Jostle (#1)

* adding twi/i2c drivers

* spi comms to mma8451 working

* Jostle detection working and reporting via mesh network

* Adding config files

Makefile

@@ -94,7 +94,7 @@ remduplicates = $(strip $(if $1,$(firstword $1) $(call remduplicates,$(filter-ou
 
 C_SOURCE_FILES += src/main.c src/config.c src/sensor.c src/app_cmd.c \
  	src/scheduler.c src/proximity.c src/heartbeat.c src/battery.c src/shoe_accel.c \
-	src/app_evt.c src/mesh_control.c bsp/bsp.c
+	src/app_evt.c src/mesh_control.c bsp/bsp.c src/i2c.c src/jostle_detect.c
 C_SOURCE_FILES += $(COMPONENTS)/libraries/timer/app_timer.c
 
 CXX_SOURCE_FILES += $(SIMBLEE_BASE)/libraries/SimbleeBLE/SimbleeBLE.cpp
@@ -134,7 +134,9 @@ C_SOURCE_FILES += $(RBC_MESH)/src/rand.c
 C_SOURCE_FILES += $(COMPONENTS)/ble/common/ble_advdata.c
 C_SOURCE_FILES += $(COMPONENTS)/toolchain/system_nrf51.c
 C_SOURCE_FILES += $(COMPONENTS)/softdevice/common/softdevice_handler/softdevice_handler.c
-
+C_SOURCE_FILES += $(COMPONENTS)/drivers_nrf/twi_master/incubated/twi_hw_master.c
+C_SOURCE_FILES += $(COMPONENTS)/drivers_nrf/gpiote/nrf_drv_gpiote.c
+C_SOURCE_FILES += $(COMPONENTS)/drivers_nrf/common/nrf_drv_common.c
 
 # assembly files common to all targets
 #ASM_SOURCE_FILES  += $(COMPONENTS)/toolchain/gcc/gcc_startup_nrf51.s
@@ -162,8 +164,11 @@ INC_PATHS += -I$(COMPONENTS)/toolchain/gcc
 INC_PATHS += -I$(COMPONENTS)/libraries/util
 INC_PATHS += -I$(COMPONENTS)/libraries/timer
 INC_PATHS += -I$(COMPONENTS)/ble/common
+INC_PATHS += -I$(COMPONENTS)/drivers_nrf/common
 INC_PATHS += -I$(COMPONENTS)/drivers_nrf/hal
 INC_PATHS += -I$(COMPONENTS)/drivers_nrf/pstorage
+INC_PATHS += -I$(COMPONENTS)/drivers_nrf/twi_master/incubated/
+INC_PATHS += -I$(COMPONENTS)/drivers_nrf/gpiote
 
 INC_PATHS += -I$(COMPONENTS)/toolchain/gcc
 INC_PATHS += -I$(COMPONENTS)/toolchain

bsp/lesson_tracker.h

@@ -7,6 +7,8 @@ extern "C" {
 
 #define SIMBLEE
 
+#define MMA8541
+
 #define LEDS_NUMBER    0
 #define BUTTONS_NUMBER 0
 

requirements.txt

@@ -1,3 +1,4 @@
 ipython
 pyyaml
 sensei_client
+pyserial

src/i2c.c

@@ -0,0 +1,77 @@
+/* Copyright (c) 2013 Microsoft Corporation. All Rights Reserved.
+ *
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "twi_master.h"
+#include "i2c.h"
+
+void i2c_init() {
+	twi_master_init();
+}
+
+// read n-bytes from i2c register at the given address where subsequent bytes
+// are read from incrementally increasing register addresses.
+bool i2c_read_data(uint8_t address, uint8_t reg, uint8_t* data, uint8_t len)
+{
+
+	address = address << 1;
+
+	// initialize data to zero so we don't return random values.
+	for (int i = 0; i < len; i++)
+	{
+		data[i] = 0;
+	}
+
+  // Write: register address we want to start reading from
+  if (twi_master_transfer(address, &reg, 1, TWI_DONT_ISSUE_STOP))
+  {
+		// Read: the number of bytes requested.
+    if (twi_master_transfer(address | TWI_READ_BIT, data, len, TWI_ISSUE_STOP))
+    {
+      // Read succeeded.
+			return true;
+    }
+	}
+
+	// read or write failed.
+  return false;
+}
+
+// read the i2c register at the given address (see table 13 in the LSM9DS0 spec)
+// first we write the register address to tell the device to prepare that value
+// then we read 1 byte in response from the same i2c device.
+uint8_t i2c_read_reg(uint8_t address, uint8_t reg)
+{
+	uint8_t data = 0;
+
+  if (i2c_read_data(address, reg, &data, 1))
+	{
+		return data;
+	}
+	return 0;
+}
+
+
+// write 1 byte to the i2c register at the given address (see table 11 in the LSM9DS0 spec)
+bool i2c_write_reg(uint8_t address, uint8_t reg, uint8_t value)
+{
+	uint8_t data[2];
+	data[0] = reg;
+	data[1] = value;
+
+	address = address << 1;
+
+  // Write: register protocol
+  if (twi_master_transfer(address, data, 2, TWI_ISSUE_STOP))
+  {
+		  return true;
+	}
+
+	// read or write failed.
+  return false;
+}
+
+
+/*lint --flb "Leave library region" */

src/i2c.h

@@ -0,0 +1,18 @@
+#ifndef _SENSEI_I2C_H
+#define _SENSEI_I2C_H
+
+void i2c_init();
+
+// read n-bytes from i2c register at the given address where subsequent bytes
+// are read from incrementally increasing register addresses.
+bool i2c_read_data(uint8_t address, uint8_t reg, uint8_t* data, uint8_t len);
+
+// read the i2c register at the given address
+// first we write the register address to tell the device to prepare that value
+// then we read 1 byte in response from the same i2c device.
+uint8_t i2c_read_reg(uint8_t address, uint8_t reg);
+
+// write 1 byte to the i2c register at the given address
+bool i2c_write_reg(uint8_t address, uint8_t reg, uint8_t value);
+
+#endif // _SENSEI_I2C_H

src/jostle_detect.c

@@ -0,0 +1,111 @@
+
+#include "jostle_detect.h"
+
+#ifdef MMA8541
+
+#include "nrf_drv_gpiote.h"
+#include "i2c.h"
+#include "app_error.h"
+
+#define MMA8451_DEFAULT_ADDRESS   (0x1C)    // if A is GND, it's 0x1C
+
+#define MMA8451_REG_OUT_X_MSB     0x01
+#define MMA8451_REG_SYSMOD        0x0B
+#define MMA8451_REG_WHOAMI        0x0D
+#define MMA8451_REG_XYZ_DATA_CFG  0x0E
+#define MMA8451_REG_PL_STATUS     0x10
+#define MMA8451_REG_PL_CFG        0x11
+#define MMA8451_REG_FF_MT_CFG     0x15
+#define MMA8451_REG_FF_MT_SRC     0x16
+#define MMA8451_REG_FF_MT_THS     0x17
+#define MMA8451_REG_FF_MT_COUNT   0x18
+#define MMA8451_REG_CTRL_REG1     0x2A
+#define MMA8451_REG_CTRL_REG2     0x2B
+#define MMA8451_REG_CTRL_REG4     0x2D
+#define MMA8451_REG_CTRL_REG5     0x2E
+
+#define INT_EN_FF_MT (1<<2)
+#define INT_EN_PULSE (1<<3)
+
+#define INT1_GPIO_PIN 24
+#define INT2_GPIO_PIN 22
+
+static bool jostle_detected;
+
+typedef enum
+{
+  MMA8451_RANGE_8_G           = 0b10,   // +/- 8g
+  MMA8451_RANGE_4_G           = 0b01,   // +/- 4g
+  MMA8451_RANGE_2_G           = 0b00    // +/- 2g (default value)
+} mma8451_range_t;
+
+#define MMA8451_HIGH_PASS_FILTER 0b10000
+
+static bool write_register(uint8_t reg, uint8_t value) {
+  return i2c_write_reg(MMA8451_DEFAULT_ADDRESS, reg, value);
+}
+
+static uint8_t read_register(uint8_t reg) {
+  return i2c_read_reg(MMA8451_DEFAULT_ADDRESS, reg);
+}
+
+void motion_handler(nrf_drv_gpiote_pin_t pin, nrf_gpiote_polarity_t action)
+{
+  read_register(MMA8451_REG_FF_MT_SRC);
+  jostle_detected = true;
+}
+
+void jostle_detect_init() {
+  i2c_init();
+
+  ret_code_t err_code;
+
+  err_code = nrf_drv_gpiote_init();
+  APP_ERROR_CHECK(err_code);
+
+  nrf_drv_gpiote_in_config_t in_config = GPIOTE_CONFIG_IN_SENSE_TOGGLE(true);
+  in_config.pull = NRF_GPIO_PIN_PULLUP;
+
+  err_code = nrf_drv_gpiote_in_init(INT1_GPIO_PIN, &in_config, motion_handler);
+  APP_ERROR_CHECK(err_code);
+
+  nrf_drv_gpiote_in_event_enable(INT1_GPIO_PIN, true);
+
+  // Configure mma8451
+  write_register(MMA8451_REG_CTRL_REG2, 0x40); // reset
+  while (read_register(MMA8451_REG_CTRL_REG2) & 0x40);
+
+  // enable 4G range
+  write_register(MMA8451_REG_XYZ_DATA_CFG, MMA8451_RANGE_4_G);
+  // High res
+  write_register(MMA8451_REG_CTRL_REG2, 0x02);
+
+  // Setup motion detection
+  write_register(MMA8451_REG_FF_MT_CFG,   0b11111000);  // Enable motion, and x,y,z
+  write_register(MMA8451_REG_FF_MT_THS,   17);  // Threshold: 17 * 0.063g = 1.071g
+  write_register(MMA8451_REG_FF_MT_COUNT, 15);  // debounce counter: 15 * 1.25ms = 18.75ms
+
+  // Setup interrupts
+  write_register(MMA8451_REG_CTRL_REG4, INT_EN_FF_MT | INT_EN_PULSE);  // Enable Freefall/Motion int, and pulse
+  write_register(MMA8451_REG_CTRL_REG5, 0b00000100);  // Route motion to INT1
+
+  // Turn on orientation config
+  //write_register(MMA8451_REG_PL_CFG, 0x40);
+
+  // ASLP_RATE = 50hz
+  // ODR = 800hz (1.25ms period)
+  // LNOISE = 1
+  // F_READ = normal
+  // ACTIVE = active
+  write_register(MMA8451_REG_CTRL_REG1, 0b00000101);
+}
+
+bool jostle_detect_get_flag() {
+  return jostle_detected;
+}
+
+void jostle_detect_clear_flag() {
+  jostle_detected = false;
+}
+
+#endif // MMA8541

src/jostle_detect.h

@@ -0,0 +1,12 @@
+#ifndef JOSTLE_DETECT_H
+#define JOSTLE_DETECT_H
+
+#include "stdint.h"
+#include "boards.h"
+
+void jostle_detect_init();
+bool jostle_detect_get_flag();
+void jostle_detect_clear_flag();
+
+
+#endif // JOSTLE_DETECT_H