basic test to get quaternion over ble and use it to improve balance board skills
Dependencies: BLE_API eMPL_MPU6050 mbed nRF51822
Fork of Seeed_Tiny_BLE_Get_Started by
main.cpp@2:b61ddbb8528e, 2015-11-05 (annotated)
- Committer:
- yihui
- Date:
- Thu Nov 05 02:46:37 2015 +0000
- Revision:
- 2:b61ddbb8528e
- Parent:
- 0:26da608265f8
- Child:
- 3:24e365bd1b97
able to recover from i2c bus fault
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yihui | 0:26da608265f8 | 1 | |
yihui | 0:26da608265f8 | 2 | #include "mbed.h" |
yihui | 0:26da608265f8 | 3 | #include "mbed_i2c.h" |
yihui | 0:26da608265f8 | 4 | #include "inv_mpu.h" |
yihui | 0:26da608265f8 | 5 | #include "inv_mpu_dmp_motion_driver.h" |
yihui | 2:b61ddbb8528e | 6 | #include "nrf51.h" |
yihui | 2:b61ddbb8528e | 7 | #include "nrf51_bitfields.h" |
yihui | 0:26da608265f8 | 8 | |
yihui | 0:26da608265f8 | 9 | #include "BLEDevice.h" |
yihui | 0:26da608265f8 | 10 | #include "DFUService.h" |
yihui | 0:26da608265f8 | 11 | #include "UARTService.h" |
yihui | 0:26da608265f8 | 12 | |
yihui | 0:26da608265f8 | 13 | |
yihui | 0:26da608265f8 | 14 | #define LOG(...) { pc.printf(__VA_ARGS__); } |
yihui | 0:26da608265f8 | 15 | |
yihui | 0:26da608265f8 | 16 | #define LED_GREEN p21 |
yihui | 0:26da608265f8 | 17 | #define LED_RED p22 |
yihui | 0:26da608265f8 | 18 | #define LED_BLUE p23 |
yihui | 0:26da608265f8 | 19 | #define BUTTON_PIN p17 |
yihui | 0:26da608265f8 | 20 | #define BATTERY_PIN p1 |
yihui | 0:26da608265f8 | 21 | |
yihui | 0:26da608265f8 | 22 | #define MPU6050_SDA p12 |
yihui | 0:26da608265f8 | 23 | #define MPU6050_SCL p13 |
yihui | 0:26da608265f8 | 24 | |
yihui | 0:26da608265f8 | 25 | #define UART_TX p9 |
yihui | 0:26da608265f8 | 26 | #define UART_RX p11 |
yihui | 0:26da608265f8 | 27 | #define UART_CTS p8 |
yihui | 0:26da608265f8 | 28 | #define UART_RTS p10 |
yihui | 0:26da608265f8 | 29 | |
yihui | 0:26da608265f8 | 30 | /* Starting sampling rate. */ |
yihui | 2:b61ddbb8528e | 31 | #define DEFAULT_MPU_HZ (200) |
yihui | 0:26da608265f8 | 32 | |
yihui | 0:26da608265f8 | 33 | DigitalOut blue(LED_BLUE); |
yihui | 0:26da608265f8 | 34 | DigitalOut green(LED_GREEN); |
yihui | 0:26da608265f8 | 35 | DigitalOut red(LED_RED); |
yihui | 0:26da608265f8 | 36 | |
yihui | 0:26da608265f8 | 37 | InterruptIn button(BUTTON_PIN); |
yihui | 0:26da608265f8 | 38 | AnalogIn battery(BATTERY_PIN); |
yihui | 0:26da608265f8 | 39 | Serial pc(UART_TX, UART_RX); |
yihui | 0:26da608265f8 | 40 | |
yihui | 0:26da608265f8 | 41 | InterruptIn motion_probe(p14); |
yihui | 0:26da608265f8 | 42 | |
yihui | 2:b61ddbb8528e | 43 | int read_none_count = 0; |
yihui | 2:b61ddbb8528e | 44 | |
yihui | 0:26da608265f8 | 45 | BLEDevice ble; |
yihui | 0:26da608265f8 | 46 | UARTService *uartServicePtr; |
yihui | 0:26da608265f8 | 47 | |
yihui | 0:26da608265f8 | 48 | volatile bool bleIsConnected = false; |
yihui | 0:26da608265f8 | 49 | volatile uint8_t tick_event = 0; |
yihui | 0:26da608265f8 | 50 | volatile uint8_t motion_event = 0; |
yihui | 0:26da608265f8 | 51 | static signed char board_orientation[9] = { |
yihui | 0:26da608265f8 | 52 | 1, 0, 0, |
yihui | 0:26da608265f8 | 53 | 0, 1, 0, |
yihui | 0:26da608265f8 | 54 | 0, 0, 1 |
yihui | 0:26da608265f8 | 55 | }; |
yihui | 0:26da608265f8 | 56 | |
yihui | 0:26da608265f8 | 57 | |
yihui | 0:26da608265f8 | 58 | void check_i2c_bus(void); |
yihui | 0:26da608265f8 | 59 | unsigned short inv_orientation_matrix_to_scalar( const signed char *mtx); |
yihui | 0:26da608265f8 | 60 | |
yihui | 2:b61ddbb8528e | 61 | |
yihui | 0:26da608265f8 | 62 | void connectionCallback(Gap::Handle_t handle, Gap::addr_type_t peerAddrType, const Gap::address_t peerAddr, const Gap::ConnectionParams_t *params) |
yihui | 0:26da608265f8 | 63 | { |
yihui | 0:26da608265f8 | 64 | LOG("Connected!\n"); |
yihui | 0:26da608265f8 | 65 | bleIsConnected = true; |
yihui | 0:26da608265f8 | 66 | } |
yihui | 0:26da608265f8 | 67 | |
yihui | 0:26da608265f8 | 68 | void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason) |
yihui | 0:26da608265f8 | 69 | { |
yihui | 0:26da608265f8 | 70 | LOG("Disconnected!\n"); |
yihui | 0:26da608265f8 | 71 | LOG("Restarting the advertising process\n"); |
yihui | 0:26da608265f8 | 72 | ble.startAdvertising(); |
yihui | 0:26da608265f8 | 73 | bleIsConnected = false; |
yihui | 0:26da608265f8 | 74 | } |
yihui | 0:26da608265f8 | 75 | |
yihui | 0:26da608265f8 | 76 | void tick(void) |
yihui | 0:26da608265f8 | 77 | { |
yihui | 0:26da608265f8 | 78 | green = !green; |
yihui | 0:26da608265f8 | 79 | } |
yihui | 0:26da608265f8 | 80 | |
yihui | 0:26da608265f8 | 81 | void detect(void) |
yihui | 0:26da608265f8 | 82 | { |
yihui | 2:b61ddbb8528e | 83 | LOG("Button pressed\n"); |
yihui | 0:26da608265f8 | 84 | blue = !blue; |
yihui | 0:26da608265f8 | 85 | } |
yihui | 0:26da608265f8 | 86 | |
yihui | 0:26da608265f8 | 87 | void motion_interrupt_handle(void) |
yihui | 0:26da608265f8 | 88 | { |
yihui | 0:26da608265f8 | 89 | motion_event = 1; |
yihui | 2:b61ddbb8528e | 90 | |
yihui | 2:b61ddbb8528e | 91 | { |
yihui | 2:b61ddbb8528e | 92 | unsigned long sensor_timestamp; |
yihui | 2:b61ddbb8528e | 93 | short gyro[3], accel[3], sensors; |
yihui | 2:b61ddbb8528e | 94 | long quat[4]; |
yihui | 2:b61ddbb8528e | 95 | unsigned char more = 1; |
yihui | 2:b61ddbb8528e | 96 | |
yihui | 2:b61ddbb8528e | 97 | while (more) { |
yihui | 2:b61ddbb8528e | 98 | /* This function gets new data from the FIFO when the DMP is in |
yihui | 2:b61ddbb8528e | 99 | * use. The FIFO can contain any combination of gyro, accel, |
yihui | 2:b61ddbb8528e | 100 | * quaternion, and gesture data. The sensors parameter tells the |
yihui | 2:b61ddbb8528e | 101 | * caller which data fields were actually populated with new data. |
yihui | 2:b61ddbb8528e | 102 | * For example, if sensors == (INV_XYZ_GYRO | INV_WXYZ_QUAT), then |
yihui | 2:b61ddbb8528e | 103 | * the FIFO isn't being filled with accel data. |
yihui | 2:b61ddbb8528e | 104 | * The driver parses the gesture data to determine if a gesture |
yihui | 2:b61ddbb8528e | 105 | * event has occurred; on an event, the application will be notified |
yihui | 2:b61ddbb8528e | 106 | * via a callback (assuming that a callback function was properly |
yihui | 2:b61ddbb8528e | 107 | * registered). The more parameter is non-zero if there are |
yihui | 2:b61ddbb8528e | 108 | * leftover packets in the FIFO. |
yihui | 2:b61ddbb8528e | 109 | */ |
yihui | 2:b61ddbb8528e | 110 | dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, |
yihui | 2:b61ddbb8528e | 111 | &more); |
yihui | 2:b61ddbb8528e | 112 | /* Gyro and accel data are written to the FIFO by the DMP in chip |
yihui | 2:b61ddbb8528e | 113 | * frame and hardware units. This behavior is convenient because it |
yihui | 2:b61ddbb8528e | 114 | * keeps the gyro and accel outputs of dmp_read_fifo and |
yihui | 2:b61ddbb8528e | 115 | * mpu_read_fifo consistent. |
yihui | 2:b61ddbb8528e | 116 | */ |
yihui | 2:b61ddbb8528e | 117 | if (sensors & INV_XYZ_GYRO) { |
yihui | 2:b61ddbb8528e | 118 | // LOG("GYRO: %d, %d, %d\n", gyro[0], gyro[1], gyro[2]); |
yihui | 2:b61ddbb8528e | 119 | } |
yihui | 2:b61ddbb8528e | 120 | if (sensors & INV_XYZ_ACCEL) { |
yihui | 2:b61ddbb8528e | 121 | LOG("ACC: %d, %d, %d\n", accel[0], accel[1], accel[2]); |
yihui | 2:b61ddbb8528e | 122 | } |
yihui | 2:b61ddbb8528e | 123 | |
yihui | 2:b61ddbb8528e | 124 | /* Unlike gyro and accel, quaternions are written to the FIFO in |
yihui | 2:b61ddbb8528e | 125 | * the body frame, q30. The orientation is set by the scalar passed |
yihui | 2:b61ddbb8528e | 126 | * to dmp_set_orientation during initialization. |
yihui | 2:b61ddbb8528e | 127 | */ |
yihui | 2:b61ddbb8528e | 128 | if (sensors & INV_WXYZ_QUAT) { |
yihui | 2:b61ddbb8528e | 129 | // LOG("QUAT: %ld, %ld, %ld, %ld\n", quat[0], quat[1], quat[2], quat[3]); |
yihui | 2:b61ddbb8528e | 130 | } |
yihui | 2:b61ddbb8528e | 131 | |
yihui | 2:b61ddbb8528e | 132 | if (sensors) { |
yihui | 2:b61ddbb8528e | 133 | read_none_count = 0; |
yihui | 2:b61ddbb8528e | 134 | } else { |
yihui | 2:b61ddbb8528e | 135 | read_none_count++; |
yihui | 2:b61ddbb8528e | 136 | if (read_none_count > 3) { |
yihui | 2:b61ddbb8528e | 137 | read_none_count = 0; |
yihui | 2:b61ddbb8528e | 138 | |
yihui | 2:b61ddbb8528e | 139 | LOG("I2C may be stuck\r\n"); |
yihui | 2:b61ddbb8528e | 140 | mbed_i2c_clear(MPU6050_SDA, MPU6050_SCL); |
yihui | 2:b61ddbb8528e | 141 | } |
yihui | 2:b61ddbb8528e | 142 | } |
yihui | 2:b61ddbb8528e | 143 | } |
yihui | 2:b61ddbb8528e | 144 | } |
yihui | 0:26da608265f8 | 145 | } |
yihui | 0:26da608265f8 | 146 | |
yihui | 0:26da608265f8 | 147 | void tap_cb(unsigned char direction, unsigned char count) |
yihui | 0:26da608265f8 | 148 | { |
yihui | 0:26da608265f8 | 149 | LOG("Tap motion detected\n"); |
yihui | 0:26da608265f8 | 150 | } |
yihui | 0:26da608265f8 | 151 | |
yihui | 0:26da608265f8 | 152 | void android_orient_cb(unsigned char orientation) |
yihui | 0:26da608265f8 | 153 | { |
yihui | 0:26da608265f8 | 154 | LOG("Oriention changed\n"); |
yihui | 0:26da608265f8 | 155 | } |
yihui | 0:26da608265f8 | 156 | |
yihui | 0:26da608265f8 | 157 | |
yihui | 0:26da608265f8 | 158 | int main(void) |
yihui | 0:26da608265f8 | 159 | { |
yihui | 0:26da608265f8 | 160 | blue = 1; |
yihui | 0:26da608265f8 | 161 | green = 1; |
yihui | 0:26da608265f8 | 162 | red = 1; |
yihui | 0:26da608265f8 | 163 | |
yihui | 0:26da608265f8 | 164 | pc.baud(115200); |
yihui | 2:b61ddbb8528e | 165 | |
yihui | 2:b61ddbb8528e | 166 | wait(1); |
yihui | 2:b61ddbb8528e | 167 | |
yihui | 0:26da608265f8 | 168 | LOG("---- Seeed Tiny BLE ----\n"); |
yihui | 0:26da608265f8 | 169 | |
yihui | 2:b61ddbb8528e | 170 | mbed_i2c_clear(MPU6050_SDA, MPU6050_SCL); |
yihui | 0:26da608265f8 | 171 | mbed_i2c_init(MPU6050_SDA, MPU6050_SCL); |
yihui | 0:26da608265f8 | 172 | |
yihui | 0:26da608265f8 | 173 | |
yihui | 0:26da608265f8 | 174 | if (mpu_init(0)) { |
yihui | 2:b61ddbb8528e | 175 | LOG("failed to initialize mpu6050\r\n"); |
yihui | 0:26da608265f8 | 176 | } |
yihui | 0:26da608265f8 | 177 | |
yihui | 0:26da608265f8 | 178 | /* Get/set hardware configuration. Start gyro. */ |
yihui | 0:26da608265f8 | 179 | /* Wake up all sensors. */ |
yihui | 0:26da608265f8 | 180 | mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL); |
yihui | 0:26da608265f8 | 181 | /* Push both gyro and accel data into the FIFO. */ |
yihui | 0:26da608265f8 | 182 | mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL); |
yihui | 0:26da608265f8 | 183 | mpu_set_sample_rate(DEFAULT_MPU_HZ); |
yihui | 0:26da608265f8 | 184 | |
yihui | 0:26da608265f8 | 185 | /* Read back configuration in case it was set improperly. */ |
yihui | 0:26da608265f8 | 186 | unsigned char accel_fsr; |
yihui | 0:26da608265f8 | 187 | unsigned short gyro_rate, gyro_fsr; |
yihui | 0:26da608265f8 | 188 | mpu_get_sample_rate(&gyro_rate); |
yihui | 0:26da608265f8 | 189 | mpu_get_gyro_fsr(&gyro_fsr); |
yihui | 0:26da608265f8 | 190 | mpu_get_accel_fsr(&accel_fsr); |
yihui | 0:26da608265f8 | 191 | |
yihui | 0:26da608265f8 | 192 | dmp_load_motion_driver_firmware(); |
yihui | 0:26da608265f8 | 193 | dmp_set_orientation( |
yihui | 0:26da608265f8 | 194 | inv_orientation_matrix_to_scalar(board_orientation)); |
yihui | 0:26da608265f8 | 195 | dmp_register_tap_cb(tap_cb); |
yihui | 0:26da608265f8 | 196 | dmp_register_android_orient_cb(android_orient_cb); |
yihui | 0:26da608265f8 | 197 | |
yihui | 0:26da608265f8 | 198 | uint16_t dmp_features = DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP | |
yihui | 0:26da608265f8 | 199 | DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO | |
yihui | 0:26da608265f8 | 200 | DMP_FEATURE_GYRO_CAL; |
yihui | 0:26da608265f8 | 201 | dmp_enable_feature(dmp_features); |
yihui | 0:26da608265f8 | 202 | dmp_set_fifo_rate(DEFAULT_MPU_HZ); |
yihui | 0:26da608265f8 | 203 | mpu_set_dmp_state(1); |
yihui | 0:26da608265f8 | 204 | |
yihui | 0:26da608265f8 | 205 | // dmp_set_interrupt_mode(DMP_INT_GESTURE); |
yihui | 0:26da608265f8 | 206 | dmp_set_tap_thresh(TAP_XYZ, 50); |
yihui | 2:b61ddbb8528e | 207 | |
yihui | 2:b61ddbb8528e | 208 | |
yihui | 2:b61ddbb8528e | 209 | motion_probe.fall(motion_interrupt_handle); |
yihui | 0:26da608265f8 | 210 | |
yihui | 2:b61ddbb8528e | 211 | |
yihui | 2:b61ddbb8528e | 212 | Ticker ticker; |
yihui | 2:b61ddbb8528e | 213 | ticker.attach(tick, 3); |
yihui | 2:b61ddbb8528e | 214 | |
yihui | 2:b61ddbb8528e | 215 | button.fall(detect); |
yihui | 2:b61ddbb8528e | 216 | |
yihui | 2:b61ddbb8528e | 217 | LOG("Initialising the nRF51822\n"); |
yihui | 2:b61ddbb8528e | 218 | ble.init(); |
yihui | 2:b61ddbb8528e | 219 | ble.onDisconnection(disconnectionCallback); |
yihui | 2:b61ddbb8528e | 220 | ble.onConnection(connectionCallback); |
yihui | 2:b61ddbb8528e | 221 | |
yihui | 2:b61ddbb8528e | 222 | |
yihui | 2:b61ddbb8528e | 223 | /* setup advertising */ |
yihui | 2:b61ddbb8528e | 224 | ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED); |
yihui | 2:b61ddbb8528e | 225 | ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); |
yihui | 2:b61ddbb8528e | 226 | ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, |
yihui | 2:b61ddbb8528e | 227 | (const uint8_t *)"smurfs", sizeof("smurfs")); |
yihui | 2:b61ddbb8528e | 228 | ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS, |
yihui | 2:b61ddbb8528e | 229 | (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed)); |
yihui | 2:b61ddbb8528e | 230 | DFUService dfu(ble); |
yihui | 2:b61ddbb8528e | 231 | UARTService uartService(ble); |
yihui | 2:b61ddbb8528e | 232 | uartServicePtr = &uartService; |
yihui | 2:b61ddbb8528e | 233 | //uartService.retargetStdout(); |
yihui | 2:b61ddbb8528e | 234 | |
yihui | 2:b61ddbb8528e | 235 | ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */ |
yihui | 2:b61ddbb8528e | 236 | ble.startAdvertising(); |
yihui | 2:b61ddbb8528e | 237 | |
yihui | 0:26da608265f8 | 238 | while (true) { |
yihui | 0:26da608265f8 | 239 | if (motion_event) { |
yihui | 0:26da608265f8 | 240 | motion_event = 0; |
yihui | 0:26da608265f8 | 241 | |
yihui | 2:b61ddbb8528e | 242 | |
yihui | 0:26da608265f8 | 243 | } else { |
yihui | 0:26da608265f8 | 244 | ble.waitForEvent(); |
yihui | 0:26da608265f8 | 245 | } |
yihui | 0:26da608265f8 | 246 | } |
yihui | 0:26da608265f8 | 247 | } |
yihui | 0:26da608265f8 | 248 | |
yihui | 0:26da608265f8 | 249 | /* These next two functions converts the orientation matrix (see |
yihui | 0:26da608265f8 | 250 | * gyro_orientation) to a scalar representation for use by the DMP. |
yihui | 0:26da608265f8 | 251 | * NOTE: These functions are borrowed from Invensense's MPL. |
yihui | 0:26da608265f8 | 252 | */ |
yihui | 0:26da608265f8 | 253 | static inline unsigned short inv_row_2_scale(const signed char *row) |
yihui | 0:26da608265f8 | 254 | { |
yihui | 0:26da608265f8 | 255 | unsigned short b; |
yihui | 0:26da608265f8 | 256 | |
yihui | 0:26da608265f8 | 257 | if (row[0] > 0) |
yihui | 0:26da608265f8 | 258 | b = 0; |
yihui | 0:26da608265f8 | 259 | else if (row[0] < 0) |
yihui | 0:26da608265f8 | 260 | b = 4; |
yihui | 0:26da608265f8 | 261 | else if (row[1] > 0) |
yihui | 0:26da608265f8 | 262 | b = 1; |
yihui | 0:26da608265f8 | 263 | else if (row[1] < 0) |
yihui | 0:26da608265f8 | 264 | b = 5; |
yihui | 0:26da608265f8 | 265 | else if (row[2] > 0) |
yihui | 0:26da608265f8 | 266 | b = 2; |
yihui | 0:26da608265f8 | 267 | else if (row[2] < 0) |
yihui | 0:26da608265f8 | 268 | b = 6; |
yihui | 0:26da608265f8 | 269 | else |
yihui | 0:26da608265f8 | 270 | b = 7; // error |
yihui | 0:26da608265f8 | 271 | return b; |
yihui | 0:26da608265f8 | 272 | } |
yihui | 0:26da608265f8 | 273 | |
yihui | 0:26da608265f8 | 274 | unsigned short inv_orientation_matrix_to_scalar( |
yihui | 0:26da608265f8 | 275 | const signed char *mtx) |
yihui | 0:26da608265f8 | 276 | { |
yihui | 0:26da608265f8 | 277 | unsigned short scalar; |
yihui | 0:26da608265f8 | 278 | |
yihui | 0:26da608265f8 | 279 | /* |
yihui | 0:26da608265f8 | 280 | XYZ 010_001_000 Identity Matrix |
yihui | 0:26da608265f8 | 281 | XZY 001_010_000 |
yihui | 0:26da608265f8 | 282 | YXZ 010_000_001 |
yihui | 0:26da608265f8 | 283 | YZX 000_010_001 |
yihui | 0:26da608265f8 | 284 | ZXY 001_000_010 |
yihui | 0:26da608265f8 | 285 | ZYX 000_001_010 |
yihui | 0:26da608265f8 | 286 | */ |
yihui | 0:26da608265f8 | 287 | |
yihui | 0:26da608265f8 | 288 | scalar = inv_row_2_scale(mtx); |
yihui | 0:26da608265f8 | 289 | scalar |= inv_row_2_scale(mtx + 3) << 3; |
yihui | 0:26da608265f8 | 290 | scalar |= inv_row_2_scale(mtx + 6) << 6; |
yihui | 0:26da608265f8 | 291 | |
yihui | 0:26da608265f8 | 292 | |
yihui | 0:26da608265f8 | 293 | return scalar; |
yihui | 0:26da608265f8 | 294 | } |
yihui | 0:26da608265f8 | 295 |