ROHMUSDC
Code used for Sensor Expo 2016 - Balloon Game. More details can be found here: https://github.com/ROHMUSDC/ROHM-SensorExpo2016-Pressure-Sensor-Demo/
Dependencies: BLE_API mbed nRF51822
Fork of
Nordic_UART_TEMPLATE_ROHM_SHLD1Update
by 
ROHMUSDC
ROHM Balloon Game Demo Code featured at Sensors Expo 2016
This code was written to be used with the Nordic Semiconductor nRF51-DK.
This Code allows the user to configure two known pressure distances and save pressure readings onto the application. Then it will automatically extrapolate these values and allow the user to see the height of the board. When connected to a balloon, greater heights can be achieved and the board will return the current height of the board.
Additional information about the ROHM MultiSensor Shield Board can be found at the following link: https://github.com/ROHMUSDC/ROHM-SensorExpo2016-Pressure-Sensor-Demo/
For code example for the ROHM SENSORSHLD0-EVK-101, please see the following link: https://developer.mbed.org/teams/ROHMUSDC/code/ROHMSensorShield_BALOONGAME/
Operation
See Github Repositoy for additional information on how to operate this demo application.
Supported ROHM Sensor Devices
- BM1383GLV Pressure Sensor
Questions/Feedback
Please feel free to let us know any questions/feedback/comments/concerns on the ROHM shield implementation by contacting the following e-mail:
Diff: main.cpp
- Revision:
- 7:71046927a0e9
- Parent:
- 6:6860e53dc7ae
- Child:
- 8:2a19622864c2
--- 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();