Hi, i am using nrf52840 development kit , four servo motor . using 15.2 sdk version
here i am controlling the angle using adc values , i am done with one servo motor . pwm+adc. Now i need to control the angle for all the four motors , how to do that ? how can i add the four adc channels .
while running i am getting this in debug terminal ,
but i couldn't able to connect to the device , i switched to timer 3 for adc and timer 1 for one pwm . It is advertising continuously even i can't able to connect
here is my code
#include <stdint.h>
#include <string.h>
#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 "app_timer.h"
#include "ble_nus.h"
#include "app_uart.h"
#include "app_util_platform.h"
#include "bsp_btn_ble.h"
#include "nrf_log.h"
#include "nrf_log_ctrl.h"
#include "nrf_log_default_backends.h"
#include "nrf_drv_usbd.h"
#include "nrf_drv_clock.h"
#include "nrf_gpio.h"
#include "nrf_delay.h"
#include "nrf_drv_power.h"
#include "app_error.h"
#include "app_util.h"
#include "app_usbd_core.h"
#include "app_usbd.h"
#include "app_usbd_string_desc.h"
#include "app_usbd_cdc_acm.h"
#include "app_usbd_serial_num.h"
#include "pca10056.h"
#include "boards.h"
#include "C:\nRF5_SDK_15.2.0_9412b96\nRF5_SDK_15.2.0_9412b96\components\libraries\pwm\app_pwm.h"
#include "nrf_drv_saadc.h"
#include "nrf_drv_ppi.h"
#include "nrf_drv_timer.h"
#define LED_BLE_NUS_CONN (BSP_BOARD_LED_0)
#define LED_BLE_NUS_RX (BSP_BOARD_LED_1)
#define LED_CDC_ACM_CONN (BSP_BOARD_LED_2)
#define LED_CDC_ACM_RX (BSP_BOARD_LED_3)
#define SAMPLES_IN_BUFFER 4
volatile uint8_t state = 1;
static const nrf_drv_timer_t m_timer = NRF_DRV_TIMER_INSTANCE(3);
//static nrf_saadc_value_t m_buffer_pool[2][SAMPLES_IN_BUFFER];
static nrf_saadc_value_t m_buffer_pool[2][SAMPLES_IN_BUFFER];
static nrf_ppi_channel_t m_ppi_channel;
static uint32_t m_adc_evt_counter;
#define LED_BLINK_INTERVAL 800
uint16_t adc_value1,adc_value2,adc_value3,adc_value4,adc_value;
APP_TIMER_DEF(m_blink_ble);
APP_TIMER_DEF(m_blink_cdc);
static volatile bool ready_flag;
uint16_t adc_value1,adc_value2,adc_value3,adc_value4,adc_value;
APP_PWM_INSTANCE(PWM1,1); // Create the instance "PWM1" using TIMER1. Enable the TIMER1
//APP_PWM_INSTANCE(PWM2,2); // Create the instance "PWM2" using TIMER2. Enable the Timer2
int val;
/**
* @brief App timer handler for blinking the LEDs.
*
* @param p_context LED to blink.
*/
void blink_handler(void * p_context)
{
bsp_board_led_invert((uint32_t) p_context);
}
#define ENDLINE_STRING "\r\n"
// USB DEFINES START
static void cdc_acm_user_ev_handler(app_usbd_class_inst_t const * p_inst,
app_usbd_cdc_acm_user_event_t event);
#define CDC_ACM_COMM_INTERFACE 0
#define CDC_ACM_COMM_EPIN NRF_DRV_USBD_EPIN2
#define CDC_ACM_DATA_INTERFACE 1
#define CDC_ACM_DATA_EPIN NRF_DRV_USBD_EPIN1
#define CDC_ACM_DATA_EPOUT NRF_DRV_USBD_EPOUT1
static char m_cdc_data_array[BLE_NUS_MAX_DATA_LEN];
/** @brief CDC_ACM class instance */
APP_USBD_CDC_ACM_GLOBAL_DEF(m_app_cdc_acm,
cdc_acm_user_ev_handler,
CDC_ACM_COMM_INTERFACE,
CDC_ACM_DATA_INTERFACE,
CDC_ACM_COMM_EPIN,
CDC_ACM_DATA_EPIN,
CDC_ACM_DATA_EPOUT,
APP_USBD_CDC_COMM_PROTOCOL_AT_V250);
// USB DEFINES END
// BLE DEFINES START
#define APP_BLE_CONN_CFG_TAG 1 /**< A tag identifying the SoftDevice BLE configuration. */
#define APP_FEATURE_NOT_SUPPORTED BLE_GATT_STATUS_ATTERR_APP_BEGIN + 2 /**< Reply when unsupported features are requested. */
#define DEVICE_NAME "Nordic_USBD_BLE_UART" /**< 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 an event (connect or start of notification) to the 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 /**< UART TX buffer size. */
#define UART_RX_BUF_SIZE 256 /**< UART RX buffer size. */
BLE_NUS_DEF(m_nus, NRF_SDH_BLE_TOTAL_LINK_COUNT); /**< BLE NUS service instance. */
NRF_BLE_GATT_DEF(m_gatt); /**< GATT module instance. */
BLE_ADVERTISING_DEF(m_advertising); /**< Advertising module instance. */
uint8_t ble_val[];
uint32_t i;
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}
};
static char m_nus_data_array[BLE_NUS_MAX_DATA_LEN];
// BLE DEFINES END
/**
* @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 analyze
* how your product is supposed to react in case of an 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);
err_code = app_timer_create(&m_blink_ble, APP_TIMER_MODE_REPEATED, blink_handler);
APP_ERROR_CHECK(err_code);
err_code = app_timer_create(&m_blink_cdc, APP_TIMER_MODE_REPEATED, blink_handler);
APP_ERROR_CHECK(err_code);
}
/**
* @brief Function for the GAP initialization.
*
* @details This function sets 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 the data from the Nordic UART Service.
*
* @details This function processes the data received from the Nordic UART BLE Service and sends
* it to the USBD CDC ACM module.
*
* @param[in] p_evt Nordic UART Service event.
*/
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);
for ( i = 0; i < p_evt->params.rx_data.length; i++)
{
ble_val[i] = p_evt->params.rx_data.p_data[i];
}
/* if(ble_val[0] == '1')
{
nrf_gpio_pin_set(ARDUINO_8_PIN);
}
if(ble_val[0] == '0')
{
nrf_gpio_pin_clear(ARDUINO_8_PIN);
}*/
if (p_evt->params.rx_data.p_data[p_evt->params.rx_data.length - 1] == '\r')
{
while (app_uart_put('\n') == NRF_ERROR_BUSY);
}
}
}
/** @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;
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 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 = true;
cp_init.evt_handler = NULL;
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 does 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 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 handling advertising events.
*
* @details This function is 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 = app_timer_start(m_blink_ble,
APP_TIMER_TICKS(LED_BLINK_INTERVAL),
(void *) LED_BLE_NUS_CONN);
APP_ERROR_CHECK(err_code);
break;
case BLE_ADV_EVT_IDLE:
NRF_LOG_INFO("Advertising timeout, restarting.")
advertising_start();
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;
switch (p_ble_evt->header.evt_id)
{
case BLE_GAP_EVT_CONNECTED:
NRF_LOG_INFO("BLE NUS connected");
err_code = app_timer_stop(m_blink_ble);
APP_ERROR_CHECK(err_code);
bsp_board_led_on(LED_BLE_NUS_CONN);
m_conn_handle = p_ble_evt->evt.gap_evt.conn_handle;
break;
case BLE_GAP_EVT_DISCONNECTED:
NRF_LOG_INFO("BLE NUS disconnected");
// LED indication will be changed when advertising starts.
m_conn_handle = BLE_CONN_HANDLE_INVALID;
break;
case BLE_GAP_EVT_PHY_UPDATE_REQUEST:
{
NRF_LOG_DEBUG("PHY update request.");
ble_gap_phys_t const phys =
{
.rx_phys = BLE_GAP_PHY_AUTO,
.tx_phys = BLE_GAP_PHY_AUTO,
};
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:
// 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_GAP_EVT_DATA_LENGTH_UPDATE_REQUEST:
{
ble_gap_data_length_params_t dl_params;
// Clearing the struct will effectively set members to @ref BLE_GAP_DATA_LENGTH_AUTO.
memset(&dl_params, 0, sizeof(ble_gap_data_length_params_t));
err_code = sd_ble_gap_data_length_update(p_ble_evt->evt.gap_evt.conn_handle, &dl_params, NULL);
APP_ERROR_CHECK(err_code);
} break;
case BLE_GATTS_EVT_SYS_ATTR_MISSING:
// 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.
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:
// 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;
case BLE_EVT_USER_MEM_REQUEST:
err_code = sd_ble_user_mem_reply(p_ble_evt->evt.gattc_evt.conn_handle, NULL);
APP_ERROR_CHECK(err_code);
break;
case BLE_GATTS_EVT_RW_AUTHORIZE_REQUEST:
{
ble_gatts_evt_rw_authorize_request_t req;
ble_gatts_rw_authorize_reply_params_t auth_reply;
req = p_ble_evt->evt.gatts_evt.params.authorize_request;
if (req.type != BLE_GATTS_AUTHORIZE_TYPE_INVALID)
{
if ((req.request.write.op == BLE_GATTS_OP_PREP_WRITE_REQ) ||
(req.request.write.op == BLE_GATTS_OP_EXEC_WRITE_REQ_NOW) ||
(req.request.write.op == BLE_GATTS_OP_EXEC_WRITE_REQ_CANCEL))
{
if (req.type == BLE_GATTS_AUTHORIZE_TYPE_WRITE)
{
auth_reply.type = BLE_GATTS_AUTHORIZE_TYPE_WRITE;
}
else
{
auth_reply.type = BLE_GATTS_AUTHORIZE_TYPE_READ;
}
auth_reply.params.write.gatt_status = APP_FEATURE_NOT_SUPPORTED;
err_code = sd_ble_gatts_rw_authorize_reply(p_ble_evt->evt.gatts_evt.conn_handle,
&auth_reply);
APP_ERROR_CHECK(err_code);
}
}
} break; // BLE_GATTS_EVT_RW_AUTHORIZE_REQUEST
default:
// 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, 64);
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 initializing the Advertising functionality. */
static void advertising_init(void)
{
uint32_t err_code;
ble_advertising_init_t init;
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.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.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);
}
/** @brief Function for initializing buttons and LEDs. */
static void buttons_leds_init(void)
{
uint32_t err_code = bsp_init(BSP_INIT_LEDS, bsp_event_handler);
APP_ERROR_CHECK(err_code);
}
/** @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 placing the application in low power state while waiting for events. */
static void power_manage(void)
{
uint32_t err_code = sd_app_evt_wait();
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)
{
UNUSED_RETURN_VALUE(NRF_LOG_PROCESS());
power_manage();
}
// USB CODE START
static bool m_usb_connected = false;
/** @brief User event handler @ref app_usbd_cdc_acm_user_ev_handler_t */
static void cdc_acm_user_ev_handler(app_usbd_class_inst_t const * p_inst,
app_usbd_cdc_acm_user_event_t event)
{
app_usbd_cdc_acm_t const * p_cdc_acm = app_usbd_cdc_acm_class_get(p_inst);
switch (event)
{
case APP_USBD_CDC_ACM_USER_EVT_PORT_OPEN:
{
/*Set up the first transfer*/
ret_code_t ret = app_usbd_cdc_acm_read(&m_app_cdc_acm,
m_cdc_data_array,
1);
UNUSED_VARIABLE(ret);
ret = app_timer_stop(m_blink_cdc);
APP_ERROR_CHECK(ret);
bsp_board_led_on(LED_CDC_ACM_CONN);
NRF_LOG_INFO("CDC ACM port opened");
break;
}
case APP_USBD_CDC_ACM_USER_EVT_PORT_CLOSE:
NRF_LOG_INFO("CDC ACM port closed");
if (m_usb_connected)
{
ret_code_t ret = app_timer_start(m_blink_cdc,
APP_TIMER_TICKS(LED_BLINK_INTERVAL),
(void *) LED_CDC_ACM_CONN);
APP_ERROR_CHECK(ret);
}
break;
case APP_USBD_CDC_ACM_USER_EVT_TX_DONE:
break;
case APP_USBD_CDC_ACM_USER_EVT_RX_DONE:
{
ret_code_t ret;
static uint8_t index = 0;
index++;
do
{
if ((m_cdc_data_array[index - 1] == '\n') ||
(m_cdc_data_array[index - 1] == '\r') ||
(index >= (m_ble_nus_max_data_len)))
{
if (index > 1)
{
bsp_board_led_invert(LED_CDC_ACM_RX);
NRF_LOG_DEBUG("Ready to send data over BLE NUS");
NRF_LOG_HEXDUMP_DEBUG(m_cdc_data_array, index);
do
{
uint16_t length = (uint16_t)index;
if (length + sizeof(ENDLINE_STRING) < BLE_NUS_MAX_DATA_LEN)
{
memcpy(m_cdc_data_array + length, ENDLINE_STRING, sizeof(ENDLINE_STRING));
length += sizeof(ENDLINE_STRING);
}
ret = ble_nus_data_send(&m_nus,
(uint8_t *) m_cdc_data_array,
&length,
m_conn_handle);
if (ret == NRF_ERROR_NOT_FOUND)
{
NRF_LOG_INFO("BLE NUS unavailable, data received: %s", m_cdc_data_array);
break;
}
if (ret == NRF_ERROR_RESOURCES)
{
NRF_LOG_ERROR("BLE NUS Too many notifications queued.");
break;
}
if ((ret != NRF_ERROR_INVALID_STATE) && (ret != NRF_ERROR_BUSY))
{
APP_ERROR_CHECK(ret);
}
}
while (ret == NRF_ERROR_BUSY);
}
index = 0;
}
/*Get amount of data transferred*/
size_t size = app_usbd_cdc_acm_rx_size(p_cdc_acm);
NRF_LOG_DEBUG("RX: size: %lu char: %c", size, m_cdc_data_array[index - 1]);
/* Fetch data until internal buffer is empty */
ret = app_usbd_cdc_acm_read(&m_app_cdc_acm,
&m_cdc_data_array[index],
1);
if (ret == NRF_SUCCESS)
{
index++;
}
}
while (ret == NRF_SUCCESS);
break;
}
default:
break;
}
}
static void usbd_user_ev_handler(app_usbd_event_type_t event)
{
switch (event)
{
case APP_USBD_EVT_DRV_SUSPEND:
break;
case APP_USBD_EVT_DRV_RESUME:
break;
case APP_USBD_EVT_STARTED:
break;
case APP_USBD_EVT_STOPPED:
app_usbd_disable();
break;
case APP_USBD_EVT_POWER_DETECTED:
NRF_LOG_INFO("USB power detected");
if (!nrf_drv_usbd_is_enabled())
{
app_usbd_enable();
}
break;
case APP_USBD_EVT_POWER_REMOVED:
{
NRF_LOG_INFO("USB power removed");
ret_code_t err_code = app_timer_stop(m_blink_cdc);
APP_ERROR_CHECK(err_code);
bsp_board_led_off(LED_CDC_ACM_CONN);
m_usb_connected = false;
app_usbd_stop();
}
break;
case APP_USBD_EVT_POWER_READY:
{
NRF_LOG_INFO("USB ready");
ret_code_t err_code = app_timer_start(m_blink_cdc,
APP_TIMER_TICKS(LED_BLINK_INTERVAL),
(void *) LED_CDC_ACM_CONN);
APP_ERROR_CHECK(err_code);
m_usb_connected = true;
app_usbd_start();
}
break;
default:
break;
}
}
// USB CODE END
void pwm_ready_callback(uint32_t pwm_id) // PWM callback function
{
ready_flag = true;
}
void timer_handler(nrf_timer_event_t event_type, void * p_context)
{
}
void saadc_sampling_event_init(void)
{
ret_code_t err_code;
err_code = nrf_drv_ppi_init();
APP_ERROR_CHECK(err_code);
nrf_drv_timer_config_t timer_cfg = NRF_DRV_TIMER_DEFAULT_CONFIG;
timer_cfg.bit_width = NRF_TIMER_BIT_WIDTH_32;
err_code = nrf_drv_timer_init(&m_timer, &timer_cfg, timer_handler);
APP_ERROR_CHECK(err_code);
/* setup m_timer for compare event every 400ms */
uint32_t ticks = nrf_drv_timer_ms_to_ticks(&m_timer, 400);
nrf_drv_timer_extended_compare(&m_timer,
NRF_TIMER_CC_CHANNEL0,
ticks,
NRF_TIMER_SHORT_COMPARE0_CLEAR_MASK,
false);
nrf_drv_timer_enable(&m_timer);
uint32_t timer_compare_event_addr = nrf_drv_timer_compare_event_address_get(&m_timer,
NRF_TIMER_CC_CHANNEL0);
uint32_t saadc_sample_task_addr = nrf_drv_saadc_sample_task_get();
/* setup ppi channel so that timer compare event is triggering sample task in SAADC */
err_code = nrf_drv_ppi_channel_alloc(&m_ppi_channel);
APP_ERROR_CHECK(err_code);
err_code = nrf_drv_ppi_channel_assign(m_ppi_channel,
timer_compare_event_addr,
saadc_sample_task_addr);
APP_ERROR_CHECK(err_code);
}
void saadc_sampling_event_enable(void)
{
ret_code_t err_code = nrf_drv_ppi_channel_enable(m_ppi_channel);
APP_ERROR_CHECK(err_code);
}
void saadc_callback(nrf_drv_saadc_evt_t const * p_event)
{
if (p_event->type == NRF_DRV_SAADC_EVT_DONE)
{
ret_code_t err_code;
uint16_t adc_value1,adc_value2,adc_value3,adc_value4,adc_value;
uint8_t value[SAMPLES_IN_BUFFER];
uint8_t bytes_to_send;
// set buffers
err_code = nrf_drv_saadc_buffer_convert(p_event->data.done.p_buffer, SAMPLES_IN_BUFFER);
APP_ERROR_CHECK(err_code);
// print samples on hardware UART and parse data for BLE transmission
printf("ADC event number: %d\r\n",(int)m_adc_evt_counter);
adc_value1= p_event->data.done.p_buffer[0];
adc_value2= p_event->data.done.p_buffer[1];
adc_value3= p_event->data.done.p_buffer[2];
adc_value4= p_event->data.done.p_buffer[3];
for (int i = 0; i < SAMPLES_IN_BUFFER; i++)
{
adc_value = p_event->data.done.p_buffer[i];
value[i*2] = adc_value;
value[(i*2)+1] = adc_value >> 8;
m_adc_evt_counter++;
}
printf("adc_value 1:%d \r\n", p_event->data.done.p_buffer[0]);
printf("adc_value 2:%d \r\n", p_event->data.done.p_buffer[1]);
printf("adc_value 3:%d\r\n", p_event->data.done.p_buffer[2]);
printf("adc_value 4:%d\r\n", p_event->data.done.p_buffer[3]);
nrf_delay_ms(1000);
}
}
void saadc_init(void)
{
ret_code_t err_code;
nrf_drv_saadc_config_t saadc_config = NRF_DRV_SAADC_DEFAULT_CONFIG;
saadc_config.resolution = NRF_SAADC_RESOLUTION_12BIT;
nrf_saadc_channel_config_t channel_0_config =
NRF_DRV_SAADC_DEFAULT_CHANNEL_CONFIG_SE(NRF_SAADC_INPUT_AIN0);
channel_0_config.gain = NRF_SAADC_GAIN1_4;
channel_0_config.reference = NRF_SAADC_REFERENCE_VDD4;
nrf_saadc_channel_config_t channel_1_config =
NRF_DRV_SAADC_DEFAULT_CHANNEL_CONFIG_SE(NRF_SAADC_INPUT_AIN1);
channel_1_config.gain = NRF_SAADC_GAIN1_4;
channel_1_config.reference = NRF_SAADC_REFERENCE_VDD4;
nrf_saadc_channel_config_t channel_2_config =
NRF_DRV_SAADC_DEFAULT_CHANNEL_CONFIG_SE(NRF_SAADC_INPUT_AIN6);
channel_2_config.gain = NRF_SAADC_GAIN1_4;
channel_2_config.reference = NRF_SAADC_REFERENCE_VDD4;
nrf_saadc_channel_config_t channel_3_config =
NRF_DRV_SAADC_DEFAULT_CHANNEL_CONFIG_SE(NRF_SAADC_INPUT_AIN7);
channel_3_config.gain = NRF_SAADC_GAIN1_4;
channel_3_config.reference = NRF_SAADC_REFERENCE_VDD4;
err_code = nrf_drv_saadc_init(&saadc_config, saadc_callback);
APP_ERROR_CHECK(err_code);
err_code = nrf_drv_saadc_channel_init(0, &channel_0_config);
APP_ERROR_CHECK(err_code);
err_code = nrf_drv_saadc_channel_init(1, &channel_1_config);
APP_ERROR_CHECK(err_code);
err_code = nrf_drv_saadc_channel_init(2, &channel_2_config);
APP_ERROR_CHECK(err_code);
err_code = nrf_drv_saadc_channel_init(3, &channel_3_config);
APP_ERROR_CHECK(err_code);
err_code = nrf_drv_saadc_buffer_convert(m_buffer_pool[0],SAMPLES_IN_BUFFER);
APP_ERROR_CHECK(err_code);
err_code = nrf_drv_saadc_buffer_convert(m_buffer_pool[1],SAMPLES_IN_BUFFER);
APP_ERROR_CHECK(err_code);
}
/** @brief Application main function. */
int main(void)
{
ret_code_t ret;
ret_code_t err_code_p;
static const app_usbd_config_t usbd_config = {
.ev_state_proc = usbd_user_ev_handler
};
// Initialize.
log_init();
timers_init();
buttons_leds_init();
app_usbd_serial_num_generate();
ret = nrf_drv_clock_init();
APP_ERROR_CHECK(ret);
NRF_LOG_INFO("USBD BLE UART example started.");
ret = app_usbd_init(&usbd_config);
APP_ERROR_CHECK(ret);
app_usbd_class_inst_t const * class_cdc_acm = app_usbd_cdc_acm_class_inst_get(&m_app_cdc_acm);
ret = app_usbd_class_append(class_cdc_acm);
APP_ERROR_CHECK(ret);
ble_stack_init();
gap_params_init();
gatt_init();
services_init();
advertising_init();
conn_params_init();
saadc_sampling_event_init();
saadc_init();
saadc_sampling_event_enable();
// Start execution.
advertising_start();
ret = app_usbd_power_events_enable();
APP_ERROR_CHECK(ret);
app_pwm_config_t pwm1_cfg = APP_PWM_DEFAULT_CONFIG_2CH(5000L, BSP_LED_0, ARDUINO_13_PIN); //2-channel PWM, 200Hz, output on DK LED pins.
// 2-channel PWM, 200Hz, output on DK LED pins.
pwm1_cfg.pin_polarity[1] = APP_PWM_POLARITY_ACTIVE_HIGH; //Switch the polarity of the second channel.
NRF_LOG_INFO("SAADC HAL simple example started.");
err_code_p = app_pwm_init(&PWM1,&pwm1_cfg,pwm_ready_callback);
APP_ERROR_CHECK(err_code_p);
app_pwm_enable(&PWM1);
// Enter main loop.
while (1)
{
while (app_pwm_channel_duty_set(&PWM1, 1, 30));
//CLOCK
if(ble_val[0]=='1' && ble_val[2] == '1') //90
//if(ble_val[0] == '1')
{
// nrf_gpio_pin_toggle(15);
if(!(adc_value2>=500 && adc_value2<=600))
{
while (app_pwm_channel_duty_set(&PWM1, 1, 35));
// nrf_gpio_pin_toggle(16);
}
}
if(ble_val[0]=='1' && ble_val[2] == '2') //180
// if(ble_val[0] == '2')
{
if(!(adc_value2>=300 && adc_value2<=400))
{
while (app_pwm_channel_duty_set(&PWM1, 0, 35));
}
}
if(ble_val[0]=='1' && ble_val[2] == '3') //270
//if(ble_val[0] == '3')
{
if(!(val>=30 && val<=100))
{
while (app_pwm_channel_duty_set(&PWM1, 1, 35));
}
}
if(ble_val[0]=='1' && ble_val[2] == '4') //360
// if(ble_val[0] == '4')
{
if(!(val>=200 && val<=300))
{
while (app_pwm_channel_duty_set(&PWM1, 1, 35));
}
} //COUNTER-CLOCK
//if(ble_val[0] == '5')
if(ble_val[0]=='1' && ble_val[2] == '5') //90
{
if(!(adc_value2>=500 && adc_value2<=600))
{
while (app_pwm_channel_duty_set(&PWM1, 1, 25));
}
}
if(ble_val[0]=='1' && ble_val[2] == '6') //180
//if(ble_val[0] == '6')
{
if(!(adc_value2>=300 && adc_value2<=400))
{
while (app_pwm_channel_duty_set(&PWM1, 1, 25));
}
}
//if(ble_val[0] == '7')
if(ble_val[0]=='1' && ble_val[2] == '7') //270
{
if(!(adc_value2>=30 && adc_value2<=100))
{
while (app_pwm_channel_duty_set(&PWM1, 1, 25));
}
}
//if(ble_val[0]=='1' && ble_val[2] == '8') //360
}
}
/**
* @}
*/