Utilities for programming, get rid of ghost proximity values, more co…

…nfig support for channels other than 38, but that is still not working

Makefile

@@ -23,8 +23,8 @@ RBC_MESH  		:= rbc_mesh
 
 LINKER_SCRIPT := $(SIMBLEE_BASE)/variants/Simblee/linker_scripts/gcc/Simblee.ld
 RFD_LOADER 		:= $(SIMBLEE_BASE)/RFDLoader_osx
-#SERIAL_PORT 	:= /dev/cu.usbserial-DN00D34P  # left
-SERIAL_PORT 	:= /dev/cu.usbserial-DN00CSZ7  # right
+SERIAL_PORT 	:= /dev/cu.usbserial-DN00D34P  # left
+#SERIAL_PORT 	:= /dev/cu.usbserial-DN00CSZ7  # right
 #SERIAL_PORT 	:= /dev/cu.usbserial-A105RB12
 #SERIAL_PORT   := /dev/cu.usbserial-FTZ86FTC  # tag-connect
 #SERIAL_PORT   := /dev/cu.usbserial-DO00C2G2  # Breadboard setup

pyaci/configure_sensor.py

@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+
+from argparse import ArgumentParser
+from aci import AciCommand
+from aci_serial import AciUart
+import time
+import sensei_cmd
+
+def configure_sensor(serial_device, sensor_id, serial_enabled, channel, sleep_enabled):
+    aci = AciUart.AciUart(port=serial_device, baudrate=115200)
+    # Wait for serial connection to be ready
+    time.sleep(2)
+    cmd = sensei_cmd.SetConfig(sensor_id, serial_enabled, channel, sleep_enabled)
+    data = cmd.serialize()
+    aci.write_aci_cmd(AciCommand.AciAppCommand(data=data,length=len(data)+1))
+
+    # Wait for flash to be written
+    time.sleep(2)
+    aci.write_aci_cmd(AciCommand.AciRadioReset())
+
+    aci.stop()
+
+if __name__ == '__main__':
+    parser = ArgumentParser()
+    parser.add_argument("-d", "--device", dest="device", required=True, help="Serial device, e.g. /dev/cu.usbserial-DO00C2G2")
+    parser.add_argument('id', type=int, help='the id to assign this sensor')
+    parser.add_argument('--no-sleeping', dest='sleep_enabled', action='store_false')
+    parser.set_defaults(sleep_enabled=True)
+    parser.add_argument('--no-serial', dest='serial_enabled', action='store_false')
+    parser.set_defaults(serial_enabled=True)
+    parser.add_argument('--channel', type=int, help='bluetooth channel of sensei network: should be 1-39 (one of 37,38,39 usually best)')
+    parser.set_defaults(channel=38)
+    options = parser.parse_args()
+    configure_sensor(options.device, options.id, options.serial_enabled, options.channel, options.sleep_enabled)

pyaci/interactive_console.py

@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import logging
 import IPython
 from argparse import ArgumentParser

pyaci/listen.py

@@ -0,0 +1,23 @@
+#!/usr/bin/env python3
+
+from argparse import ArgumentParser
+from aci import AciCommand
+from aci_serial import AciUart
+import time
+import sensei_cmd
+
+def listen(serial_device):
+    aci = AciUart.AciUart(port=serial_device, baudrate=115200)
+    # Wait for serial connection to be ready
+    time.sleep(2)
+    while True:
+        try:
+            print(aci.events_queue.popleft())
+        except IndexError:
+            break
+
+if __name__ == '__main__':
+    parser = ArgumentParser()
+    parser.add_argument("-d", "--device", dest="device", required=True, help="Serial device, e.g. /dev/cu.usbserial-DO00C2G2")
+    options = parser.parse_args()
+    listen(options.device)

pyaci/set_time.py

@@ -0,0 +1,22 @@
+#!/usr/bin/env python3
+
+from argparse import ArgumentParser
+from aci import AciCommand
+from aci_serial import AciUart
+import time
+import sensei_cmd
+
+def set_time(serial_device):
+    aci = AciUart.AciUart(port=serial_device, baudrate=115200)
+    # Wait for serial connection to be ready
+    time.sleep(2)
+    cmd = sensei_cmd.SetTime()
+    data = cmd.serialize()
+    aci.write_aci_cmd(AciCommand.AciAppCommand(data=data,length=len(data)+1))
+    aci.stop()
+
+if __name__ == '__main__':
+    parser = ArgumentParser()
+    parser.add_argument("-d", "--device", dest="device", required=True, help="Serial device, e.g. /dev/cu.usbserial-DO00C2G2")
+    options = parser.parse_args()
+    set_time(options.device)

rbc_mesh/src/rbc_mesh.c

@@ -39,7 +39,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "mesh_gatt.h"
 #include "dfu_app.h"
 #include "fifo.h"
-#include "leds.h"
 
 #include "app_error.h"
 #include "nrf_sdm.h"

rbc_mesh/src/timeslot.c

@@ -39,7 +39,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "transport_control.h"
 #include "event_handler.h"
 #include "rbc_mesh_common.h"
-#include "leds.h"
 
 #ifdef MESH_DFU
 #include "dfu_app.h"

reprog.sh

@@ -0,0 +1,15 @@
+#!/bin/sh
+
+CHANNEL=38
+
+make || exit -1
+
+(make install SERIAL_PORT=/dev/cu.usbserial-DN00D34P && ./pyaci/configure_sensor.py --channel $CHANNEL -d /dev/cu.usbserial-DN00D34P 1) &
+
+(make install SERIAL_PORT=/dev/cu.usbserial-DN00CSZ7 && ./pyaci/configure_sensor.py --channel $CHANNEL -d /dev/cu.usbserial-DN00CSZ7 2) &
+
+(make install SERIAL_PORT=/dev/cu.usbserial-DO00C2G2 && ./pyaci/configure_sensor.py --channel $CHANNEL --no-sleeping -d /dev/cu.usbserial-DO00C2G2 3) &
+
+wait
+
+./pyaci/set_time.py -d /dev/cu.usbserial-DO00C2G2

src/heartbeat.c

@@ -9,15 +9,16 @@
 
 static tc_tx_config_t m_tx_config;
 
-void heartbeat_init() {
+void heartbeat_init(uint8_t channel) {
   m_tx_config.alt_access_address = false;
-  m_tx_config.first_channel = 38;
+  m_tx_config.first_channel = channel;
   m_tx_config.channel_map = 1;
   m_tx_config.tx_power = RBC_MESH_TXPOWER_0dBm;
 }
 
 void send_heartbeat_packet(uint8_t sensor_id, uint32_t epoch_seconds, uint16_t epoch_ms, uint16_t clock_version) {
   // Send out time sync packet
+  //TOGGLE_PIN(LED_RED + LED_START);
 
   mesh_packet_t *p_packet;
   if (mesh_packet_acquire(&p_packet)) {
@@ -51,7 +52,6 @@ void send_heartbeat_packet(uint8_t sensor_id, uint32_t epoch_seconds, uint16_t e
 
 void received_heartbeat(heartbeat_ad_t *p_heartbeat_ad, uint8_t rssi) {
   app_evt_t event;
-  TOGGLE_PIN(6);
   set_clock_time(p_heartbeat_ad->epoch_seconds, p_heartbeat_ad->epoch_ms, CLOCK_SOURCE_RF, p_heartbeat_ad->clock_version);
   proximity_add_entry(p_heartbeat_ad->sensor_id, rssi);
 

src/heartbeat.h

@@ -16,7 +16,7 @@ typedef __packed_armcc struct
 } __packed_gcc heartbeat_ad_t;
 
 
-void heartbeat_init();
+void heartbeat_init(uint8_t channel);
 void send_heartbeat_packet(uint8_t sensor_id, uint32_t epoch_seconds, uint16_t current_ms, uint16_t clock_version);
 void received_heartbeat(heartbeat_ad_t *p_heartbeat_ad, uint8_t rssi);
 

src/leds.h

@@ -18,8 +18,8 @@
 #define CLEAR_PIN(x) NRF_GPIO->OUTCLR = (1 << (x))
 
 #define TOGGLE_PIN(x) do { uint32_t gpio_state = NRF_GPIO->OUT;      \
-                              NRF_GPIO->OUTSET = ((1<<x) & ~gpio_state); \
-                              NRF_GPIO->OUTCLR = ((1<<x) & gpio_state); } while (0)
+                              NRF_GPIO->OUTSET = ((1<<(x)) & ~gpio_state); \
+                              NRF_GPIO->OUTCLR = ((1<<(x)) & gpio_state); } while (0)
 
 
 #ifdef __cplusplus

src/main.c

@@ -24,7 +24,7 @@
 
 #define MESH_ACCESS_ADDR        (0xA555410C)
 #define MESH_INTERVAL_MIN_MS    (100)
-#define MESH_CHANNEL            (38)
+#define DEFAULT_MESH_CHANNEL    (38)
 #define MESH_CLOCK_SRC          (NRF_CLOCK_LFCLKSRC_XTAL_75_PPM)
 
 /** @brief General error handler. */
@@ -70,7 +70,7 @@ static void rbc_mesh_event_handler(rbc_mesh_event_t* p_evt)
     case RBC_MESH_EVENT_TYPE_NEW_VAL:
     case RBC_MESH_EVENT_TYPE_UPDATE_VAL:
       if (p_evt->params.rx.value_handle == TEST_LED_HANDLE) {
-        led_config(LED_BLUE, p_evt->params.rx.p_data[0]);
+        //led_config(LED_BLUE, p_evt->params.rx.p_data[0]);
       }
       break;
     case RBC_MESH_EVENT_TYPE_TX:
@@ -142,14 +142,14 @@ int main(void)
   rbc_mesh_init_params_t init_params;
   init_params.access_addr = MESH_ACCESS_ADDR;
   init_params.interval_min_ms = MESH_INTERVAL_MIN_MS;
-  init_params.channel = MESH_CHANNEL;
+  init_params.channel = DEFAULT_MESH_CHANNEL;
   init_params.lfclksrc = MESH_CLOCK_SRC;
   init_params.tx_power = RBC_MESH_TXPOWER_0dBm;
 
   uint32_t error_code;
   error_code = rbc_mesh_init(init_params);
   APP_ERROR_CHECK(error_code);
-  led_config(LED_GREEN, 1);
+  //led_config(LED_GREEN, 1);
 
   // Setup handler for watching for heartbeat messages
   rbc_mesh_packet_peek_cb_set(packet_peek_cb);
@@ -161,13 +161,13 @@ int main(void)
   get_config(&app_config);
 
   // Change channel if needed
-  if (app_config.mesh_channel != 38) {
+  if (app_config.mesh_channel != DEFAULT_MESH_CHANNEL) {
     tc_radio_params_set(MESH_ACCESS_ADDR, app_config.mesh_channel);
   }
 
   scheduler_init(app_config.sleep_enabled); // Initializes, but does not start, clock
 
-  heartbeat_init(); // Inits structures for sending heartbeat
+  heartbeat_init(app_config.mesh_channel); // Inits structures for sending heartbeat
 
   /* Initialize serial ACI */
   if (app_config.serial_enabled) {
@@ -200,7 +200,7 @@ int main(void)
         uint32_t led_status = !!((pin - BUTTON_START) & 0x01); /* even buttons are OFF, odd buttons are ON */
 
         mesh_data[0] = led_status;
-        led_config(LED_BLUE, led_status);
+        //led_config(LED_BLUE, led_status);
         error_code = rbc_mesh_value_set(TEST_LED_HANDLE, mesh_data, 1);
         APP_ERROR_CHECK(error_code);
       }

src/proximity.c

@@ -1,5 +1,6 @@
 #include "proximity.h"
 #include <string.h>
+#include "leds.h"
 
 static uint8_t rssi_sorted[MAX_PROXIMITY_TRACKING_COUNT];
 static uint8_t sensor_ids_sorted[MAX_PROXIMITY_TRACKING_COUNT];
@@ -24,13 +25,11 @@ void proximity_add_entry(uint8_t sensor_id, uint8_t rssi) {
 void proximity_values_reset() {
   memset(rssi_sorted, 0, sizeof(uint8_t) * MAX_PROXIMITY_TRACKING_COUNT);
   memset(sensor_ids_sorted, 0, sizeof(uint8_t) * MAX_PROXIMITY_TRACKING_COUNT);
+  rssi_sorted[4] = sizeof(uint8_t) * MAX_PROXIMITY_TRACKING_COUNT;
 }
 
 uint8_t proximity_get_strongest_signals(uint8_t *sensor_ids, uint8_t *rssi_values, uint8_t output_array_size) {
-  uint8_t n = 0;
-  while(n<MAX_PROXIMITY_TRACKING_COUNT && n<output_array_size && rssi_sorted[n] > 0) {
-    n++;
-  }
+  uint8_t n = MAX_PROXIMITY_TRACKING_COUNT > output_array_size ? output_array_size : MAX_PROXIMITY_TRACKING_COUNT;
   memcpy(sensor_ids, sensor_ids_sorted, sizeof(uint8_t) * n);
   memcpy(rssi_values, rssi_sorted, sizeof(uint8_t) * n);
   return n;

src/proximity.h

@@ -13,4 +13,5 @@ void proximity_values_reset();
 // count = length of sensor_ids and rssi_values arrays
 uint8_t proximity_get_strongest_signals(uint8_t *sensor_ids, uint8_t *rssi_values, uint8_t output_array_size);
 
+
 #endif //PROXIMITY_H

src/scheduler.c

@@ -53,14 +53,13 @@ static void periodic_timer_cb(void * p_context)
   DBG_TICK_PIN(6);
 
 
-  if (m_current_time % 10 == 0) {
+  if (1 /*m_current_time % 10 == 0*/) {
     //report_debug_register();
-    led_config(LED_GREEN, 1);
+    //led_config(LED_GREEN, 1);
     app_timer_cnt_get(&m_clock_second_start_counter_value);
     m_scheduler_state = SCHEDULER_STATE_BEFORE_HB;
     rbc_mesh_start();
 
-    toggle_led(LED_RED);
     delay_to_heartbeat();
   }
 }
@@ -78,7 +77,7 @@ static void delay_to_heartbeat() {
 }
 
 static void do_heartbeat() {
-  toggle_led(LED_RED);
+  //led_config(LED_GREEN, 0);
   uint32_t current_counter;
   app_timer_cnt_get(&current_counter);
   // Modulo wraparound makes this ok
@@ -95,6 +94,7 @@ static void delay_to_reporting() {
 }
 
 static void do_reporting() {
+  //led_config(LED_GREEN, 1);
   report_sensor_data();
 }
 
@@ -112,7 +112,7 @@ static void delay_to_sleep() {
 
 static void do_sleep() {
   rbc_mesh_stop();
-  led_config(LED_GREEN, 0);
+  //led_config(LED_GREEN, 0);
 }
 
 static void offset_timer_cb(void * p_context) {
@@ -184,6 +184,7 @@ void set_clock_time(int32_t epoch, uint16_t ms, clock_source_t clock_source, int
   } else if (clock_source == CLOCK_SOURCE_SERIAL) {
     m_clock_version++;
   }
+  TOGGLE_PIN(LED_BLUE + LED_START);
   m_boot_time += epoch - m_current_time;
   m_last_sync = m_current_time = epoch;
   uint16_t start_delay = (1000 - ms) % 1000;

src/sensor.c

@@ -25,6 +25,7 @@ void sensor_warmup_event() {
 void gather_sensor_data() {
   m_value.uptime = get_uptime();
   m_value.battery = get_battery_adc();
+  //m_value.status = ??
 
   read_shoe_accel(&m_value.accel_x, &m_value.accel_y, &m_value.accel_z);