I need help with converting any example from Keil to SES

RE: I need help with converting any example from Keil to SES

Jason liang — Wed, 06 May 2020 06:20:08 GMT

I use SES projct, it is ok

RE: I need help with converting any example from Keil to SES

Jason liang — Tue, 05 May 2020 11:21:30 GMT

I use SES v4.52b, use nRF52832 Chip, I have same type question too. how to do it

Linking ble_app_uart_pca10040_s132.elf

unplaced section: .log_dynamic_data_balloc_log_mempool [nrf_log_frontend.o], size=4, align=4
unplaced section: .nrf_balloc [nrf_log_frontend.o], size=24, align=4
unplaced section: .log_dynamic_data_app [nrf_log_frontend.o], size=4, align=4
unplaced section: .log_dynamic_data_nrf_sdh_ble [nrf_sdh_ble.o], size=4, align=4
undefined symbol: __SEGGER_init_table__
undefined symbol: __app_ram_start__
undefined symbol: __start_fs_data
undefined symbol: __start_log_const_data
undefined symbol: __start_log_dynamic_data
undefined symbol: __start_pwr_mgmt_data
undefined symbol: __start_sdh_req_observers
undefined symbol: __start_sdh_state_observers
undefined symbol: __stop_fs_data
undefined symbol: __stop_log_const_data
undefined symbol: __stop_pwr_mgmt_data
undefined symbol: __stop_sdh_req_observers
undefined symbol: __stop_sdh_state_observers
Build failed

RE: I need help with converting any example from Keil to SES

JacobBudny — Mon, 06 Apr 2020 14:02:48 GMT

I am your friend now, but still cannot send you a message

RE: I need help with converting any example from Keil to SES

Nguyen Hoan Hoang — Mon, 06 Apr 2020 13:56:39 GMT

On DevZone, PM is by sending message to me directly via profile after friend request is accepted.

RE: I need help with converting any example from Keil to SES

JacobBudny — Mon, 06 Apr 2020 13:52:52 GMT

Hi, how I can pm you? on the devzone or e-mail?

here is this function:

RE: I need help with converting any example from Keil to SES

JacobBudny — Mon, 06 Apr 2020 12:34:25 GMT

Yes I changed in mag config the adress for

MPU9250_MAG_I2C_DEVADDR

which is declared as 0x0C

Also I don't know whether I'm getting right values from gyroscope.

Raw values is this:

when the mpu is flat and I'm not moving I think I should be getting something around zero?

also that results in that from converted data I am getting:

Maybe it is the sensitivity problem? But I don't know actually how to set it right?

RE: I need help with converting any example from Keil to SES

Nguyen Hoan Hoang — Mon, 06 Apr 2020 12:26:40 GMT

Are you able to read the chip ID of the MAG? Look at the fonction

MagMpu9250::Read

It handle SPI or I2C read but I don't have an i2c board to test it. Try to debug it or send me a board so I can test it.

PS This thread is getting too long, PM me.

RE: I need help with converting any example from Keil to SES

Nguyen Hoan Hoang — Sun, 05 Apr 2020 19:54:06 GMT

Init seems fine. I don't have the MPU on i2c interface. I don't know what is going onbut I do know that it works in SPI. There must be some setting or a different way to read. Do you get the mag chip ID ?

RE: I need help with converting any example from Keil to SES

JacobBudny — Sun, 05 Apr 2020 16:49:20 GMT

How now get the values from magnetometer since I got gyro and accel working?

in Hardware init, this function:

if (res == true)
	{
		res = g_MotSensor.Init(s_MagCfg, &g_I2c, &g_Timer);
		if (res == true)
		{
			g_pMag = &g_MotSensor;
		}
	}

makes res false

this is my whole code

/**-------------------------------------------------------------------------
@example	mot_sensor_demo.cpp


@brief	Motion sensor demo

	This application demo shows UART Rx/Tx over BLE custom service using EHAL library.

@author	Hoang Nguyen Hoan
@date	Dec. 21, 2018

@license

Copyright (c) 2018, I-SYST inc., all rights reserved

Permission to use, copy, modify, and distribute this software for any purpose
with or without fee is hereby granted, provided that the above copyright
notice and this permission notice appear in all copies, and none of the
names : I-SYST or its contributors may be used to endorse or
promote products derived from this software without specific prior written
permission.

For info or contributing contact : hnhoan at i-syst dot com

THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE REGENTS 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.

----------------------------------------------------------------------------*/
#include <stdio.h>
#include <atomic>
#include <inttypes.h>
#include <cmath>

#include "nrf.h"
#include "coredev/iopincfg.h"
#include "coredev/i2c.h"
#include "coredev/uart.h"
#include "iopinctrl.h"
#include "timer_nrfx.h"
#include "sensors/agm_mpu9250.h"
#include "imu/imu_mpu9250.h"
#include "stddev.h"
#include "idelay.h"


#define MPU9250
#include "board.h"

std::atomic<bool> g_bTest(false);

void TimerHandler(Timer *pTimer, uint32_t Evt);

const static TIMER_CFG s_TimerCfg = {
    .DevNo = 0,
	.ClkSrc = TIMER_CLKSRC_DEFAULT,
	.Freq = 0,			// 0 => Default highest frequency
	.IntPrio = 1,
	.EvtHandler = TimerHandler,
};

TimerLFnRFx g_Timer;


//********** I2C **********
static const I2CCFG s_I2cCfg = {
	0,			// I2C device number
	{
		{I2C0_SDA_PORT, I2C0_SDA_PIN, I2C0_SDA_PINOP, IOPINDIR_BI, IOPINRES_PULLUP, IOPINTYPE_OPENDRAIN},
		{I2C0_SCL_PORT, I2C0_SCL_PIN, I2C0_SCL_PINOP, IOPINDIR_OUTPUT, IOPINRES_PULLUP, IOPINTYPE_OPENDRAIN},
	},
	100000,	    // Rate
	I2CMODE_MASTER,
	5,			// Retry
	0,			// Number of slave addresses
	{0,},		// Slave addresses
	true,	    // DMA
	false,		// Use interrupt
	6,			// Interrupt prio
	NULL		// Event callback
};

I2C g_I2c;

DeviceIntrf *g_pIntrf = &g_I2c;




static const ACCELSENSOR_CFG s_AccelCfg = {
	.DevAddr = MPU9250_I2C_DEV_ADDR0,
	.OpMode = SENSOR_OPMODE_CONTINUOUS,
	.Freq = 10000,
	.Scale = 2,
	.FltrFreq = 0,
	.bInter = true,
	.IntPol = DEVINTR_POL_LOW,
};

static const GYROSENSOR_CFG s_GyroCfg = {
	.DevAddr = MPU9250_I2C_DEV_ADDR0,
	.OpMode = SENSOR_OPMODE_CONTINUOUS,
	.Freq = 50000,
	.Sensitivity = 10,
	.FltrFreq = 200,
};

static const MAGSENSOR_CFG s_MagCfg = {
	.DevAddr = MPU9250_MAG_I2C_DEVADDR,
	.OpMode = SENSOR_OPMODE_CONTINUOUS,
	.Freq = 50000,
	.Precision = MAGSENSOR_PRECISION_HIGH,
};


AgmMpu9250 g_MotSensor;

AccelSensor *g_pAccel = NULL;
GyroSensor *g_pGyro = NULL;
MagSensor *g_pMag = NULL;

uint32_t g_DT = 0;
static uint32_t g_TPrev = 0;

void TimerHandler(Timer *pTimer, uint32_t Evt)
{
    if (Evt & TIMER_EVT_TRIGGER(0))
    {
    }
}


bool HardwareInit()
{
	bool res;

	g_Timer.Init(s_TimerCfg);

	res = g_I2c.Init(s_I2cCfg);

	if (res == true)
	{
		res = g_MotSensor.Init(s_AccelCfg, &g_I2c, &g_Timer);
		if (res == true)
		{
			g_pAccel = &g_MotSensor;
		}

	}

	if (res == true)
	{
		res = g_MotSensor.Init(s_GyroCfg, &g_I2c, &g_Timer);
		if (res == true)
		{
			g_pGyro = &g_MotSensor;
		}
	}

	/*if (res == true)
	{
		res = g_MotSensor.Init(s_MagCfg, &g_I2c, &g_Timer);
		if (res == true)
		{
			g_pMag = &g_MotSensor;
		}
	}*/

	if (res == true)
	{

		int8_t m[9] = { 1, 0, 0,
						0, 1, 0,
						0, 0, 1 };
	}

	return res;
}

// Floats for storing data from IMU
float ax=0;
float ay=0;
float az=0;
float gx=0;
float gy=0;
float gz=0;
float mx=0;
float my=0;
float mz=0;

// Floats for filtering accelerometer with low-pass filter
float thetaRAW_a;
float phiRAW_a;
float thetaRAW_old_a=0;
float phiRAW_old_a=0;
float thetaFIL_a;
float phiFIL_a;

int main()
{
	bool res = HardwareInit();


	if (res == false)
	{
		printf("Failed initializing hardware\r\n");

		return 1;
	}

	printf("MotionSensorDemo\r\n");

	ACCELSENSOR_RAWDATA arawdata;
	ACCELSENSOR_DATA accdata;
	GYROSENSOR_RAWDATA grawdata;
	GYROSENSOR_DATA gyrodata;
	MAGSENSOR_RAWDATA mrawdata;

	memset(&arawdata, 0, sizeof(ACCELSENSOR_RAWDATA));
	memset(&accdata, 0, sizeof(ACCELSENSOR_DATA));
	memset(&gyrodata, 0, sizeof(GYROSENSOR_DATA));


	uint32_t prevt = 0;
	int cnt = 100;
	while (1)
	{
		uint32_t t = g_Timer.uSecond();


		g_MotSensor.UpdateData();

		uint32_t dt = arawdata.Timestamp - prevt;
		prevt = arawdata.Timestamp;

		g_MotSensor.Read(arawdata);
		g_MotSensor.Read(accdata);
		g_MotSensor.Read(grawdata);
		g_MotSensor.Read(gyrodata);

		ax=accdata.X*9.8;
		ay=accdata.Y*9.8;
		az=accdata.Z*9.8;
		gx=gyrodata.X;
		gy=gyrodata.Y;
		gz=gyrodata.Z;

		thetaRAW_a=atan2((ax/9.8)/(az/9.8),1)/2/3.141592654*360;
		phiRAW_a=-atan2((ay/9.8)/(az/9.8),1)/2/3.141592654*360;

		thetaFIL_a=.95*thetaRAW_old_a+.05*thetaRAW_a;
		phiFIL_a=.95*phiRAW_old_a+.05*phiRAW_a;

		phiRAW_old_a=phiFIL_a;
		thetaRAW_old_a=thetaFIL_a;


		if (cnt-- < 0)
			{
					cnt = 100;
					printf(" %f %f %f \n", gx, gy, gz);
			}
	}




}

RE: I need help with converting any example from Keil to SES

JacobBudny — Sun, 05 Apr 2020 16:17:15 GMT

Okay never mind, I managed to solve this, and the gyro is working fine, Thanks.

RE: I need help with converting any example from Keil to SES

Nguyen Hoan Hoang — Sun, 05 Apr 2020 16:01:58 GMT

it has been renamed to timer_nrfx.h

RE: I need help with converting any example from Keil to SES

JacobBudny — Sun, 05 Apr 2020 15:50:45 GMT

Okay I deleted, Now when I am compiling motion sensor demo I got:

/Users/jacobbudny/Desktop/DEVELOPMENT/IOsonata/exemples/sensor/mot_sensor_demo.cpp:46:10: fatal error: timer_nrf5x.h: No such file or directory

46 | #include "timer_nrf5x.h"

| ^~~~~~~~~~~~~~~

compilation terminated.

make: *** [src/mot_sensor_demo.o] Error 1

RE: I need help with converting any example from Keil to SES

Nguyen Hoan Hoang — Sun, 05 Apr 2020 15:41:24 GMT

it's something i am working on unfinished. Could you delete it from the project.

RE: I need help with converting any example from Keil to SES

JacobBudny — Sun, 05 Apr 2020 15:39:07 GMT

I updated it, and while building debug and realese for IOsonata_nRF52832 for eliminating error from gcc (as you said before) I got this error:

make: *** No rule to make target `/Users/jacobbudny/Desktop/DEVELOPMENT/IOsonata/ARM/Nordic/src/i2s_nrfx.cpp', needed by `src/coredev/i2s_nrfx.o'. Stop.

RE: I need help with converting any example from Keil to SES

Nguyen Hoan Hoang — Sun, 05 Apr 2020 14:23:44 GMT

I just push new change. Could you check it out ?

Where did you get those ADC values ? Are they from the MUP datasheet ?

RE: I need help with converting any example from Keil to SES

JacobBudny — Sun, 05 Apr 2020 14:13:19 GMT

Yes I did read. But what can I do to fix it? I was reading about sensor acc range and I found that:

The ADC range is the maximum and minimum ADC input (e.g., 0 to +3.3V). The ADC resolution is the smallest distinguishable change in input (e.g., 3.3V/4096, which is about 0.81 mV). The resolution is the change in input that causes the digital output to change by 1.

So it means that, something in my sensor is broke and is not delivering this values? Or there is something wrong with the code?

RE: I need help with converting any example from Keil to SES

Nguyen Hoan Hoang — Sun, 05 Apr 2020 13:40:21 GMT

Didn't you read my message. I said gyro was missing the rage setting in the driver.

The accel data gives you in g as described in the data structure comment.

RE: I need help with converting any example from Keil to SES

JacobBudny — Sun, 05 Apr 2020 13:36:31 GMT

Yes yes, but I am talking m/s^2, and 1 g = 9,8 m/s^2. We misunderstood each other. I was thinking earlier that accdata is in m/s^2 unit not g unit, sorry. If it's in g unit now it seems fine.

How about the gyro?

RE: I need help with converting any example from Keil to SES

Nguyen Hoan Hoang — Sun, 05 Apr 2020 13:29:28 GMT

gravity is 1g not 9g

RE: I need help with converting any example from Keil to SES

JacobBudny — Sun, 05 Apr 2020 13:23:31 GMT

But if not moving there is still force acting on the Z axis, which should be something about 9,8 and even with scale 16 I am getting 8 only, and 16 is the biggest scale.

Okay I see it now, and that is causing NAN in all of that values:

How can I set up this range?

RE: I need help with converting any example from Keil to SES

Nguyen Hoan Hoang — Sun, 05 Apr 2020 12:29:51 GMT

the accel data should give you approx 0g not 9g. if it not moving

Gyro adc range settings is missing which cause div by 0 => nan.

RE: I need help with converting any example from Keil to SES

JacobBudny — Sun, 05 Apr 2020 12:25:47 GMT

On flat surface I should be getting around 0 for x, 0 for y, and about 9/-9 for z in m/s^2. I changed the scale from 4 to 16, but still I am getting max 8, I assume that scale factor is responsible for that, but Is it a good option?

Also from gyro I am getting this:

The same is in the debug, when I try to debug, the conversion lines change values to NaN

RE: I need help with converting any example from Keil to SES

Nguyen Hoan Hoang — Sun, 05 Apr 2020 12:21:34 GMT

Why do you thing so ?

RE: I need help with converting any example from Keil to SES

JacobBudny — Sun, 05 Apr 2020 12:19:15 GMT

I know, that I was able to fix by replacing %d to %f, now I am getting the same values as in debug, but this values seems strange, have a look:

But raw values seems fine, so there is something wrong with conversion, I tried to debug that, but everything seems fine in the code

RE: I need help with converting any example from Keil to SES

Nguyen Hoan Hoang — Sun, 05 Apr 2020 12:11:37 GMT

The values are float and you are displaying using integer. Which is wrong conversion.

For the mag, have you put the correct I2C device address. It's not the same as accel. Accel & Gyro use same i2c address. mag is different.