How to combine peripheral_uart example and an analog port code on my nRF5340DK?

[guillengap]

Hi everyone, I'm an intermediate level nRF Connect SDK IDE programmer, and I describe my issue below:

1.- In the link below I found an example of code for the analog port with the nRF5340DK board:

https://devzone.nordicsemi.com/nordic/nrf-connect-sdk-guides/b/getting-started/posts/nrf-connect-sdk-tutorial---part-2-ncs-v1-4-0#h185sjwm5882m1bcimiad82dnf4kcy0b

2.- I removed the PWM code that I'm not interested in, and the main.c file is shown below:

#include <zephyr.h>
#include <sys/printk.h>

#if defined(CONFIG_BOARD_NRF5340DK_NRF5340_CPUAPP) || defined(CONFIG_BOARD_NRF5340DK_NRF5340_CPUAPPNS) || defined(CONFIG_BOARD_NRF9160DK_NRF9160NS) || defined(CONFIG_BOARD_NRF9160DK_NRF9160)

/*ADC definitions and includes*/
#include <hal/nrf_saadc.h>
#define ADC_DEVICE_NAME DT_LABEL(DT_INST(0, nordic_nrf_saadc))
#define ADC_RESOLUTION 10
#define ADC_GAIN ADC_GAIN_1_6
#define ADC_REFERENCE ADC_REF_INTERNAL
#define ADC_ACQUISITION_TIME ADC_ACQ_TIME(ADC_ACQ_TIME_MICROSECONDS, 10)
#define ADC_1ST_CHANNEL_ID 0
#define ADC_1ST_CHANNEL_INPUT NRF_SAADC_INPUT_AIN0

#else
#error "Choose supported board or add new board for the application"
#endif

#include <device.h>
#include <drivers/gpio.h>
#include <drivers/adc.h>
#include <string.h>

//#define PWM_MAX 253
#define TIMER_INTERVAL_MSEC 200
#define BUFFER_SIZE 1

struct k_timer my_timer;
const struct device *adc_dev;

static const struct adc_channel_cfg m_1st_channel_cfg = {
.gain = ADC_GAIN,
.reference = ADC_REFERENCE,
.acquisition_time = ADC_ACQUISITION_TIME,
.channel_id = ADC_1ST_CHANNEL_ID,
#if defined(CONFIG_ADC_CONFIGURABLE_INPUTS)
.input_positive = ADC_1ST_CHANNEL_INPUT,
#endif
};

static int16_t m_sample_buffer[BUFFER_SIZE];

static int adc_sample(void)
{
int ret;

const struct adc_sequence sequence = {
.channels = BIT(ADC_1ST_CHANNEL_ID),
.buffer = m_sample_buffer,
.buffer_size = sizeof(m_sample_buffer),
.resolution = ADC_RESOLUTION,
};

if (!adc_dev) {
return -1;
}

ret = adc_read(adc_dev, &sequence);
if (ret) {
printk("adc_read() failed with code %d\n", ret);
}

for (int i = 0; i < BUFFER_SIZE; i++) {
printk("ADC raw value: %d\n", m_sample_buffer[i]);
}

return ret;
}

void adc_sample_event(struct k_timer *timer_id){
int err = adc_sample();
if (err) {
printk("Error in adc sampling: %d\n", err);
}
}

void main(void)
{
int err;


//Timer setup
k_timer_init(&my_timer, adc_sample_event, NULL);
k_timer_start(&my_timer, K_MSEC(TIMER_INTERVAL_MSEC), K_MSEC(TIMER_INTERVAL_MSEC));


//ADC0 setup
adc_dev = device_get_binding(ADC_DEVICE_NAME);
if (!adc_dev) {
printk("device_get_binding ADC_0 (=%s) failed\n", ADC_DEVICE_NAME);
}

err = adc_channel_setup(adc_dev, &m_1st_channel_cfg);
if (err) {
printk("Error in adc setup: %d\n", err);
}

#if defined(CONFIG_BOARD_NRF9160DK_NRF9160NS) || defined(CONFIG_BOARD_NRF5340DK_NRF5340_CPUAPPNS)
NRF_SAADC_NS->TASKS_CALIBRATEOFFSET = 1;
#elif defined(CONFIG_BOARD_NRF9160DK_NRF9160) || defined(CONFIG_BOARD_NRF5340DK_NRF5340_CPUAPP)
NRF_SAADC->TASKS_CALIBRATEOFFSET = 1;
#else
#error "Choose supported board or add new board for the application"
#endif
}

3. The code works fine as shown in the image below:

4. I want to use the "peripheral_uart" example to print the data from the analog port in the serial output, and finally see the data in the Android app "nRF Connect". The example code is found in: ... \ ncs \ v1.5.0 \ nrf \ samples \ bluetooth \ peripheral_uart

and the main.c code is shown below:

/*
 * Copyright (c) 2018 Nordic Semiconductor ASA
 *
 * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
 */

/** @file
 *  @brief Nordic UART Bridge Service (NUS) sample
 */

#include <zephyr/types.h>
#include <zephyr.h>
#include <drivers/uart.h>

#include <device.h>
#include <soc.h>

#include <bluetooth/bluetooth.h>
#include <bluetooth/uuid.h>
#include <bluetooth/gatt.h>
#include <bluetooth/hci.h>

#include <bluetooth/services/nus.h>

#include <dk_buttons_and_leds.h>

#include <settings/settings.h>

#include <stdio.h>

#include <logging/log.h>

#define LOG_MODULE_NAME peripheral_uart
LOG_MODULE_REGISTER(LOG_MODULE_NAME);

#define STACKSIZE CONFIG_BT_NUS_THREAD_STACK_SIZE
#define PRIORITY 7

#define DEVICE_NAME CONFIG_BT_DEVICE_NAME
#define DEVICE_NAME_LEN	(sizeof(DEVICE_NAME) - 1)

#define RUN_STATUS_LED DK_LED1
#define RUN_LED_BLINK_INTERVAL 1000

#define CON_STATUS_LED DK_LED2

#define KEY_PASSKEY_ACCEPT DK_BTN1_MSK
#define KEY_PASSKEY_REJECT DK_BTN2_MSK

#define UART_BUF_SIZE CONFIG_BT_NUS_UART_BUFFER_SIZE
#define UART_WAIT_FOR_BUF_DELAY K_MSEC(50)
#define UART_WAIT_FOR_RX CONFIG_BT_NUS_UART_RX_WAIT_TIME

static K_SEM_DEFINE(ble_init_ok, 0, 1);

static struct bt_conn *current_conn;
static struct bt_conn *auth_conn;

static const struct device *uart;
static struct k_work_delayable uart_work;

struct uart_data_t {
	void *fifo_reserved;
	uint8_t data[UART_BUF_SIZE];
	uint16_t len;
};

static K_FIFO_DEFINE(fifo_uart_tx_data);
static K_FIFO_DEFINE(fifo_uart_rx_data);

static const struct bt_data ad[] = {
	BT_DATA_BYTES(BT_DATA_FLAGS, (BT_LE_AD_GENERAL | BT_LE_AD_NO_BREDR)),
	BT_DATA(BT_DATA_NAME_COMPLETE, DEVICE_NAME, DEVICE_NAME_LEN),
};

static const struct bt_data sd[] = {
	BT_DATA_BYTES(BT_DATA_UUID128_ALL, BT_UUID_NUS_VAL),
};

static void uart_cb(const struct device *dev, struct uart_event *evt, void *user_data)
{
	ARG_UNUSED(dev);

	static uint8_t *current_buf;
	static size_t aborted_len;
	static bool buf_release;
	struct uart_data_t *buf;
	static uint8_t *aborted_buf;

	switch (evt->type) {
	case UART_TX_DONE:
		if ((evt->data.tx.len == 0) ||
		    (!evt->data.tx.buf)) {
			return;
		}

		if (aborted_buf) {
			buf = CONTAINER_OF(aborted_buf, struct uart_data_t,
					   data);
			aborted_buf = NULL;
			aborted_len = 0;
		} else {
			buf = CONTAINER_OF(evt->data.tx.buf, struct uart_data_t,
					   data);
		}

		k_free(buf);

		buf = k_fifo_get(&fifo_uart_tx_data, K_NO_WAIT);
		if (!buf) {
			return;
		}

		if (uart_tx(uart, buf->data, buf->len, SYS_FOREVER_MS)) {
			LOG_WRN("Failed to send data over UART");
		}

		break;

	case UART_RX_RDY:
		buf = CONTAINER_OF(evt->data.rx.buf, struct uart_data_t, data);
		buf->len += evt->data.rx.len;
		buf_release = false;

		if (buf->len == UART_BUF_SIZE) {
			k_fifo_put(&fifo_uart_rx_data, buf);
		} else if ((evt->data.rx.buf[buf->len - 1] == '\n') ||
			  (evt->data.rx.buf[buf->len - 1] == '\r')) {
			k_fifo_put(&fifo_uart_rx_data, buf);
			current_buf = evt->data.rx.buf;
			buf_release = true;
			uart_rx_disable(uart);
		}

		break;

	case UART_RX_DISABLED:
		buf = k_malloc(sizeof(*buf));
		if (buf) {
			buf->len = 0;
		} else {
			LOG_WRN("Not able to allocate UART receive buffer");
			k_work_reschedule(&uart_work, UART_WAIT_FOR_BUF_DELAY);
			return;
		}

		uart_rx_enable(uart, buf->data, sizeof(buf->data),
			       UART_WAIT_FOR_RX);

		break;

	case UART_RX_BUF_REQUEST:
		buf = k_malloc(sizeof(*buf));
		if (buf) {
			buf->len = 0;
			uart_rx_buf_rsp(uart, buf->data, sizeof(buf->data));
		} else {
			LOG_WRN("Not able to allocate UART receive buffer");
		}

		break;

	case UART_RX_BUF_RELEASED:
		buf = CONTAINER_OF(evt->data.rx_buf.buf, struct uart_data_t,
				   data);
		if (buf_release && (current_buf != evt->data.rx_buf.buf)) {
			k_free(buf);
			buf_release = false;
			current_buf = NULL;
		}

		break;

	case UART_TX_ABORTED:
			if (!aborted_buf) {
				aborted_buf = (uint8_t *)evt->data.tx.buf;
			}

			aborted_len += evt->data.tx.len;
			buf = CONTAINER_OF(aborted_buf, struct uart_data_t,
					   data);

			uart_tx(uart, &buf->data[aborted_len],
				buf->len - aborted_len, SYS_FOREVER_MS);

		break;

	default:
		break;
	}
}

static void uart_work_handler(struct k_work *item)
{
	struct uart_data_t *buf;

	buf = k_malloc(sizeof(*buf));
	if (buf) {
		buf->len = 0;
	} else {
		LOG_WRN("Not able to allocate UART receive buffer");
		k_work_reschedule(&uart_work, UART_WAIT_FOR_BUF_DELAY);
		return;
	}

	uart_rx_enable(uart, buf->data, sizeof(buf->data), UART_WAIT_FOR_RX);
}

static int uart_init(void)
{
	int err;
	struct uart_data_t *rx;

	uart = device_get_binding(DT_LABEL(DT_NODELABEL(uart0)));
	if (!uart) {
		return -ENXIO;
	}

	rx = k_malloc(sizeof(*rx));
	if (rx) {
		rx->len = 0;
	} else {
		return -ENOMEM;
	}

	k_work_init_delayable(&uart_work, uart_work_handler);

	err = uart_callback_set(uart, uart_cb, NULL);
	if (err) {
		return err;
	}

	return uart_rx_enable(uart, rx->data, sizeof(rx->data), 50);
}

static void connected(struct bt_conn *conn, uint8_t err)
{
	char addr[BT_ADDR_LE_STR_LEN];

	if (err) {
		LOG_ERR("Connection failed (err %u)", err);
		return;
	}

	bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr));
	LOG_INF("Connected %s", log_strdup(addr));

	current_conn = bt_conn_ref(conn);

	dk_set_led_on(CON_STATUS_LED);
}

static void disconnected(struct bt_conn *conn, uint8_t reason)
{
	char addr[BT_ADDR_LE_STR_LEN];

	bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr));

	LOG_INF("Disconnected: %s (reason %u)", log_strdup(addr), reason);

	if (auth_conn) {
		bt_conn_unref(auth_conn);
		auth_conn = NULL;
	}

	if (current_conn) {
		bt_conn_unref(current_conn);
		current_conn = NULL;
		dk_set_led_off(CON_STATUS_LED);
	}
}

#ifdef CONFIG_BT_NUS_SECURITY_ENABLED
static void security_changed(struct bt_conn *conn, bt_security_t level,
			     enum bt_security_err err)
{
	char addr[BT_ADDR_LE_STR_LEN];

	bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr));

	if (!err) {
		LOG_INF("Security changed: %s level %u", log_strdup(addr),
			level);
	} else {
		LOG_WRN("Security failed: %s level %u err %d", log_strdup(addr),
			level, err);
	}
}
#endif

static struct bt_conn_cb conn_callbacks = {
	.connected    = connected,
	.disconnected = disconnected,
#ifdef CONFIG_BT_NUS_SECURITY_ENABLED
	.security_changed = security_changed,
#endif
};

#if defined(CONFIG_BT_NUS_SECURITY_ENABLED)
static void auth_passkey_display(struct bt_conn *conn, unsigned int passkey)
{
	char addr[BT_ADDR_LE_STR_LEN];

	bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr));

	LOG_INF("Passkey for %s: %06u", log_strdup(addr), passkey);
}

static void auth_passkey_confirm(struct bt_conn *conn, unsigned int passkey)
{
	char addr[BT_ADDR_LE_STR_LEN];

	auth_conn = bt_conn_ref(conn);

	bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr));

	LOG_INF("Passkey for %s: %06u", log_strdup(addr), passkey);
	LOG_INF("Press Button 1 to confirm, Button 2 to reject.");
}


static void auth_cancel(struct bt_conn *conn)
{
	char addr[BT_ADDR_LE_STR_LEN];

	bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr));

	LOG_INF("Pairing cancelled: %s", log_strdup(addr));
}


static void pairing_confirm(struct bt_conn *conn)
{
	char addr[BT_ADDR_LE_STR_LEN];

	bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr));

	bt_conn_auth_pairing_confirm(conn);

	LOG_INF("Pairing confirmed: %s", log_strdup(addr));
}


static void pairing_complete(struct bt_conn *conn, bool bonded)
{
	char addr[BT_ADDR_LE_STR_LEN];

	bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr));

	LOG_INF("Pairing completed: %s, bonded: %d", log_strdup(addr),
		bonded);
}


static void pairing_failed(struct bt_conn *conn, enum bt_security_err reason)
{
	char addr[BT_ADDR_LE_STR_LEN];

	bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr));

	LOG_INF("Pairing failed conn: %s, reason %d", log_strdup(addr),
		reason);
}


static struct bt_conn_auth_cb conn_auth_callbacks = {
	.passkey_display = auth_passkey_display,
	.passkey_confirm = auth_passkey_confirm,
	.cancel = auth_cancel,
	.pairing_confirm = pairing_confirm,
	.pairing_complete = pairing_complete,
	.pairing_failed = pairing_failed
};
#else
static struct bt_conn_auth_cb conn_auth_callbacks;
#endif

static void bt_receive_cb(struct bt_conn *conn, const uint8_t *const data,
			  uint16_t len)
{
	int err;
	char addr[BT_ADDR_LE_STR_LEN] = {0};

	bt_addr_le_to_str(bt_conn_get_dst(conn), addr, ARRAY_SIZE(addr));

	LOG_INF("Received data from: %s", log_strdup(addr));

	for (uint16_t pos = 0; pos != len;) {
		struct uart_data_t *tx = k_malloc(sizeof(*tx));

		if (!tx) {
			LOG_WRN("Not able to allocate UART send data buffer");
			return;
		}

		/* Keep the last byte of TX buffer for potential LF char. */
		size_t tx_data_size = sizeof(tx->data) - 1;

		if ((len - pos) > tx_data_size) {
			tx->len = tx_data_size;
		} else {
			tx->len = (len - pos);
		}

		memcpy(tx->data, &data[pos], tx->len);

		pos += tx->len;

		/* Append the LF character when the CR character triggered
		 * transmission from the peer.
		 */
		if ((pos == len) && (data[len - 1] == '\r')) {
			tx->data[tx->len] = '\n';
			tx->len++;
		}

		err = uart_tx(uart, tx->data, tx->len, SYS_FOREVER_MS);
		if (err) {
			k_fifo_put(&fifo_uart_tx_data, tx);
		}
	}
}

static struct bt_nus_cb nus_cb = {
	.received = bt_receive_cb,
};

void error(void)
{
	dk_set_leds_state(DK_ALL_LEDS_MSK, DK_NO_LEDS_MSK);

	while (true) {
		/* Spin for ever */
		k_sleep(K_MSEC(1000));
	}
}

static void num_comp_reply(bool accept)
{
	if (accept) {
		bt_conn_auth_passkey_confirm(auth_conn);
		LOG_INF("Numeric Match, conn %p", (void *)auth_conn);
	} else {
		bt_conn_auth_cancel(auth_conn);
		LOG_INF("Numeric Reject, conn %p", (void *)auth_conn);
	}

	bt_conn_unref(auth_conn);
	auth_conn = NULL;
}

void button_changed(uint32_t button_state, uint32_t has_changed)
{
	uint32_t buttons = button_state & has_changed;

	if (auth_conn) {
		if (buttons & KEY_PASSKEY_ACCEPT) {
			num_comp_reply(true);
		}

		if (buttons & KEY_PASSKEY_REJECT) {
			num_comp_reply(false);
		}
	}
}

static void configure_gpio(void)
{
	int err;

	err = dk_buttons_init(button_changed);
	if (err) {
		LOG_ERR("Cannot init buttons (err: %d)", err);
	}

	err = dk_leds_init();
	if (err) {
		LOG_ERR("Cannot init LEDs (err: %d)", err);
	}
}

void main(void)
{
	int blink_status = 0;
	int err = 0;

	configure_gpio();

	err = uart_init();
	if (err) {
		error();
	}

	bt_conn_cb_register(&conn_callbacks);

	if (IS_ENABLED(CONFIG_BT_NUS_SECURITY_ENABLED)) {
		bt_conn_auth_cb_register(&conn_auth_callbacks);
	}

	err = bt_enable(NULL);
	if (err) {
		error();
	}

	LOG_INF("Bluetooth initialized");

	k_sem_give(&ble_init_ok);

	if (IS_ENABLED(CONFIG_SETTINGS)) {
		settings_load();
	}

	err = bt_nus_init(&nus_cb);
	if (err) {
		LOG_ERR("Failed to initialize UART service (err: %d)", err);
		return;
	}

	err = bt_le_adv_start(BT_LE_ADV_CONN, ad, ARRAY_SIZE(ad), sd,
			      ARRAY_SIZE(sd));
	if (err) {
		LOG_ERR("Advertising failed to start (err %d)", err);
	}

	printk("Starting Nordic UART service example\n");

	for (;;) {
		dk_set_led(RUN_STATUS_LED, (++blink_status) % 2);
		k_sleep(K_MSEC(RUN_LED_BLINK_INTERVAL));
	}
}

void ble_write_thread(void)
{
	/* Don't go any further until BLE is initialized */
	k_sem_take(&ble_init_ok, K_FOREVER);

	for (;;) {
		/* Wait indefinitely for data to be sent over bluetooth */
		struct uart_data_t *buf = k_fifo_get(&fifo_uart_rx_data,
						     K_FOREVER);

		if (bt_nus_send(NULL, buf->data, buf->len)) {
			LOG_WRN("Failed to send data over BLE connection");
		}

		k_free(buf);
	}
}

K_THREAD_DEFINE(ble_write_thread_id, STACKSIZE, ble_write_thread, NULL, NULL,
		NULL, PRIORITY, 0, 0);

5.- As I said before, my goal is to insert the analog code into the periphera_uart's main.c code. There is no problem in inserting the code of the headers, declaration of variables and functions.

QUESTION: Should I insert the analog port data in the "main (void)" function or in the "void ble_write_thread (void)" function of "peripheral_uart"?

6.- I did my first experiment and I inserted it into the main.c's code of "peripheral_uart's". Argument: I believed that anything that would be printed on the serial port (input or output, it would automatically be sent by the "peripheral_uart" code). Conclusion: False, the data from the analog port was not printed on the input serial port and the screen threw me an error and the App never connected:

ASSERTION FAIL [((arch_is_in_isr() == 0) || ((timeout).ticks == (((k_timeout_t) {})).ticks))] @ WEST_TOPDIR/zephyr/kernel/sem.c:140

This error is mentioned in the link of point 1, and in the link: https://devzone.nordicsemi.com/f/nordic-q-a/74617/config_assert-cause-code-to-crash

7.- Now I have two problems: 1) data is not printed neither in the output serial port nor the input serial port; 2) then I have to experiment with the function "void ble_write_thread (void)" ... How? I still don't know. 

After solving this issue I want to print the data on a 16x2 or I2C 20x4 LCD screen but that will be in another ticket, I hope... 

I get any kind of suggestion, help and technical support because I will take this model to solve similar issues. 

If you need more information, please let me know...

[ovrebekk]

Hi Guillermo

The peripheral_uart example is not the easiest one to get started with I would say, but it should be possible to modify it to do what you want without too many changes (not considering the added code to run the ADC). 

You can start by looking at how the existing code writes to the fifo_uart_rx_data FIFO every time a byte is received over the UART, in the uart_cb(..) callback:

case UART_RX_RDY:
	buf = CONTAINER_OF(evt->data.rx.buf, struct uart_data_t, data);
	buf->len += evt->data.rx.len;
	buf_release = false;

	if (buf->len == UART_BUF_SIZE) {
		k_fifo_put(&fifo_uart_rx_data, buf);
	} else if ((evt->data.rx.buf[buf->len - 1] == '\n') ||
		  (evt->data.rx.buf[buf->len - 1] == '\r')) {
		k_fifo_put(&fifo_uart_rx_data, buf);
		current_buf = evt->data.rx.buf;
		buf_release = true;
		uart_rx_disable(uart);
	}

	break;

Essentially the buffer 'buf' is filled up by bytes from the UART until either the newline character is received, or buf is full. Once that happens the buffer will be passed to the fifo_uart_rx_data FIFO, which will cause the ble_write_thread to continue and send the bytes stored in fifo_uart_rx_data.

It should be possible to do the same in the ADC handler: Store every sampled byte in buf, and send buf to the FIFO once it is full.  

If you scale the ADC buffer to the size of buf you simplify things further, since you don't need to manually count the bytes before the buffer is filled (then you can probably skip buf altogether, and simply pass the ADC buffer directly to the FIFO). 

I thought I would make a small example to illustrate this, but it seems I am running out of time for the day. If you have problems with this just let me know, and I will try to provide an example tomorrow. 

Best regards
Torbjørn

[guillengap]

Congratulations, your solution is elegant and worked ... before closing this discussion, just a small observation.

This is what I saw in the serial port:

This is what I saw in the "nRF Connect" App: (Sometimes special characters)

Sometimes number train

I assume this is an Android app issue.

[ovrebekk]

Hi Guillermo

Good to hear you got the example working

The Nordic UART service is intended for sending text strings back and forth (ASCII), and when you send raw data from the ADC it will be interpreted as ASCII characters in the Android app. 

In order to display the numbers properly you have to convert it to an ASCII string, either before you pass it to the NUS service in the nRF5 device or after you receive it in the Android app. 

The advantage of converting it on the nRF5 side is that you don't need to change the app, but the drawback is that you will increase the amount of data that you need to send over the Bluetooth connection, which will effectively limit the amount of ADC data that you can send. 

The reason the numbers are readable in the serial terminal is that the printk(..) function does the ASCII conversion for you when you use the %d parameter:
https://github.com/too1/ncs-peripheral-uart-adc/blob/master/src/main.c#L551

Best regards
Torbjørn