUT = (KX022_Content_ReadData[5]<<8) | (KX022_Content_ReadData[4]);
+ KX122_Accel_X_RawOUT = (KX122_Content_ReadData[1]<<8) | (KX122_Content_ReadData[0]);
+ KX122_Accel_Y_RawOUT = (KX122_Content_ReadData[3]<<8) | (KX122_Content_ReadData[2]);
+ KX122_Accel_Z_RawOUT = (KX122_Content_ReadData[5]<<8) | (KX122_Content_ReadData[4]);
//apply needed changes (taken from arduino code)
- KX022_Accel_X = (float)KX022_Accel_X_RawOUT / 16384;
- KX022_Accel_Y = (float)KX022_Accel_Y_RawOUT / 16384;
- KX022_Accel_Z = (float)KX022_Accel_Z_RawOUT / 16384;
+ KX122_Accel_X = (float)KX122_Accel_X_RawOUT / 16384;
+ KX122_Accel_Y = (float)KX122_Accel_Y_RawOUT / 16384;
+ KX122_Accel_Z = (float)KX122_Accel_Z_RawOUT / 16384;
//transmit the data
- len = snprintf((char*) buf, MAX_REPLY_LEN, "KX022 Sensor:");
+ len = snprintf((char*) buf, MAX_REPLY_LEN, "KX122 Sensor:");
m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
wait_ms(20);
- len = snprintf((char*) buf, MAX_REPLY_LEN, " ACCX= %0.2f g", KX022_Accel_X);
+ len = snprintf((char*) buf, MAX_REPLY_LEN, " ACCX= %0.2f g", KX122_Accel_X);
m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
wait_ms(20);
- len = snprintf((char*) buf, MAX_REPLY_LEN, " ACCY= %0.2f g", KX022_Accel_Y);
+ len = snprintf((char*) buf, MAX_REPLY_LEN, " ACCY= %0.2f g", KX122_Accel_Y);
m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
wait_ms(20);
- len = snprintf((char*) buf, MAX_REPLY_LEN, " ACCZ= %0.2f g", KX022_Accel_Z);
+ len = snprintf((char*) buf, MAX_REPLY_LEN, " ACCZ= %0.2f g", KX122_Accel_Z);
m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
wait_ms(20);
@@ -558,12 +609,148 @@
len = snprintf((char*) buf, MAX_REPLY_LEN, " Pres= %0.2f hPa", BM1383_Pres_Conv_Out);
m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
wait_ms(20);
+ }
+ #endif
+ i++;
+ }
+ else if(i == 9){
+ #ifdef KXG03
+ if (m_ble.getGapState().connected) {
+ i2c.write(KXG03_addr_w, &KXG03_Addr_ReadData, 1, RepStart);
+ i2c.read(KXG03_addr_r, &KXG03_Content_ReadData[0], 6, NoRepStart);
+
+ if (t == 1){
+ int j = 11;
+ while(--j)
+ {
+ //Read KXG03 Gyro Portion from the IC
+ i2c.write(KXG03_addr_w, &KXG03_Addr_ReadData, 1, RepStart);
+ i2c.read(KXG03_addr_r, &KXG03_Content_ReadData[0], 6, NoRepStart);
+
+ //Format Data
+ KXG03_Gyro_X_RawOUT = (KXG03_Content_ReadData[1]<<8) | (KXG03_Content_ReadData[0]);
+ KXG03_Gyro_Y_RawOUT = (KXG03_Content_ReadData[3]<<8) | (KXG03_Content_ReadData[2]);
+ KXG03_Gyro_Z_RawOUT = (KXG03_Content_ReadData[5]<<8) | (KXG03_Content_ReadData[4]);
+ aveX = KXG03_Gyro_X_RawOUT;
+ aveY = KXG03_Gyro_Y_RawOUT;
+ aveZ = KXG03_Gyro_Z_RawOUT;
+ aveX2 = aveX2 + aveX;
+ aveY2 = aveY2 + aveY;
+ aveZ2 = aveZ2 + aveZ;
+ }
+ aveX3 = aveX2 / 10;
+ aveY3 = aveY2 / 10;
+ aveZ3 = aveZ2 / 10;
+
+ len = snprintf((char*) buf, MAX_REPLY_LEN, "Gyro Sensor:");
+ m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
+ wait_ms(20);
+
+ len = snprintf((char*) buf, MAX_REPLY_LEN, "Calibration OK");
+ m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
+ wait_ms(20);
+
+ //len = snprintf((char*) buf, MAX_REPLY_LEN, " aveX2= %d", aveX2);
+ //m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
+ //wait_ms(20);
+
+ //len = snprintf((char*) buf, MAX_REPLY_LEN, " aveX3= %d", aveX3);
+ //m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
+ wait_ms(20);
+
+
+ //Read KXG03 Gyro Portion from the IC
+ i2c.write(KXG03_addr_w, &KXG03_Addr_ReadData, 1, RepStart);
+ i2c.read(KXG03_addr_r, &KXG03_Content_ReadData[0], 6, NoRepStart);
+
+ //reconfigure the data (taken from arduino code)
+ KXG03_Gyro_X_RawOUT = (KXG03_Content_ReadData[1]<<8) | (KXG03_Content_ReadData[0]);
+ KXG03_Gyro_Y_RawOUT = (KXG03_Content_ReadData[3]<<8) | (KXG03_Content_ReadData[2]);
+ KXG03_Gyro_Z_RawOUT = (KXG03_Content_ReadData[5]<<8) | (KXG03_Content_ReadData[4]);
+
+ KXG03_Gyro_X_RawOUT2 = KXG03_Gyro_X_RawOUT - aveX3;
+ KXG03_Gyro_Y_RawOUT2 = KXG03_Gyro_Y_RawOUT - aveY3;
+ KXG03_Gyro_Z_RawOUT2 = KXG03_Gyro_Z_RawOUT - aveZ3;
+
+ /*
+ len = snprintf((char*) buf, MAX_REPLY_LEN, " Y= %d", KXG03_Gyro_Y_RawOUT);
+ m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
+ wait_ms(20);
+
+ len = snprintf((char*) buf, MAX_REPLY_LEN, " aveY3= %d", aveY3);
+ m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
+ wait_ms(20);
+
+ len = snprintf((char*) buf, MAX_REPLY_LEN, " Y= %d", KXG03_Gyro_Y_RawOUT2);
+ m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
+ wait_ms(20);
+ */
+
+ //Scale Data
+ KXG03_Gyro_X = (float)KXG03_Gyro_X_RawOUT2 * 0.007813 + 0.000004;
+ KXG03_Gyro_Y = (float)KXG03_Gyro_Y_RawOUT2 * 0.007813 + 0.000004;
+ KXG03_Gyro_Z = (float)KXG03_Gyro_Z_RawOUT2 * 0.007813 + 0.000004;
+
+ len = snprintf((char*) buf, MAX_REPLY_LEN, " X= %0.2fdeg/s", KXG03_Gyro_X);
+ m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
+ wait_ms(20);
+
+ len = snprintf((char*) buf, MAX_REPLY_LEN, " Y= %0.2fdeg/s", KXG03_Gyro_Y);
+ m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
+ wait_ms(20);
+
+ len = snprintf((char*) buf, MAX_REPLY_LEN, " Z= %0.2fdeg/s", KXG03_Gyro_Z);
+ m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
+ wait_ms(20);
+
+ len = snprintf((char*) buf, MAX_REPLY_LEN, " ");
+ m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
+ wait_ms(20);
+
+ t = 0;
+ }
+
+ else {
+ //Read KXG03 Gyro Portion from the IC
+ i2c.write(KXG03_addr_w, &KXG03_Addr_ReadData, 1, RepStart);
+ i2c.read(KXG03_addr_r, &KXG03_Content_ReadData[0], 6, NoRepStart);
+
+ //reconfigure the data (taken from arduino code)
+ KXG03_Gyro_X_RawOUT = (KXG03_Content_ReadData[1]<<8) | (KXG03_Content_ReadData[0]);
+ KXG03_Gyro_Y_RawOUT = (KXG03_Content_ReadData[3]<<8) | (KXG03_Content_ReadData[2]);
+ KXG03_Gyro_Z_RawOUT = (KXG03_Content_ReadData[5]<<8) | (KXG03_Content_ReadData[4]);
+
+ KXG03_Gyro_X_RawOUT2 = KXG03_Gyro_X_RawOUT - aveX3;
+ KXG03_Gyro_Y_RawOUT2 = KXG03_Gyro_Y_RawOUT - aveY3;
+ KXG03_Gyro_Z_RawOUT2 = KXG03_Gyro_Z_RawOUT - aveZ3;
+
+ //Scale Data
+ KXG03_Gyro_X = (float)KXG03_Gyro_X_RawOUT2 * 0.007813 + 0.000004;
+ KXG03_Gyro_Y = (float)KXG03_Gyro_Y_RawOUT2 * 0.007813 + 0.000004;
+ KXG03_Gyro_Z = (float)KXG03_Gyro_Z_RawOUT2 * 0.007813 + 0.000004;
+
+ len = snprintf((char*) buf, MAX_REPLY_LEN, "Gyro Sensor:");
+ m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
+ wait_ms(20);
+
+ len = snprintf((char*) buf, MAX_REPLY_LEN, " X= %0.2fdeg/s", KXG03_Gyro_X);
+ m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
+ wait_ms(20);
+
+ len = snprintf((char*) buf, MAX_REPLY_LEN, " Y= %0.2fdeg/s", KXG03_Gyro_Y);
+ m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
+ wait_ms(20);
+
+ len = snprintf((char*) buf, MAX_REPLY_LEN, " Z= %0.2fdeg/s", KXG03_Gyro_Z);
+ m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
+ wait_ms(20);
len = snprintf((char*) buf, MAX_REPLY_LEN, " ");
m_ble.updateCharacteristicValue(m_uart_service_ptr->getRXCharacteristicHandle(), buf, len);
wait_ms(20);
- }
- #endif
+ }
+ }
+ #endif
i=1;
}
}
@@ -617,7 +804,7 @@
i2c.write(KMX62_addr_w, &KMX62_CNTL2[0], 2, false);
#endif
- #ifdef color
+ #ifdef Color
// 1. CNTL2 (0x3A), write (0x5F): 4g, Max RES, EN temp mag and accel
i2c.write(BH1745_addr_w, &BH1745_persistence[0], 2, false);
i2c.write(BH1745_addr_w, &BH1745_mode1[0], 2, false);
@@ -625,12 +812,12 @@
i2c.write(BH1745_addr_w, &BH1745_mode3[0], 2, false);
#endif
- #ifdef KX022
- i2c.write(KX022_addr_w, &KX022_Accel_CNTL1[0], 2, false);
- i2c.write(KX022_addr_w, &KX022_Accel_ODCNTL[0], 2, false);
- i2c.write(KX022_addr_w, &KX022_Accel_CNTL3[0], 2, false);
- i2c.write(KX022_addr_w, &KX022_Accel_TILT_TIMER[0], 2, false);
- i2c.write(KX022_addr_w, &KX022_Accel_CNTL2[0], 2, false);
+ #ifdef KX122
+ i2c.write(KX122_addr_w, &KX122_Accel_CNTL1[0], 2, false);
+ i2c.write(KX122_addr_w, &KX122_Accel_ODCNTL[0], 2, false);
+ i2c.write(KX122_addr_w, &KX122_Accel_CNTL3[0], 2, false);
+ i2c.write(KX122_addr_w, &KX122_Accel_TILT_TIMER[0], 2, false);
+ i2c.write(KX122_addr_w, &KX122_Accel_CNTL2[0], 2, false);
#endif
#ifdef Pressure
@@ -638,6 +825,10 @@
i2c.write(Press_addr_w, &SLEEP[0], 2, false);
i2c.write(Press_addr_w, &Mode_Control[0], 2, false);
#endif
+
+ #ifdef KXG03
+ i2c.write(KXG03_addr_w, &KXG03_STBY_REG[0], 2, false);
+ #endif
//Start BTLE Initialization Section
m_ble.init();