Diff: main.cpp

Revision:

15:d117591084ff

Parent:

14:700ba072d1a0

Child:

16:799397f0d3a8

--- a/main.cpp	Wed Apr 19 01:47:36 2017 +0000
+++ b/main.cpp	Tue May 02 04:16:38 2017 +0000
@@ -1,51 +1,165 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2006-2013 ARM Limited
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
+/*
+ 
+Copyright (c) 2012-2014 RedBearLab
+ 
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+and associated documentation files (the "Software"), to deal in the Software without restriction,
+including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so,
+subject to the following conditions:
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+ 
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
+PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE
+FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ 
+*/
+ 
 #include "mbed.h"
 #include "ble/BLE.h"
+#include "wire.h"
 #include "ButtonService.h"
-#include <time.h>
-
+ 
+#define BLE_Nano
+//#define nRF_51822
+ 
+#define LIS331HH
+ 
+#ifdef nRF_51822
+#define SCL         28
+#define SDA         29
+#endif
+ 
+#ifdef BLE_Nano
+#define SCL         P0_8
+#define SDA         P0_10
+#endif
+ 
+ 
+#ifdef LIS3DH
+#define ADDR_ONE    0x30
+#define ADDR_TWO    0x32
+#define AXIS_X      0x00
+#define AXIS_Y      0x01
+#define AXIS_Z      0x02
+#define REG_OUT_X_L 0x28
+#define REG_CTRL1   0x20
+#define REG_CTRL4   0x23
+#define REG_WHOAMI  0x0F
+#define RANGE_2G    0x00
+#define DEVICE_ID   0x33
+ 
+ 
+#define DATARATE_400HZ          0b0111 // 400Hz
+#define DATARATE_200HZ          0b0110 // 200Hz
+#define DATARATE_100HZ          0b0101 // 100Hz
+#define DATARATE_50HZ           0b0100 // 50Hz
+#define DATARATE_25HZ           0b0011 // 25Hz
+#define DATARATE_10HZ           0b0010 // 10Hz
+#define DATARATE_1HZ            0b0001 // 1Hz
+#define DATARATE_POWERDOWN      0      // Power down
+#define DATARATE_LOWPOWER_1K6HZ 0b1000 // Low power mode (1.6KHz)
+#define DATARATE_LOWPOWER_5KHZ  0b1001 // Low power mode (5KHz) / Normal power mode (1.25KHz)
+#endif
+ 
+ 
+#ifdef LIS331HH
+#define ADDR_ONE    0x30
+#define ADDR_TWO    0x32
+#define AXIS_X      0x00
+#define AXIS_Y      0x01
+#define AXIS_Z      0x02
+#define REG_OUT_X_L 0x28
+#define REG_CTRL1   0x20
+#define REG_CTRL4   0x23
+#define REG_WHOAMI  0x0F
+#define RANGE_2G    0x00
+#define DEVICE_ID   0x33
+ 
+ 
+#define DATARATE_1KHZ           0b11 // 1000Hz
+#define DATARATE_400HZ          0b10 // 400Hz
+#define DATARATE_100HZ          0b01 // 100Hz
+#define DATARATE_50HZ           0b00 // 50Hz
+#define DATARATE_POWERDOWN      0      // Power down
+#define DATARATE_NORMAL_MODE    0b001
+#define DATARATE_LOWPOWER_0.5HZ 0b010
+#define DATARATE_LOWPOWER_1HZ   0b011
+#define DATARATE_LOWPOWER_2HZ   0b100
+#define DATARATE_LOWPOWER_5HZ   0b101
+#define DATARATE_LOWPOWER_10HZ  0b110
+#endif
+ 
+#define PACKET_SIZE 20
+#define QUEUE_SIZE 20
+ 
+ 
 const static char     DEVICE_NAME[] = "LUMBERJACK_NANO";
 static const uint16_t uuid16_list[] = {ButtonService::BUTTON_SERVICE_UUID};
-
-Serial pc(USBTX, USBRX);
-
-
+ 
+struct packetQueue
+{
+    uint16_t size;
+    uint16_t nextPacketToSend;
+    uint16_t nextSampleToSave;
+    uint16_t liveSamples;
+    uint8_t packets[QUEUE_SIZE][PACKET_SIZE];
+};
+ 
+packetQueue pq;
+ 
+void addToQueue(uint8_t* packet) {
+    for (int i = 0; i < PACKET_SIZE; i++) {
+        pq.packets[pq.nextSampleToSave][i] = packet[i];
+    }
+    if (pq.nextPacketToSend == pq.nextSampleToSave && pq.liveSamples > 0) {
+        pq.nextSampleToSave = (pq.nextSampleToSave + 1) % QUEUE_SIZE;
+        pq.nextPacketToSend = (pq.nextPacketToSend + 1) % QUEUE_SIZE;
+    } else {
+        pq.liveSamples += 1;
+        pq.nextSampleToSave = (pq.nextSampleToSave + 1) % QUEUE_SIZE;
+    }
+    return;
+}
+ 
+uint8_t* removeFromQueue() {
+    if (pq.nextSampleToSave != pq.nextPacketToSend && pq.liveSamples > 0) {
+        pq.liveSamples -= 1;
+        uint8_t* old = pq.packets[pq.nextPacketToSend];
+        pq.nextPacketToSend = (pq.nextPacketToSend + 1) % QUEUE_SIZE;
+        return old;
+    } else {
+        return NULL;
+    }
+}
+   
+ 
+//Serial pc(USBTX, USBRX);
+TwoWire Wire = TwoWire(NRF_TWI0);
+ 
 static ButtonService *buttonServicePtr;
 bool isThereAConnection = false;
-
+ 
 void sleep(unsigned int mseconds)
 {
     clock_t goal = mseconds + clock();
     while (goal > clock());
 }
-
+ 
 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
 {
     BLE::Instance().gap().startAdvertising();
     isThereAConnection = false;
 }
-
+ 
 void connectionCallback(const Gap::ConnectionCallbackParams_t *params)
 {
-    pc.printf("Connection recieved!\r\n");
+    //pc.printf("Connection recieved!\r\n");
     isThereAConnection = true;
 }
-
+ 
 /**
  * This function is called when the ble initialization process has failled
  */
@@ -53,7 +167,7 @@
 {
     /* Initialization error handling should go here */
 }
-
+ 
 /**
  * Callback triggered when the ble initialization process has finished
  */
@@ -61,66 +175,282 @@
 {
     BLE&        ble   = params->ble;
     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;
     }
-
+ 
     /* Ensure that it is the default instance of BLE */
     if(ble.getInstanceID() != BLE::DEFAULT_INSTANCE) {
         return;
     }
-
+ 
     ble.gap().onDisconnection(disconnectionCallback);
     ble.gap().onConnection(connectionCallback);
-
+ 
     /* Setup primary service */
-    buttonServicePtr = new ButtonService(ble, false /* initial value for button pressed */);
-
+    uint8_t initial_value[20] = {0, 0, 0, 0, 0,
+                                 0, 0, 0, 0, 0,
+                                 0, 0, 0, 0, 0,
+                                 0, 0, 0, 0, 0};
+    buttonServicePtr = new ButtonService(ble, initial_value);
+ 
     /* setup advertising */
     ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
     ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS, (uint8_t *)uuid16_list, sizeof(uuid16_list));
     ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
     ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
     ble.gap().setAdvertisingInterval(1000); /* 1000ms. */
-    pc.printf("start advertising now \r\n");
+    //pc.printf("start advertising now \r\n");
     ble.gap().startAdvertising();
 }
-
+ 
+void AT24C512_WriteBytes(uint16_t addr, uint8_t *pbuf, uint16_t length, uint16_t i2cAddr)
+{
+    Wire.beginTransmission(i2cAddr);
+    int err = Wire.write( (uint8_t)addr );
+    Wire.write(pbuf, length);
+    if (err != 0) {
+        //pc.printf("error on write write! %d\r\n", err);
+    }
+    uint8_t err8 = Wire.endTransmission();
+    if (err8 != 0) {
+        //pc.printf("error on write end transmission! %d\r\n", err8);
+    }
+}
+ 
+void AT24C512_ReadBytes(uint16_t addr, uint8_t *pbuf, uint16_t length, uint16_t i2cAddr)
+{
+    Wire.beginTransmission(i2cAddr);
+    int err= Wire.write( (uint8_t)addr );
+    if (err != 0) {
+        //pc.printf("error on read write! %d\r\n", err);
+    }
+    uint8_t err8 = Wire.endTransmission();
+    if (err8 != 0) {
+        //pc.printf("error on read end transmission! %d\r\n", err8);
+    }
+       
+    err8 = Wire.requestFrom(i2cAddr+1, length);
+    if (err != 0) {
+        //pc.printf("error on read request from! %d\r\n", err8);
+    }
+    while( Wire.available() > 0 )
+    {
+        *pbuf = Wire.read();
+        pbuf++;
+    }
+}
+ 
+//Set the bit at index 'bit' to 'value' on 'input' and return
+uint8_t setBit(uint8_t input, uint8_t bit, uint8_t value) {
+    uint8_t mask = 1 << bit;
+    input &= ~mask;
+    if (value == 1) {
+        input |= mask;
+    }
+    return input;
+}
+ 
+uint16_t getAxis(uint16_t axis, uint16_t i2cAddr)
+{
+    uint8_t base = REG_OUT_X_L + (2 * axis);
+    uint8_t* low = new uint8_t[1];
+    uint8_t* high = new uint8_t[1];
+    AT24C512_ReadBytes(base, low, 1, i2cAddr);
+    AT24C512_ReadBytes(base + 1, high, 1, i2cAddr);
+    uint16_t res = low[0] | (high[0] << 8);
+    delete[] low;
+    delete[] high;
+    return res;
+}
+ 
+void setRange(uint8_t range, uint16_t i2cAddr) {
+    uint8_t* val = new uint8_t[1];
+    AT24C512_ReadBytes(REG_CTRL4, val, 1, i2cAddr);//get value from the register
+    val[0] &= ~(0b110000); //zero out lowest 2 bits of top 4 bits
+    val[0] |= (range << 4); // write in our new range
+    //pc.printf("REG_CTRL4 after setRange: 0x%x\r\n", *val);
+    AT24C512_WriteBytes(REG_CTRL4, val, 1, i2cAddr);
+    delete[] val;
+}
+ 
+//Set whether we want to use high resolution or not
+void setHighResolution(bool highRes, uint16_t i2cAddr) {
+    uint8_t* val = new uint8_t[1];
+    AT24C512_ReadBytes(REG_CTRL4, val, 1, i2cAddr);//get value from the register
+    uint8_t final;
+    if (highRes) {
+        final = setBit(val[0], 3, 1);
+    } else {
+        final = setBit(val[0], 3, 0);
+    }
+    val[0] = final;
+    //pc.printf("REG_CTRL4 after setHiRes: 0x%x\r\n", *val);
+    AT24C512_WriteBytes(REG_CTRL4, val, 1, i2cAddr);
+    delete[] val;
+}
+ 
+void setAxisStatus(uint8_t axis, bool enable, uint16_t i2cAddr) {
+    uint8_t* current = new uint8_t[1];
+    AT24C512_ReadBytes(REG_CTRL1, current, 1, i2cAddr);//get value from the register
+    uint8_t final;
+    if (enable == 1) {
+        final = setBit(current[0], axis, 1);
+    } else {
+        final = setBit(current[0], axis, 0);
+    }
+    current[0] = final;
+    AT24C512_WriteBytes(REG_CTRL1, current, 1, i2cAddr);
+   
+    AT24C512_ReadBytes(REG_CTRL1, current, 1, i2cAddr);
+    //pc.printf("REG_CTRL1 after setAxisStatus: 0x%x\r\n", *current);
+    delete[] current;
+}
+ 
+void setDataRate(uint8_t dataRate, uint16_t i2cAddr) {
+    uint8_t* val = new uint8_t[1];
+    AT24C512_ReadBytes(REG_CTRL1, val, 1, i2cAddr);
+    //pc.printf("REG_CTRL1 before data rate set: 0x%x\r\n", *val);
+    val[0] &= 0b11100111; //d
+    val[0] |= (dataRate << 3);
+    AT24C512_WriteBytes(REG_CTRL1, val, 1, i2cAddr);
+   
+    AT24C512_ReadBytes(REG_CTRL1, val, 1, i2cAddr);
+    //pc.printf("REG_CTRL1 after data rate set: 0x%x\r\n", *val);
+    delete[] val;
+}
+ 
+void setPowerMode(uint8_t powerMode, uint16_t i2cAddr) {
+    uint8_t* val = new uint8_t[1];
+    AT24C512_ReadBytes(REG_CTRL1, val, 1, i2cAddr);
+    val[0] &= 0b11111;
+    val[0] |= (powerMode << 5);
+    //pc.printf("writing this to REG_CTRL1: 0x%x\r\n", *val);
+    AT24C512_WriteBytes(REG_CTRL1, val, 1, i2cAddr);
+   
+    AT24C512_ReadBytes(REG_CTRL1, val, 1, i2cAddr);
+    //pc.printf("REG_CTRL1 after power mode set: 0x%x\r\n", *val);
+    delete[] val;
+}
+   
+void setBDU(bool bdu, uint16_t i2cAddr)
+{
+    uint8_t* val = new uint8_t[1];
+    AT24C512_ReadBytes(REG_CTRL4, val, 1, i2cAddr);//get value from the register
+    //pc.printf("REG_CTRL4: 0x%x\r\n", *val);
+    uint8_t final;
+    if (bdu) {
+        final = setBit(val[0], 7, 1);
+    } else {
+        final = setBit(val[0], 7, 0);
+    }
+    val[0] = final;
+    //pc.printf("REG_CTRL4 after setBDU: 0x%x\r\n", *val);
+    AT24C512_WriteBytes(REG_CTRL4, val, 1, i2cAddr);
+    delete[] val;
+}
+ 
+uint16_t getX(uint16_t i2cAddr)
+{
+    return getAxis(AXIS_X, i2cAddr);
+}
+ 
+uint16_t getY(uint16_t i2cAddr)
+{
+    return getAxis(AXIS_Y, i2cAddr);
+}
+ 
+uint16_t getZ(uint16_t i2cAddr)
+{
+    return getAxis(AXIS_Z, i2cAddr);
+}
+ 
 int main(void)
 {
-    pc.printf("entering main!! \r\n");
-    //uint8_t counter = 65; //'A'
-    uint8_t counter[16] = {65, 65, 65, 65, 65,
-                           65, 65, 65, 65, 65,
-                           65, 65, 65, 65, 65,
-                           0};
-
+    //pc.baud(9600);
+    wait(5);
+    //Wire.begin();
+    Wire.begin(SCL, SDA, TWI_FREQUENCY_100K);
+ 
+    //pc.printf("\r\n\r\n\r\nStarting...\r\n");
+ 
+    wait(5);
+   
+    setAxisStatus(AXIS_X, true, ADDR_ONE);
+    setAxisStatus(AXIS_Y, true, ADDR_ONE);
+    setAxisStatus(AXIS_Z, true, ADDR_ONE);
+    setDataRate(DATARATE_400HZ, ADDR_ONE);
+    setPowerMode(DATARATE_NORMAL_MODE, ADDR_ONE);
+    //setHighResolution(true, ADDR_ONE);
+    setBDU(true, ADDR_ONE);
+    //setRange(RANGE_2G, ADDR_ONE);
+   
+   
+    setAxisStatus(AXIS_X, true, ADDR_TWO);
+    setAxisStatus(AXIS_Y, true, ADDR_TWO);
+    setAxisStatus(AXIS_Z, true, ADDR_TWO);
+    setDataRate(DATARATE_400HZ, ADDR_TWO);
+    setPowerMode(DATARATE_NORMAL_MODE, ADDR_TWO);
+    //setHighResolution(true, ADDR_TWO);
+    setBDU(true, ADDR_TWO);
+    //setRange(RANGE_2G, ADDR_TWO);
+ 
+    uint8_t* val = new uint8_t[1];
+    *val = 0x80;
+    AT24C512_WriteBytes(REG_CTRL4, val, 1, ADDR_ONE);
+    AT24C512_WriteBytes(REG_CTRL4, val, 1, ADDR_TWO);
+    AT24C512_ReadBytes(REG_CTRL4, val, 1, ADDR_ONE);
+    //pc.printf("REG_CTRL4, should be 0x80: 0x%x\r\n", *val);
+ 
+    uint8_t* whoami = new uint8_t[1];
+    AT24C512_ReadBytes(REG_WHOAMI, whoami, 1, ADDR_ONE);
+    //pc.printf("REG_WHOAMI should be 0x32: 0x%x\r\n", *whoami);
+    AT24C512_ReadBytes(REG_WHOAMI, whoami, 1, ADDR_TWO);
+    //pc.printf("REG_WHOAMI should be 0x32: 0x%x\r\n", *whoami);
+    AT24C512_ReadBytes(0x1F, whoami, 1, ADDR_ONE);
+ 
+   
     BLE &ble = BLE::Instance();
     ble.init(bleInitComplete);
-    
-    pc.printf("entering spin loop\r\n");
+   
+    //pc.printf("entering spin loop\r\n");
     /* 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 */ }
-    pc.printf("leaving spin loop\r\n");
-    
-    while (true) {
-        pc.printf("loop!\r\n");
+    //pc.printf("leaving spin loop\r\n");
+   
+    pq.size = QUEUE_SIZE;
+    pq.nextPacketToSend = 0;
+    pq.nextSampleToSave = 0;
+    pq.liveSamples = 0;
+   
+    while(1)
+    {
+        //pc.printf("Read data from AT24C512\r\n");
+        uint16_t x1 = getX(ADDR_ONE);
+        uint16_t y1 = getY(ADDR_ONE);
+        uint16_t z1 = getZ(ADDR_ONE);
+       
+        uint16_t x2 = getX(ADDR_TWO);
+        uint16_t y2 = getY(ADDR_TWO);
+        uint16_t z2 = getZ(ADDR_TWO);
+       
+        //pc.printf("Accel one: x %d y %d z %d\r\n", (int16_t)x1, (int16_t)y1, (int16_t)z1);
+        //pc.printf("Accel two: x %d y %d z %d\r\n", (int16_t)x2, (int16_t)y2, (int16_t)z2);
+        //pc.printf("\r\n");
+       
         if(isThereAConnection) {
-            //pc.printf("sending Notification: %d\r\n", counter);
-            pc.printf("sending Notification: %d\r\n", counter[0]);
-            buttonServicePtr->updateButtonState(counter);
-            //counter++;
-            for( int i = 0; i < 16; i++ ) {
-                counter[i] = counter[i]+1;
-            }
-        } else {
-            //
+            //pc.printf("sending Notification\r\n");
+            uint8_t values[20] = {(uint8_t)x1, (uint8_t)(x1 >> 8), (uint8_t)y1, (uint8_t)(y1 >> 8), (uint8_t)z1, (uint8_t)(z1 >> 8),
+                                  (uint8_t)x2, (uint8_t)(x2 >> 8), (uint8_t)y2, (uint8_t)(y2 >> 8), (uint8_t)z2, (uint8_t)(z2 >> 8),
+                                  0, 0, 0, 0, 0, 0, 0, 0};
+            buttonServicePtr->updateButtonState(values);
         }
-        //ble.waitForEvent();
-        sleep(1000);
+ 
+        wait(1);
     }
-}
+ 
+}
\ No newline at end of file