We are developing hardware to work as a AirMouse (Gyroscope based working mouse)
I am using SDK16.0 SES
I have seen that HID Mouse example
and i implement gyroscope function and i have called but the mouse movement is not properly moved
i used
void read_sensor_data() { //UNUSED_PARAMETER(p_context); bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL | BMI160_TIME_SEL), &accel, &gyro, &sensor); gx = (gyro.x +15)/150; gy = -(gyro.y-100)/150; mouse_movement_send(gx,gy); }
/** * AirMouse with IMU sensor * HID mouse as refence * PCB_lspotv1.2 board added * DFU added */ #include <stdint.h> #include <string.h> #include "nordic_common.h" #include "nrf.h" #include "nrf_sdm.h" #include "app_error.h" #include "ble.h" #include "ble_err.h" #include "ble_hci.h" #include "ble_srv_common.h" #include "ble_advdata.h" #include "ble_hids.h" #include "ble_bas.h" #include "ble_dis.h" #include "ble_conn_params.h" #include "sensorsim.h" #include "bsp_btn_ble.h" #include "app_scheduler.h" #include "nrf_sdh.h" #include "nrf_sdh_soc.h" #include "nrf_sdh_ble.h" #include "app_timer.h" #include "peer_manager.h" #include "ble_advertising.h" #include "fds.h" #include "ble_conn_state.h" #include "nrf_ble_gatt.h" #include "nrf_ble_qwr.h" #include "nrf_pwr_mgmt.h" #include "peer_manager_handler.h" #include "nrf_delay.h" #include "nrf_drv_twi.h" #include "bmi160.h" #include "nrf_dfu_ble_svci_bond_sharing.h" #include "nrf_svci_async_function.h" #include "nrf_svci_async_handler.h" #include "ble_dfu.h" #include "nrf_bootloader_info.h" #include "nrf_log.h" #include "nrf_log_ctrl.h" #include "nrf_log_default_backends.h" /* TWI instance ID. */ #if TWI0_ENABLED #define TWI_INSTANCE_ID 0 #elif TWI1_ENABLED #define TWI_INSTANCE_ID 1 #endif #define DEVICE_NAME "AirMouse" /**< Name of device. Will be included in the advertising data. */ #define MANUFACTURER_NAME "NordicSemiconductor" /**< Manufacturer. Will be passed to Device Information Service. */ #define APP_BLE_OBSERVER_PRIO 3 /**< Application's BLE observer priority. You shouldn't need to modify this value. */ #define APP_BLE_CONN_CFG_TAG 1 /**< A tag identifying the SoftDevice BLE configuration. */ #define sensor_interval APP_TIMER_TICKS(300) #define BATTERY_LEVEL_MEAS_INTERVAL APP_TIMER_TICKS(2000) /**< Battery level measurement interval (ticks). */ #define MIN_BATTERY_LEVEL 81 /**< Minimum simulated battery level. */ #define MAX_BATTERY_LEVEL 100 /**< Maximum simulated battery level. */ #define BATTERY_LEVEL_INCREMENT 1 /**< Increment between each simulated battery level measurement. */ #define PNP_ID_VENDOR_ID_SOURCE 0x02 /**< Vendor ID Source. */ #define PNP_ID_VENDOR_ID 0x1915 /**< Vendor ID. */ #define PNP_ID_PRODUCT_ID 0xEEEE /**< Product ID. */ #define PNP_ID_PRODUCT_VERSION 0x0001 /**< Product Version. */ /*lint -emacro(524, MIN_CONN_INTERVAL) // Loss of precision */ #define MIN_CONN_INTERVAL MSEC_TO_UNITS(7.5, UNIT_1_25_MS) /**< Minimum connection interval (7.5 ms). */ #define MAX_CONN_INTERVAL MSEC_TO_UNITS(15, UNIT_1_25_MS) /**< Maximum connection interval (15 ms). */ #define SLAVE_LATENCY 20 /**< Slave latency. */ #define CONN_SUP_TIMEOUT MSEC_TO_UNITS(3000, UNIT_10_MS) /**< Connection supervisory timeout (3000 ms). */ #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_PARAM_UPDATE_COUNT 3 /**< Number of attempts before giving up the connection parameter negotiation. */ #define SEC_PARAM_BOND 1 /**< Perform bonding. */ #define SEC_PARAM_MITM 0 /**< Man In The Middle protection not required. */ #define SEC_PARAM_LESC 0 /**< LE Secure Connections not enabled. */ #define SEC_PARAM_KEYPRESS 0 /**< Keypress notifications not enabled. */ #define SEC_PARAM_IO_CAPABILITIES BLE_GAP_IO_CAPS_NONE /**< No I/O capabilities. */ #define SEC_PARAM_OOB 0 /**< Out Of Band data not available. */ #define SEC_PARAM_MIN_KEY_SIZE 7 /**< Minimum encryption key size. */ #define SEC_PARAM_MAX_KEY_SIZE 16 /**< Maximum encryption key size. */ #define SWIFT_PAIR_SUPPORTED 1 /**< Swift Pair feature is supported. */ #if SWIFT_PAIR_SUPPORTED == 1 #define MICROSOFT_VENDOR_ID 0x0006 /**< Microsoft Vendor ID.*/ #define MICROSOFT_BEACON_ID 0x03 /**< Microsoft Beacon ID, used to indicate that Swift Pair feature is supported. */ #define MICROSOFT_BEACON_SUB_SCENARIO 0x00 /**< Microsoft Beacon Sub Scenario, used to indicate how the peripheral will pair using Swift Pair feature. */ #define RESERVED_RSSI_BYTE 0x80 /**< Reserved RSSI byte, used to maintain forwards and backwards compatibility. */ #endif #define MOVEMENT_SPEED 50 /**< Number of pixels by which the cursor is moved each time a button is pushed. */ #define INPUT_REPORT_COUNT 3 /**< Number of input reports in this application. */ #define INPUT_REP_BUTTONS_LEN 3 /**< Length of Mouse Input Report containing button data. */ #define INPUT_REP_MOVEMENT_LEN 3 /**< Length of Mouse Input Report containing movement data. */ #define INPUT_REP_MEDIA_PLAYER_LEN 1 /**< Length of Mouse Input Report containing media player data. */ #define INPUT_REP_BUTTONS_INDEX 0 /**< Index of Mouse Input Report containing button data. */ #define INPUT_REP_MOVEMENT_INDEX 1 /**< Index of Mouse Input Report containing movement data. */ #define INPUT_REP_MPLAYER_INDEX 2 /**< Index of Mouse Input Report containing media player data. */ #define INPUT_REP_REF_BUTTONS_ID 1 /**< Id of reference to Mouse Input Report containing button data. */ #define INPUT_REP_REF_MOVEMENT_ID 2 /**< Id of reference to Mouse Input Report containing movement data. */ #define INPUT_REP_REF_MPLAYER_ID 3 /**< Id of reference to Mouse Input Report containing media player data. */ #define BASE_USB_HID_SPEC_VERSION 0x0101 /**< Version number of base USB HID Specification implemented by this application. */ #define SCHED_MAX_EVENT_DATA_SIZE APP_TIMER_SCHED_EVENT_DATA_SIZE /**< Maximum size of scheduler events. */ #ifdef SVCALL_AS_NORMAL_FUNCTION #define SCHED_QUEUE_SIZE 20 /**< Maximum number of events in the scheduler queue. More is needed in case of Serialization. */ #else #define SCHED_QUEUE_SIZE 10 /**< Maximum number of events in the scheduler queue. */ #endif #define DEAD_BEEF 0xDEADBEEF /**< Value used as error code on stack dump, can be used to identify stack location on stack unwind. */ #define APP_ADV_FAST_INTERVAL 0x0028 /**< Fast advertising interval (in units of 0.625 ms. This value corresponds to 25 ms.). */ #define APP_ADV_SLOW_INTERVAL 0x00A0 /**< Slow advertising interval (in units of 0.625 ms. This value corresponds to 100 ms.). */ #define APP_ADV_FAST_DURATION 3000 /**< The advertising duration of fast advertising in units of 10 milliseconds. */ #define APP_ADV_SLOW_DURATION 18000 /**< The advertising duration of slow advertising in units of 10 milliseconds. */ /* Number of possible TWI addresses. */ #define TWI_ADDRESSES 127 struct bmi160_dev sensor; struct bmi160_sensor_data accel; struct bmi160_sensor_data gyro; int8_t rslt = BMI160_OK; int16_t ax, ay, az, gx, gy, gz; /* TWI instance. */ static const nrf_drv_twi_t m_twi = NRF_DRV_TWI_INSTANCE(TWI_INSTANCE_ID); static void mouse_movement_send(int16_t x_delta, int16_t y_delta); APP_TIMER_DEF(m_sensor_timer_id); APP_TIMER_DEF(m_battery_timer_id); /**< Battery timer. */ BLE_BAS_DEF(m_bas); /**< Battery service instance. */ BLE_HIDS_DEF(m_hids, /**< HID service instance. */ NRF_SDH_BLE_TOTAL_LINK_COUNT, INPUT_REP_BUTTONS_LEN, INPUT_REP_MOVEMENT_LEN, INPUT_REP_MEDIA_PLAYER_LEN); 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 bool m_in_boot_mode = false; /**< Current protocol mode. */ static uint16_t m_conn_handle = BLE_CONN_HANDLE_INVALID; /**< Handle of the current connection. */ static pm_peer_id_t m_peer_id; /**< Device reference handle to the current bonded central. */ static sensorsim_cfg_t m_battery_sim_cfg; /**< Battery Level sensor simulator configuration. */ static sensorsim_state_t m_battery_sim_state; /**< Battery Level sensor simulator state. */ static ble_uuid_t m_adv_uuids[] = /**< Universally unique service identifiers. */ { {BLE_UUID_HUMAN_INTERFACE_DEVICE_SERVICE, BLE_UUID_TYPE_BLE} }; #if SWIFT_PAIR_SUPPORTED == 1 static uint8_t m_sp_payload[] = /**< Payload of advertising data structure for Microsoft Swift Pair feature. */ { MICROSOFT_BEACON_ID, MICROSOFT_BEACON_SUB_SCENARIO, RESERVED_RSSI_BYTE }; static ble_advdata_manuf_data_t m_sp_manuf_advdata = /**< Advertising data structure for Microsoft Swift Pair feature. */ { .company_identifier = MICROSOFT_VENDOR_ID, .data = { .size = sizeof(m_sp_payload), .p_data = &m_sp_payload[0] } }; static ble_advdata_t m_sp_advdata; #endif static void on_hids_evt(ble_hids_t * p_hids, ble_hids_evt_t * p_evt); /**@brief Callback function for asserts in the SoftDevice. * * @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 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] 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 setting filtered whitelist. * * @param[in] skip Filter passed to @ref pm_peer_id_list. */ static void whitelist_set(pm_peer_id_list_skip_t skip) { pm_peer_id_t peer_ids[BLE_GAP_WHITELIST_ADDR_MAX_COUNT]; uint32_t peer_id_count = BLE_GAP_WHITELIST_ADDR_MAX_COUNT; ret_code_t err_code = pm_peer_id_list(peer_ids, &peer_id_count, PM_PEER_ID_INVALID, skip); APP_ERROR_CHECK(err_code); NRF_LOG_INFO("\tm_whitelist_peer_cnt %d, MAX_PEERS_WLIST %d", peer_id_count + 1, BLE_GAP_WHITELIST_ADDR_MAX_COUNT); err_code = pm_whitelist_set(peer_ids, peer_id_count); APP_ERROR_CHECK(err_code); } /**@brief Function for setting filtered device identities. * * @param[in] skip Filter passed to @ref pm_peer_id_list. */ static void identities_set(pm_peer_id_list_skip_t skip) { pm_peer_id_t peer_ids[BLE_GAP_DEVICE_IDENTITIES_MAX_COUNT]; uint32_t peer_id_count = BLE_GAP_DEVICE_IDENTITIES_MAX_COUNT; ret_code_t err_code = pm_peer_id_list(peer_ids, &peer_id_count, PM_PEER_ID_INVALID, skip); APP_ERROR_CHECK(err_code); err_code = pm_device_identities_list_set(peer_ids, peer_id_count); APP_ERROR_CHECK(err_code); } static bool app_shutdown_handler(nrf_pwr_mgmt_evt_t event) { switch (event) { case NRF_PWR_MGMT_EVT_PREPARE_DFU: NRF_LOG_INFO("Power management wants to reset to DFU mode\r\n"); break; default: return true; } NRF_LOG_INFO("Power management allowed to reset to DFU mode\r\n"); return true; } NRF_PWR_MGMT_HANDLER_REGISTER(app_shutdown_handler, 0); static void ble_dfu_buttonless_evt_handler(ble_dfu_buttonless_evt_type_t event) { switch (event) { case BLE_DFU_EVT_BOOTLOADER_ENTER_PREPARE: NRF_LOG_INFO("Device is preparing to enter bootloader mode\r\n"); break; case BLE_DFU_EVT_BOOTLOADER_ENTER: NRF_LOG_INFO("Device will enter bootloader mode\r\n"); break; case BLE_DFU_EVT_BOOTLOADER_ENTER_FAILED: NRF_LOG_ERROR("Device failed to enter bootloader mode\r\n"); break; default: NRF_LOG_INFO("Unknown event from ble_dfu.\r\n"); break; } } /**@brief Clear bond information from persistent storage. */ static void delete_bonds(void) { ret_code_t err_code; NRF_LOG_INFO("Erase bonds!"); err_code = pm_peers_delete(); APP_ERROR_CHECK(err_code); } /**@brief Function for starting advertising. */ static void advertising_start(bool erase_bonds) { if (erase_bonds == true) { delete_bonds(); // Advertising is started by PM_EVT_PEERS_DELETE_SUCCEEDED event. } else { whitelist_set(PM_PEER_ID_LIST_SKIP_NO_ID_ADDR); ret_code_t ret = ble_advertising_start(&m_advertising, BLE_ADV_MODE_FAST); APP_ERROR_CHECK(ret); } } /**@brief Function for handling Peer Manager events. * * @param[in] p_evt Peer Manager event. */ static void pm_evt_handler(pm_evt_t const * p_evt) { pm_handler_on_pm_evt(p_evt); pm_handler_flash_clean(p_evt); switch (p_evt->evt_id) { case PM_EVT_PEERS_DELETE_SUCCEEDED: advertising_start(false); break; case PM_EVT_PEER_DATA_UPDATE_SUCCEEDED: if ( p_evt->params.peer_data_update_succeeded.flash_changed && (p_evt->params.peer_data_update_succeeded.data_id == PM_PEER_DATA_ID_BONDING)) { NRF_LOG_INFO("New Bond, add the peer to the whitelist if possible"); // Note: You should check on what kind of white list policy your application should use. whitelist_set(PM_PEER_ID_LIST_SKIP_NO_ID_ADDR); } break; default: break; } } /**@brief Function for handling Service 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 service_error_handler(uint32_t nrf_error) { APP_ERROR_HANDLER(nrf_error); } /**@brief Function for handling advertising errors. * * @param[in] nrf_error Error code containing information about what went wrong. */ static void ble_advertising_error_handler(uint32_t nrf_error) { APP_ERROR_HANDLER(nrf_error); } static void dfu_init(void) { ret_code_t err_code; ble_dfu_buttonless_init_t dfus_init = { .evt_handler = ble_dfu_buttonless_evt_handler }; err_code = ble_dfu_buttonless_init(&dfus_init); APP_ERROR_CHECK(err_code); } /**@brief Function for performing a battery measurement, and update the Battery Level characteristic in the Battery Service. */ static void battery_level_update(void) { ret_code_t err_code; uint8_t battery_level; battery_level = (uint8_t)sensorsim_measure(&m_battery_sim_state, &m_battery_sim_cfg); err_code = ble_bas_battery_level_update(&m_bas, battery_level, BLE_CONN_HANDLE_ALL); if ((err_code != NRF_SUCCESS) && (err_code != NRF_ERROR_BUSY) && (err_code != NRF_ERROR_RESOURCES) && (err_code != NRF_ERROR_FORBIDDEN) && (err_code != NRF_ERROR_INVALID_STATE) && (err_code != BLE_ERROR_GATTS_SYS_ATTR_MISSING) ) { APP_ERROR_HANDLER(err_code); } } void read_sensor_data() { //UNUSED_PARAMETER(p_context); bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL | BMI160_TIME_SEL), &accel, &gyro, &sensor); gx = (gyro.x +15)/150; gy = -(gyro.y-100)/150; mouse_movement_send(gx,gy); } static void sensor_level_meas_timeout_handler(void * p_context) { UNUSED_PARAMETER(p_context); ret_code_t err_code; read_sensor_data(); } static void battery_level_meas_timeout_handler(void * p_context) { UNUSED_PARAMETER(p_context); battery_level_update(); } /**@brief Function for the Timer initialization. * * @details Initializes the timer module. */ static void timers_init(void) { ret_code_t err_code; err_code = app_timer_init(); APP_ERROR_CHECK(err_code); // Create battery timer. err_code = app_timer_create(&m_battery_timer_id, APP_TIMER_MODE_REPEATED, battery_level_meas_timeout_handler); APP_ERROR_CHECK(err_code); err_code = app_timer_create(&m_sensor_timer_id, APP_TIMER_MODE_REPEATED, sensor_level_meas_timeout_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 including the device name, appearance, and the preferred connection parameters. */ static void gap_params_init(void) { ret_code_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); err_code = sd_ble_gap_appearance_set(BLE_APPEARANCE_HID_MOUSE); 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 initializing the GATT module. */ static void gatt_init(void) { ret_code_t err_code = nrf_ble_gatt_init(&m_gatt, NULL); 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 initializing the Queued Write Module. */ static void qwr_init(void) { ret_code_t err_code; nrf_ble_qwr_init_t qwr_init_obj = {0}; qwr_init_obj.error_handler = nrf_qwr_error_handler; err_code = nrf_ble_qwr_init(&m_qwr, &qwr_init_obj); APP_ERROR_CHECK(err_code); } /**@brief Function for initializing Device Information Service. */ static void dis_init(void) { ret_code_t err_code; ble_dis_init_t dis_init_obj; ble_dis_pnp_id_t pnp_id; pnp_id.vendor_id_source = PNP_ID_VENDOR_ID_SOURCE; pnp_id.vendor_id = PNP_ID_VENDOR_ID; pnp_id.product_id = PNP_ID_PRODUCT_ID; pnp_id.product_version = PNP_ID_PRODUCT_VERSION; memset(&dis_init_obj, 0, sizeof(dis_init_obj)); ble_srv_ascii_to_utf8(&dis_init_obj.manufact_name_str, MANUFACTURER_NAME); dis_init_obj.p_pnp_id = &pnp_id; dis_init_obj.dis_char_rd_sec = SEC_JUST_WORKS; err_code = ble_dis_init(&dis_init_obj); APP_ERROR_CHECK(err_code); } /**@brief Function for initializing Battery Service. */ static void bas_init(void) { ret_code_t err_code; ble_bas_init_t bas_init_obj; memset(&bas_init_obj, 0, sizeof(bas_init_obj)); bas_init_obj.evt_handler = NULL; bas_init_obj.support_notification = true; bas_init_obj.p_report_ref = NULL; bas_init_obj.initial_batt_level = 100; bas_init_obj.bl_rd_sec = SEC_JUST_WORKS; bas_init_obj.bl_cccd_wr_sec = SEC_JUST_WORKS; bas_init_obj.bl_report_rd_sec = SEC_JUST_WORKS; err_code = ble_bas_init(&m_bas, &bas_init_obj); APP_ERROR_CHECK(err_code); } /**@brief Function for initializing HID Service. */ static void hids_init(void) { ret_code_t err_code; ble_hids_init_t hids_init_obj; ble_hids_inp_rep_init_t * p_input_report; uint8_t hid_info_flags; static ble_hids_inp_rep_init_t inp_rep_array[INPUT_REPORT_COUNT]; static uint8_t rep_map_data[] = { 0x05, 0x01, // Usage Page (Generic Desktop) 0x09, 0x02, // Usage (Mouse) 0xA1, 0x01, // Collection (Application) // Report ID 1: Mouse buttons + scroll/pan 0x85, 0x01, // Report Id 1 0x09, 0x01, // Usage (Pointer) 0xA1, 0x00, // Collection (Physical) 0x95, 0x05, // Report Count (3) 0x75, 0x01, // Report Size (1) 0x05, 0x09, // Usage Page (Buttons) 0x19, 0x01, // Usage Minimum (01) 0x29, 0x05, // Usage Maximum (05) 0x15, 0x00, // Logical Minimum (0) 0x25, 0x01, // Logical Maximum (1) 0x81, 0x02, // Input (Data, Variable, Absolute) 0x95, 0x01, // Report Count (1) 0x75, 0x03, // Report Size (3) 0x81, 0x01, // Input (Constant) for padding 0x75, 0x08, // Report Size (8) 0x95, 0x01, // Report Count (1) 0x05, 0x01, // Usage Page (Generic Desktop) 0x09, 0x38, // Usage (Wheel) 0x15, 0x81, // Logical Minimum (-127) 0x25, 0x7F, // Logical Maximum (127) 0x81, 0x06, // Input (Data, Variable, Relative) 0x05, 0x0C, // Usage Page (Consumer) 0x0A, 0x38, 0x02, // Usage (AC Pan) 0x95, 0x01, // Report Count (1) 0x81, 0x06, // Input (Data,Value,Relative,Bit Field) 0xC0, // End Collection (Physical) // Report ID 2: Mouse motion 0x85, 0x02, // Report Id 2 0x09, 0x01, // Usage (Pointer) 0xA1, 0x00, // Collection (Physical) 0x75, 0x0C, // Report Size (12) 0x95, 0x02, // Report Count (2) 0x05, 0x01, // Usage Page (Generic Desktop) 0x09, 0x30, // Usage (X) 0x09, 0x31, // Usage (Y) 0x16, 0x01, 0xF8, // Logical maximum (2047) 0x26, 0xFF, 0x07, // Logical minimum (-2047) 0x81, 0x06, // Input (Data, Variable, Relative) 0xC0, // End Collection (Physical) 0xC0, // End Collection (Application) // Report ID 3: Advanced buttons 0x05, 0x0C, // Usage Page (Consumer) 0x09, 0x01, // Usage (Consumer Control) 0xA1, 0x01, // Collection (Application) 0x85, 0x03, // Report Id (3) 0x15, 0x00, // Logical minimum (0) 0x25, 0x01, // Logical maximum (1) 0x75, 0x01, // Report Size (1) 0x95, 0x01, // Report Count (1) 0x09, 0xCD, // Usage (Play/Pause) 0x81, 0x06, // Input (Data,Value,Relative,Bit Field) 0x0A, 0x83, 0x01, // Usage (AL Consumer Control Configuration) 0x81, 0x06, // Input (Data,Value,Relative,Bit Field) 0x09, 0xB5, // Usage (Scan Next Track) 0x81, 0x06, // Input (Data,Value,Relative,Bit Field) 0x09, 0xB6, // Usage (Scan Previous Track) 0x81, 0x06, // Input (Data,Value,Relative,Bit Field) 0x09, 0xEA, // Usage (Volume Down) 0x81, 0x06, // Input (Data,Value,Relative,Bit Field) 0x09, 0xE9, // Usage (Volume Up) 0x81, 0x06, // Input (Data,Value,Relative,Bit Field) 0x0A, 0x25, 0x02, // Usage (AC Forward) 0x81, 0x06, // Input (Data,Value,Relative,Bit Field) 0x0A, 0x24, 0x02, // Usage (AC Back) 0x81, 0x06, // Input (Data,Value,Relative,Bit Field) 0xC0 // End Collection }; memset(inp_rep_array, 0, sizeof(inp_rep_array)); // Initialize HID Service. p_input_report = &inp_rep_array[INPUT_REP_BUTTONS_INDEX]; p_input_report->max_len = INPUT_REP_BUTTONS_LEN; p_input_report->rep_ref.report_id = INPUT_REP_REF_BUTTONS_ID; p_input_report->rep_ref.report_type = BLE_HIDS_REP_TYPE_INPUT; p_input_report->sec.cccd_wr = SEC_JUST_WORKS; p_input_report->sec.wr = SEC_JUST_WORKS; p_input_report->sec.rd = SEC_JUST_WORKS; p_input_report = &inp_rep_array[INPUT_REP_MOVEMENT_INDEX]; p_input_report->max_len = INPUT_REP_MOVEMENT_LEN; p_input_report->rep_ref.report_id = INPUT_REP_REF_MOVEMENT_ID; p_input_report->rep_ref.report_type = BLE_HIDS_REP_TYPE_INPUT; p_input_report->sec.cccd_wr = SEC_JUST_WORKS; p_input_report->sec.wr = SEC_JUST_WORKS; p_input_report->sec.rd = SEC_JUST_WORKS; p_input_report = &inp_rep_array[INPUT_REP_MPLAYER_INDEX]; p_input_report->max_len = INPUT_REP_MEDIA_PLAYER_LEN; p_input_report->rep_ref.report_id = INPUT_REP_REF_MPLAYER_ID; p_input_report->rep_ref.report_type = BLE_HIDS_REP_TYPE_INPUT; p_input_report->sec.cccd_wr = SEC_JUST_WORKS; p_input_report->sec.wr = SEC_JUST_WORKS; p_input_report->sec.rd = SEC_JUST_WORKS; hid_info_flags = HID_INFO_FLAG_REMOTE_WAKE_MSK | HID_INFO_FLAG_NORMALLY_CONNECTABLE_MSK; memset(&hids_init_obj, 0, sizeof(hids_init_obj)); hids_init_obj.evt_handler = on_hids_evt; hids_init_obj.error_handler = service_error_handler; hids_init_obj.is_kb = false; hids_init_obj.is_mouse = true; hids_init_obj.inp_rep_count = INPUT_REPORT_COUNT; hids_init_obj.p_inp_rep_array = inp_rep_array; hids_init_obj.outp_rep_count = 0; hids_init_obj.p_outp_rep_array = NULL; hids_init_obj.feature_rep_count = 0; hids_init_obj.p_feature_rep_array = NULL; hids_init_obj.rep_map.data_len = sizeof(rep_map_data); hids_init_obj.rep_map.p_data = rep_map_data; hids_init_obj.hid_information.bcd_hid = BASE_USB_HID_SPEC_VERSION; hids_init_obj.hid_information.b_country_code = 0; hids_init_obj.hid_information.flags = hid_info_flags; hids_init_obj.included_services_count = 0; hids_init_obj.p_included_services_array = NULL; hids_init_obj.rep_map.rd_sec = SEC_JUST_WORKS; hids_init_obj.hid_information.rd_sec = SEC_JUST_WORKS; hids_init_obj.boot_mouse_inp_rep_sec.cccd_wr = SEC_JUST_WORKS; hids_init_obj.boot_mouse_inp_rep_sec.wr = SEC_JUST_WORKS; hids_init_obj.boot_mouse_inp_rep_sec.rd = SEC_JUST_WORKS; hids_init_obj.protocol_mode_rd_sec = SEC_JUST_WORKS; hids_init_obj.protocol_mode_wr_sec = SEC_JUST_WORKS; hids_init_obj.ctrl_point_wr_sec = SEC_JUST_WORKS; err_code = ble_hids_init(&m_hids, &hids_init_obj); APP_ERROR_CHECK(err_code); } /**@brief Function for initializing services that will be used by the application. */ static void services_init(void) { qwr_init(); dis_init(); bas_init(); hids_init(); } /**@brief Function for initializing the battery sensor simulator. */ static void sensor_simulator_init(void) { m_battery_sim_cfg.min = MIN_BATTERY_LEVEL; m_battery_sim_cfg.max = MAX_BATTERY_LEVEL; m_battery_sim_cfg.incr = BATTERY_LEVEL_INCREMENT; m_battery_sim_cfg.start_at_max = true; sensorsim_init(&m_battery_sim_state, &m_battery_sim_cfg); } /**@brief Function for handling a Connection Parameters error. * * @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) { ret_code_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_PARAM_UPDATE_COUNT; cp_init.start_on_notify_cccd_handle = BLE_GATT_HANDLE_INVALID; cp_init.disconnect_on_fail = false; 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 starting timers. */ static void timers_start(void) { ret_code_t err_code; err_code = app_timer_start(m_sensor_timer_id, sensor_interval, NULL); APP_ERROR_CHECK(err_code); err_code = app_timer_start(m_battery_timer_id, BATTERY_LEVEL_MEAS_INTERVAL, NULL); 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) { ret_code_t err_code; 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 HID events. * * @details This function will be called for all HID events which are passed to the application. * * @param[in] p_hids HID service structure. * @param[in] p_evt Event received from the HID service. */ static void on_hids_evt(ble_hids_t * p_hids, ble_hids_evt_t * p_evt) { switch (p_evt->evt_type) { case BLE_HIDS_EVT_BOOT_MODE_ENTERED: m_in_boot_mode = true; break; case BLE_HIDS_EVT_REPORT_MODE_ENTERED: m_in_boot_mode = false; break; case BLE_HIDS_EVT_NOTIF_ENABLED: break; default: // No implementation needed. break; } } /**@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) { ret_code_t err_code; switch (ble_adv_evt) { case BLE_ADV_EVT_DIRECTED_HIGH_DUTY: NRF_LOG_INFO("Directed advertising."); err_code = bsp_indication_set(BSP_INDICATE_ADVERTISING_DIRECTED); APP_ERROR_CHECK(err_code); break; case BLE_ADV_EVT_FAST: NRF_LOG_INFO("Fast advertising."); err_code = bsp_indication_set(BSP_INDICATE_ADVERTISING); APP_ERROR_CHECK(err_code); break; case BLE_ADV_EVT_SLOW: NRF_LOG_INFO("Slow advertising."); #if SWIFT_PAIR_SUPPORTED == 1 m_sp_advdata.p_manuf_specific_data = NULL; err_code = ble_advertising_advdata_update(&m_advertising, &m_sp_advdata, NULL); APP_ERROR_CHECK(err_code); #endif err_code = bsp_indication_set(BSP_INDICATE_ADVERTISING_SLOW); APP_ERROR_CHECK(err_code); break; case BLE_ADV_EVT_FAST_WHITELIST: NRF_LOG_INFO("Fast advertising with whitelist."); err_code = bsp_indication_set(BSP_INDICATE_ADVERTISING_WHITELIST); APP_ERROR_CHECK(err_code); break; case BLE_ADV_EVT_SLOW_WHITELIST: NRF_LOG_INFO("Slow advertising with whitelist."); err_code = bsp_indication_set(BSP_INDICATE_ADVERTISING_WHITELIST); APP_ERROR_CHECK(err_code); err_code = ble_advertising_restart_without_whitelist(&m_advertising); APP_ERROR_CHECK(err_code); break; case BLE_ADV_EVT_IDLE: err_code = bsp_indication_set(BSP_INDICATE_IDLE); APP_ERROR_CHECK(err_code); sleep_mode_enter(); break; case BLE_ADV_EVT_WHITELIST_REQUEST: { ble_gap_addr_t whitelist_addrs[BLE_GAP_WHITELIST_ADDR_MAX_COUNT]; ble_gap_irk_t whitelist_irks[BLE_GAP_WHITELIST_ADDR_MAX_COUNT]; uint32_t addr_cnt = BLE_GAP_WHITELIST_ADDR_MAX_COUNT; uint32_t irk_cnt = BLE_GAP_WHITELIST_ADDR_MAX_COUNT; err_code = pm_whitelist_get(whitelist_addrs, &addr_cnt, whitelist_irks, &irk_cnt); APP_ERROR_CHECK(err_code); NRF_LOG_DEBUG("pm_whitelist_get returns %d addr in whitelist and %d irk whitelist", addr_cnt, irk_cnt); // Set the correct identities list (no excluding peers with no Central Address Resolution). identities_set(PM_PEER_ID_LIST_SKIP_NO_IRK); // Apply the whitelist. err_code = ble_advertising_whitelist_reply(&m_advertising, whitelist_addrs, addr_cnt, whitelist_irks, irk_cnt); APP_ERROR_CHECK(err_code); } break; case BLE_ADV_EVT_PEER_ADDR_REQUEST: { pm_peer_data_bonding_t peer_bonding_data; // Only Give peer address if we have a handle to the bonded peer. if (m_peer_id != PM_PEER_ID_INVALID) { err_code = pm_peer_data_bonding_load(m_peer_id, &peer_bonding_data); if (err_code != NRF_ERROR_NOT_FOUND) { APP_ERROR_CHECK(err_code); // Manipulate identities to exclude peers with no Central Address Resolution. identities_set(PM_PEER_ID_LIST_SKIP_ALL); ble_gap_addr_t * p_peer_addr = &(peer_bonding_data.peer_ble_id.id_addr_info); err_code = ble_advertising_peer_addr_reply(&m_advertising, p_peer_addr); APP_ERROR_CHECK(err_code); } } 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) { ret_code_t err_code; switch (p_ble_evt->header.evt_id) { case BLE_GAP_EVT_CONNECTED: NRF_LOG_INFO("Connected"); err_code = bsp_indication_set(BSP_INDICATE_CONNECTED); 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); break; case BLE_GAP_EVT_DISCONNECTED: NRF_LOG_INFO("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_GATTC_EVT_TIMEOUT: // Disconnect on GATT Client timeout event. NRF_LOG_DEBUG("GATT Client Timeout."); 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. NRF_LOG_DEBUG("GATT Server Timeout."); 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: // No implementation needed. break; } } /**@brief Function for initializing the BLE stack. * * @details 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 the Peer Manager initialization. */ static void peer_manager_init(void) { ble_gap_sec_params_t sec_param; ret_code_t err_code; err_code = pm_init(); APP_ERROR_CHECK(err_code); memset(&sec_param, 0, sizeof(ble_gap_sec_params_t)); // Security parameters to be used for all security procedures. sec_param.bond = SEC_PARAM_BOND; sec_param.mitm = SEC_PARAM_MITM; sec_param.lesc = SEC_PARAM_LESC; sec_param.keypress = SEC_PARAM_KEYPRESS; sec_param.io_caps = SEC_PARAM_IO_CAPABILITIES; sec_param.oob = SEC_PARAM_OOB; sec_param.min_key_size = SEC_PARAM_MIN_KEY_SIZE; sec_param.max_key_size = SEC_PARAM_MAX_KEY_SIZE; sec_param.kdist_own.enc = 1; sec_param.kdist_own.id = 1; sec_param.kdist_peer.enc = 1; sec_param.kdist_peer.id = 1; err_code = pm_sec_params_set(&sec_param); APP_ERROR_CHECK(err_code); err_code = pm_register(pm_evt_handler); APP_ERROR_CHECK(err_code); } /**@brief Function for initializing the Advertising functionality. */ static void advertising_init(void) { ret_code_t err_code; uint8_t adv_flags; ble_advertising_init_t init; memset(&init, 0, sizeof(init)); adv_flags = BLE_GAP_ADV_FLAGS_LE_ONLY_LIMITED_DISC_MODE; init.advdata.name_type = BLE_ADVDATA_FULL_NAME; init.advdata.include_appearance = true; init.advdata.flags = adv_flags; init.advdata.uuids_complete.uuid_cnt = sizeof(m_adv_uuids) / sizeof(m_adv_uuids[0]); init.advdata.uuids_complete.p_uuids = m_adv_uuids; #if SWIFT_PAIR_SUPPORTED == 1 init.advdata.p_manuf_specific_data = &m_sp_manuf_advdata; memcpy(&m_sp_advdata, &init.advdata, sizeof(m_sp_advdata)); #endif init.config.ble_adv_whitelist_enabled = true; init.config.ble_adv_directed_high_duty_enabled = true; init.config.ble_adv_directed_enabled = false; init.config.ble_adv_directed_interval = 0; init.config.ble_adv_directed_timeout = 0; init.config.ble_adv_fast_enabled = true; init.config.ble_adv_fast_interval = APP_ADV_FAST_INTERVAL; init.config.ble_adv_fast_timeout = APP_ADV_FAST_DURATION; init.config.ble_adv_slow_enabled = true; init.config.ble_adv_slow_interval = APP_ADV_SLOW_INTERVAL; init.config.ble_adv_slow_timeout = APP_ADV_SLOW_DURATION; init.evt_handler = on_adv_evt; init.error_handler = ble_advertising_error_handler; 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 the Event Scheduler initialization. */ static void scheduler_init(void) { APP_SCHED_INIT(SCHED_MAX_EVENT_DATA_SIZE, SCHED_QUEUE_SIZE); } /**@brief Function for sending a Mouse Movement. * * @param[in] x_delta Horizontal movement. * @param[in] y_delta Vertical movement. */ static void mouse_movement_send(int16_t x_delta, int16_t y_delta) { ret_code_t err_code; if (m_in_boot_mode) { x_delta = MIN(x_delta, 0x00ff); y_delta = MIN(y_delta, 0x00ff); err_code = ble_hids_boot_mouse_inp_rep_send(&m_hids, 0x00, (int8_t)x_delta, (int8_t)y_delta, 0, NULL, m_conn_handle); } else { uint8_t buffer[INPUT_REP_MOVEMENT_LEN]; APP_ERROR_CHECK_BOOL(INPUT_REP_MOVEMENT_LEN == 3); x_delta = MIN(x_delta, 0x0fff); y_delta = MIN(y_delta, 0x0fff); buffer[0] = x_delta & 0x00ff; buffer[1] = ((y_delta & 0x000f) << 4) | ((x_delta & 0x0f00) >> 8); buffer[2] = (y_delta & 0x0ff0) >> 4; err_code = ble_hids_inp_rep_send(&m_hids, INPUT_REP_MOVEMENT_INDEX, INPUT_REP_MOVEMENT_LEN, buffer, m_conn_handle); } if ((err_code != NRF_SUCCESS) && (err_code != NRF_ERROR_INVALID_STATE) && (err_code != NRF_ERROR_RESOURCES) && (err_code != NRF_ERROR_BUSY) && (err_code != BLE_ERROR_GATTS_SYS_ATTR_MISSING) ) { APP_ERROR_HANDLER(err_code); } } /**@brief Function for handling events from the BSP module. * * @param[in] event Event generated by button press. */ static void bsp_event_handler(bsp_event_t event) { ret_code_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; case BSP_EVENT_KEY_0: if (m_conn_handle != BLE_CONN_HANDLE_INVALID) { mouse_movement_send(-MOVEMENT_SPEED, 0); } break; case BSP_EVENT_KEY_1: if (m_conn_handle != BLE_CONN_HANDLE_INVALID) { mouse_movement_send(0, -MOVEMENT_SPEED); } break; case BSP_EVENT_KEY_2: if (m_conn_handle != BLE_CONN_HANDLE_INVALID) { mouse_movement_send(MOVEMENT_SPEED, 0); } break; case BSP_EVENT_KEY_3: if (m_conn_handle != BLE_CONN_HANDLE_INVALID) { mouse_movement_send(0, MOVEMENT_SPEED); } break; default: break; } } /**@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) { ret_code_t err_code; bsp_event_t startup_event; 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(); } void twi_init (void) { ret_code_t err_code; const nrf_drv_twi_config_t twi_config = { .scl = ARDUINO_SCL_PIN, .sda = ARDUINO_SDA_PIN, .frequency = NRF_DRV_TWI_FREQ_100K, .interrupt_priority = APP_IRQ_PRIORITY_HIGH, .clear_bus_init = false }; err_code = nrf_drv_twi_init(&m_twi, &twi_config, NULL, NULL); APP_ERROR_CHECK(err_code); if (NRF_SUCCESS == err_code) { nrf_drv_twi_enable(&m_twi); NRF_LOG_INFO("TWI init success..."); printf("TWI init success..."); NRF_LOG_FLUSH(); } } int8_t Acc_i2c_Write(uint8_t dev_id, uint8_t reg_addr, uint8_t *reg_data, uint16_t len) { // NRF_LOG_INFO("WRITE: dev_id: %x reg_addr: %x reg_data: %x len: %i\n", dev_id, reg_addr, *reg_data, len); int8_t rslt = 0; uint8_t data[len + 1]; data[0] = reg_addr; for (uint16_t i = 0; i < len; i++) { data[i + 1] = reg_data[i]; } rslt = nrf_drv_twi_tx(&m_twi, dev_id, data, len + 1, false); APP_ERROR_CHECK(rslt); return rslt; // NRF_LOG_FLUSH(); } int8_t Acc_i2c_Read(uint8_t dev_id, uint8_t reg_addr, uint8_t *reg_data, uint16_t len) { // NRF_LOG_INFO("READ: dev_id: %x reg_addr: %x len: %i\n", dev_id, reg_addr, len); int8_t rslt = 0; rslt = nrf_drv_twi_tx(&m_twi, dev_id, ®_addr, 1, false); // NRF_LOG_INFO("READ: rslt: %d \n", rslt); APP_ERROR_CHECK(rslt); if (rslt == 0) { rslt = nrf_drv_twi_rx(&m_twi, dev_id, reg_data, len); } // NRF_LOG_INFO("READ: %x",*reg_data); return rslt; // NRF_LOG_FLUSH(); } void BMI160_init (void) { sensor.id = BMI160_I2C_ADDR; //0x69 sensor.interface = BMI160_I2C_INTF; //0x00 sensor.read = &Acc_i2c_Read; sensor.write = &Acc_i2c_Write; sensor.delay_ms = &nrf_delay_ms; rslt = bmi160_init(&sensor); APP_ERROR_CHECK(rslt); if(rslt == BMI160_OK){ NRF_LOG_INFO("BMI160 Initialized..."); printf("BMI160 Initialized..."); } else { NRF_LOG_INFO("BMI160 not Initialized..."); printf("BMI160 not Initialized..."); }NRF_LOG_FLUSH(); sensor.accel_cfg.odr = BMI160_ACCEL_ODR_200HZ; sensor.accel_cfg.range = BMI160_ACCEL_RANGE_2G; sensor.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4; sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE; sensor.gyro_cfg.odr = BMI160_GYRO_ODR_200HZ; sensor.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS; sensor.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE; sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; rslt = bmi160_set_sens_conf(&sensor); APP_ERROR_CHECK(rslt); if(rslt == BMI160_OK){ NRF_LOG_INFO("sensor Configured..."); printf("sensor Configured..."); } else { NRF_LOG_INFO("sensor not Configured..."); printf("sensor not Configured..."); }NRF_LOG_FLUSH(); } /**@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) { app_sched_execute(); if (NRF_LOG_PROCESS() == false) { nrf_pwr_mgmt_run(); } } /**@brief Function for application main entry. */ int main(void) { bool erase_bonds; // Initialize. log_init(); timers_init(); buttons_leds_init(&erase_bonds); power_management_init(); ble_stack_init(); scheduler_init(); gap_params_init(); gatt_init(); advertising_init(); dfu_init(); services_init(); sensor_simulator_init(); conn_params_init(); twi_init(); BMI160_init(); peer_manager_init(); // Start execution. NRF_LOG_INFO("HID Mouse example started."); timers_start(); advertising_start(erase_bonds); // Enter main loop. for (;;) { idle_state_handle(); } } /** * @} */