Hi Nordic,
Background:
I am making some changes based on your 2 examples BLE_UART_central and BLE_UART_peripheral to make them talk together with the BLE connection. I have LSM9DS1 attached with the BLE_UART_peripheral side with SPI interface and GPIO Interruption to read the sensor FIFO data. The issues is when they talking with each other with the BLE connection is fine, but BLE_UART_peripheral side stuck when BLE disconnected.
Code Details:
Here is some priority levels setting:
#ifndef SPI_IRQ_PRIORITY
#define SPI_IRQ_PRIORITY 6
#endif
#ifndef GPIOTE_CONFIG_IRQ_PRIORITY
#define GPIOTE_CONFIG_IRQ_PRIORITY 7
#endif
static void uart_init(void)
{
uint32_t err_code;
app_uart_comm_params_t const comm_params =
{
.rx_pin_no = RX_PIN_NUMBER,
.tx_pin_no = TX_PIN_NUMBER,
.rts_pin_no = RTS_PIN_NUMBER,
.cts_pin_no = CTS_PIN_NUMBER,
.flow_control = APP_UART_FLOW_CONTROL_DISABLED,
.use_parity = false,
#if defined (UART_PRESENT)
.baud_rate = NRF_UART_BAUDRATE_115200
#else
.baud_rate = NRF_UARTE_BAUDRATE_115200
#endif
};
APP_UART_FIFO_INIT(&comm_params,
UART_RX_BUF_SIZE,
UART_TX_BUF_SIZE,
uart_event_handle,
APP_IRQ_PRIORITY_LOW,
err_code);
APP_ERROR_CHECK(err_code);
}
I have attached my main.c code for the BLE_UART_peripheral side here, you may check also.
/**
* Copyright (c) 2014 - 2020, Nordic Semiconductor ASA
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form, except as embedded into a Nordic
* Semiconductor ASA integrated circuit in a product or a software update for
* such product, must reproduce the above copyright notice, this list of
* conditions and the following disclaimer in the documentation and/or other
* materials provided with the distribution.
*
* 3. Neither the name of Nordic Semiconductor ASA nor the names of its
* contributors may be used to endorse or promote products derived from this
* software without specific prior written permission.
*
* 4. This software, with or without modification, must only be used with a
* Nordic Semiconductor ASA integrated circuit.
*
* 5. Any software provided in binary form under this license must not be reverse
* engineered, decompiled, modified and/or disassembled.
*
* THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
/** @file
*
* @defgroup ble_sdk_uart_over_ble_main main.c
* @{
* @ingroup ble_sdk_app_nus_eval
* @brief UART over BLE application main file.
*
* This file contains the source code for a sample application that uses the Nordic UART service.
* This application uses the @ref srvlib_conn_params module.
*/
#include <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 "nrf_ble_qwr.h"
#include "app_timer.h"
#include "ble_nus.h"
#include "app_uart.h"
#include "app_util_platform.h"
#include "bsp_btn_ble.h"
#include "nrf_pwr_mgmt.h"
#if defined (UART_PRESENT)
#include "nrf_uart.h"
#endif
#if defined (UARTE_PRESENT)
#include "nrf_uarte.h"
#endif
#include "nrf_drv_spi.h"
#include "app_util_platform.h"
#include "nrf_gpio.h"
#include "nrf_delay.h"
#include "boards.h"
#include "app_error.h"
#include <string.h>
#include "nrf_log.h"
#include "nrf_log_ctrl.h"
#include "nrf_log_default_backends.h"
#include <stdbool.h>
#include <stdint.h>
#include "nrf_drv_timer.h"
#include "bsp.h"
#include "lsm9ds1_reg.h"
#include "nrf_drv_gpiote.h"
#define APP_BLE_CONN_CFG_TAG 1 /**< A tag identifying the SoftDevice BLE configuration. */
#define DEVICE_NAME "Nordic_UART_P" /**< Name of device. Will be included in the advertising data. */
#define NUS_SERVICE_UUID_TYPE BLE_UUID_TYPE_VENDOR_BEGIN /**< UUID type for the Nordic UART Service (vendor specific). */
#define APP_BLE_OBSERVER_PRIO 3 /**< Application's BLE observer priority. You shouldn't need to modify this value. */
#define APP_ADV_INTERVAL 64 /**< The advertising interval (in units of 0.625 ms. This value corresponds to 40 ms). */
#define APP_ADV_DURATION 18000 /**< The advertising duration (180 seconds) in units of 10 milliseconds. */
#define MIN_CONN_INTERVAL MSEC_TO_UNITS(20, UNIT_1_25_MS) /**< Minimum acceptable connection interval (20 ms), Connection interval uses 1.25 ms units. */
#define MAX_CONN_INTERVAL MSEC_TO_UNITS(75, UNIT_1_25_MS) /**< Maximum acceptable connection interval (75 ms), Connection interval uses 1.25 ms units. */
#define SLAVE_LATENCY 0 /**< Slave latency. */
#define CONN_SUP_TIMEOUT MSEC_TO_UNITS(4000, UNIT_10_MS) /**< Connection supervisory timeout (4 seconds), Supervision Timeout uses 10 ms units. */
#define FIRST_CONN_PARAMS_UPDATE_DELAY APP_TIMER_TICKS(5000) /**< Time from initiating event (connect or start of notification) to first time sd_ble_gap_conn_param_update is called (5 seconds). */
#define NEXT_CONN_PARAMS_UPDATE_DELAY APP_TIMER_TICKS(30000) /**< Time between each call to sd_ble_gap_conn_param_update after the first call (30 seconds). */
#define MAX_CONN_PARAMS_UPDATE_COUNT 3 /**< Number of attempts before giving up the connection parameter negotiation. */
#define DEAD_BEEF 0xDEADBEEF /**< Value used as error code on stack dump, can be used to identify stack location on stack unwind. */
#define UART_TX_BUF_SIZE 256//1024//2048 /**< UART TX buffer size. */
#define UART_RX_BUF_SIZE 256//1024//2048 /**< UART RX buffer size. */
typedef union {
int16_t i16bit[3];
uint8_t u8bit[6];
} axis3bit16_t;
static axis3bit16_t data_raw_acceleration;
static axis3bit16_t data_raw_angular_rate;
static axis3bit16_t data_raw_magnetic_field;
static float acceleration_mg[3];
static float angular_rate_mdps[3];
static float magnetic_field_mgauss[3];
static lsm9ds1_id_t whoamI;
static lsm9ds1_status_t reg;
static uint8_t rst;
static void advertising_start(void);
//char tx_buffer[100];
//uint8_t sample_a_float[60][6];
//uint8_t sample_g_float[60][6];
int8_t status=0;
int8_t status_connected=0;
uint8_t ble_tx_buffer_acc[500];
uint16_t ble_tx_buffer_acc_len=0;
uint8_t ble_tx_buffer_ang[500];
uint16_t ble_tx_buffer_ang_len=0;
uint16_t counter_flag=0;
int8_t rssi_value=0;
#define DEBUG_FIFO_SIZE_INSIDE
//#define DEBUG_BLE_SEND_DEBUG
//#define DEBUG_SPI_BUFFER_INSIDE
//#define WATCHDOG_ENABLE
#define SHORT_RANGE_ENABLE
//#define LONG_RANGE_ENABLE
//#define BLE_UART_RECEIVE_ENABLE
//#define LONG_RANGE_HIGH_SPEED
//#define LONG_RANGE_HIGH_SPEED_BLE_STREAMING_SLOW
static void interrupt_pin_init(void);
void LSM9DS1_start(void);
void in_pin_handler(void);
BLE_NUS_DEF(m_nus, NRF_SDH_BLE_TOTAL_LINK_COUNT); /**< BLE NUS service instance. */
NRF_BLE_GATT_DEF(m_gatt); /**< GATT module instance. */
NRF_BLE_QWR_DEF(m_qwr); /**< Context for the Queued Write module.*/
BLE_ADVERTISING_DEF(m_advertising); /**< Advertising module instance. */
static uint16_t m_conn_handle = BLE_CONN_HANDLE_INVALID; /**< Handle of the current connection. */
static uint16_t m_ble_nus_max_data_len = BLE_GATT_ATT_MTU_DEFAULT - 3; /**< Maximum length of data (in bytes) that can be transmitted to the peer by the Nordic UART service module. */
static ble_uuid_t m_adv_uuids[] = /**< Universally unique service identifier. */
{
{BLE_UUID_NUS_SERVICE, NUS_SERVICE_UUID_TYPE}
};
/**@brief Function for assert macro callback.
*
* @details This function will be called in case of an assert in the SoftDevice.
*
* @warning This handler is an example only and does not fit a final product. You need to analyse
* how your product is supposed to react in case of Assert.
* @warning On assert from the SoftDevice, the system can only recover on reset.
*
* @param[in] line_num Line number of the failing ASSERT call.
* @param[in] p_file_name File name of the failing ASSERT call.
*/
void assert_nrf_callback(uint16_t line_num, const uint8_t * p_file_name)
{
app_error_handler(DEAD_BEEF, line_num, p_file_name);
}
/**@brief Function for initializing the timer module.
*/
static void timers_init(void)
{
ret_code_t err_code = app_timer_init();
APP_ERROR_CHECK(err_code);
}
/**@brief Function for the GAP initialization.
*
* @details This function will set up all the necessary GAP (Generic Access Profile) parameters of
* the device. It also sets the permissions and appearance.
*/
static void gap_params_init(void)
{
uint32_t err_code;
ble_gap_conn_params_t gap_conn_params;
ble_gap_conn_sec_mode_t sec_mode;
BLE_GAP_CONN_SEC_MODE_SET_OPEN(&sec_mode);
err_code = sd_ble_gap_device_name_set(&sec_mode,
(const uint8_t *) DEVICE_NAME,
strlen(DEVICE_NAME));
APP_ERROR_CHECK(err_code);
memset(&gap_conn_params, 0, sizeof(gap_conn_params));
gap_conn_params.min_conn_interval = MIN_CONN_INTERVAL;
gap_conn_params.max_conn_interval = MAX_CONN_INTERVAL;
gap_conn_params.slave_latency = SLAVE_LATENCY;
gap_conn_params.conn_sup_timeout = CONN_SUP_TIMEOUT;
err_code = sd_ble_gap_ppcp_set(&gap_conn_params);
APP_ERROR_CHECK(err_code);
}
/**@brief Function for handling Queued Write Module errors.
*
* @details A pointer to this function will be passed to each service which may need to inform the
* application about an error.
*
* @param[in] nrf_error Error code containing information about what went wrong.
*/
static void nrf_qwr_error_handler(uint32_t nrf_error)
{
APP_ERROR_HANDLER(nrf_error);
}
/**@brief Function for handling the data from the Nordic UART Service.
*
* @details This function will process the data received from the Nordic UART BLE Service and send
* it to the UART module.
*
* @param[in] p_evt Nordic UART Service event.
*/
/**@snippet [Handling the data received over BLE] */
static void nus_data_handler(ble_nus_evt_t * p_evt)
{
if (p_evt->type == BLE_NUS_EVT_RX_DATA)
{
uint32_t err_code;
//NRF_LOG_DEBUG("Received data from BLE NUS. Writing data on UART.");
//NRF_LOG_HEXDUMP_DEBUG(p_evt->params.rx_data.p_data, p_evt->params.rx_data.length);
#ifdef BLE_UART_RECEIVE_ENABLE
printf("RecBLE_UART");nrf_delay_ms(1);
for (uint32_t i = 0; i < p_evt->params.rx_data.length; i++)
{
do
{
err_code = app_uart_put(p_evt->params.rx_data.p_data[i]);
if ((err_code != NRF_SUCCESS) && (err_code != NRF_ERROR_BUSY))
{
NRF_LOG_ERROR("Failed receiving NUS message. Error 0x%x. ", err_code);
APP_ERROR_CHECK(err_code);
}
} while (err_code == NRF_ERROR_BUSY);
}
if (p_evt->params.rx_data.p_data[p_evt->params.rx_data.length - 1] == '\r')
{
while (app_uart_put('\n') == NRF_ERROR_BUSY);
}
#endif
}
}
/**@snippet [Handling the data received over BLE] */
/**@brief Function for initializing services that will be used by the application.
*/
static void services_init(void)
{
uint32_t err_code;
ble_nus_init_t nus_init;
nrf_ble_qwr_init_t qwr_init = {0};
// Initialize Queued Write Module.
qwr_init.error_handler = nrf_qwr_error_handler;
err_code = nrf_ble_qwr_init(&m_qwr, &qwr_init);
APP_ERROR_CHECK(err_code);
// Initialize NUS.
memset(&nus_init, 0, sizeof(nus_init));
nus_init.data_handler = nus_data_handler;
err_code = ble_nus_init(&m_nus, &nus_init);
APP_ERROR_CHECK(err_code);
}
/**@brief Function for handling an event from the Connection Parameters Module.
*
* @details This function will be called for all events in the Connection Parameters Module
* which are passed to the application.
*
* @note All this function does is to disconnect. This could have been done by simply setting
* the disconnect_on_fail config parameter, but instead we use the event handler
* mechanism to demonstrate its use.
*
* @param[in] p_evt Event received from the Connection Parameters Module.
*/
static void on_conn_params_evt(ble_conn_params_evt_t * p_evt)
{
uint32_t err_code;
if (p_evt->evt_type == BLE_CONN_PARAMS_EVT_FAILED)
{
err_code = sd_ble_gap_disconnect(m_conn_handle, BLE_HCI_CONN_INTERVAL_UNACCEPTABLE);
APP_ERROR_CHECK(err_code);
}
}
/**@brief Function for handling errors from the Connection Parameters module.
*
* @param[in] nrf_error Error code containing information about what went wrong.
*/
static void conn_params_error_handler(uint32_t nrf_error)
{
APP_ERROR_HANDLER(nrf_error);
}
/**@brief Function for initializing the Connection Parameters module.
*/
static void conn_params_init(void)
{
uint32_t err_code;
ble_conn_params_init_t cp_init;
memset(&cp_init, 0, sizeof(cp_init));
cp_init.p_conn_params = NULL;
cp_init.first_conn_params_update_delay = FIRST_CONN_PARAMS_UPDATE_DELAY;
cp_init.next_conn_params_update_delay = NEXT_CONN_PARAMS_UPDATE_DELAY;
cp_init.max_conn_params_update_count = MAX_CONN_PARAMS_UPDATE_COUNT;
cp_init.start_on_notify_cccd_handle = BLE_GATT_HANDLE_INVALID;
cp_init.disconnect_on_fail = false;
cp_init.evt_handler = on_conn_params_evt;
cp_init.error_handler = conn_params_error_handler;
err_code = ble_conn_params_init(&cp_init);
APP_ERROR_CHECK(err_code);
}
/**@brief Function for putting the chip into sleep mode.
*
* @note This function will not return.
*/
static void sleep_mode_enter(void)
{
uint32_t err_code = bsp_indication_set(BSP_INDICATE_IDLE);
APP_ERROR_CHECK(err_code);
// Prepare wakeup buttons.
err_code = bsp_btn_ble_sleep_mode_prepare();
APP_ERROR_CHECK(err_code);
// Go to system-off mode (this function will not return; wakeup will cause a reset).
err_code = sd_power_system_off();
APP_ERROR_CHECK(err_code);
}
/**@brief Function for handling advertising events.
*
* @details This function will be called for advertising events which are passed to the application.
*
* @param[in] ble_adv_evt Advertising event.
*/
static void on_adv_evt(ble_adv_evt_t ble_adv_evt)
{
uint32_t err_code;
switch (ble_adv_evt)
{
case BLE_ADV_EVT_FAST:
err_code = bsp_indication_set(BSP_INDICATE_ADVERTISING);
APP_ERROR_CHECK(err_code);
break;
case BLE_ADV_EVT_IDLE:
sleep_mode_enter();
break;
default:
break;
}
}
/**@brief Function for handling BLE events.
*
* @param[in] p_ble_evt Bluetooth stack event.
* @param[in] p_context Unused.
*/
static void ble_evt_handler(ble_evt_t const * p_ble_evt, void * p_context)
{
uint32_t err_code;
int8_t tx_power = 8; //niklas
switch (p_ble_evt->header.evt_id)
{
case BLE_GAP_EVT_CONNECTED:
//NRF_LOG_INFO("Connected");
status=1;
status_connected=1;
printf("Connect");nrf_delay_ms(1);
//interrupt_pin_init();//niklas
err_code = bsp_indication_set(BSP_INDICATE_CONNECTED);
APP_ERROR_CHECK(err_code);
//reference https://jimmywongiot.com/2019/11/30/how-to-get-the-rssi-change-on-the-nrf5-sdk/
//https://devzone.nordicsemi.com/f/nordic-q-a/69366/regarding-about-the-connection-rssi-for-signal-strength
err_code = sd_ble_gap_rssi_start(p_ble_evt->evt.gap_evt.conn_handle,1,2);//niklas
APP_ERROR_CHECK(err_code);
m_conn_handle = p_ble_evt->evt.gap_evt.conn_handle;
err_code = nrf_ble_qwr_conn_handle_assign(&m_qwr, m_conn_handle);
APP_ERROR_CHECK(err_code);
//err_code = sd_ble_gap_tx_power_set(BLE_GAP_TX_POWER_ROLE_CONN, m_conn_handle, tx_power); //niklas
//APP_ERROR_CHECK(err_code);
break;
//case BLE_GAP_EVT_RSSI_CHANGED:
// rssi_value=p_ble_evt->evt.gap_evt.params.rssi_changed.rssi;
// printf("RSSI=%d\n",p_ble_evt->evt.gap_evt.params.rssi_changed.rssi);
case BLE_GAP_EVT_DISCONNECTED:
status=2;
status_connected=2;
//NRF_LOG_INFO("Disconnected");
printf("Disc");nrf_delay_ms(1);
//interrupt_pin_init();//niklas
// LED indication will be changed when advertising starts.
m_conn_handle = BLE_CONN_HANDLE_INVALID;
if(nrf_gpio_pin_read(PIN_INTERRUPT))
{
printf("In AA");nrf_delay_ms(1);
//in_pin_handler();
}
advertising_start();
break;
case BLE_GAP_EVT_PHY_UPDATE_REQUEST:
{
status=3;
//NRF_LOG_DEBUG("PHY update request.");
printf("PHY update request.");nrf_delay_ms(1);
ble_gap_phys_t const phys =
{
#ifdef LONG_RANGE_ENABLE
.rx_phys = BLE_GAP_PHY_CODED,//BLE_GAP_PHY_AUTO,
.tx_phys = BLE_GAP_PHY_CODED,//BLE_GAP_PHY_AUTO,
#endif
#ifdef SHORT_RANGE_ENABLE
.rx_phys = BLE_GAP_PHY_1MBPS,//BLE_GAP_PHY_AUTO,
.tx_phys = BLE_GAP_PHY_1MBPS,//BLE_GAP_PHY_AUTO,
#endif
};
err_code = sd_ble_gap_phy_update(p_ble_evt->evt.gap_evt.conn_handle, &phys);
APP_ERROR_CHECK(err_code);
} break;
case BLE_GAP_EVT_SEC_PARAMS_REQUEST:
status=5;
// Pairing not supported
err_code = sd_ble_gap_sec_params_reply(m_conn_handle, BLE_GAP_SEC_STATUS_PAIRING_NOT_SUPP, NULL, NULL);
APP_ERROR_CHECK(err_code);
break;
case BLE_GATTS_EVT_SYS_ATTR_MISSING:
status=6;
// No system attributes have been stored.
err_code = sd_ble_gatts_sys_attr_set(m_conn_handle, NULL, 0, 0);
APP_ERROR_CHECK(err_code);
break;
case BLE_GATTC_EVT_TIMEOUT:
// Disconnect on GATT Client timeout event.
status=7;
err_code = sd_ble_gap_disconnect(p_ble_evt->evt.gattc_evt.conn_handle,
BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION);
APP_ERROR_CHECK(err_code);
break;
case BLE_GATTS_EVT_TIMEOUT:
status=8;
// Disconnect on GATT Server timeout event.
err_code = sd_ble_gap_disconnect(p_ble_evt->evt.gatts_evt.conn_handle,
BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION);
APP_ERROR_CHECK(err_code);
break;
default:
status=9;
// No implementation needed.
break;
}
}
/**@brief Function for the SoftDevice initialization.
*
* @details This function initializes the SoftDevice and the BLE event interrupt.
*/
static void ble_stack_init(void)
{
ret_code_t err_code;
err_code = nrf_sdh_enable_request();
APP_ERROR_CHECK(err_code);
// Configure the BLE stack using the default settings.
// Fetch the start address of the application RAM.
uint32_t ram_start = 0;
err_code = nrf_sdh_ble_default_cfg_set(APP_BLE_CONN_CFG_TAG, &ram_start);
APP_ERROR_CHECK(err_code);
// Enable BLE stack.
err_code = nrf_sdh_ble_enable(&ram_start);
APP_ERROR_CHECK(err_code);
// Register a handler for BLE events.
NRF_SDH_BLE_OBSERVER(m_ble_observer, APP_BLE_OBSERVER_PRIO, ble_evt_handler, NULL);
}
/**@brief Function for handling events from the GATT library. */
void gatt_evt_handler(nrf_ble_gatt_t * p_gatt, nrf_ble_gatt_evt_t const * p_evt)
{
if ((m_conn_handle == p_evt->conn_handle) && (p_evt->evt_id == NRF_BLE_GATT_EVT_ATT_MTU_UPDATED))
{
m_ble_nus_max_data_len = p_evt->params.att_mtu_effective - OPCODE_LENGTH - HANDLE_LENGTH;
NRF_LOG_INFO("Data len is set to 0x%X(%d)", m_ble_nus_max_data_len, m_ble_nus_max_data_len);
}
NRF_LOG_DEBUG("ATT MTU exchange completed. central 0x%x peripheral 0x%x",
p_gatt->att_mtu_desired_central,
p_gatt->att_mtu_desired_periph);
}
/**@brief Function for initializing the GATT library. */
void gatt_init(void)
{
ret_code_t err_code;
err_code = nrf_ble_gatt_init(&m_gatt, gatt_evt_handler);
APP_ERROR_CHECK(err_code);
err_code = nrf_ble_gatt_att_mtu_periph_set(&m_gatt, NRF_SDH_BLE_GATT_MAX_MTU_SIZE);
APP_ERROR_CHECK(err_code);
}
/**@brief Function for handling events from the BSP module.
*
* @param[in] event Event generated by button press.
*/
void bsp_event_handler(bsp_event_t event)
{
uint32_t err_code;
switch (event)
{
case BSP_EVENT_SLEEP:
sleep_mode_enter();
break;
case BSP_EVENT_DISCONNECT:
err_code = sd_ble_gap_disconnect(m_conn_handle, BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION);
if (err_code != NRF_ERROR_INVALID_STATE)
{
APP_ERROR_CHECK(err_code);
}
break;
case BSP_EVENT_WHITELIST_OFF:
if (m_conn_handle == BLE_CONN_HANDLE_INVALID)
{
err_code = ble_advertising_restart_without_whitelist(&m_advertising);
if (err_code != NRF_ERROR_INVALID_STATE)
{
APP_ERROR_CHECK(err_code);
}
}
break;
default:
break;
}
}
/**@brief Function for handling app_uart events.
*
* @details This function will receive a single character from the app_uart module and append it to
* a string. The string will be be sent over BLE when the last character received was a
* 'new line' '\n' (hex 0x0A) or if the string has reached the maximum data length.
*/
/**@snippet [Handling the data received over UART] */
void uart_event_handle(app_uart_evt_t * p_event)
{
static uint8_t data_array[BLE_NUS_MAX_DATA_LEN];
static uint8_t index = 0;
uint32_t err_code;
switch (p_event->evt_type)
{
case APP_UART_DATA_READY:
UNUSED_VARIABLE(app_uart_get(&data_array[index]));
index++;
if ((data_array[index - 1] == '\n') ||
(data_array[index - 1] == '\r') ||
(index >= m_ble_nus_max_data_len))
{
if (index > 1)
{
//NRF_LOG_DEBUG("Ready to send data over BLE NUS");
//NRF_LOG_HEXDUMP_DEBUG(data_array, index);
printf("Ready over BLE NUS \n"); nrf_delay_ms(1);
do
{
uint16_t length = (uint16_t)index;
err_code = ble_nus_data_send(&m_nus, data_array, &length, m_conn_handle);
if ((err_code != NRF_ERROR_INVALID_STATE) &&
(err_code != NRF_ERROR_RESOURCES) &&
(err_code != NRF_ERROR_NOT_FOUND))
{
APP_ERROR_CHECK(err_code);
}
} while (err_code == NRF_ERROR_RESOURCES);
}
index = 0;
}
break;
case APP_UART_COMMUNICATION_ERROR:
APP_ERROR_HANDLER(p_event->data.error_communication);
break;
case APP_UART_FIFO_ERROR:
APP_ERROR_HANDLER(p_event->data.error_code);
break;
default:
break;
}
}
/**@snippet [Handling the data received over UART] */
/**@brief Function for initializing the UART module.
*/
/**@snippet [UART Initialization] */
static void uart_init(void)
{
uint32_t err_code;
app_uart_comm_params_t const comm_params =
{
.rx_pin_no = RX_PIN_NUMBER,
.tx_pin_no = TX_PIN_NUMBER,
.rts_pin_no = RTS_PIN_NUMBER,
.cts_pin_no = CTS_PIN_NUMBER,
.flow_control = APP_UART_FLOW_CONTROL_DISABLED,
.use_parity = false,
#if defined (UART_PRESENT)
.baud_rate = NRF_UART_BAUDRATE_115200
#else
.baud_rate = NRF_UARTE_BAUDRATE_115200
#endif
};
APP_UART_FIFO_INIT(&comm_params,
UART_RX_BUF_SIZE,
UART_TX_BUF_SIZE,
uart_event_handle,
APP_IRQ_PRIORITY_LOW,//APP_IRQ_PRIORITY_HIGH,//APP_IRQ_PRIORITY_HIGHEST,// APP_IRQ_PRIORITY_LOWEST,
err_code);
APP_ERROR_CHECK(err_code);
}
/**@snippet [UART Initialization] */
/**@brief Function for initializing the Advertising functionality.*/
#ifdef SHORT_RANGE_ENABLE
static void advertising_init(void)
{
uint32_t err_code;
ble_advertising_init_t init;
int8_t tx_power = 8; //niklas
memset(&init, 0, sizeof(init));
init.advdata.name_type = BLE_ADVDATA_FULL_NAME;
init.advdata.include_appearance = false;
init.advdata.flags = BLE_GAP_ADV_FLAGS_LE_ONLY_LIMITED_DISC_MODE;
//init.advdata.flags = BLE_GAP_ADV_FLAGS_LE_ONLY_GENERAL_DISC_MODE;
init.srdata.uuids_complete.uuid_cnt = sizeof(m_adv_uuids) / sizeof(m_adv_uuids[0]);
init.srdata.uuids_complete.p_uuids = m_adv_uuids;
init.config.ble_adv_fast_enabled = true;
init.config.ble_adv_fast_interval = APP_ADV_INTERVAL;
init.config.ble_adv_fast_timeout = APP_ADV_DURATION;
//init.config.ble_adv_primary_phy = BLE_GAP_PHY_CODED;
//init.config.ble_adv_secondary_phy = BLE_GAP_PHY_CODED;
//init.config.ble_adv_extended_enabled = true;
init.evt_handler = on_adv_evt;
err_code = ble_advertising_init(&m_advertising, &init);
APP_ERROR_CHECK(err_code);
ble_advertising_conn_cfg_tag_set(&m_advertising, APP_BLE_CONN_CFG_TAG);
err_code = sd_ble_gap_tx_power_set(BLE_GAP_TX_POWER_ROLE_ADV , m_advertising.adv_handle, tx_power);
APP_ERROR_CHECK(err_code);
}
#endif
//niklas
#ifdef LONG_RANGE_ENABLE
static void advertising_init(void)
{
ret_code_t err_code;
int8_t tx_power = 8; //niklas
//??????????????
ble_advertising_init_t init;
//???????
memset(&init, 0, sizeof(init));
//??????:??
init.advdata.name_type = BLE_ADVDATA_FULL_NAME;
//??????:???
init.advdata.include_appearance = false;
//Flag:???????,???BR/EDR
init.advdata.flags = BLE_GAP_ADV_FLAGS_LE_ONLY_GENERAL_DISC_MODE;
//UUID
init.advdata.uuids_complete.uuid_cnt = sizeof(m_adv_uuids) / sizeof(m_adv_uuids[0]);
init.advdata.uuids_complete.p_uuids = m_adv_uuids;
init.config.ble_adv_fast_enabled = true;//???????????
init.config.ble_adv_fast_interval = APP_ADV_INTERVAL;//?????????????
init.config.ble_adv_fast_timeout = APP_ADV_DURATION;
//init.config.ble_adv_primary_phy = BLE_GAP_PHY_CODED;
//init.config.ble_adv_secondary_phy = BLE_GAP_PHY_CODED;
init.config.ble_adv_primary_phy = BLE_GAP_PHY_CODED;
init.config.ble_adv_secondary_phy = BLE_GAP_PHY_CODED;
init.config.ble_adv_extended_enabled = true;
//init.config.ble_adv_extended_enabled = true;
init.evt_handler = on_adv_evt;
init.evt_handler = on_adv_evt;//????????
//?????
err_code = ble_advertising_init(&m_advertising, &init);
APP_ERROR_CHECK(err_code);
//?????????APP_BLE_CONN_CFG_TAG????????????,????????????,????SoftDevice???,
//????sd_ble_gap_adv_set_configure()????????
//??SoftDevice??(S140 V7.0.1??)???????????1,??APP_BLE_CONN_CFG_TAG???1?
ble_advertising_conn_cfg_tag_set(&m_advertising, APP_BLE_CONN_CFG_TAG);
//niklas
err_code = sd_ble_gap_tx_power_set(BLE_GAP_TX_POWER_ROLE_ADV , m_advertising.adv_handle, tx_power);
APP_ERROR_CHECK(err_code);
}
#endif
/**@brief Function for initializing buttons and leds.
*
* @param[out] p_erase_bonds Will be true if the clear bonding button was pressed to wake the application up.
*/
static void buttons_leds_init(bool * p_erase_bonds)
{
bsp_event_t startup_event;
uint32_t err_code = bsp_init(BSP_INIT_LEDS | BSP_INIT_BUTTONS, bsp_event_handler);
APP_ERROR_CHECK(err_code);
err_code = bsp_btn_ble_init(NULL, &startup_event);
APP_ERROR_CHECK(err_code);
*p_erase_bonds = (startup_event == BSP_EVENT_CLEAR_BONDING_DATA);
}
/**@brief Function for initializing the nrf log module.
*/
static void log_init(void)
{
ret_code_t err_code = NRF_LOG_INIT(NULL);
APP_ERROR_CHECK(err_code);
NRF_LOG_DEFAULT_BACKENDS_INIT();
}
/**@brief Function for initializing power management.
*/
static void power_management_init(void)
{
ret_code_t err_code;
err_code = nrf_pwr_mgmt_init();
APP_ERROR_CHECK(err_code);
}
/**@brief Function for handling the idle state (main loop).
*
* @details If there is no pending log operation, then sleep until next the next event occurs.
*/
static void idle_state_handle(void)
{
if (NRF_LOG_PROCESS() == false)
{
nrf_pwr_mgmt_run();
}
}
/**@brief Function for starting advertising.
*/
static void advertising_start(void)
{
uint32_t err_code = ble_advertising_start(&m_advertising, BLE_ADV_MODE_FAST);
APP_ERROR_CHECK(err_code);
}
/**@brief Function for starting advertising. */
/*
static void advertising_start(void)
{
static ble_gap_adv_params_t adv_params = {0};
adv_params.properties.connectable = 1;
// Setting up the scan response packet is currently not supported when using CODED phy
adv_params.properties.scannable = 0;
adv_params.properties.legacy_pdu = 0;
adv_params.p_peer_addr = NULL;
adv_params.fp = BLE_GAP_ADV_FP_ANY;
adv_params.interval = APP_ADV_INTERVAL;
adv_params.duration = APP_ADV_TIMEOUT_IN_SECONDS * 100;
#if defined(S140)
adv_params.primary_phy = BLE_GAP_PHY_CODED;
adv_params.secondary_phy = BLE_GAP_PHY_CODED;
#else
adv_params.primary_phy = BLE_GAP_PHY_1MBPS;
adv_params.secondary_phy = BLE_GAP_PHY_1MBPS;
#endif
NRF_LOG_INFO("Starting advertising.");
ret_code_t err_code = sd_ble_gap_adv_start(BLE_GAP_ADV_SET_HANDLE_DEFAULT, &adv_params, APP_BLE_CONN_CFG_TAG);
APP_ERROR_CHECK(err_code);
}
*/
//P3 to do
void niklas_ble_send_handler(void)
{
static uint8_t data_array[BLE_NUS_MAX_DATA_LEN];
static uint8_t index = 0;
uint32_t err_code;
//printf("Status=%d\n",status);nrf_delay_ms(1);
index=7;
data_array[0]='0';
data_array[1]='1';
data_array[2]='2';
data_array[3]='3';
data_array[4]='4';
data_array[5]='5';
data_array[6]='\n';
do
{
uint16_t length = (uint16_t)index;
err_code = ble_nus_data_send(&m_nus, data_array, &length, m_conn_handle);
if ((err_code != NRF_ERROR_INVALID_STATE) &&
(err_code != NRF_ERROR_RESOURCES) &&
(err_code != NRF_ERROR_NOT_FOUND))
{
APP_ERROR_CHECK(err_code);
}
} while (err_code == NRF_ERROR_RESOURCES);
}
//P3 to do
void niklas_ble_send_array_handler(void)
{
uint32_t err_code;
#ifdef DEBUG_BLE_SEND_DEBUG
printf("G1 \r\n");nrf_delay_ms(1);
#endif
if(ble_tx_buffer_acc_len<BLE_NUS_MAX_DATA_LEN)
{
do
{
err_code = ble_nus_data_send(&m_nus, ble_tx_buffer_acc, &ble_tx_buffer_acc_len, m_conn_handle);
if ((err_code != NRF_ERROR_INVALID_STATE) &&
(err_code != NRF_ERROR_RESOURCES) &&
(err_code != NRF_ERROR_NOT_FOUND))
{
APP_ERROR_CHECK(err_code);
}
} while (err_code == NRF_ERROR_RESOURCES);
}
#ifdef DEBUG_BLE_SEND_DEBUG
printf("G2 \r\n");nrf_delay_ms(1);
#endif
if(ble_tx_buffer_acc_len<BLE_NUS_MAX_DATA_LEN)
{
do
{
err_code = ble_nus_data_send(&m_nus, ble_tx_buffer_ang, &ble_tx_buffer_ang_len, m_conn_handle);
if ((err_code != NRF_ERROR_INVALID_STATE) &&
(err_code != NRF_ERROR_RESOURCES) &&
(err_code != NRF_ERROR_NOT_FOUND))
{
APP_ERROR_CHECK(err_code);
}
} while (err_code == NRF_ERROR_RESOURCES);
}
#ifdef DEBUG_BLE_SEND_DEBUG
printf("G3 \r\n");nrf_delay_ms(1);
#endif
}
static lsm9ds1_id_t whoamI;
static lsm9ds1_status_t reg;
static uint8_t rst;
//char tx_buffer[100];
uint8_t register_address = 0x0F; //Address of the who am i register to be read
#define SPI_INSTANCE 0
uint8_t spi_add_mag = IMU_CS_M_PIN;
stmdev_ctx_t dev_ctx_mag;
uint8_t spi_add_imu = IMU_CS_AG_PIN;
stmdev_ctx_t dev_ctx_imu;
//uint8_t SPI_Tx_Buf[SPI_BUFSIZE];
//uint8_t SPI_Rx_Buf[SPI_BUFSIZE];
//volatile uint8_t SPIReadLength, SPIWriteLength;
static volatile bool spi_xfer_done; /**< Flag used to indicate that SPI instance completed the transfer. */
//static const nrf_drv_spi_t spi = NRF_DRV_SPI_INSTANCE(SPI_INSTANCE); /**< SPI instance. */
static const nrf_drv_spi_t spi = NRF_DRV_SPI_INSTANCE(SPI_INSTANCE);
//SPIďż˝¼ďż˝ďż˝ďż˝ďż˝ďż˝ďż˝ďż˝ďż˝ďż˝ďż˝ďż˝ú�������λ������ɱ�־spi_xfer_done
void spi_event_handler(nrf_drv_spi_evt_t const * p_event,
void * p_context)
{
spi_xfer_done = true;
}
static int32_t platform_read(void *handle, uint8_t reg, uint8_t *bufp, uint16_t len){
uint8_t *spi_address = handle;
#ifdef DEBUG_SPI_BUFFER_INSIDE
printf("\nRpin=%d\n",*spi_address);nrf_delay_ms(1);
printf(" reg=%2x\n",reg);nrf_delay_ms(1);
#endif
if(*spi_address==IMU_CS_M_PIN){nrf_gpio_pin_clear(IMU_CS_M_PIN); }
if(*spi_address==IMU_CS_AG_PIN){nrf_gpio_pin_clear(IMU_CS_AG_PIN);}
uint8_t temp_tx_buf[10];
uint8_t temp_rx_buf[10];
int32_t ret;
memset(temp_tx_buf,0x00,sizeof(temp_tx_buf));
memset(temp_tx_buf,0x00,sizeof(temp_rx_buf));
temp_tx_buf[0]=(reg | 0x80);
for (uint8_t i = 0; i < len; i++) {
temp_tx_buf[i+1] = 0x00;
}
spi_xfer_done = false;
#ifdef DEBUG_SPI_BUFFER_INSIDE
printf("00t_tx_buf=%2x\n",temp_tx_buf[0]);//app_uart_flush();
printf("01t_tx_buf=%2x\n",temp_tx_buf[1]);//app_uart_flush();
nrf_delay_ms(1);
#endif
ret=nrf_drv_spi_transfer(&spi, temp_tx_buf, 2, temp_rx_buf, len+1);
APP_ERROR_CHECK(ret);
while(spi_xfer_done == false){};
#ifdef DEBUG_SPI_BUFFER_INSIDE
printf("02t_rx_buf len=%d \n",len);//app_uart_flush();
#endif
for (uint8_t i = 0; i < len; i++) {
bufp[i]=temp_rx_buf[i+1];
#ifdef DEBUG_SPI_BUFFER_INSIDE
printf("C0%d temp_rx_buf=%02x\n",i+1,temp_rx_buf[i] );nrf_delay_ms(1);
#endif
}
*bufp = temp_rx_buf[1];
if(*spi_address==IMU_CS_M_PIN){nrf_gpio_pin_set(IMU_CS_M_PIN); }
if(*spi_address==IMU_CS_AG_PIN){nrf_gpio_pin_set(IMU_CS_AG_PIN); }
return 0;
}
static int32_t platform_write(void *handle, uint8_t reg, uint8_t *bufp, uint16_t len){
uint8_t *spi_address = handle;
#ifdef DEBUG_SPI_BUFFER_INSIDE
printf("\nTpin=%d\n",*spi_address);nrf_delay_ms(1);
printf(" reg=%2x\n",reg);nrf_delay_ms(1);
printf("A00 bufp=%2x\n",bufp[0]);nrf_delay_ms(1);
printf("A01 bufp=%2x\n",bufp[1]);nrf_delay_ms(1);
printf("B00 bufp=%x\n",*bufp);nrf_delay_ms(1);
#endif
//printf("TPIN is %d\r\n",*spi_address);
if(*spi_address==IMU_CS_M_PIN){nrf_gpio_pin_clear(IMU_CS_M_PIN); }
if(*spi_address==IMU_CS_AG_PIN){nrf_gpio_pin_clear(IMU_CS_AG_PIN);}
uint8_t temp_tx_buf[10];
uint8_t temp_rx_buf[10];
memset(temp_tx_buf,0x00,sizeof(temp_tx_buf));
memset(temp_tx_buf,0x00,sizeof(temp_rx_buf));
temp_tx_buf[0]=(reg & 0x7F);
#ifdef DEBUG_SPI_BUFFER_INSIDE
printf("bufp_len=%d \n",len);nrf_delay_ms(1);//app_uart_flush();
printf("C00 temp_tx_buf=%2x\n",temp_tx_buf[0] );nrf_delay_ms(1);
#endif
for (uint8_t i = 0; i < len; i++) {
temp_tx_buf[i+1] = bufp[i];
#ifdef DEBUG_SPI_BUFFER_INSIDE
printf("C0%d temp_tx_buf=%2x\n",i+1,temp_tx_buf[i+1] );nrf_delay_ms(1);
#endif
}
int32_t ret;
spi_xfer_done = false;
ret=nrf_drv_spi_transfer(&spi, temp_tx_buf, 2, temp_rx_buf, len);
APP_ERROR_CHECK(ret);
while(spi_xfer_done == false){};
if(*spi_address==IMU_CS_M_PIN){nrf_gpio_pin_set(IMU_CS_M_PIN); }
if(*spi_address==IMU_CS_AG_PIN){nrf_gpio_pin_set(IMU_CS_AG_PIN); }
return 0;
}
void spi_init(void)
{
/* ��ʼ��SPI0 */
nrf_drv_spi_config_t spi_config = NRF_DRV_SPI_DEFAULT_CONFIG;
spi_config.ss_pin = SPI_SS_PIN;//nRF52832ֻ��ʹ��GPIO��ΪƬѡ�������������������SPI CS�ܽ�
spi_config.miso_pin = SPI_MISO_PIN;
spi_config.mosi_pin = SPI_MOSI_PIN;
spi_config.sck_pin = SPI_SCK_PIN;
spi_config.frequency = NRF_DRV_SPI_FREQ_4M;
nrf_gpio_cfg_output(IMU_CS_M_PIN);
nrf_gpio_cfg_output(IMU_CS_AG_PIN);
nrf_gpio_cfg_output(IMU_POWER_PIN);
nrf_gpio_pin_set(IMU_CS_M_PIN);
nrf_gpio_pin_set(IMU_CS_AG_PIN);
nrf_gpio_pin_set(IMU_POWER_PIN);
APP_ERROR_CHECK(nrf_drv_spi_init(&spi, &spi_config, spi_event_handler, NULL));
nrf_gpio_pin_clear(IMU_POWER_PIN);
nrf_delay_ms(200);
nrf_gpio_pin_set(IMU_POWER_PIN);
}
void sensor_reset(void)
{
uint8_t temp_tx_buf[10];
uint8_t temp_rx_buf[10];
uint16_t len;
memset(temp_tx_buf,0x00,sizeof(temp_tx_buf));
memset(temp_tx_buf,0x00,sizeof(temp_rx_buf));
printf("937\n");nrf_delay_ms(1);
temp_tx_buf[0] = LSM9DS1_CTRL_REG8;
temp_tx_buf[1] = 0x05; //bug in the datasheet
//write8(XGTYPE, LSM9DS1_REGISTER_CTRL_REG8, 0x05);
nrf_gpio_pin_clear(IMU_CS_AG_PIN);
APP_ERROR_CHECK(nrf_drv_spi_transfer(&spi, temp_tx_buf, 2, temp_rx_buf, len));
nrf_gpio_pin_set(IMU_CS_AG_PIN);
printf("949\n");nrf_delay_ms(1);
temp_tx_buf[0] = LSM9DS1_CTRL_REG3_M;
temp_tx_buf[1] = 0b10000000; //bug in the datasheet
nrf_gpio_pin_clear(IMU_CS_M_PIN);
APP_ERROR_CHECK(nrf_drv_spi_transfer(&spi, temp_tx_buf, 2, temp_rx_buf, len));
nrf_gpio_pin_set(IMU_CS_M_PIN);
printf("1056\n");nrf_delay_ms(1);
}
void lsm9ds1_niklas_fifo_setup(void)
{
uint32_t ret;
uint8_t value;
//LSM9DS1_CTRL_REG9 0x23U
//lsm9ds1_fifo_stop_on_wtm_set(&dev_ctx_imu, 28);
//LSM9DS1_FIFO_CTRL
lsm9ds1_fifo_watermark_set(&dev_ctx_imu, 28);
value=0;
//LSM9DS1_FIFO_CTRL 0x2EU
lsm9ds1_fifo_watermark_get(&dev_ctx_imu, &value);
#ifdef DEBUG_FIFO_SIZE_INSIDE
printf("wtm= %02x \n", value); nrf_delay_ms(1);
#endif
//INT1_CTRL 0Ch 0b11101000 need to be reversed into below
lsm9ds1_pin_int1_route_t value_set;
value_set.int1_drdy_xl=0;
value_set.int1_drdy_g =0;
value_set.int1_boot =0;
value_set.int1_fth =1;
value_set.int1_ovr =0;
value_set.int1_fss5 =1;
value_set.int1_ig_xl =1;
value_set.int1_ig_g =1;
lsm9ds1_pin_int1_route_set(&dev_ctx_imu, value_set); // need to check the LSM9DS1documentation
//LSM9DS1_CTRL_REG9 0x23U
lsm9ds1_fifo_mode_set(&dev_ctx_imu, LSM9DS1_STREAM_TO_FIFO_MODE);
value=(value_set.int1_drdy_xl<<7)+(value_set.int1_drdy_g <<6)+(value_set.int1_boot <<5)+ (value_set.int1_fth <<4)+(value_set.int1_ovr <<3)+(value_set.int1_fss5 <<2)+(value_set.int1_ig_xl <<1)+value_set.int1_ig_g ;
#ifdef DEBUG_FIFO_SIZE_INSIDE
printf("i1_r_s= %02x\n", value); nrf_delay_ms(1);
#endif
lsm9ds1_pin_int1_route_get(&dev_ctx_imu, &value_set);
//nrf_delay_ms(100);
uint8_t unread_size;
lsm9ds1_fifo_data_level_get(&dev_ctx_imu, &unread_size);
#ifdef DEBUG_FIFO_SIZE_INSIDE
printf("P00: %d", unread_size);nrf_delay_ms(1);
#endif
}
uint8_t read_out_FIFO_float(void)
{
uint32_t err_code;
uint8_t channel;
uint8_t i=0;
uint8_t k1=7;
uint8_t k2=7;
uint8_t unread_size;
ble_tx_buffer_acc_len=0;
ble_tx_buffer_ang_len=0;
//header 0xAA 0xBB
ble_tx_buffer_acc[0]=0xAA;
ble_tx_buffer_acc[1]=0xBB;
ble_tx_buffer_acc[2]=0x00;//reset into 0 first, laterly need to put in the length of the array/256 into it
ble_tx_buffer_acc[3]=0x00;//reset into 0 first, laterly need to put in the length of the array%256 into it
//Even package number for the acc
ble_tx_buffer_acc[4]=(uint8_t)(counter_flag/256);
ble_tx_buffer_acc[5]=(uint8_t)(counter_flag%256);
ble_tx_buffer_acc[6]=0x00;//signal strength
counter_flag++;
//header 0xAA 0xBB
ble_tx_buffer_ang[0]=0xAA;
ble_tx_buffer_ang[1]=0xBB;
ble_tx_buffer_ang[2]=0x00;//reset into 0 first, laterly need to put in the length of the array/256 into it
ble_tx_buffer_ang[3]=0x00;//reset into 0 first, laterly need to put in the length of the array%256 into it
//Odd package number for the Ang
ble_tx_buffer_ang[4]=(uint8_t)(counter_flag/256);
ble_tx_buffer_ang[5]=(uint8_t)(counter_flag%256);
ble_tx_buffer_ang[6]=0x00;//signal strength
counter_flag++;
lsm9ds1_fifo_data_level_get(&dev_ctx_imu, &unread_size);
#ifdef DEBUG_FIFO_SIZE_INSIDE
printf("P1:%d\n", unread_size);nrf_delay_ms(1);
#endif
while ((unread_size&0b0011111)>0) //notice need to be changed
{
lsm9ds1_acceleration_raw_get(&dev_ctx_imu, data_raw_acceleration.u8bit);
lsm9ds1_angular_rate_raw_get(&dev_ctx_imu, data_raw_angular_rate.u8bit);
lsm9ds1_fifo_data_level_get(&dev_ctx_imu, &unread_size);
/*
printf("Acc:%02x", data_raw_acceleration.u8bit[0]);nrf_delay_ms(1);
printf(" %02x", data_raw_acceleration.u8bit[1]);nrf_delay_ms(1);
printf(" %02x", data_raw_acceleration.u8bit[2]);nrf_delay_ms(1);
printf(" %02x", data_raw_acceleration.u8bit[3]);nrf_delay_ms(1);
printf(" %02x", data_raw_acceleration.u8bit[4]);nrf_delay_ms(1);
printf(" %02x\n",data_raw_acceleration.u8bit[5]);nrf_delay_ms(1);
printf("Ang:%02x", data_raw_angular_rate.u8bit[0]);nrf_delay_ms(1);
printf(" %02x", data_raw_angular_rate.u8bit[1]);nrf_delay_ms(1);
printf(" %02x", data_raw_angular_rate.u8bit[2]);nrf_delay_ms(1);
printf(" %02x", data_raw_angular_rate.u8bit[3]);nrf_delay_ms(1);
printf(" %02x", data_raw_angular_rate.u8bit[4]);nrf_delay_ms(1);
printf(" %02x\n",data_raw_angular_rate.u8bit[5]);nrf_delay_ms(1);
*/
ble_tx_buffer_acc[k1]=data_raw_acceleration.u8bit[0];k1++;
ble_tx_buffer_acc[k1]=data_raw_acceleration.u8bit[1];k1++;
ble_tx_buffer_acc[k1]=data_raw_acceleration.u8bit[2];k1++;
ble_tx_buffer_acc[k1]=data_raw_acceleration.u8bit[3];k1++;
ble_tx_buffer_acc[k1]=data_raw_acceleration.u8bit[4];k1++;
ble_tx_buffer_acc[k1]=data_raw_acceleration.u8bit[5];k1++;
ble_tx_buffer_ang[k2]=data_raw_angular_rate.u8bit[0];k2++;
ble_tx_buffer_ang[k2]=data_raw_angular_rate.u8bit[1];k2++;
ble_tx_buffer_ang[k2]=data_raw_angular_rate.u8bit[2];k2++;
ble_tx_buffer_ang[k2]=data_raw_angular_rate.u8bit[3];k2++;
ble_tx_buffer_ang[k2]=data_raw_angular_rate.u8bit[4];k2++;
ble_tx_buffer_ang[k2]=data_raw_angular_rate.u8bit[5];k2++;
i++;
//#ifdef DEBUG_FIFO_SIZE_INSIDE
// printf(" P2:%d", i);nrf_delay_ms(1);
//#endif
}
//should be refilled with crc
ble_tx_buffer_acc[k1]=0xCC;k1++;
ble_tx_buffer_acc[k1]=0xDD;k1++;
ble_tx_buffer_ang[k2]=0xCC;k2++;
ble_tx_buffer_ang[k2]=0xDD;k2++;
ble_tx_buffer_acc[2]=k1/256;
ble_tx_buffer_acc[3]=k1%256;
ble_tx_buffer_ang[2]=k2/256;
ble_tx_buffer_ang[3]=k2%256;
ble_tx_buffer_acc_len=k1;
ble_tx_buffer_ang_len=k2;
if((status_connected==1)&&(status==9))
{
err_code =sd_ble_gap_rssi_get(m_conn_handle,&rssi_value,&channel);
printf("0RSSI=%d\n",rssi_value);nrf_delay_ms(1);
APP_ERROR_CHECK(err_code);
}
if(rssi_value<0)
{
ble_tx_buffer_ang[6]=(unsigned char)(-rssi_value);
ble_tx_buffer_acc[6]=(unsigned char)(-rssi_value);
printf("1RSSI=-%d\n",ble_tx_buffer_acc[6]);nrf_delay_ms(1);
}
else
{
ble_tx_buffer_ang[6]=(unsigned char)rssi_value;
ble_tx_buffer_acc[6]=(unsigned char)rssi_value;
printf("2RSSI=%d\n",ble_tx_buffer_acc[6]);nrf_delay_ms(1);
}
//#ifdef DEBUG_FIFO_SIZE_INSIDE
// printf("P2:%d", i);nrf_delay_ms(1);
//#endif
#ifdef WATCHDOG_ENABLE
NRF_WDT->RR[0] = WDT_RR_RR_Reload;//reload watchdog
#endif
return i;
}
//void in_pin_handler(nrf_drv_gpiote_pin_t pin, nrf_gpiote_polarity_t action)
void in_pin_handler(void)
{
//nrf_drv_gpiote_out_toggle(PIN_OUT);
printf("INTC\n");nrf_delay_ms(1);
uint8_t k=0;
uint32_t err_code;
uint8_t channel;
k=read_out_FIFO_float();
bsp_board_led_invert(BSP_BOARD_LED_2);
#ifdef DEBUG_FIFO_SIZE_INSIDE
printf("P3:%d\n", k);nrf_delay_ms(1);
printf("s_connected=%d\n",status_connected);nrf_delay_ms(1);
#endif
#ifdef DEBUG_BLE_SEND_DEBUG
printf("ble_tx_buffer_acc_len=%d\n",ble_tx_buffer_acc_len);nrf_delay_ms(1);
printf("ble_tx_buffer_ang_len=%d\n",ble_tx_buffer_ang_len);nrf_delay_ms(1);
printf("BLE_NUS_MAX_DATA_LEN=%d\n",BLE_NUS_MAX_DATA_LEN);nrf_delay_ms(1);
#endif
//if((status_connected==1)&&(status==9)){niklas_ble_send_handler();}
if((status_connected==1)&&(status==9))
{
#ifdef LONG_RANGE_HIGH_SPEED_BLE_STREAMING_SLOW
ble_tx_buffer_acc_len=5;
ble_tx_buffer_ang_len=5;
#endif
niklas_ble_send_array_handler();
//reference https://www.jianshu.com/p/c81c576bbdf5
/*
err_code =sd_ble_gap_rssi_get(m_conn_handle,&rssi_value,&channel);
printf("RSSI=%d\n",rssi_value);nrf_delay_ms(1);
APP_ERROR_CHECK(err_code);
*/
}
}
static void interrupt_pin_init(void)
{
ret_code_t err_code;
err_code = nrf_drv_gpiote_init();
APP_ERROR_CHECK(err_code);
//nrf_drv_gpiote_out_config_t out_config = GPIOTE_CONFIG_OUT_SIMPLE(false);
//err_code = nrf_drv_gpiote_out_init(PIN_OUT, &out_config);
//APP_ERROR_CHECK(err_code);
//GPIOTE_CONFIG_IN_SENSE_LOTOHI //GPIOTE_RAW_CONFIG_IN_SENSE_LOTOHI
nrf_drv_gpiote_in_config_t in_config =GPIOTE_CONFIG_IN_SENSE_LOTOHI(true);// GPIOTE_CONFIG_IN_SENSE_TOGGLE(true);
in_config.pull = NRF_GPIO_PIN_PULLDOWN;//NRF_GPIO_PIN_PULLUP;
err_code = nrf_drv_gpiote_in_init(PIN_INTERRUPT, &in_config, in_pin_handler);
APP_ERROR_CHECK(err_code);
nrf_drv_gpiote_in_event_enable(PIN_INTERRUPT, true);
printf("pin_init");nrf_delay_ms(1);
if(nrf_gpio_pin_read(PIN_INTERRUPT))
{
printf("1321");
//in_pin_handler();
}
else
{
printf("1326");
}
}
uint8_t LSM9DS1_looking(void)
{
uint8_t find_flag=0;
printf("\r\n SPI started.\r\n");nrf_delay_ms(1);
//spi_init();
sensor_reset();
//Initialize inertial sensors (IMU) driver interface
dev_ctx_mag.write_reg = platform_write;
dev_ctx_mag.read_reg = platform_read;
dev_ctx_mag.handle = (void*)&spi_add_mag;
// Initialize magnetic sensors driver interface
dev_ctx_imu.write_reg = platform_write;
dev_ctx_imu.read_reg = platform_read;
dev_ctx_imu.handle = (void*)&spi_add_imu;
// Check device ID
lsm9ds1_dev_id_get(&dev_ctx_mag, &dev_ctx_imu, &whoamI);
//app_uart_flush();
nrf_delay_ms(1);
printf("who imu= %X\n",whoamI.imu);nrf_delay_ms(1);//nrf_delay_ms(1);//app_uart_flush();
printf("who mag= %X\n",whoamI.mag);nrf_delay_ms(1);//nrf_delay_ms(1);//app_uart_flush();
if (whoamI.imu != LSM9DS1_IMU_ID || whoamI.mag != LSM9DS1_MAG_ID){
//manage here device not found
//NRF_LOG_INFO("\r\nCannot find the LSM9DS1.********\r\n");
//NRF_LOG_FLUSH();
printf("\r\nCannot find the LSM9DS1.********\r\n");nrf_delay_ms(1);
lsm9ds1_dev_id_get(&dev_ctx_mag, &dev_ctx_imu, &whoamI);
find_flag=0;
}
else
{
find_flag=1;
}
printf("Who am I register [IMU]: 0x%x [MAG]: 0x%x \r\n\n", whoamI.imu, whoamI.mag); nrf_delay_ms(1);//app_uart_flush();
printf(" L0 \r\n");nrf_delay_ms(1);
//Restore default configuration
lsm9ds1_dev_reset_set(&dev_ctx_mag, &dev_ctx_imu, PROPERTY_ENABLE);
return find_flag;
}
void LSM9DS1_start(void)
{
//Restore default configuration
lsm9ds1_dev_reset_set(&dev_ctx_mag, &dev_ctx_imu, PROPERTY_ENABLE);
printf(" L1 \r\n");nrf_delay_ms(1);
do {
lsm9ds1_dev_reset_get(&dev_ctx_mag, &dev_ctx_imu, &rst);
printf("rst =:0x%x \r\n", rst); nrf_delay_ms(1);
} while (rst);
printf(" L2 \r\n");nrf_delay_ms(1);
lsm9ds1_niklas_fifo_setup();
//Enable Block Data Update
lsm9ds1_block_data_update_set(&dev_ctx_mag, &dev_ctx_imu, PROPERTY_ENABLE);
printf(" L3 \r\n");nrf_delay_ms(1);
//Set full scale
lsm9ds1_xl_full_scale_set(&dev_ctx_imu, LSM9DS1_4g);
lsm9ds1_gy_full_scale_set(&dev_ctx_imu, LSM9DS1_2000dps);
lsm9ds1_mag_full_scale_set(&dev_ctx_mag, LSM9DS1_16Ga);
printf(" L4 \r\n");nrf_delay_ms(1);
//Configure filtering chain - See datasheet for filtering chain details
//Accelerometer filtering chain
lsm9ds1_xl_filter_aalias_bandwidth_set(&dev_ctx_imu, LSM9DS1_AUTO);
lsm9ds1_xl_filter_lp_bandwidth_set(&dev_ctx_imu, LSM9DS1_LP_ODR_DIV_50);
lsm9ds1_xl_filter_out_path_set(&dev_ctx_imu, LSM9DS1_LP_OUT);
printf(" L5 \r\n");nrf_delay_ms(1);
//Gyroscope filtering chain
lsm9ds1_gy_filter_lp_bandwidth_set(&dev_ctx_imu, LSM9DS1_LP_ULTRA_LIGHT);//LSM9DS1_LP_STRONG);//
lsm9ds1_gy_filter_hp_bandwidth_set(&dev_ctx_imu, LSM9DS1_HP_MEDIUM);
lsm9ds1_gy_filter_out_path_set(&dev_ctx_imu, LSM9DS1_LPF1_HPF_LPF2_OUT);
printf(" L6 \r\n");nrf_delay_ms(1);
//Set Output Data Rate / Power mode
lsm9ds1_imu_data_rate_set(&dev_ctx_imu,LSM9DS1_IMU_238Hz);// LSM9DS1_IMU_14Hz9);//LSM9DS1_IMU_59Hz5);
//lsm9ds1_imu_data_rate_set(&dev_ctx_imu, LSM9DS1_IMU_952Hz);
printf(" L7 \r\n");nrf_delay_ms(3);
lsm9ds1_mag_data_rate_set(&dev_ctx_mag, LSM9DS1_MAG_UHP_10Hz);
//lsm9ds1_mag_data_rate_set(&dev_ctx_mag, LSM9DS1_MAG_LP_1000Hz);
printf(" L8 \r\n");nrf_delay_ms(3);
// interrupt_pin_init();
}
/**@brief Application main function.
*/
int main(void)
{
#ifdef WATCHDOG_ENABLE
//Configure WDT.
//reference https://devzone.nordicsemi.com/f/nordic-q-a/53904/nrf52840-watchdog-for-arduino-nano-33-ble-sense
NRF_WDT->CONFIG = 0x01; // Configure WDT to run when CPU is asleep
//NRF_WDT->CRV = 3932159; // Timeout set to 120 seconds, timeout[s] = (CRV-1)/32768
//NRF_WDT->CRV = 983041; // Timeout set to 30 seconds, timeout[s] = (CRV-1)/32768
//NRF_WDT->CRV = 327681; // Timeout set to 10 seconds, timeout[s] = (CRV-1)/32768
NRF_WDT->CRV = 98305; // Timeout set to 3 seconds, timeout[s] = (CRV-1)/32768
//NRF_WDT->CRV = 32769; // Timeout set to 1 seconds, timeout[s] = (CRV-1)/32768
NRF_WDT->RREN = 0x01; // Enable the RR[0] reload register
NRF_WDT->TASKS_START = 1; // Start WDT
#endif
bool erase_bonds;
uint8_t find_flag=0;
// Initialize.
uart_init();
log_init();
timers_init();
//buttons_leds_init(&erase_bonds);
printf("\n\n\nNiklas ex start.\n");nrf_delay_ms(1);
bsp_board_init(BSP_INIT_LEDS);
power_management_init();
ble_stack_init();
gap_params_init();
gatt_init();
services_init();
advertising_init();
conn_params_init();
// Start execution.
printf("UART started.\r\n");nrf_delay_ms(1);
//NRF_LOG_INFO("Debug logging for UART over RTT started.");
advertising_start();
printf("adv started.\r\n");nrf_delay_ms(1);
spi_init();
printf("spi started.\r\n");nrf_delay_ms(1);
while(find_flag!=1)
{
find_flag=LSM9DS1_looking();
printf("find_flag=%d\n",find_flag);nrf_delay_ms(1);
}
LSM9DS1_start();
interrupt_pin_init();
/*
while (true)
{
//Read device status register
lsm9ds1_dev_status_get(&dev_ctx_mag, &dev_ctx_imu, ®);
if ( reg.status_imu.xlda && reg.status_imu.gda ){
//Read imu data
memset(data_raw_acceleration.u8bit, 0x00, 3 * sizeof(int16_t));
memset(data_raw_angular_rate.u8bit, 0x00, 3 * sizeof(int16_t));
lsm9ds1_acceleration_raw_get(&dev_ctx_imu, data_raw_acceleration.u8bit);
lsm9ds1_angular_rate_raw_get(&dev_ctx_imu, data_raw_angular_rate.u8bit);
acceleration_mg[0] = lsm9ds1_from_fs4g_to_mg(data_raw_acceleration.i16bit[0]);
acceleration_mg[1] = lsm9ds1_from_fs4g_to_mg(data_raw_acceleration.i16bit[1]);
acceleration_mg[2] = lsm9ds1_from_fs4g_to_mg(data_raw_acceleration.i16bit[2]);
angular_rate_mdps[0] = lsm9ds1_from_fs2000dps_to_mdps(data_raw_angular_rate.i16bit[0]);
angular_rate_mdps[1] = lsm9ds1_from_fs2000dps_to_mdps(data_raw_angular_rate.i16bit[1]);
angular_rate_mdps[2] = lsm9ds1_from_fs2000dps_to_mdps(data_raw_angular_rate.i16bit[2]);
printf("Acc:%02x", data_raw_acceleration.u8bit[0]);nrf_delay_ms(1);
printf(" %02x", data_raw_acceleration.u8bit[1]);nrf_delay_ms(1);
printf(" %02x", data_raw_acceleration.u8bit[2]);nrf_delay_ms(1);
printf(" %02x", data_raw_acceleration.u8bit[3]);nrf_delay_ms(1);
printf(" %02x", data_raw_acceleration.u8bit[4]);nrf_delay_ms(1);
printf(" %02x\n",data_raw_acceleration.u8bit[5]);nrf_delay_ms(1);
printf("Acc:%04x", data_raw_acceleration.i16bit[0]);nrf_delay_ms(1);
printf(" %04x", data_raw_acceleration.i16bit[1]);nrf_delay_ms(1);
printf(" %04x\n",data_raw_acceleration.i16bit[2]);nrf_delay_ms(1);
//printf("flo:%4.2f", 0.033*0.51);nrf_delay_ms(1);
//printf(" %4.2f", 0.033*0.52);nrf_delay_ms(1);
//printf(" %4.2f\n",0.033*0.53);nrf_delay_ms(1);
printf("Ang:%02x", data_raw_angular_rate.u8bit[0]);nrf_delay_ms(1);
printf(" %02x", data_raw_angular_rate.u8bit[1]);nrf_delay_ms(1);
printf(" %02x", data_raw_angular_rate.u8bit[2]);nrf_delay_ms(1);
printf(" %02x", data_raw_angular_rate.u8bit[3]);nrf_delay_ms(1);
printf(" %02x", data_raw_angular_rate.u8bit[4]);nrf_delay_ms(1);
printf(" %02x\n",data_raw_angular_rate.u8bit[5]);nrf_delay_ms(1);
printf("Ang:%04x", data_raw_angular_rate.i16bit[0]);nrf_delay_ms(1);
printf(" %04x", data_raw_angular_rate.i16bit[1]);nrf_delay_ms(1);
printf(" %04x\n",data_raw_angular_rate.i16bit[2]);nrf_delay_ms(1);
sprintf((char*)tx_buffer, "IMU - [mg]:%4.2f\t%4.2f\t%4.2f\t\n[mdps]:%4.2f\t%4.2f\t%4.2f\r\n",
acceleration_mg[0], acceleration_mg[1], acceleration_mg[2],
angular_rate_mdps[0], angular_rate_mdps[1], angular_rate_mdps[2]);
nrf_delay_ms(1);
//sprintf((char *)tx_buffer, "Moj IMU - mg[0]: %4.2f \r\n", acceleration_mg[0]);
//printf(" IMU - [mg]: %4.2f",acceleration_mg[0]);nrf_delay_ms(1);
//printf(" IMU - [mg]: %4.2f",acceleration_mg[0]);nrf_delay_ms(1);
nrf_delay_ms(1);nrf_delay_ms(1);nrf_delay_ms(1);
printf(tx_buffer);
//NRF_LOG_FLUSH();
}
if ( reg.status_mag.zyxda ){
//Read magnetometer data
memset(data_raw_magnetic_field.u8bit, 0x00, 3 * sizeof(int16_t));
lsm9ds1_magnetic_raw_get(&dev_ctx_mag, data_raw_magnetic_field.u8bit);
magnetic_field_mgauss[0] = lsm9ds1_from_fs16gauss_to_mG(data_raw_magnetic_field.i16bit[0]);
magnetic_field_mgauss[1] = lsm9ds1_from_fs16gauss_to_mG(data_raw_magnetic_field.i16bit[1]);
magnetic_field_mgauss[2] = lsm9ds1_from_fs16gauss_to_mG(data_raw_magnetic_field.i16bit[2]);
sprintf(tx_buffer, "MAG - [mG]:%4.2f\t%4.2f\t%4.2f\r\n",
magnetic_field_mgauss[0], magnetic_field_mgauss[1], magnetic_field_mgauss[2]);nrf_delay_ms(1);
printf(tx_buffer);nrf_delay_ms(1);nrf_delay_ms(1);nrf_delay_ms(1);
//NRF_LOG_INFO(tx_buffer);
//NRF_LOG_FLUSH();
}
nrf_delay_ms(500);
}
*/
uint8_t counter_flag=0;
// Enter main loop.
for (;;)
{
idle_state_handle();
//APP_ERROR_CHECK(nrf_drv_spi_transfer(&spi, m_tx_buf, m_length, m_rx_buf, m_length));
//bsp_board_led_invert(BSP_BOARD_LED_2);
#ifdef LONG_RANGE_HIGH_SPEED
if(status_connected==1)
{
nrf_delay_ms(1000);
/*
if(nrf_gpio_pin_read(PIN_INTERRUPT))
{
printf("In BB:\n");nrf_delay_ms(1);
counter_flag=counter_flag+1;
if(counter_flag>1)
{
LSM9DS1_start();
interrupt_pin_init();
}
}
//LSM9DS1_looking();
*/
ble_tx_buffer_acc_len=10;//256;
ble_tx_buffer_ang_len=10;//256;
niklas_ble_send_array_handler();
printf("BLEsend:\n");nrf_delay_ms(1);
}
else
{
counter_flag=0;
}
#endif
}
}
Could you please help to check the reason?
