aconno acnsensa project for iOS devices with iBeacon packets support.
Dependencies: LSM9DS1 Si7006A20 aconno_SEGGER_RTT aconno_bsp adc52832_common
Diff: main.cpp
- Revision:
- 1:326ce5e200fb
- Parent:
- 0:12899fa39f88
- Child:
- 2:c0654c5fb771
diff -r 12899fa39f88 -r 326ce5e200fb main.cpp --- a/main.cpp Mon Nov 27 12:12:59 2017 +0000 +++ b/main.cpp Wed Dec 13 09:37:21 2017 +0000 @@ -1,6 +1,7 @@ /* * aconno.de * Made by Jurica Resetar + * Edited by Karlo Milicevic * All right reserved * */ @@ -13,106 +14,97 @@ #include "LSM9DS1.h" #include "math.h" #include "nrf52_digital.h" +#include "adc52832_common/utilities.h" +#include "MPL115A1.h" #define V0 0.47 /* In volts */ #define TC 0.01 /* In volts */ #define VCC (3.6) +#define VALUE_TO_PERCENTAGE (100) +#define WAKEUP_TIME_DELAY_MS (150) +#define APPLICATION_ID (0xCF170059) + +#define I2C_DATA (p19) +#define I2C_CLK (p20) +#define SPI_MISO (p5) +#define SPI_MOSI (p3) +#define SPI_SCLK (p4) #define DEBUG_PRINT (0) #define SLEEP_TIME (0.150) /* Sleep time in seconds */ #define WAKE_UP_TIME (0.150) /* Awake time in ms */ -#define MSD_SIZE (25) /* Manufacturer Specific Data lenght (in B) */ #define ADV_INTERVAL (100) /* Advertising interval in ms */ -#define TX_POWER (4) /* TX power (in dB) */ #define GO_TO_SLEEP (0) /* Sleep flag: 0 -> Device will not go to sleep, 1 -> Will go to sleep mode */ +#define CALIBRATION_STEPS 20 -// Definitions of the location within MSD for the data -#define ADV_TYPE (4) -#define GYRO (5) -#define ACC (11) -#define MAGNETO (17) -#define TEMPERATURE (5) -#define HUMIDITY (9) -#define PRESSURE (13) -#define LIGHT (17) - - -AnalogIn temperature(ADC_TEMP); -AnalogIn light(ADC_LIGHT); -NRF52_DigitalOut lightPower(p28); -NRF52_DigitalOut temperaturePower(p31); -SPI spi(p3, p5, p4); // mosi, miso, sclk -NRF52_DigitalOut cs(p7); -NRF52_DigitalOut shdn(p6); -NRF52_DigitalOut led(p23); -NRF52_DigitalOut power(p2); -Si7006 *si; -LSM9DS1 *mems; +static AnalogIn temperature(ADC_TEMP); +static AnalogIn light(ADC_LIGHT); +static NRF52_DigitalOut lightPower(p28); +static NRF52_DigitalOut temperaturePower(p31); +static NRF52_DigitalOut shdn(p6); +static NRF52_DigitalOut led(p23); +static NRF52_DigitalOut power(p2); +static NRF52_DigitalOut cs(p7); +static Si7006 *si; +static LSM9DS1 *mems; +static SPI *spi; +static MPL115A1 *mpl115a1; #if DEBUG_PRINT #include "nrf52_uart.h" - NRF52_UART serial = NRF52_UART(p25,p26,Baud9600); //Tx, RX BaudRate - uint8_t charCounter; + NRF52_UART serial = NRF52_UART(p25, p26, Baud9600); //Tx, RX BaudRate char buffer[256] = {0}; #define SEND(...) {uint8_t len = sprintf(buffer, __VA_ARGS__); serial.send(buffer, len);} + #define SENDN(...) {uint8_t len = sprintf(buffer "\n\r", __VA_ARGS__); serial.send(buffer, len);} #else #define SEND(...); + #define SENDN(...); #endif -bool SLEEP = true; -int8_t txPower = 4; +static bool sleepFlag = true; -union float2bytes{ - float f; - char b[sizeof(float)]; -}; +static vector3_s memsAccInit; +static vector3_s memsGyrInit; +static vector3_s memsMagInit; -float2bytes temp2byte; -float2bytes hum2byte; -float2bytes light2byte; -float2bytes pressure2byte; +static BLE &ble = BLE::Instance(); +static GapAdvertisingData adv_data = GapAdvertisingData(); -uint16_t a0_frac_mask = 0x0007; -uint8_t a0_frac_bits = 3; -uint16_t b1_frac_mask = 0x1FFF; -uint8_t b1_frac_bits = 13; -uint16_t b2_frac_mask = 0x3FFF; -uint8_t b2_frac_bits = 14; -uint16_t c12_frac_mask = 0x1FFF; -uint8_t c12_frac_bits = 22; +struct __attribute__((packed, aligned(1))) advertising_packet{ + uint32_t header; + uint8_t type; + union{ + struct{ + int16_t gyr[3]; + int16_t acc[3]; + int16_t mag[3]; + }; + struct{ + float temperature; + float humidity; + float pressure; + float light; + }; + }; +}; +static advertising_packet advPacket; -int16_t memsBuffer[3]; -int16_t memsAccInit[3]={0,0,0}; -int16_t memsGyroInit[3]={0,0,0}; -int16_t memsMagInit[3]={0,0,0}; - -BLE &ble = BLE::Instance(); -GapAdvertisingData adv_data = GapAdvertisingData(); -uint8_t MSD[MSD_SIZE] = {0x59, 0x00, 0x17, 0xCF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; - - -/** - * Restart Advertising on disconnection - */ void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params){ + // Restart Advertising on disconnection BLE::Instance().gap().startAdvertising(); } /** * Function for waking the core up */ -void wakeMeUp(void){ - SLEEP = false; - } +void wakeMeUp(){ + sleepFlag = false; +} -/** - * This function is called when the ble initialization process has failed - */ void onBleInitError(BLE &ble, ble_error_t error){ /* Avoid compiler warnings */ (void) ble; (void) error; - /* Initialization error handling should go here */ } /** @@ -123,7 +115,6 @@ ble_error_t error = params->error; if (error != BLE_ERROR_NONE) { - /* In case of error, forward the error handling to onBleInitError */ onBleInitError(ble, error); return; } @@ -137,429 +128,112 @@ /* setup advertising */ ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED); - ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA, (uint8_t *)MSD, MSD_SIZE); + ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA, (uint8_t *)&advPacket, sizeof(advPacket)); ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_NON_CONNECTABLE_UNDIRECTED); ble.gap().setAdvertisingInterval(ADV_INTERVAL); ble.gap().startAdvertising(); } - - -void getLight(uint8_t *light_data){ - light2byte.f = light.read() * 100; - *(light_data+0) = light2byte.b[0]; - *(light_data+1) = light2byte.b[1]; - *(light_data+2) = light2byte.b[2]; - *(light_data+3) = light2byte.b[3]; +float getLight(){ + return light.read() * VALUE_TO_PERCENTAGE; } float voltage2temp(float vOut){ return ((float)vOut - (float)V0)/((float)TC); } -void getTemperature(uint8_t *temperature_data){ - temp2byte.f = voltage2temp(temperature.read()*(float)VCC); - *(temperature_data+0) = temp2byte.b[0]; - *(temperature_data+1) = temp2byte.b[1]; - *(temperature_data+2) = temp2byte.b[2]; - *(temperature_data+3) = temp2byte.b[3]; +float getTemperature(){ + return voltage2temp(temperature.read()*(float)VCC); } -void getHumidity(uint8_t *hum_data){ - //float temp; - float humid; - si->getHumidity(&humid); - //si.getTemperature(&temp); - hum2byte.f = humid; - *(hum_data+0) = hum2byte.b[0]; - *(hum_data+1) = hum2byte.b[1]; - *(hum_data+2) = hum2byte.b[2]; - *(hum_data+3) = hum2byte.b[3]; +float getHumidity(){ + float result; + si->getHumidity(&result); + return result; } -void readGyro(int8_t *gyro_data){ - mems->readGyro(memsBuffer); - // Use init data values - memsBuffer[0] -= memsGyroInit[0]; - memsBuffer[1] -= memsGyroInit[1]; - memsBuffer[2] -= memsGyroInit[2]; - gyro_data[0] = memsBuffer[0] & 0xFF; // X axis - gyro_data[1] = (memsBuffer[0] >> 8); // X axis - gyro_data[2] = memsBuffer[1] & 0xFF; // Y axis - gyro_data[3] = (memsBuffer[1] >> 8); // Y axis - gyro_data[4] = memsBuffer[2] & 0xFF; // Z axis - gyro_data[5] = (memsBuffer[2] >> 8); // Z axis +void readGyr(vector3_s *gyro_data){ + mems->readGyro((int16_t *)gyro_data); + *gyro_data -= memsGyrInit; } -void readMyAcc(int8_t *acc_data){ - mems->readAcc(memsBuffer); - // Use init data values - memsBuffer[0] -= memsAccInit[0]; - memsBuffer[1] -= memsAccInit[1]; - memsBuffer[2] -= memsAccInit[2]; - acc_data[0] = memsBuffer[0] & 0xFF; // X axis - acc_data[1] = (memsBuffer[0] >> 8); // X axis - acc_data[2] = memsBuffer[1] & 0xFF; // Y axis - acc_data[3] = (memsBuffer[1] >> 8); // Y axis - acc_data[4] = memsBuffer[2] & 0xFF; // Z axis - acc_data[5] = (memsBuffer[2] >> 8); // Z axis +void readAcc(vector3_s *acc_data){ + mems->readAcc((int16_t *)acc_data); + *acc_data -= memsAccInit; } -void readMagneto(int8_t *magneto_data){ - mems->readMag(memsBuffer); - // Use init data values - memsBuffer[0] -= memsMagInit[0]; - memsBuffer[1] -= memsMagInit[1]; - memsBuffer[2] -= memsMagInit[2]; - magneto_data[0] = memsBuffer[0] * 0xFF; // X axis - magneto_data[1] = (memsBuffer[0] >> 8); // X axis - magneto_data[2] = memsBuffer[1] * 0xFF; // X axis - magneto_data[3] = (memsBuffer[1] >> 8); // X axis - magneto_data[4] = memsBuffer[2] * 0xFF; // X axis - magneto_data[5] = (memsBuffer[2] >> 8); // X axis +void readMag(vector3_s *magneto_data){ + mems->readMag((int16_t *)magneto_data); + *magneto_data -= memsMagInit; } void calibrateAcc(){ - uint8_t counter=0; - int8_t acc_data[6]; - for(counter=0; counter<20; counter++){ - readMyAcc(acc_data); - memsAccInit[0] += acc_data[0]; - memsAccInit[1] += acc_data[1]; - memsAccInit[2] += acc_data[2]; + vector3_s acc_data; + for(uint8_t counter = 0; counter < CALIBRATION_STEPS; ++counter){ + readAcc(&acc_data); + memsAccInit += acc_data; } - memsAccInit[0] /= counter; - memsAccInit[1] /= counter; - memsAccInit[2] /= counter; + memsAccInit /= CALIBRATION_STEPS; } -void calibrateGyro(){ - uint8_t counter; - int8_t gyro_data[6]; - for(counter=0; counter<20; counter++){ - readMyAcc(gyro_data); - memsGyroInit[0] += gyro_data[0]; - memsGyroInit[1] += gyro_data[1]; - memsGyroInit[2] += gyro_data[2]; +void calibrateGyr(){ + vector3_s gyro_data; + for(uint8_t counter = 0; counter < CALIBRATION_STEPS; ++counter){ + readGyr(&gyro_data); + memsGyrInit += gyro_data; } - memsGyroInit[0] /= counter; - memsGyroInit[1] /= counter; - memsGyroInit[2] /= counter; + memsGyrInit /= CALIBRATION_STEPS; } void calibrateMag(){ - uint8_t counter=0; - int8_t mag_data[6]; - for(counter=0; counter<20; counter++){ - readMyAcc(mag_data); - memsMagInit[0] += mag_data[0]; - memsMagInit[1] += mag_data[1]; - memsMagInit[2] += mag_data[2]; - } - memsMagInit[0] /= counter; - memsMagInit[1] /= counter; - memsMagInit[2] /= counter; -} - - -float get_a0(uint16_t a0){ - float temp_a0; - float temp_frac; - int temp_a0_int; - uint8_t negative_flag = 0; - - if(a0& 0x8000){ - a0 ^= 0xFFFF; // Transform from 2's complement - a0 -= 1; - negative_flag = 1; - } - - temp_a0_int = a0 & 0x7FF8; - temp_a0_int = temp_a0_int >> a0_frac_bits; - - temp_a0 = temp_a0_int * 1.0; // Int part - temp_frac = (1.0/(pow(2.0,3))); - temp_frac *= (a0 & a0_frac_mask); - temp_a0 = temp_a0 + temp_frac; - - if(negative_flag) temp_a0 = -temp_a0; - - return temp_a0; -} - -float get_b1(uint16_t b1){ - float temp_b1; - float temp_frac; - int temp_b1_int; - uint8_t negative_flag = 0; - - if (b1 & 0x8000){ - b1 ^= 0xFFFF; - b1 -= 1; - negative_flag = 1; - } - - temp_b1_int = b1 & 0x6000; - temp_b1_int = temp_b1_int >> b1_frac_bits; - - temp_b1 = temp_b1_int * 1.0; - temp_frac = (b1 & b1_frac_mask) * (1.0/(pow(2.0,b1_frac_bits))); - temp_b1 = temp_b1 + temp_frac; - - if (negative_flag) temp_b1 = -temp_b1; - - return temp_b1; -} - -float get_b2(uint16_t b2){ - float temp_b2; - float temp_frac; - int temp_b2_int; - uint8_t negative_flag = 0; - - if (b2 & 0x8000){ - b2 ^= 0xFFFF; - b2 -= 1; - negative_flag = 1; - } - - temp_b2_int = b2 & 0x4000; - temp_b2_int = temp_b2_int >> b2_frac_bits; - - temp_b2 = temp_b2_int * 1.0; - temp_frac = (b2 & b2_frac_mask) * (1.0/(pow(2.0,b2_frac_bits))); - temp_b2 = temp_b2 + temp_frac; - - if (negative_flag) temp_b2 = -temp_b2; - - return temp_b2; -} - - -float get_c12(uint16_t c12){ - float temp_c12; - float temp_frac; - uint8_t negative_flag = 0; - - c12 = c12 >> 2; - - if (c12 & 0x2000){ - c12 ^= 0xFFFF; - c12 -= 1; - negative_flag = 1; + vector3_s mag_data; + for(uint8_t counter = 0; counter < CALIBRATION_STEPS; ++counter){ + readMag(&mag_data); + memsMagInit += mag_data; } - - temp_c12 = 0.000000000; - temp_frac = (c12 & c12_frac_mask) * (1.0/(pow(2.0,c12_frac_bits))); - temp_c12 = temp_c12 + temp_frac; - - if (negative_flag) temp_c12 = -temp_c12; - - return temp_c12; -} - -void get_pressure(uint8_t *pressure_ret){ - float pcomp = 0x00; - volatile float pressure; - - uint16_t a0 = 0; - uint16_t b1 = 0; - uint16_t b2 = 0; - uint16_t c12 = 0; - uint16_t padc = 0; - uint16_t tadc = 0; - - float a0_f, b1_f, b2_f, c12_f; - cs = 0; - spi.write(0x88); // MSB a0 - a0 = spi.write(0x00); - a0 = a0 << 8; - wait_ms(1); - spi.write(0x8A); // LSB a0 - a0 |= spi.write(0x00); - wait_ms(1); - - spi.write(0x8C); // MSB b1 - b1 = spi.write(0x00); - b1 = b1 << 8; - wait_ms(1); - spi.write(0x8E); // LSB b1 - b1 |= spi.write(0x00); - wait_ms(1); - - spi.write(0x90); // MSB b2 - b2 = spi.write(0x00); - b2 = b2 << 8; - wait_ms(1); - spi.write(0x92); // LSB b2 - b2 |= spi.write(0x00); - wait_ms(1); - - spi.write(0x94); // MSB c12 - c12 = spi.write(0x00); - c12 = c12 << 8; - wait_ms(1); - spi.write(0x96); // LSB c12 - c12 |= spi.write(0x00); - wait_ms(1); - spi.write(0x00); - cs = 1; - - cs = 0; - spi.write(0x24); // Start conversion - spi.write(0x00); - cs = 1; - wait_ms(3); - - cs = 0; - spi.write(0x80); - padc = spi.write(0x00); // MSB Padc - padc = padc << 8; - spi.write(0x82); - padc |= spi.write(0x00); // LSB Padc - padc = padc >> 6; - - spi.write(0x84); - tadc = spi.write(0x00); // MSB Padc - tadc = tadc << 8; - spi.write(0x86); - tadc |= spi.write(0x00); // LSB Padc - tadc = tadc >> 6; - - spi.write(0x00); - cs = 1; - - a0_f = get_a0(a0); - b1_f = get_b1(b1); - b2_f = get_b2(b2); - c12_f = get_c12(c12); - /* - float c12x2 = c12_f * tadc; - float a1_f = b1_f + c12x2; - float a1x1 = a1_f * padc; - float y1 = a0_f + a1x1; - float a2x2 = b2_f * tadc; - pcomp = y1 + a2x2; - */ - - pcomp = a0_f + (b1_f + c12_f * tadc) * padc + b2_f * tadc; - pressure = pcomp * ((115-50)/(1023.0)) + 52; // Was + 50 - pressure *= 10; // Calculate in hPa - pressure2byte.f = pressure; - *(pressure_ret+0) = pressure2byte.b[0]; - *(pressure_ret+1) = pressure2byte.b[1]; - *(pressure_ret+2) = pressure2byte.b[2]; - *(pressure_ret+3) = pressure2byte.b[3]; + memsMagInit /= CALIBRATION_STEPS; } void updateData(){ - uint8_t temperature_data[4]; - uint8_t light_data[4]; - int8_t gyro_data[6]; - int8_t acc_data[6]; - int8_t magneto_data[6]; - uint8_t hum_data[4]; - uint8_t pressure_data[4]; static uint8_t adv_type = 0; - if(adv_type < 1){ - - // Set adv type - MSD[ADV_TYPE] = 0x00; - // Read gyro - readGyro(gyro_data); - MSD[GYRO+0] = *(gyro_data+0); // X axis - MSD[GYRO+1] = *(gyro_data+1); // X axis - MSD[GYRO+2] = *(gyro_data+2); // Y axis - MSD[GYRO+3] = *(gyro_data+3); // Y axis - MSD[GYRO+4] = *(gyro_data+4); // Z axis - MSD[GYRO+5] = *(gyro_data+5); // Z axis - - - // Read acc - readMyAcc(acc_data); - MSD[ACC+0] = *(acc_data+0); // X axis - MSD[ACC+1] = *(acc_data+1); // X axis - MSD[ACC+2] = *(acc_data+2); // Y axis - MSD[ACC+3] = *(acc_data+3); // Y axis - MSD[ACC+4] = *(acc_data+4); // Z axis - MSD[ACC+5] = *(acc_data+5); // Z axis - - // Read magneto - readMagneto(magneto_data); - //magneto_data[0] = 0x11; - //magneto_data[1] = 0x23; - MSD[MAGNETO+0] = *(magneto_data+0); // X axis - MSD[MAGNETO+1] = *(magneto_data+1); // X axis - MSD[MAGNETO+2] = *(magneto_data+2); // Y axis - MSD[MAGNETO+3] = *(magneto_data+3); // Y axis - MSD[MAGNETO+4] = *(magneto_data+4); // Z axis - MSD[MAGNETO+5] = *(magneto_data+5); // Z axis - + if(adv_type < 1){ + advPacket.type = 0x00; + readGyr((vector3_s *)advPacket.gyr); + readAcc((vector3_s *)advPacket.acc); + readMag((vector3_s *)advPacket.mag); } else{ - // Set adv type - MSD[ADV_TYPE] = 0x01; - // Read temperature - getTemperature(temperature_data); - MSD[TEMPERATURE+0] = *(temperature_data+0); - MSD[TEMPERATURE+1] = *(temperature_data+1); - MSD[TEMPERATURE+2] = *(temperature_data+2); - MSD[TEMPERATURE+3] = *(temperature_data+3); - - // Read light - getLight(light_data); - MSD[LIGHT+0] = *(light_data+0); - MSD[LIGHT+1] = *(light_data+1); - MSD[LIGHT+2] = *(light_data+2); - MSD[LIGHT+3] = *(light_data+3); - - // Read Pressure - get_pressure(pressure_data); - MSD[PRESSURE+0] = *(pressure_data+0); - MSD[PRESSURE+1] = *(pressure_data+1); - MSD[PRESSURE+2] = *(pressure_data+2); - MSD[PRESSURE+3] = *(pressure_data+3); - - // Read Humidity - getHumidity(hum_data); - MSD[HUMIDITY+0] = *(hum_data+0); - MSD[HUMIDITY+1] = *(hum_data+1); - MSD[HUMIDITY+2] = *(hum_data+2); - MSD[HUMIDITY+3] = *(hum_data+3); + advPacket.type = 0x01; + advPacket.temperature = getTemperature(); + advPacket.light = getLight(); + advPacket.humidity = getHumidity(); + advPacket.pressure = mpl115a1->getPressure(); } - adv_type++; - if(adv_type>2) adv_type = 0; + if(++adv_type > 2) adv_type = 0; adv_data = ble.getAdvertisingData(); - adv_data.updateData(adv_data.MANUFACTURER_SPECIFIC_DATA, MSD, 25); + adv_data.updateData(adv_data.MANUFACTURER_SPECIFIC_DATA, (uint8_t *)&advPacket, sizeof(advPacket)); ble.setAdvertisingData(adv_data); } -int main(void){ - - SEND("Main started.\r\n"); +int main(){ power = 1; - SEND("Main power regulator turned ON.\r\n"); - wait_ms(150); + wait_ms(WAKEUP_TIME_DELAY_MS); temperaturePower = 1; - SEND("Temperature power turned ON.\r\n"); lightPower = 1; - SEND("Light power turned ON.\r\n"); - shdn = 1; // Wake up the pressure sensor - SEND("Pressure sensor woken up.\r\n"); + shdn = 1; // Wake up the pressure sensor + + advPacket.header = APPLICATION_ID; + + ble.init(bleInitComplete); - /* - while(1){ - led = !led; - wait_ms(500); - } - */ - - I2C i2c(p19, p20); - si = new Si7006(&i2c); - mems = new LSM9DS1(i2c); + I2C i2c(I2C_DATA, I2C_CLK); + si = new Si7006(&i2c); + mems = new LSM9DS1(i2c); + spi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCLK); + mpl115a1 = new MPL115A1(*spi, cs); mems->startAcc(); mems->startGyro(); @@ -568,30 +242,21 @@ led = 1; Ticker ticker; - ticker.attach(wakeMeUp, SLEEP_TIME); // Wake the device up - - ble.init(bleInitComplete); - ble.gap().setTxPower(TX_POWER); // Set TX power to TX_POWER + ticker.attach(wakeMeUp, SLEEP_TIME); // Wake the device up - /* SpinWait for initialization to complete. This is necessary because the - * BLE object is used in the main loop below. */ - while (ble.hasInitialized() == false) { /* spin loop */ } - while (true){ - - if (SLEEP && GO_TO_SLEEP){ - ble.gap().stopAdvertising(); - sleep(); - ble.waitForEvent(); - } - else{ - // I'm awake - updateData(); - ble.gap().startAdvertising(); - wait_ms(WAKE_UP_TIME); - SLEEP = true; + while(ble.hasInitialized() == false); /* spin loop */ + while(true){ + if (sleepFlag && GO_TO_SLEEP){ + ble.gap().stopAdvertising(); + sleep(); + ble.waitForEvent(); + } + else{ + // I'm awake + updateData(); + ble.gap().startAdvertising(); + wait_ms(WAKE_UP_TIME); + sleepFlag = true; } } - - - }