nrf52-quadcopter question

RE: nrf52-quadcopter question

Yoojin.Jang — Tue, 11 Sep 2018 07:06:20 GMT

Hello.

thank you for your support.

I almost finish nrf52-quadcopter develop.

I want fly drone and mobile.

I want to confirm PID value from minum to maxium in mobile.

and I want to confirm your PID value.

Roll - rate

P: I: D:

Roll - attitude

P: I: D:

Pitch - rate

P: I: D:

Pitch - attitude

P: I: D:

Yaw - rate

P: I: D:

Yaw - attitude

P: I: D:

thank you have a nice day

RE: nrf52-quadcopter question

Yoojin.Jang — Thu, 06 Sep 2018 17:53:09 GMT

Thank you for your support.

My PCB is uart routing. But operation is not ok.

Uart of Other project is ok.

I confirm Gyro and accel value is ok by osciloscope.

It is ok.

maybe I developing gyro and accel u-com is icm20602.

I will continue test.

have a good day.

RE: nrf52-quadcopter question

Henrik — Thu, 06 Sep 2018 11:34:52 GMT

Hello!

There is no routing for UART on our reference PCB. Either you have to solder some wiring for UART yourself or you could use a debugger and RTT, which is what we used for development.

RE: nrf52-quadcopter question

Yoojin.Jang — Thu, 06 Sep 2018 07:00:39 GMT

Hello.

I am developing a drone, drone and website is opertation OK.

but gyro and accel not operation by joystick.

gyro and accel call ime6Read(&gyro, &acc) function.

but continue call , when AUTO_LEVEL_ENABLE is true and ATTITUDE_DIVIDER is 0 in scheduler_execute function.

but gyro and accel not operation by jostick.

I want to add uart_init() function.

but add uart_init() function, not operation.

I want to confirm gyro and accel value by serial monitoring.

sorry, but give me all source code as my e-mail.

prifor2@nate.com

thank you.

best regard.

RE: nrf52-quadcopter question

Yoojin.Jang — Tue, 04 Sep 2018 17:01:58 GMT

thank you for your support.

drone and website is operation OK.

I need to make a little more changes, but thank you for your help.

I am developing a drones, and this is the only project that uses the nrf52832 microcontroller.

have a good day.

RE: nrf52-quadcopter question

Henrik — Tue, 04 Sep 2018 06:44:44 GMT

Ah yes, my bad. The characteristic must also be registered I believe. Try replacing the entirety of ble_nus.c with the following:

/* Copyright (c) 2012 Nordic Semiconductor. All Rights Reserved.
 *
 * The information contained herein is property of Nordic Semiconductor ASA.
 * Terms and conditions of usage are described in detail in NORDIC
 * SEMICONDUCTOR STANDARD SOFTWARE LICENSE AGREEMENT.
 *
 * Licensees are granted free, non-transferable use of the information. NO
 * WARRANTY of ANY KIND is provided. This heading must NOT be removed from
 * the file.
 *
 */

#include "ble_nus.h"
#include "ble_srv_common.h"
#include "sdk_common.h"

#define BLE_UUID_NUS_TX_CHARACTERISTIC 0x0002                      /**< The UUID of the TX Characteristic. */
#define BLE_UUID_NUS_RX_CHARACTERISTIC 0x0003                      /**< The UUID of the RX Characteristic. */
#define BLE_UUID_NUS_EX_CHARACTERISTIC 0x0004                      /**< The UUID of the EX Characteristic. */

#define BLE_NUS_MAX_RX_CHAR_LEN        BLE_NUS_MAX_DATA_LEN        /**< Maximum length of the RX Characteristic (in bytes). */
#define BLE_NUS_MAX_TX_CHAR_LEN        BLE_NUS_MAX_DATA_LEN        /**< Maximum length of the TX Characteristic (in bytes). */
#define BLE_NUS_MAX_EX_CHAR_LEN        BLE_NUS_MAX_DATA_LEN        /**< Maximum length of the EX Characteristic (in bytes). */

#define NUS_BASE_UUID                  {{0x9E, 0xCA, 0xDC, 0x24, 0x0E, 0xE5, 0xA9, 0xE0, 0x93, 0xF3, 0xA3, 0xB5, 0x00, 0x00, 0x40, 0x6E}} /**< Used vendor specific UUID. */

/**@brief Function for handling the @ref BLE_GAP_EVT_CONNECTED event from the S110 SoftDevice.
 *
 * @param[in] p_nus     Nordic UART Service structure.
 * @param[in] p_ble_evt Pointer to the event received from BLE stack.
 */
static void on_connect(ble_nus_t * p_nus, ble_evt_t * p_ble_evt)
{
    p_nus->conn_handle = p_ble_evt->evt.gap_evt.conn_handle;
}


/**@brief Function for handling the @ref BLE_GAP_EVT_DISCONNECTED event from the S110 SoftDevice.
 *
 * @param[in] p_nus     Nordic UART Service structure.
 * @param[in] p_ble_evt Pointer to the event received from BLE stack.
 */
static void on_disconnect(ble_nus_t * p_nus, ble_evt_t * p_ble_evt)
{
    UNUSED_PARAMETER(p_ble_evt);
    p_nus->conn_handle = BLE_CONN_HANDLE_INVALID;
}


/**@brief Function for handling the @ref BLE_GATTS_EVT_WRITE event from the S132 SoftDevice.
 *
 * @param[in] p_nus     Nordic UART Service structure.
 * @param[in] p_ble_evt Pointer to the event received from BLE stack.
 */
static void on_write(ble_nus_t * p_nus, ble_evt_t * p_ble_evt)
{
    ble_gatts_evt_write_t * p_evt_write = &p_ble_evt->evt.gatts_evt.params.write;

    if (
        (p_evt_write->handle == p_nus->rx_handles.cccd_handle)
        &&
        (p_evt_write->len == 2)
       )
    {
        if (ble_srv_is_notification_enabled(p_evt_write->data))
        {
            p_nus->is_notification_enabled = true;
        }
        else
        {
            p_nus->is_notification_enabled = false;
        }
    }
    else if (
             (p_evt_write->handle == p_nus->tx_handles.value_handle)
             &&
             (p_nus->data_handler != NULL)
            )
    {
        p_nus->data_handler(p_nus, p_evt_write->data, p_evt_write->len);
    }
		
		else if (
             (p_evt_write->handle == p_nus->ex_handles.value_handle)
             &&
             (p_nus->data_handler_ex != NULL)
            )
    {
        p_nus->data_handler_ex(p_nus, p_evt_write->data, p_evt_write->len);
    }
				
    else
    {
        // Do Nothing. This event is not relevant for this service.
    }
}


/**@brief Function for adding RX characteristic.
 *
 * @param[in] p_nus       Nordic UART Service structure.
 * @param[in] p_nus_init  Information needed to initialize the service.
 *
 * @return NRF_SUCCESS on success, otherwise an error code.
 */
static uint32_t rx_char_add(ble_nus_t * p_nus, const ble_nus_init_t * p_nus_init)
{
    /**@snippet [Adding proprietary characteristic to S110 SoftDevice] */
    ble_gatts_char_md_t char_md;
    ble_gatts_attr_md_t cccd_md;
    ble_gatts_attr_t    attr_char_value;
    ble_uuid_t          ble_uuid;
    ble_gatts_attr_md_t attr_md;

    memset(&cccd_md, 0, sizeof(cccd_md));

    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&cccd_md.read_perm);
    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&cccd_md.write_perm);

    cccd_md.vloc = BLE_GATTS_VLOC_STACK;

    memset(&char_md, 0, sizeof(char_md));

    char_md.char_props.notify = 1;
	  char_md.char_props.read   = 1;
    char_md.p_char_user_desc  = NULL;
    char_md.p_char_pf         = NULL;
    char_md.p_user_desc_md    = NULL;
    char_md.p_cccd_md         = &cccd_md;
    char_md.p_sccd_md         = NULL;

    ble_uuid.type = p_nus->uuid_type;
    ble_uuid.uuid = BLE_UUID_NUS_RX_CHARACTERISTIC;

    memset(&attr_md, 0, sizeof(attr_md));

    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&attr_md.read_perm);
    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&attr_md.write_perm);

    attr_md.vloc    = BLE_GATTS_VLOC_STACK;
    attr_md.rd_auth = 0;
    attr_md.wr_auth = 0;
    attr_md.vlen    = 1;

    memset(&attr_char_value, 0, sizeof(attr_char_value));

    attr_char_value.p_uuid    = &ble_uuid;
    attr_char_value.p_attr_md = &attr_md;
    attr_char_value.init_len  = sizeof(uint8_t);
    attr_char_value.init_offs = 0;
    attr_char_value.max_len   = BLE_NUS_MAX_RX_CHAR_LEN;

    return sd_ble_gatts_characteristic_add(p_nus->service_handle,
                                           &char_md,
                                           &attr_char_value,
                                           &p_nus->rx_handles);
    /**@snippet [Adding proprietary characteristic to S110 SoftDevice] */
}


/**@brief Function for adding EX characteristic.
 *
 * @param[in] p_nus       Nordic UART Service structure.
 * @param[in] p_nus_init  Information needed to initialize the service.
 *
 * @return NRF_SUCCESS on success, otherwise an error code.
 */
static uint32_t ex_char_add(ble_nus_t * p_nus, const ble_nus_init_t * p_nus_init)
{
    ble_gatts_char_md_t char_md;
    ble_gatts_attr_t    attr_char_value;
    ble_uuid_t          ble_uuid;
    ble_gatts_attr_md_t attr_md;

    memset(&char_md, 0, sizeof(char_md));

    char_md.char_props.write         = 1;
    char_md.char_props.write_wo_resp = 1;
    char_md.p_char_user_desc         = NULL;
    char_md.p_char_pf                = NULL;
    char_md.p_user_desc_md           = NULL;
    char_md.p_cccd_md                = NULL;
    char_md.p_sccd_md                = NULL;

    ble_uuid.type = p_nus->uuid_type;
    ble_uuid.uuid = BLE_UUID_NUS_EX_CHARACTERISTIC;

    memset(&attr_md, 0, sizeof(attr_md));

    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&attr_md.read_perm);
    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&attr_md.write_perm);

    attr_md.vloc    = BLE_GATTS_VLOC_STACK;
    attr_md.rd_auth = 0;
    attr_md.wr_auth = 0;
    attr_md.vlen    = 1;

    memset(&attr_char_value, 0, sizeof(attr_char_value));

    attr_char_value.p_uuid    = &ble_uuid;
    attr_char_value.p_attr_md = &attr_md;
    attr_char_value.init_len  = 1;
    attr_char_value.init_offs = 0;
    attr_char_value.max_len   = BLE_NUS_MAX_EX_CHAR_LEN;

    return sd_ble_gatts_characteristic_add(p_nus->service_handle,
                                           &char_md,
                                           &attr_char_value,
                                           &p_nus->ex_handles);
    /**@snippet [Adding proprietary characteristic to S110 SoftDevice] */
}


/**@brief Function for adding TX characteristic.
 *
 * @param[in] p_nus       Nordic UART Service structure.
 * @param[in] p_nus_init  Information needed to initialize the service.
 *
 * @return NRF_SUCCESS on success, otherwise an error code.
 */
static uint32_t tx_char_add(ble_nus_t * p_nus, const ble_nus_init_t * p_nus_init)
{
    ble_gatts_char_md_t char_md;
    ble_gatts_attr_t    attr_char_value;
    ble_uuid_t          ble_uuid;
    ble_gatts_attr_md_t attr_md;

    memset(&char_md, 0, sizeof(char_md));

    char_md.char_props.write         = 1;
    char_md.char_props.write_wo_resp = 1;
    char_md.p_char_user_desc         = NULL;
    char_md.p_char_pf                = NULL;
    char_md.p_user_desc_md           = NULL;
    char_md.p_cccd_md                = NULL;
    char_md.p_sccd_md                = NULL;

    ble_uuid.type = p_nus->uuid_type;
    ble_uuid.uuid = BLE_UUID_NUS_TX_CHARACTERISTIC;

    memset(&attr_md, 0, sizeof(attr_md));

    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&attr_md.read_perm);
    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&attr_md.write_perm);

    attr_md.vloc    = BLE_GATTS_VLOC_STACK;
    attr_md.rd_auth = 0;
    attr_md.wr_auth = 0;
    attr_md.vlen    = 1;

    memset(&attr_char_value, 0, sizeof(attr_char_value));

    attr_char_value.p_uuid    = &ble_uuid;
    attr_char_value.p_attr_md = &attr_md;
    attr_char_value.init_len  = 1;
    attr_char_value.init_offs = 0;
    attr_char_value.max_len   = BLE_NUS_MAX_TX_CHAR_LEN;

    return sd_ble_gatts_characteristic_add(p_nus->service_handle,
                                           &char_md,
                                           &attr_char_value,
                                           &p_nus->tx_handles);
}


void ble_nus_on_ble_evt(ble_nus_t * p_nus, ble_evt_t * p_ble_evt)
{
    if ((p_nus == NULL) || (p_ble_evt == NULL))
    {
        return;
    }

    switch (p_ble_evt->header.evt_id)
    {
        case BLE_GAP_EVT_CONNECTED:
            on_connect(p_nus, p_ble_evt);
            break;

        case BLE_GAP_EVT_DISCONNECTED:
            on_disconnect(p_nus, p_ble_evt);
            break;

        case BLE_GATTS_EVT_WRITE:
            on_write(p_nus, p_ble_evt);
            break;

        default:
            // No implementation needed.
            break;
    }
}


uint32_t ble_nus_init(ble_nus_t * p_nus, const ble_nus_init_t * p_nus_init)
{
    uint32_t      err_code;
    ble_uuid_t    ble_uuid;
    ble_uuid128_t nus_base_uuid = NUS_BASE_UUID;

    VERIFY_PARAM_NOT_NULL(p_nus);
    VERIFY_PARAM_NOT_NULL(p_nus_init);

    // Initialize the service structure.
    p_nus->conn_handle             = BLE_CONN_HANDLE_INVALID;
    p_nus->data_handler            = p_nus_init->data_handler;
	  p_nus->data_handler_ex         = p_nus_init->data_handler_ex;
    p_nus->is_notification_enabled = false;

    /**@snippet [Adding proprietary Service to S110 SoftDevice] */
    // Add a custom base UUID.
    err_code = sd_ble_uuid_vs_add(&nus_base_uuid, &p_nus->uuid_type);
    VERIFY_SUCCESS(err_code);

    ble_uuid.type = p_nus->uuid_type;
    ble_uuid.uuid = BLE_UUID_NUS_SERVICE;

    // Add the service.
    err_code = sd_ble_gatts_service_add(BLE_GATTS_SRVC_TYPE_PRIMARY,
                                        &ble_uuid,
                                        &p_nus->service_handle);
    /**@snippet [Adding proprietary Service to S110 SoftDevice] */
    VERIFY_SUCCESS(err_code);

    // Add the RX Characteristic.
    err_code = rx_char_add(p_nus, p_nus_init);
    VERIFY_SUCCESS(err_code);

    // Add the TX Characteristic.
    err_code = tx_char_add(p_nus, p_nus_init);
    VERIFY_SUCCESS(err_code);
		
		// Add the EX Characteristic.
    err_code = ex_char_add(p_nus, p_nus_init);
    VERIFY_SUCCESS(err_code);

    return NRF_SUCCESS;
}


uint32_t ble_nus_string_send(ble_nus_t * p_nus, uint8_t * p_string, uint16_t length)
{
    ble_gatts_hvx_params_t hvx_params;

    VERIFY_PARAM_NOT_NULL(p_nus);

    if ((p_nus->conn_handle == BLE_CONN_HANDLE_INVALID) || (!p_nus->is_notification_enabled))
    {
        return NRF_ERROR_INVALID_STATE;
    }

    if (length > BLE_NUS_MAX_DATA_LEN)
    {
        return NRF_ERROR_INVALID_PARAM;
    }

    memset(&hvx_params, 0, sizeof(hvx_params));

    hvx_params.handle = p_nus->rx_handles.value_handle;
    hvx_params.p_data = p_string;
    hvx_params.p_len  = &length;
    hvx_params.type   = BLE_GATT_HVX_NOTIFICATION;

    return sd_ble_gatts_hvx(p_nus->conn_handle, &hvx_params);
}

Please take note of the function "ex_char_add". It adds the characteristic used by the website. It must be called during ble initialization, that is probably already the case.

It has been a couple of years since I worked on this project, and it couldn't be stressed enough that I was an inexperienced student. Looking back on this project I see a multiple of inefficiencies that should have been dealt with. Additionally, version 11 of the SDK is without a doubt outdated. It is no wonder that you are having issues working with this repo (sorry!).

I can however confirm that this project is indeed working, but going further with your own project would it be a necessity to migrate into your own firmware for stability, readability and probably less memory usage.

RE: nrf52-quadcopter question

Yoojin.Jang — Mon, 03 Sep 2018 16:15:30 GMT

thank you for your support.

#define BLE_UUID_NUS_EX_CHARACTERISTIC 0x0004

I applied #define only and it did not work. I think I need to add related sources too.

I tried changing the 0x0004 to 0x0002 on the web to check the motor operation and the motor did not work.
Another question is that the motor does not work and I don't know where the joystick part protocol is on the web.

RE: nrf52-quadcopter question

Henrik — Mon, 03 Sep 2018 10:24:02 GMT

Hello!

The quadcopter project has done some changes to the SDK which is not ideal. In order to make the project work, please change the SDK11/components/ble/ble_services/ble_nus_c.c with the following:

#define BLE_UUID_NUS_TX_CHARACTERISTIC 0x0002                      /**< The UUID of the TX Characteristic. */
#define BLE_UUID_NUS_RX_CHARACTERISTIC 0x0003                      /**< The UUID of the RX Characteristic. */
#define BLE_UUID_NUS_EX_CHARACTERISTIC 0x0004                      /**< The UUID of the EX Characteristic. */

Be advised: the quadcopter project is out-of-date and is not recommended to use for further development. A new standalone and (hopefully) improved firmware should replace the current one.