/** * Copyright (c) 2014 - 2020, Nordic Semiconductor ASA * * All rights reserved. * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * * 1. Redistributions of source code must retain the above copyright notice, this * list of conditions and the following disclaimer. * * 2. Redistributions in binary form, except as embedded into a Nordic * Semiconductor ASA integrated circuit in a product or a software update for * such product, must reproduce the above copyright notice, this list of * conditions and the following disclaimer in the documentation and/or other * materials provided with the distribution. * * 3. Neither the name of Nordic Semiconductor ASA nor the names of its * contributors may be used to endorse or promote products derived from this * software without specific prior written permission. * * 4. This software, with or without modification, must only be used with a * Nordic Semiconductor ASA integrated circuit. * * 5. Any software provided in binary form under this license must not be reverse * engineered, decompiled, modified and/or disassembled. * * THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES * OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA OR CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE * GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * */ /** @file * * @defgroup ble_sdk_uart_over_ble_main main.c * @{ * @ingroup ble_sdk_app_nus_eval * @brief UART over BLE application main file. * * This file contains the source code for a sample application that uses the Nordic UART service. * This application uses the @ref srvlib_conn_params module. */ #include #include #include "nordic_common.h" #include "nrf.h" #include "ble_hci.h" #include "ble_advdata.h" #include "ble_advertising.h" #include "ble_conn_params.h" #include "nrf_sdh.h" #include "nrf_sdh_soc.h" #include "nrf_sdh_ble.h" #include "nrf_ble_gatt.h" #include "nrf_ble_qwr.h" #include "app_timer.h" #include "ble_nus.h" #include "app_uart.h" #include "app_util_platform.h" #include "bsp_btn_ble.h" #include "nrf_pwr_mgmt.h" #if defined (UART_PRESENT) #include "nrf_uart.h" #endif #if defined (UARTE_PRESENT) #include "nrf_uarte.h" #endif #include "nrf_drv_spi.h" #include "app_util_platform.h" #include "nrf_gpio.h" #include "nrf_delay.h" #include "boards.h" #include "app_error.h" #include #include "nrf_log.h" #include "nrf_log_ctrl.h" #include "nrf_log_default_backends.h" #include #include #include "nrf_drv_timer.h" #include "bsp.h" #include "lsm9ds1_reg.h" #include "nrf_drv_gpiote.h" #define APP_BLE_CONN_CFG_TAG 1 /**< A tag identifying the SoftDevice BLE configuration. */ #define DEVICE_NAME "Nordic_UART_P" /**< Name of device. Will be included in the advertising data. */ #define NUS_SERVICE_UUID_TYPE BLE_UUID_TYPE_VENDOR_BEGIN /**< UUID type for the Nordic UART Service (vendor specific). */ #define APP_BLE_OBSERVER_PRIO 3 /**< Application's BLE observer priority. You shouldn't need to modify this value. */ #define APP_ADV_INTERVAL 64 /**< The advertising interval (in units of 0.625 ms. This value corresponds to 40 ms). */ #define APP_ADV_DURATION 18000 /**< The advertising duration (180 seconds) in units of 10 milliseconds. */ #define MIN_CONN_INTERVAL MSEC_TO_UNITS(20, UNIT_1_25_MS) /**< Minimum acceptable connection interval (20 ms), Connection interval uses 1.25 ms units. */ #define MAX_CONN_INTERVAL MSEC_TO_UNITS(75, UNIT_1_25_MS) /**< Maximum acceptable connection interval (75 ms), Connection interval uses 1.25 ms units. */ #define SLAVE_LATENCY 0 /**< Slave latency. */ #define CONN_SUP_TIMEOUT MSEC_TO_UNITS(4000, UNIT_10_MS) /**< Connection supervisory timeout (4 seconds), Supervision Timeout uses 10 ms units. */ #define FIRST_CONN_PARAMS_UPDATE_DELAY APP_TIMER_TICKS(5000) /**< Time from initiating event (connect or start of notification) to first time sd_ble_gap_conn_param_update is called (5 seconds). */ #define NEXT_CONN_PARAMS_UPDATE_DELAY APP_TIMER_TICKS(30000) /**< Time between each call to sd_ble_gap_conn_param_update after the first call (30 seconds). */ #define MAX_CONN_PARAMS_UPDATE_COUNT 3 /**< Number of attempts before giving up the connection parameter negotiation. */ #define DEAD_BEEF 0xDEADBEEF /**< Value used as error code on stack dump, can be used to identify stack location on stack unwind. */ #define UART_TX_BUF_SIZE 256//1024//2048 /**< UART TX buffer size. */ #define UART_RX_BUF_SIZE 256//1024//2048 /**< UART RX buffer size. */ typedef union { int16_t i16bit[3]; uint8_t u8bit[6]; } axis3bit16_t; static axis3bit16_t data_raw_acceleration; static axis3bit16_t data_raw_angular_rate; static axis3bit16_t data_raw_magnetic_field; static float acceleration_mg[3]; static float angular_rate_mdps[3]; static float magnetic_field_mgauss[3]; static lsm9ds1_id_t whoamI; static lsm9ds1_status_t reg; static uint8_t rst; static void advertising_start(void); //char tx_buffer[100]; //uint8_t sample_a_float[60][6]; //uint8_t sample_g_float[60][6]; int8_t status=0; int8_t status_connected=0; uint8_t ble_tx_buffer_acc[500]; uint16_t ble_tx_buffer_acc_len=0; uint8_t ble_tx_buffer_ang[500]; uint16_t ble_tx_buffer_ang_len=0; uint16_t counter_flag=0; int8_t rssi_value=0; #define DEBUG_FIFO_SIZE_INSIDE //#define DEBUG_BLE_SEND_DEBUG //#define DEBUG_SPI_BUFFER_INSIDE //#define WATCHDOG_ENABLE #define SHORT_RANGE_ENABLE //#define LONG_RANGE_ENABLE //#define BLE_UART_RECEIVE_ENABLE //#define LONG_RANGE_HIGH_SPEED //#define LONG_RANGE_HIGH_SPEED_BLE_STREAMING_SLOW static void interrupt_pin_init(void); void LSM9DS1_start(void); void in_pin_handler(void); BLE_NUS_DEF(m_nus, NRF_SDH_BLE_TOTAL_LINK_COUNT); /**< BLE NUS service instance. */ NRF_BLE_GATT_DEF(m_gatt); /**< GATT module instance. */ NRF_BLE_QWR_DEF(m_qwr); /**< Context for the Queued Write module.*/ BLE_ADVERTISING_DEF(m_advertising); /**< Advertising module instance. */ static uint16_t m_conn_handle = BLE_CONN_HANDLE_INVALID; /**< Handle of the current connection. */ static uint16_t m_ble_nus_max_data_len = BLE_GATT_ATT_MTU_DEFAULT - 3; /**< Maximum length of data (in bytes) that can be transmitted to the peer by the Nordic UART service module. */ static ble_uuid_t m_adv_uuids[] = /**< Universally unique service identifier. */ { {BLE_UUID_NUS_SERVICE, NUS_SERVICE_UUID_TYPE} }; /**@brief Function for assert macro callback. * * @details This function will be called in case of an assert in the SoftDevice. * * @warning This handler is an example only and does not fit a final product. You need to analyse * how your product is supposed to react in case of Assert. * @warning On assert from the SoftDevice, the system can only recover on reset. * * @param[in] line_num Line number of the failing ASSERT call. * @param[in] p_file_name File name of the failing ASSERT call. */ void assert_nrf_callback(uint16_t line_num, const uint8_t * p_file_name) { app_error_handler(DEAD_BEEF, line_num, p_file_name); } /**@brief Function for initializing the timer module. */ static void timers_init(void) { ret_code_t err_code = app_timer_init(); APP_ERROR_CHECK(err_code); } /**@brief Function for the GAP initialization. * * @details This function will set up all the necessary GAP (Generic Access Profile) parameters of * the device. It also sets the permissions and appearance. */ static void gap_params_init(void) { uint32_t err_code; ble_gap_conn_params_t gap_conn_params; ble_gap_conn_sec_mode_t sec_mode; BLE_GAP_CONN_SEC_MODE_SET_OPEN(&sec_mode); err_code = sd_ble_gap_device_name_set(&sec_mode, (const uint8_t *) DEVICE_NAME, strlen(DEVICE_NAME)); APP_ERROR_CHECK(err_code); memset(&gap_conn_params, 0, sizeof(gap_conn_params)); gap_conn_params.min_conn_interval = MIN_CONN_INTERVAL; gap_conn_params.max_conn_interval = MAX_CONN_INTERVAL; gap_conn_params.slave_latency = SLAVE_LATENCY; gap_conn_params.conn_sup_timeout = CONN_SUP_TIMEOUT; err_code = sd_ble_gap_ppcp_set(&gap_conn_params); APP_ERROR_CHECK(err_code); } /**@brief Function for handling Queued Write Module errors. * * @details A pointer to this function will be passed to each service which may need to inform the * application about an error. * * @param[in] nrf_error Error code containing information about what went wrong. */ static void nrf_qwr_error_handler(uint32_t nrf_error) { APP_ERROR_HANDLER(nrf_error); } /**@brief Function for handling the data from the Nordic UART Service. * * @details This function will process the data received from the Nordic UART BLE Service and send * it to the UART module. * * @param[in] p_evt Nordic UART Service event. */ /**@snippet [Handling the data received over BLE] */ static void nus_data_handler(ble_nus_evt_t * p_evt) { if (p_evt->type == BLE_NUS_EVT_RX_DATA) { uint32_t err_code; //NRF_LOG_DEBUG("Received data from BLE NUS. Writing data on UART."); //NRF_LOG_HEXDUMP_DEBUG(p_evt->params.rx_data.p_data, p_evt->params.rx_data.length); #ifdef BLE_UART_RECEIVE_ENABLE printf("RecBLE_UART");nrf_delay_ms(1); for (uint32_t i = 0; i < p_evt->params.rx_data.length; i++) { do { err_code = app_uart_put(p_evt->params.rx_data.p_data[i]); if ((err_code != NRF_SUCCESS) && (err_code != NRF_ERROR_BUSY)) { NRF_LOG_ERROR("Failed receiving NUS message. Error 0x%x. ", err_code); APP_ERROR_CHECK(err_code); } } while (err_code == NRF_ERROR_BUSY); } if (p_evt->params.rx_data.p_data[p_evt->params.rx_data.length - 1] == '\r') { while (app_uart_put('\n') == NRF_ERROR_BUSY); } #endif } } /**@snippet [Handling the data received over BLE] */ /**@brief Function for initializing services that will be used by the application. */ static void services_init(void) { uint32_t err_code; ble_nus_init_t nus_init; nrf_ble_qwr_init_t qwr_init = {0}; // Initialize Queued Write Module. qwr_init.error_handler = nrf_qwr_error_handler; err_code = nrf_ble_qwr_init(&m_qwr, &qwr_init); APP_ERROR_CHECK(err_code); // Initialize NUS. memset(&nus_init, 0, sizeof(nus_init)); nus_init.data_handler = nus_data_handler; err_code = ble_nus_init(&m_nus, &nus_init); APP_ERROR_CHECK(err_code); } /**@brief Function for handling an event from the Connection Parameters Module. * * @details This function will be called for all events in the Connection Parameters Module * which are passed to the application. * * @note All this function does is to disconnect. This could have been done by simply setting * the disconnect_on_fail config parameter, but instead we use the event handler * mechanism to demonstrate its use. * * @param[in] p_evt Event received from the Connection Parameters Module. */ static void on_conn_params_evt(ble_conn_params_evt_t * p_evt) { uint32_t err_code; if (p_evt->evt_type == BLE_CONN_PARAMS_EVT_FAILED) { err_code = sd_ble_gap_disconnect(m_conn_handle, BLE_HCI_CONN_INTERVAL_UNACCEPTABLE); APP_ERROR_CHECK(err_code); } } /**@brief Function for handling errors from the Connection Parameters module. * * @param[in] nrf_error Error code containing information about what went wrong. */ static void conn_params_error_handler(uint32_t nrf_error) { APP_ERROR_HANDLER(nrf_error); } /**@brief Function for initializing the Connection Parameters module. */ static void conn_params_init(void) { uint32_t err_code; ble_conn_params_init_t cp_init; memset(&cp_init, 0, sizeof(cp_init)); cp_init.p_conn_params = NULL; cp_init.first_conn_params_update_delay = FIRST_CONN_PARAMS_UPDATE_DELAY; cp_init.next_conn_params_update_delay = NEXT_CONN_PARAMS_UPDATE_DELAY; cp_init.max_conn_params_update_count = MAX_CONN_PARAMS_UPDATE_COUNT; cp_init.start_on_notify_cccd_handle = BLE_GATT_HANDLE_INVALID; cp_init.disconnect_on_fail = false; cp_init.evt_handler = on_conn_params_evt; cp_init.error_handler = conn_params_error_handler; err_code = ble_conn_params_init(&cp_init); APP_ERROR_CHECK(err_code); } /**@brief Function for putting the chip into sleep mode. * * @note This function will not return. */ static void sleep_mode_enter(void) { uint32_t err_code = bsp_indication_set(BSP_INDICATE_IDLE); APP_ERROR_CHECK(err_code); // Prepare wakeup buttons. err_code = bsp_btn_ble_sleep_mode_prepare(); APP_ERROR_CHECK(err_code); // Go to system-off mode (this function will not return; wakeup will cause a reset). err_code = sd_power_system_off(); APP_ERROR_CHECK(err_code); } /**@brief Function for handling advertising events. * * @details This function will be called for advertising events which are passed to the application. * * @param[in] ble_adv_evt Advertising event. */ static void on_adv_evt(ble_adv_evt_t ble_adv_evt) { uint32_t err_code; switch (ble_adv_evt) { case BLE_ADV_EVT_FAST: err_code = bsp_indication_set(BSP_INDICATE_ADVERTISING); APP_ERROR_CHECK(err_code); break; case BLE_ADV_EVT_IDLE: sleep_mode_enter(); break; default: break; } } /**@brief Function for handling BLE events. * * @param[in] p_ble_evt Bluetooth stack event. * @param[in] p_context Unused. */ static void ble_evt_handler(ble_evt_t const * p_ble_evt, void * p_context) { uint32_t err_code; int8_t tx_power = 8; //niklas switch (p_ble_evt->header.evt_id) { case BLE_GAP_EVT_CONNECTED: //NRF_LOG_INFO("Connected"); status=1; status_connected=1; printf("Connect");nrf_delay_ms(1); //interrupt_pin_init();//niklas err_code = bsp_indication_set(BSP_INDICATE_CONNECTED); APP_ERROR_CHECK(err_code); //reference https://jimmywongiot.com/2019/11/30/how-to-get-the-rssi-change-on-the-nrf5-sdk/ //https://devzone.nordicsemi.com/f/nordic-q-a/69366/regarding-about-the-connection-rssi-for-signal-strength err_code = sd_ble_gap_rssi_start(p_ble_evt->evt.gap_evt.conn_handle,1,2);//niklas APP_ERROR_CHECK(err_code); m_conn_handle = p_ble_evt->evt.gap_evt.conn_handle; err_code = nrf_ble_qwr_conn_handle_assign(&m_qwr, m_conn_handle); APP_ERROR_CHECK(err_code); //err_code = sd_ble_gap_tx_power_set(BLE_GAP_TX_POWER_ROLE_CONN, m_conn_handle, tx_power); //niklas //APP_ERROR_CHECK(err_code); break; //case BLE_GAP_EVT_RSSI_CHANGED: // rssi_value=p_ble_evt->evt.gap_evt.params.rssi_changed.rssi; // printf("RSSI=%d\n",p_ble_evt->evt.gap_evt.params.rssi_changed.rssi); case BLE_GAP_EVT_DISCONNECTED: status=2; status_connected=2; //NRF_LOG_INFO("Disconnected"); printf("Disc");nrf_delay_ms(1); //interrupt_pin_init();//niklas // LED indication will be changed when advertising starts. m_conn_handle = BLE_CONN_HANDLE_INVALID; if(nrf_gpio_pin_read(PIN_INTERRUPT)) { printf("In AA");nrf_delay_ms(1); //in_pin_handler(); } advertising_start(); break; case BLE_GAP_EVT_PHY_UPDATE_REQUEST: { status=3; //NRF_LOG_DEBUG("PHY update request."); printf("PHY update request.");nrf_delay_ms(1); ble_gap_phys_t const phys = { #ifdef LONG_RANGE_ENABLE .rx_phys = BLE_GAP_PHY_CODED,//BLE_GAP_PHY_AUTO, .tx_phys = BLE_GAP_PHY_CODED,//BLE_GAP_PHY_AUTO, #endif #ifdef SHORT_RANGE_ENABLE .rx_phys = BLE_GAP_PHY_1MBPS,//BLE_GAP_PHY_AUTO, .tx_phys = BLE_GAP_PHY_1MBPS,//BLE_GAP_PHY_AUTO, #endif }; err_code = sd_ble_gap_phy_update(p_ble_evt->evt.gap_evt.conn_handle, &phys); APP_ERROR_CHECK(err_code); } break; case BLE_GAP_EVT_SEC_PARAMS_REQUEST: status=5; // Pairing not supported err_code = sd_ble_gap_sec_params_reply(m_conn_handle, BLE_GAP_SEC_STATUS_PAIRING_NOT_SUPP, NULL, NULL); APP_ERROR_CHECK(err_code); break; case BLE_GATTS_EVT_SYS_ATTR_MISSING: status=6; // No system attributes have been stored. err_code = sd_ble_gatts_sys_attr_set(m_conn_handle, NULL, 0, 0); APP_ERROR_CHECK(err_code); break; case BLE_GATTC_EVT_TIMEOUT: // Disconnect on GATT Client timeout event. status=7; err_code = sd_ble_gap_disconnect(p_ble_evt->evt.gattc_evt.conn_handle, BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION); APP_ERROR_CHECK(err_code); break; case BLE_GATTS_EVT_TIMEOUT: status=8; // Disconnect on GATT Server timeout event. err_code = sd_ble_gap_disconnect(p_ble_evt->evt.gatts_evt.conn_handle, BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION); APP_ERROR_CHECK(err_code); break; default: status=9; // No implementation needed. break; } } /**@brief Function for the SoftDevice initialization. * * @details This function initializes the SoftDevice and the BLE event interrupt. */ static void ble_stack_init(void) { ret_code_t err_code; err_code = nrf_sdh_enable_request(); APP_ERROR_CHECK(err_code); // Configure the BLE stack using the default settings. // Fetch the start address of the application RAM. uint32_t ram_start = 0; err_code = nrf_sdh_ble_default_cfg_set(APP_BLE_CONN_CFG_TAG, &ram_start); APP_ERROR_CHECK(err_code); // Enable BLE stack. err_code = nrf_sdh_ble_enable(&ram_start); APP_ERROR_CHECK(err_code); // Register a handler for BLE events. NRF_SDH_BLE_OBSERVER(m_ble_observer, APP_BLE_OBSERVER_PRIO, ble_evt_handler, NULL); } /**@brief Function for handling events from the GATT library. */ void gatt_evt_handler(nrf_ble_gatt_t * p_gatt, nrf_ble_gatt_evt_t const * p_evt) { if ((m_conn_handle == p_evt->conn_handle) && (p_evt->evt_id == NRF_BLE_GATT_EVT_ATT_MTU_UPDATED)) { m_ble_nus_max_data_len = p_evt->params.att_mtu_effective - OPCODE_LENGTH - HANDLE_LENGTH; NRF_LOG_INFO("Data len is set to 0x%X(%d)", m_ble_nus_max_data_len, m_ble_nus_max_data_len); } NRF_LOG_DEBUG("ATT MTU exchange completed. central 0x%x peripheral 0x%x", p_gatt->att_mtu_desired_central, p_gatt->att_mtu_desired_periph); } /**@brief Function for initializing the GATT library. */ void gatt_init(void) { ret_code_t err_code; err_code = nrf_ble_gatt_init(&m_gatt, gatt_evt_handler); APP_ERROR_CHECK(err_code); err_code = nrf_ble_gatt_att_mtu_periph_set(&m_gatt, NRF_SDH_BLE_GATT_MAX_MTU_SIZE); APP_ERROR_CHECK(err_code); } /**@brief Function for handling events from the BSP module. * * @param[in] event Event generated by button press. */ void bsp_event_handler(bsp_event_t event) { uint32_t err_code; switch (event) { case BSP_EVENT_SLEEP: sleep_mode_enter(); break; case BSP_EVENT_DISCONNECT: err_code = sd_ble_gap_disconnect(m_conn_handle, BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION); if (err_code != NRF_ERROR_INVALID_STATE) { APP_ERROR_CHECK(err_code); } break; case BSP_EVENT_WHITELIST_OFF: if (m_conn_handle == BLE_CONN_HANDLE_INVALID) { err_code = ble_advertising_restart_without_whitelist(&m_advertising); if (err_code != NRF_ERROR_INVALID_STATE) { APP_ERROR_CHECK(err_code); } } break; default: break; } } /**@brief Function for handling app_uart events. * * @details This function will receive a single character from the app_uart module and append it to * a string. The string will be be sent over BLE when the last character received was a * 'new line' '\n' (hex 0x0A) or if the string has reached the maximum data length. */ /**@snippet [Handling the data received over UART] */ void uart_event_handle(app_uart_evt_t * p_event) { static uint8_t data_array[BLE_NUS_MAX_DATA_LEN]; static uint8_t index = 0; uint32_t err_code; switch (p_event->evt_type) { case APP_UART_DATA_READY: UNUSED_VARIABLE(app_uart_get(&data_array[index])); index++; if ((data_array[index - 1] == '\n') || (data_array[index - 1] == '\r') || (index >= m_ble_nus_max_data_len)) { if (index > 1) { //NRF_LOG_DEBUG("Ready to send data over BLE NUS"); //NRF_LOG_HEXDUMP_DEBUG(data_array, index); printf("Ready over BLE NUS \n"); nrf_delay_ms(1); do { uint16_t length = (uint16_t)index; err_code = ble_nus_data_send(&m_nus, data_array, &length, m_conn_handle); if ((err_code != NRF_ERROR_INVALID_STATE) && (err_code != NRF_ERROR_RESOURCES) && (err_code != NRF_ERROR_NOT_FOUND)) { APP_ERROR_CHECK(err_code); } } while (err_code == NRF_ERROR_RESOURCES); } index = 0; } break; case APP_UART_COMMUNICATION_ERROR: APP_ERROR_HANDLER(p_event->data.error_communication); break; case APP_UART_FIFO_ERROR: APP_ERROR_HANDLER(p_event->data.error_code); break; default: break; } } /**@snippet [Handling the data received over UART] */ /**@brief Function for initializing the UART module. */ /**@snippet [UART Initialization] */ static void uart_init(void) { uint32_t err_code; app_uart_comm_params_t const comm_params = { .rx_pin_no = RX_PIN_NUMBER, .tx_pin_no = TX_PIN_NUMBER, .rts_pin_no = RTS_PIN_NUMBER, .cts_pin_no = CTS_PIN_NUMBER, .flow_control = APP_UART_FLOW_CONTROL_DISABLED, .use_parity = false, #if defined (UART_PRESENT) .baud_rate = NRF_UART_BAUDRATE_115200 #else .baud_rate = NRF_UARTE_BAUDRATE_115200 #endif }; APP_UART_FIFO_INIT(&comm_params, UART_RX_BUF_SIZE, UART_TX_BUF_SIZE, uart_event_handle, APP_IRQ_PRIORITY_LOW,//APP_IRQ_PRIORITY_HIGH,//APP_IRQ_PRIORITY_HIGHEST,// APP_IRQ_PRIORITY_LOWEST, err_code); APP_ERROR_CHECK(err_code); } /**@snippet [UART Initialization] */ /**@brief Function for initializing the Advertising functionality.*/ #ifdef SHORT_RANGE_ENABLE static void advertising_init(void) { uint32_t err_code; ble_advertising_init_t init; int8_t tx_power = 8; //niklas memset(&init, 0, sizeof(init)); init.advdata.name_type = BLE_ADVDATA_FULL_NAME; init.advdata.include_appearance = false; init.advdata.flags = BLE_GAP_ADV_FLAGS_LE_ONLY_LIMITED_DISC_MODE; //init.advdata.flags = BLE_GAP_ADV_FLAGS_LE_ONLY_GENERAL_DISC_MODE; init.srdata.uuids_complete.uuid_cnt = sizeof(m_adv_uuids) / sizeof(m_adv_uuids[0]); init.srdata.uuids_complete.p_uuids = m_adv_uuids; init.config.ble_adv_fast_enabled = true; init.config.ble_adv_fast_interval = APP_ADV_INTERVAL; init.config.ble_adv_fast_timeout = APP_ADV_DURATION; //init.config.ble_adv_primary_phy = BLE_GAP_PHY_CODED; //init.config.ble_adv_secondary_phy = BLE_GAP_PHY_CODED; //init.config.ble_adv_extended_enabled = true; init.evt_handler = on_adv_evt; err_code = ble_advertising_init(&m_advertising, &init); APP_ERROR_CHECK(err_code); ble_advertising_conn_cfg_tag_set(&m_advertising, APP_BLE_CONN_CFG_TAG); err_code = sd_ble_gap_tx_power_set(BLE_GAP_TX_POWER_ROLE_ADV , m_advertising.adv_handle, tx_power); APP_ERROR_CHECK(err_code); } #endif //niklas #ifdef LONG_RANGE_ENABLE static void advertising_init(void) { ret_code_t err_code; int8_t tx_power = 8; //niklas //?????????????? ble_advertising_init_t init; //??????? memset(&init, 0, sizeof(init)); //??????:?? init.advdata.name_type = BLE_ADVDATA_FULL_NAME; //??????:??? init.advdata.include_appearance = false; //Flag:???????,???BR/EDR init.advdata.flags = BLE_GAP_ADV_FLAGS_LE_ONLY_GENERAL_DISC_MODE; //UUID init.advdata.uuids_complete.uuid_cnt = sizeof(m_adv_uuids) / sizeof(m_adv_uuids[0]); init.advdata.uuids_complete.p_uuids = m_adv_uuids; init.config.ble_adv_fast_enabled = true;//??????????? init.config.ble_adv_fast_interval = APP_ADV_INTERVAL;//????????????? init.config.ble_adv_fast_timeout = APP_ADV_DURATION; //init.config.ble_adv_primary_phy = BLE_GAP_PHY_CODED; //init.config.ble_adv_secondary_phy = BLE_GAP_PHY_CODED; init.config.ble_adv_primary_phy = BLE_GAP_PHY_CODED; init.config.ble_adv_secondary_phy = BLE_GAP_PHY_CODED; init.config.ble_adv_extended_enabled = true; //init.config.ble_adv_extended_enabled = true; init.evt_handler = on_adv_evt; init.evt_handler = on_adv_evt;//???????? //????? err_code = ble_advertising_init(&m_advertising, &init); APP_ERROR_CHECK(err_code); //?????????APP_BLE_CONN_CFG_TAG????????????,????????????,????SoftDevice???, //????sd_ble_gap_adv_set_configure()???????? //??SoftDevice??(S140 V7.0.1??)???????????1,??APP_BLE_CONN_CFG_TAG???1? ble_advertising_conn_cfg_tag_set(&m_advertising, APP_BLE_CONN_CFG_TAG); //niklas err_code = sd_ble_gap_tx_power_set(BLE_GAP_TX_POWER_ROLE_ADV , m_advertising.adv_handle, tx_power); APP_ERROR_CHECK(err_code); } #endif /**@brief Function for initializing buttons and leds. * * @param[out] p_erase_bonds Will be true if the clear bonding button was pressed to wake the application up. */ static void buttons_leds_init(bool * p_erase_bonds) { bsp_event_t startup_event; uint32_t err_code = bsp_init(BSP_INIT_LEDS | BSP_INIT_BUTTONS, bsp_event_handler); APP_ERROR_CHECK(err_code); err_code = bsp_btn_ble_init(NULL, &startup_event); APP_ERROR_CHECK(err_code); *p_erase_bonds = (startup_event == BSP_EVENT_CLEAR_BONDING_DATA); } /**@brief Function for initializing the nrf log module. */ static void log_init(void) { ret_code_t err_code = NRF_LOG_INIT(NULL); APP_ERROR_CHECK(err_code); NRF_LOG_DEFAULT_BACKENDS_INIT(); } /**@brief Function for initializing power management. */ static void power_management_init(void) { ret_code_t err_code; err_code = nrf_pwr_mgmt_init(); APP_ERROR_CHECK(err_code); } /**@brief Function for handling the idle state (main loop). * * @details If there is no pending log operation, then sleep until next the next event occurs. */ static void idle_state_handle(void) { if (NRF_LOG_PROCESS() == false) { nrf_pwr_mgmt_run(); } } /**@brief Function for starting advertising. */ static void advertising_start(void) { uint32_t err_code = ble_advertising_start(&m_advertising, BLE_ADV_MODE_FAST); APP_ERROR_CHECK(err_code); } /**@brief Function for starting advertising. */ /* static void advertising_start(void) { static ble_gap_adv_params_t adv_params = {0}; adv_params.properties.connectable = 1; // Setting up the scan response packet is currently not supported when using CODED phy adv_params.properties.scannable = 0; adv_params.properties.legacy_pdu = 0; adv_params.p_peer_addr = NULL; adv_params.fp = BLE_GAP_ADV_FP_ANY; adv_params.interval = APP_ADV_INTERVAL; adv_params.duration = APP_ADV_TIMEOUT_IN_SECONDS * 100; #if defined(S140) adv_params.primary_phy = BLE_GAP_PHY_CODED; adv_params.secondary_phy = BLE_GAP_PHY_CODED; #else adv_params.primary_phy = BLE_GAP_PHY_1MBPS; adv_params.secondary_phy = BLE_GAP_PHY_1MBPS; #endif NRF_LOG_INFO("Starting advertising."); ret_code_t err_code = sd_ble_gap_adv_start(BLE_GAP_ADV_SET_HANDLE_DEFAULT, &adv_params, APP_BLE_CONN_CFG_TAG); APP_ERROR_CHECK(err_code); } */ //P3 to do void niklas_ble_send_handler(void) { static uint8_t data_array[BLE_NUS_MAX_DATA_LEN]; static uint8_t index = 0; uint32_t err_code; //printf("Status=%d\n",status);nrf_delay_ms(1); index=7; data_array[0]='0'; data_array[1]='1'; data_array[2]='2'; data_array[3]='3'; data_array[4]='4'; data_array[5]='5'; data_array[6]='\n'; do { uint16_t length = (uint16_t)index; err_code = ble_nus_data_send(&m_nus, data_array, &length, m_conn_handle); if ((err_code != NRF_ERROR_INVALID_STATE) && (err_code != NRF_ERROR_RESOURCES) && (err_code != NRF_ERROR_NOT_FOUND)) { APP_ERROR_CHECK(err_code); } } while (err_code == NRF_ERROR_RESOURCES); } //P3 to do void niklas_ble_send_array_handler(void) { uint32_t err_code; #ifdef DEBUG_BLE_SEND_DEBUG printf("G1 \r\n");nrf_delay_ms(1); #endif if(ble_tx_buffer_acc_len0) //notice need to be changed { lsm9ds1_acceleration_raw_get(&dev_ctx_imu, data_raw_acceleration.u8bit); lsm9ds1_angular_rate_raw_get(&dev_ctx_imu, data_raw_angular_rate.u8bit); lsm9ds1_fifo_data_level_get(&dev_ctx_imu, &unread_size); /* printf("Acc:%02x", data_raw_acceleration.u8bit[0]);nrf_delay_ms(1); printf(" %02x", data_raw_acceleration.u8bit[1]);nrf_delay_ms(1); printf(" %02x", data_raw_acceleration.u8bit[2]);nrf_delay_ms(1); printf(" %02x", data_raw_acceleration.u8bit[3]);nrf_delay_ms(1); printf(" %02x", data_raw_acceleration.u8bit[4]);nrf_delay_ms(1); printf(" %02x\n",data_raw_acceleration.u8bit[5]);nrf_delay_ms(1); printf("Ang:%02x", data_raw_angular_rate.u8bit[0]);nrf_delay_ms(1); printf(" %02x", data_raw_angular_rate.u8bit[1]);nrf_delay_ms(1); printf(" %02x", data_raw_angular_rate.u8bit[2]);nrf_delay_ms(1); printf(" %02x", data_raw_angular_rate.u8bit[3]);nrf_delay_ms(1); printf(" %02x", data_raw_angular_rate.u8bit[4]);nrf_delay_ms(1); printf(" %02x\n",data_raw_angular_rate.u8bit[5]);nrf_delay_ms(1); */ ble_tx_buffer_acc[k1]=data_raw_acceleration.u8bit[0];k1++; ble_tx_buffer_acc[k1]=data_raw_acceleration.u8bit[1];k1++; ble_tx_buffer_acc[k1]=data_raw_acceleration.u8bit[2];k1++; ble_tx_buffer_acc[k1]=data_raw_acceleration.u8bit[3];k1++; ble_tx_buffer_acc[k1]=data_raw_acceleration.u8bit[4];k1++; ble_tx_buffer_acc[k1]=data_raw_acceleration.u8bit[5];k1++; ble_tx_buffer_ang[k2]=data_raw_angular_rate.u8bit[0];k2++; ble_tx_buffer_ang[k2]=data_raw_angular_rate.u8bit[1];k2++; ble_tx_buffer_ang[k2]=data_raw_angular_rate.u8bit[2];k2++; ble_tx_buffer_ang[k2]=data_raw_angular_rate.u8bit[3];k2++; ble_tx_buffer_ang[k2]=data_raw_angular_rate.u8bit[4];k2++; ble_tx_buffer_ang[k2]=data_raw_angular_rate.u8bit[5];k2++; i++; //#ifdef DEBUG_FIFO_SIZE_INSIDE // printf(" P2:%d", i);nrf_delay_ms(1); //#endif } //should be refilled with crc ble_tx_buffer_acc[k1]=0xCC;k1++; ble_tx_buffer_acc[k1]=0xDD;k1++; ble_tx_buffer_ang[k2]=0xCC;k2++; ble_tx_buffer_ang[k2]=0xDD;k2++; ble_tx_buffer_acc[2]=k1/256; ble_tx_buffer_acc[3]=k1%256; ble_tx_buffer_ang[2]=k2/256; ble_tx_buffer_ang[3]=k2%256; ble_tx_buffer_acc_len=k1; ble_tx_buffer_ang_len=k2; if((status_connected==1)&&(status==9)) { err_code =sd_ble_gap_rssi_get(m_conn_handle,&rssi_value,&channel); printf("0RSSI=%d\n",rssi_value);nrf_delay_ms(1); APP_ERROR_CHECK(err_code); } if(rssi_value<0) { ble_tx_buffer_ang[6]=(unsigned char)(-rssi_value); ble_tx_buffer_acc[6]=(unsigned char)(-rssi_value); printf("1RSSI=-%d\n",ble_tx_buffer_acc[6]);nrf_delay_ms(1); } else { ble_tx_buffer_ang[6]=(unsigned char)rssi_value; ble_tx_buffer_acc[6]=(unsigned char)rssi_value; printf("2RSSI=%d\n",ble_tx_buffer_acc[6]);nrf_delay_ms(1); } //#ifdef DEBUG_FIFO_SIZE_INSIDE // printf("P2:%d", i);nrf_delay_ms(1); //#endif #ifdef WATCHDOG_ENABLE NRF_WDT->RR[0] = WDT_RR_RR_Reload;//reload watchdog #endif return i; } //void in_pin_handler(nrf_drv_gpiote_pin_t pin, nrf_gpiote_polarity_t action) void in_pin_handler(void) { //nrf_drv_gpiote_out_toggle(PIN_OUT); printf("INTC\n");nrf_delay_ms(1); uint8_t k=0; uint32_t err_code; uint8_t channel; k=read_out_FIFO_float(); bsp_board_led_invert(BSP_BOARD_LED_2); #ifdef DEBUG_FIFO_SIZE_INSIDE printf("P3:%d\n", k);nrf_delay_ms(1); printf("s_connected=%d\n",status_connected);nrf_delay_ms(1); #endif #ifdef DEBUG_BLE_SEND_DEBUG printf("ble_tx_buffer_acc_len=%d\n",ble_tx_buffer_acc_len);nrf_delay_ms(1); printf("ble_tx_buffer_ang_len=%d\n",ble_tx_buffer_ang_len);nrf_delay_ms(1); printf("BLE_NUS_MAX_DATA_LEN=%d\n",BLE_NUS_MAX_DATA_LEN);nrf_delay_ms(1); #endif //if((status_connected==1)&&(status==9)){niklas_ble_send_handler();} if((status_connected==1)&&(status==9)) { #ifdef LONG_RANGE_HIGH_SPEED_BLE_STREAMING_SLOW ble_tx_buffer_acc_len=5; ble_tx_buffer_ang_len=5; #endif niklas_ble_send_array_handler(); //reference https://www.jianshu.com/p/c81c576bbdf5 /* err_code =sd_ble_gap_rssi_get(m_conn_handle,&rssi_value,&channel); printf("RSSI=%d\n",rssi_value);nrf_delay_ms(1); APP_ERROR_CHECK(err_code); */ } } static void interrupt_pin_init(void) { ret_code_t err_code; err_code = nrf_drv_gpiote_init(); APP_ERROR_CHECK(err_code); //nrf_drv_gpiote_out_config_t out_config = GPIOTE_CONFIG_OUT_SIMPLE(false); //err_code = nrf_drv_gpiote_out_init(PIN_OUT, &out_config); //APP_ERROR_CHECK(err_code); //GPIOTE_CONFIG_IN_SENSE_LOTOHI //GPIOTE_RAW_CONFIG_IN_SENSE_LOTOHI nrf_drv_gpiote_in_config_t in_config =GPIOTE_CONFIG_IN_SENSE_LOTOHI(true);// GPIOTE_CONFIG_IN_SENSE_TOGGLE(true); in_config.pull = NRF_GPIO_PIN_PULLDOWN;//NRF_GPIO_PIN_PULLUP; err_code = nrf_drv_gpiote_in_init(PIN_INTERRUPT, &in_config, in_pin_handler); APP_ERROR_CHECK(err_code); nrf_drv_gpiote_in_event_enable(PIN_INTERRUPT, true); printf("pin_init");nrf_delay_ms(1); if(nrf_gpio_pin_read(PIN_INTERRUPT)) { printf("1321"); //in_pin_handler(); } else { printf("1326"); } } uint8_t LSM9DS1_looking(void) { uint8_t find_flag=0; printf("\r\n SPI started.\r\n");nrf_delay_ms(1); //spi_init(); sensor_reset(); //Initialize inertial sensors (IMU) driver interface dev_ctx_mag.write_reg = platform_write; dev_ctx_mag.read_reg = platform_read; dev_ctx_mag.handle = (void*)&spi_add_mag; // Initialize magnetic sensors driver interface dev_ctx_imu.write_reg = platform_write; dev_ctx_imu.read_reg = platform_read; dev_ctx_imu.handle = (void*)&spi_add_imu; // Check device ID lsm9ds1_dev_id_get(&dev_ctx_mag, &dev_ctx_imu, &whoamI); //app_uart_flush(); nrf_delay_ms(1); printf("who imu= %X\n",whoamI.imu);nrf_delay_ms(1);//nrf_delay_ms(1);//app_uart_flush(); printf("who mag= %X\n",whoamI.mag);nrf_delay_ms(1);//nrf_delay_ms(1);//app_uart_flush(); if (whoamI.imu != LSM9DS1_IMU_ID || whoamI.mag != LSM9DS1_MAG_ID){ //manage here device not found //NRF_LOG_INFO("\r\nCannot find the LSM9DS1.********\r\n"); //NRF_LOG_FLUSH(); printf("\r\nCannot find the LSM9DS1.********\r\n");nrf_delay_ms(1); lsm9ds1_dev_id_get(&dev_ctx_mag, &dev_ctx_imu, &whoamI); find_flag=0; } else { find_flag=1; } printf("Who am I register [IMU]: 0x%x [MAG]: 0x%x \r\n\n", whoamI.imu, whoamI.mag); nrf_delay_ms(1);//app_uart_flush(); printf(" L0 \r\n");nrf_delay_ms(1); //Restore default configuration lsm9ds1_dev_reset_set(&dev_ctx_mag, &dev_ctx_imu, PROPERTY_ENABLE); return find_flag; } void LSM9DS1_start(void) { //Restore default configuration lsm9ds1_dev_reset_set(&dev_ctx_mag, &dev_ctx_imu, PROPERTY_ENABLE); printf(" L1 \r\n");nrf_delay_ms(1); do { lsm9ds1_dev_reset_get(&dev_ctx_mag, &dev_ctx_imu, &rst); printf("rst =:0x%x \r\n", rst); nrf_delay_ms(1); } while (rst); printf(" L2 \r\n");nrf_delay_ms(1); lsm9ds1_niklas_fifo_setup(); //Enable Block Data Update lsm9ds1_block_data_update_set(&dev_ctx_mag, &dev_ctx_imu, PROPERTY_ENABLE); printf(" L3 \r\n");nrf_delay_ms(1); //Set full scale lsm9ds1_xl_full_scale_set(&dev_ctx_imu, LSM9DS1_4g); lsm9ds1_gy_full_scale_set(&dev_ctx_imu, LSM9DS1_2000dps); lsm9ds1_mag_full_scale_set(&dev_ctx_mag, LSM9DS1_16Ga); printf(" L4 \r\n");nrf_delay_ms(1); //Configure filtering chain - See datasheet for filtering chain details //Accelerometer filtering chain lsm9ds1_xl_filter_aalias_bandwidth_set(&dev_ctx_imu, LSM9DS1_AUTO); lsm9ds1_xl_filter_lp_bandwidth_set(&dev_ctx_imu, LSM9DS1_LP_ODR_DIV_50); lsm9ds1_xl_filter_out_path_set(&dev_ctx_imu, LSM9DS1_LP_OUT); printf(" L5 \r\n");nrf_delay_ms(1); //Gyroscope filtering chain lsm9ds1_gy_filter_lp_bandwidth_set(&dev_ctx_imu, LSM9DS1_LP_ULTRA_LIGHT);//LSM9DS1_LP_STRONG);// lsm9ds1_gy_filter_hp_bandwidth_set(&dev_ctx_imu, LSM9DS1_HP_MEDIUM); lsm9ds1_gy_filter_out_path_set(&dev_ctx_imu, LSM9DS1_LPF1_HPF_LPF2_OUT); printf(" L6 \r\n");nrf_delay_ms(1); //Set Output Data Rate / Power mode lsm9ds1_imu_data_rate_set(&dev_ctx_imu,LSM9DS1_IMU_238Hz);// LSM9DS1_IMU_14Hz9);//LSM9DS1_IMU_59Hz5); //lsm9ds1_imu_data_rate_set(&dev_ctx_imu, LSM9DS1_IMU_952Hz); printf(" L7 \r\n");nrf_delay_ms(3); lsm9ds1_mag_data_rate_set(&dev_ctx_mag, LSM9DS1_MAG_UHP_10Hz); //lsm9ds1_mag_data_rate_set(&dev_ctx_mag, LSM9DS1_MAG_LP_1000Hz); printf(" L8 \r\n");nrf_delay_ms(3); // interrupt_pin_init(); } /**@brief Application main function. */ int main(void) { #ifdef WATCHDOG_ENABLE //Configure WDT. //reference https://devzone.nordicsemi.com/f/nordic-q-a/53904/nrf52840-watchdog-for-arduino-nano-33-ble-sense NRF_WDT->CONFIG = 0x01; // Configure WDT to run when CPU is asleep //NRF_WDT->CRV = 3932159; // Timeout set to 120 seconds, timeout[s] = (CRV-1)/32768 //NRF_WDT->CRV = 983041; // Timeout set to 30 seconds, timeout[s] = (CRV-1)/32768 //NRF_WDT->CRV = 327681; // Timeout set to 10 seconds, timeout[s] = (CRV-1)/32768 NRF_WDT->CRV = 98305; // Timeout set to 3 seconds, timeout[s] = (CRV-1)/32768 //NRF_WDT->CRV = 32769; // Timeout set to 1 seconds, timeout[s] = (CRV-1)/32768 NRF_WDT->RREN = 0x01; // Enable the RR[0] reload register NRF_WDT->TASKS_START = 1; // Start WDT #endif bool erase_bonds; uint8_t find_flag=0; // Initialize. uart_init(); log_init(); timers_init(); //buttons_leds_init(&erase_bonds); printf("\n\n\nNiklas ex start.\n");nrf_delay_ms(1); bsp_board_init(BSP_INIT_LEDS); power_management_init(); ble_stack_init(); gap_params_init(); gatt_init(); services_init(); advertising_init(); conn_params_init(); // Start execution. printf("UART started.\r\n");nrf_delay_ms(1); //NRF_LOG_INFO("Debug logging for UART over RTT started."); advertising_start(); printf("adv started.\r\n");nrf_delay_ms(1); spi_init(); printf("spi started.\r\n");nrf_delay_ms(1); while(find_flag!=1) { find_flag=LSM9DS1_looking(); printf("find_flag=%d\n",find_flag);nrf_delay_ms(1); } LSM9DS1_start(); interrupt_pin_init(); /* while (true) { //Read device status register lsm9ds1_dev_status_get(&dev_ctx_mag, &dev_ctx_imu, ®); if ( reg.status_imu.xlda && reg.status_imu.gda ){ //Read imu data memset(data_raw_acceleration.u8bit, 0x00, 3 * sizeof(int16_t)); memset(data_raw_angular_rate.u8bit, 0x00, 3 * sizeof(int16_t)); lsm9ds1_acceleration_raw_get(&dev_ctx_imu, data_raw_acceleration.u8bit); lsm9ds1_angular_rate_raw_get(&dev_ctx_imu, data_raw_angular_rate.u8bit); acceleration_mg[0] = lsm9ds1_from_fs4g_to_mg(data_raw_acceleration.i16bit[0]); acceleration_mg[1] = lsm9ds1_from_fs4g_to_mg(data_raw_acceleration.i16bit[1]); acceleration_mg[2] = lsm9ds1_from_fs4g_to_mg(data_raw_acceleration.i16bit[2]); angular_rate_mdps[0] = lsm9ds1_from_fs2000dps_to_mdps(data_raw_angular_rate.i16bit[0]); angular_rate_mdps[1] = lsm9ds1_from_fs2000dps_to_mdps(data_raw_angular_rate.i16bit[1]); angular_rate_mdps[2] = lsm9ds1_from_fs2000dps_to_mdps(data_raw_angular_rate.i16bit[2]); printf("Acc:%02x", data_raw_acceleration.u8bit[0]);nrf_delay_ms(1); printf(" %02x", data_raw_acceleration.u8bit[1]);nrf_delay_ms(1); printf(" %02x", data_raw_acceleration.u8bit[2]);nrf_delay_ms(1); printf(" %02x", data_raw_acceleration.u8bit[3]);nrf_delay_ms(1); printf(" %02x", data_raw_acceleration.u8bit[4]);nrf_delay_ms(1); printf(" %02x\n",data_raw_acceleration.u8bit[5]);nrf_delay_ms(1); printf("Acc:%04x", data_raw_acceleration.i16bit[0]);nrf_delay_ms(1); printf(" %04x", data_raw_acceleration.i16bit[1]);nrf_delay_ms(1); printf(" %04x\n",data_raw_acceleration.i16bit[2]);nrf_delay_ms(1); //printf("flo:%4.2f", 0.033*0.51);nrf_delay_ms(1); //printf(" %4.2f", 0.033*0.52);nrf_delay_ms(1); //printf(" %4.2f\n",0.033*0.53);nrf_delay_ms(1); printf("Ang:%02x", data_raw_angular_rate.u8bit[0]);nrf_delay_ms(1); printf(" %02x", data_raw_angular_rate.u8bit[1]);nrf_delay_ms(1); printf(" %02x", data_raw_angular_rate.u8bit[2]);nrf_delay_ms(1); printf(" %02x", data_raw_angular_rate.u8bit[3]);nrf_delay_ms(1); printf(" %02x", data_raw_angular_rate.u8bit[4]);nrf_delay_ms(1); printf(" %02x\n",data_raw_angular_rate.u8bit[5]);nrf_delay_ms(1); printf("Ang:%04x", data_raw_angular_rate.i16bit[0]);nrf_delay_ms(1); printf(" %04x", data_raw_angular_rate.i16bit[1]);nrf_delay_ms(1); printf(" %04x\n",data_raw_angular_rate.i16bit[2]);nrf_delay_ms(1); sprintf((char*)tx_buffer, "IMU - [mg]:%4.2f\t%4.2f\t%4.2f\t\n[mdps]:%4.2f\t%4.2f\t%4.2f\r\n", acceleration_mg[0], acceleration_mg[1], acceleration_mg[2], angular_rate_mdps[0], angular_rate_mdps[1], angular_rate_mdps[2]); nrf_delay_ms(1); //sprintf((char *)tx_buffer, "Moj IMU - mg[0]: %4.2f \r\n", acceleration_mg[0]); //printf(" IMU - [mg]: %4.2f",acceleration_mg[0]);nrf_delay_ms(1); //printf(" IMU - [mg]: %4.2f",acceleration_mg[0]);nrf_delay_ms(1); nrf_delay_ms(1);nrf_delay_ms(1);nrf_delay_ms(1); printf(tx_buffer); //NRF_LOG_FLUSH(); } if ( reg.status_mag.zyxda ){ //Read magnetometer data memset(data_raw_magnetic_field.u8bit, 0x00, 3 * sizeof(int16_t)); lsm9ds1_magnetic_raw_get(&dev_ctx_mag, data_raw_magnetic_field.u8bit); magnetic_field_mgauss[0] = lsm9ds1_from_fs16gauss_to_mG(data_raw_magnetic_field.i16bit[0]); magnetic_field_mgauss[1] = lsm9ds1_from_fs16gauss_to_mG(data_raw_magnetic_field.i16bit[1]); magnetic_field_mgauss[2] = lsm9ds1_from_fs16gauss_to_mG(data_raw_magnetic_field.i16bit[2]); sprintf(tx_buffer, "MAG - [mG]:%4.2f\t%4.2f\t%4.2f\r\n", magnetic_field_mgauss[0], magnetic_field_mgauss[1], magnetic_field_mgauss[2]);nrf_delay_ms(1); printf(tx_buffer);nrf_delay_ms(1);nrf_delay_ms(1);nrf_delay_ms(1); //NRF_LOG_INFO(tx_buffer); //NRF_LOG_FLUSH(); } nrf_delay_ms(500); } */ uint8_t counter_flag=0; // Enter main loop. for (;;) { idle_state_handle(); //APP_ERROR_CHECK(nrf_drv_spi_transfer(&spi, m_tx_buf, m_length, m_rx_buf, m_length)); //bsp_board_led_invert(BSP_BOARD_LED_2); #ifdef LONG_RANGE_HIGH_SPEED if(status_connected==1) { nrf_delay_ms(1000); /* if(nrf_gpio_pin_read(PIN_INTERRUPT)) { printf("In BB:\n");nrf_delay_ms(1); counter_flag=counter_flag+1; if(counter_flag>1) { LSM9DS1_start(); interrupt_pin_init(); } } //LSM9DS1_looking(); */ ble_tx_buffer_acc_len=10;//256; ble_tx_buffer_ang_len=10;//256; niklas_ble_send_array_handler(); printf("BLEsend:\n");nrf_delay_ms(1); } else { counter_flag=0; } #endif } }