Merge pull request #18 from elle-bi/main

cparata · web-flow · commit f9e30963784d · 2023-03-30T16:20:25.000+02:00
Add support for X-NUCLEO-BNRG2A1
diff --git a/README.md b/README.md
@@ -25,8 +25,8 @@ to SensiBLE and see sensors data. The data are also printed to the serial port.
 X-NUCLEO-IKS01A2 or X-NUCLEO-IKS01A3, X-NUCLEO-IDB05A1 and X-NUCLEO-53L1A1 Expansion Boards. The application gather data from the sensor mounted and then communicates
 them via bluetooth to a suitable Android app (such as ST BLE Sensor). The data gathered include environmental data (temperature, pression, humidity), 
 distance, gesture recognition (tap and directional swipe), acceleration (with accelerometer hardware events) and a gyroscope.
-* Flight1v2: This application provides an example of usage of a NUCLEO board (it was tested with NUCLEO-F401RE) with
-X-NUCLEO-IKS01A3, X-NUCLEO-IDB05A2 and X-NUCLEO-53L1A1 Expansion Boards. The application gathers data from the sensors mounted and then communicates
+* Flight1v2: This application provides an example of usage of a NUCLEO board (it was tested with a NUCLEO-F401RE and a NUCLEO-L476RG) with
+X-NUCLEO-IKS01A3, X-NUCLEO-IDB05A2, X-NUCLEO-BNRG2A1 and X-NUCLEO-53L1A1 Expansion Boards. The application gathers data from the sensors mounted and then communicates
 them via bluetooth to a suitable Android or iOS app (such as ST BLE Sensor). The data gathered include environmental data (temperature, pression, humidity), 
 distance, gesture recognition (tap and directional swipe), acceleration (with accelerometer hardware events), a gyroscope and a magnetometer. In addition, 9x sensor fusion functionality for accurate orientation detection is also available. Note that
 unlike the Flight1 application, this one makes use of the STM32duinoBLE API instead of SPBTLE-RF, and does not support X-NUCLEO-IKS01A2 boards. In addition, an up-to-date version of the STM32duinoBLE library is required, as this application uses some of the newest features.
diff --git a/examples/Flight1v2/Flight1v2.ino b/examples/Flight1v2/Flight1v2.ino
@@ -2,10 +2,10 @@
  ******************************************************************************
    @file    Flight1v2.ino
    @author  STMicroelectronics
-   @version V1.1.0
-   @date    23 March 2023
+   @version V1.2.0
+   @date    30 March 2023
    @brief   Arduino demo application for the STMicrolectronics
-            X-NUCLEO-IKS01A3, X-NUCLEO-53L1A1
+            X-NUCLEO-IKS01A3, X-NUCLEO-53L1A1, X-NUCLEO-BNRG2A1
             and X-NUCLEO-IDB05A1
  ******************************************************************************
    @attention
@@ -70,19 +70,32 @@
 #define DEV_I2C Wire
 #define SerialPort Serial
 
-//#define DEBUG_MODE
-
 #define INT_1 4
 #define INT_2 5
 
+//#define DEBUG_MODE
+
+//#define USE_BNRG2A1     // By default, the IDB05A2 is used. Uncomment this to use the BNRG2A1 instead.
+
 // BLE boards
 /* Shield IDB05A2 with SPI clock on D3 */
+#ifndef USE_BNRG2A1
 SPIClass SpiHCI(D11, D12, D3);
 HCISpiTransportClass HCISpiTransport(SpiHCI, BLUENRG_M0, A1, A0, D7, 8000000, SPI_MODE0);
 #if !defined(FAKE_BLELOCALDEVICE)
 BLELocalDevice BLEObj(&HCISpiTransport);
 BLELocalDevice &BLE = BLEObj;
 #endif
+#endif
+
+#ifdef USE_BNRG2A1
+SPIClass SpiHCI(D11, D12, D3);
+HCISpiTransportClass HCISpiTransport(SpiHCI, BLUENRG_M2SP, A1, A0, D7, 1000000, SPI_MODE1);
+#if !defined(FAKE_BLELOCALDEVICE)
+BLELocalDevice BLEObj(&HCISpiTransport);
+BLELocalDevice &BLE = BLEObj;
+#endif
+#endif
 
 // Interrupts
 volatile int mems_event = 0;
@@ -153,7 +166,7 @@ volatile int mems_event = 0;
 #define GBIAS_MAG_TH_SC                 (2.0f*0.001500f)
 
 #define DECIMATION                      1U
-#define FUSION_FRAME                    30      // Approximately 60 fps/ups
+#define FUSION_FRAME                    30      // Approximately 30 fps/ups
 
 /* Private variables ---------------------------------------------------------*/
 #if !(__CORTEX_M == 0U)
@@ -388,21 +401,21 @@ class Flight1Service {
       return ret;
     }
 
-    int AccEvent_Notify(uint16_t steps, uint8_t event)
+    int AccEvent_Notify(uint8_t event)
     {
       uint8_t buff_2[2 + 1];    // Only event
       uint8_t buff_4[5];        // Event and pedometer
 
       int ret = 0;
 
       if (shortMode) {
-        STORE_LE_16(buff_4, millis());
+        STORE_LE_16(buff_2, millis());
         buff_2[2] = event;
         ret += accEventC.writeValue(buff_2, 2 + 1);
       } else {
         STORE_LE_16(buff_4, millis());
         buff_4[2] = event;
-        STORE_LE_16(buff_4 + 3, steps);
+        STORE_LE_16(buff_4 + 3, globalSteps);
         ret += accEventC.writeValue(buff_4, LEN_ACCEVENT);
       }
       return ret;
@@ -527,11 +540,9 @@ void fusion_update(void)
   fusion_flag = 1;
 }
 
-void configCB(BLEDevice unused1, BLECharacteristic unused2)
+void configCB(BLEDevice, BLECharacteristic)
 {
   uint8_t buf[LEN_CFG];
-  (void)unused1;
-  (void)unused2;
 
   configC.readValue(buf, LEN_CFG);
   char command = buf[4];
@@ -564,7 +575,7 @@ void configCB(BLEDevice unused1, BLECharacteristic unused2)
         break;
       case 'o':
         data ? Flight1.shortMode = true : Flight1.shortMode = false;
-        data ? AccGyr.Enable_6D_Orientation(LSM6DSO_INT1_PIN) : AccGyr.Disable_6D_Orientation();;
+        data ? AccGyr.Enable_6D_Orientation(LSM6DSO_INT1_PIN) : AccGyr.Disable_6D_Orientation();
         break;
     }
   }
@@ -579,7 +590,6 @@ int gestureGuard = 0;
 
 bool envEnable = false;
 bool proxEnable = false;
-bool eventEnable = false;
 bool accEnable = false;
 bool gyroEnable = false;
 bool magEnable = false;
@@ -589,6 +599,8 @@ long fusionTime = 0;
 long currTime = 0;
 long lastTime = 0;
 
+long upsTiming = 0;
+
 void setup()
 {
   // Initialize serial port
@@ -746,13 +758,24 @@ void loop()
 
   BLE.poll();
 
-  envEnable = pressC.subscribed() || tempC.subscribed() || humC.subscribed();
-  accEnable = accC.subscribed();
-  gyroEnable = gyroC.subscribed();
-  magEnable = magC.subscribed();
-  eventEnable = accEventC.subscribed();
-  proxEnable = distanceC.subscribed() || gestureC.subscribed();
-  fusionEnable = fusionC.subscribed();
+  // If using the slower bluetooth chip BNRG2A1, we slow down the update rate to 30 ups
+#ifdef USE_BNRG2A1
+  // Calculate how much time passed since the last update
+  bool newUpdate = (millis() - upsTiming) > 33 ;    // If it is over 33 milliseconds, activate the update flag
+  if (millis() - upsTiming > 33) {
+    upsTiming = millis();                         // Also update the time of last update to current time
+  }
+  // Otherwise, we place no limit on update rate
+#else
+  bool newUpdate = true;
+#endif
+
+  envEnable = (pressC.subscribed() || tempC.subscribed() || humC.subscribed()) && newUpdate;
+  accEnable = accC.subscribed() && newUpdate;
+  gyroEnable = gyroC.subscribed() && newUpdate;
+  magEnable = magC.subscribed() && newUpdate;
+  proxEnable = (distanceC.subscribed() || gestureC.subscribed()) && newUpdate;
+  fusionEnable = fusionC.subscribed() && newUpdate;
 
   if (fusionEnable) {
     if (!mag_calibrated) {
@@ -809,7 +832,7 @@ void loop()
           /* Disable magnetometer calibration */
           MotionFX_MagCal_init(ALGO_PERIOD, 0);
           digitalWrite(LED_BUILTIN, HIGH);
-          Serial.println("Magnetomer calibration done!");
+          SerialPort.println("Magnetomer calibration done!");
         }
 #endif
       }
@@ -919,6 +942,7 @@ void loop()
     Mag.GetAxes(magnetometer);
   }
 
+  // Do note that this is interrupt-based: it does NOT follow the timing rules of all other processes
   if (mems_event) {
     mems_event = 0;
     LSM6DSO_Event_Status_t Astatus;
@@ -987,7 +1011,7 @@ void loop()
       FLIGHT1_PRINTF("Wake Up\n");
       stat = stat | 0x80u;
     }
-    Flight1.AccEvent_Notify(Flight1.globalSteps, stat);
+    Flight1.AccEvent_Notify(stat);
   }
 
   if (proxEnable) {
