diff options
Diffstat (limited to 'tradeshow/iot-sensortag/bluetoothdevice.cpp')
| -rw-r--r-- | tradeshow/iot-sensortag/bluetoothdevice.cpp | 212 |
1 files changed, 53 insertions, 159 deletions
diff --git a/tradeshow/iot-sensortag/bluetoothdevice.cpp b/tradeshow/iot-sensortag/bluetoothdevice.cpp index 66faf5a..a7b8bc4 100644 --- a/tradeshow/iot-sensortag/bluetoothdevice.cpp +++ b/tradeshow/iot-sensortag/bluetoothdevice.cpp @@ -58,18 +58,14 @@ #include <QTimer> #include <QDebug> #include <QtMath> +#include <QDateTime> Q_DECLARE_LOGGING_CATEGORY(boot2QtDemos) -// The average time from read request to read response is 150ms in optimal conditions. -// With other sensors being read we have to limit it to even longer periods. -#define RAPID_TIMER_MS 350 -#define MEDIUM_TIMER_MS (1.5*RAPID_TIMER_MS) -#define SLOW_TIMER_MS 2000 - #define START_MEASUREMENT_STR "01" /* 01 start, 00 stop */ #define DISABLE_NOTIF_STR "0000" /* 0100 enable, 0000 disable */ -#define SLOW_TIMER_TIMEOUT_STR "FA" /* 250 -> 2500ms */ +#define ENABLE_NOTIF_STR "0100" /* 0100 enable, 0000 disable */ +#define SLOW_TIMER_TIMEOUT_STR "64" /* 100 -> 1000ms */ #define MEDIUM_TIMER_TIMEOUT_STR "32" /* 50 -> 500ms */ #define RAPID_TIMER_TIMEOUT_STR "0A" /* 10 -> 100ms */ #define MOVEMENT_ENABLE_SENSORS_BITMASK_VALUE "7F02" /* see below */ @@ -85,6 +81,13 @@ Q_DECLARE_LOGGING_CATEGORY(boot2QtDemos) //MPU9250_ACCELEROMETER_RANGE_2 =0b0000_0010 = 8 G (default) //MPU9250_ACCELEROMETER_RANGE_3 =0b0000_0011 = 16 G +// These modifiers come from the Texas Intruments SensorTag Bluetooth LE API specification +#define GYROSCOPE_API_READING_MULTIPLIER (500.0 / 65536.0) +#define ACCELOMETER_API_READING_MULTIPLIER (8.0 / 32.768) +#define HUMIDITY_API_READING_MULTIPLIER (100.0 / 65536.0) +#define IR_TEMPERATURE_API_READING_DIVIDER 128.0 +#define BAROMETER_API_READING_DIVIDER 100 + typedef struct { qint16 gyrox; qint16 gyroy; @@ -107,10 +110,8 @@ BluetoothDevice::BluetoothDevice() , motionService(0) , m_deviceState(DeviceState::Disconnected) , randomAddress(false) - , slowTimer(0) - , mediumTimer(0) - , rapidTimer(0) { + lastMilliseconds = QDateTime::currentMSecsSinceEpoch(); statusUpdated("Device created"); } @@ -122,18 +123,6 @@ BluetoothDevice::BluetoothDevice(const QBluetoothDeviceInfo &d) BluetoothDevice::~BluetoothDevice() { - if (slowTimer) { - slowTimer->stop(); - delete slowTimer; - } - if (mediumTimer) { - mediumTimer->stop(); - delete mediumTimer; - } - if (rapidTimer) { - rapidTimer->stop(); - delete rapidTimer; - } delete discoveryAgent; delete controller; qDeleteAll(m_services); @@ -240,7 +229,7 @@ void BluetoothDevice::serviceScanDone() irTemperatureService = controller->createServiceObject(uuid); connect(irTemperatureService, &QLowEnergyService::stateChanged, this, &BluetoothDevice::temperatureDetailsDiscovered); - connect(irTemperatureService, &QLowEnergyService::characteristicRead, this, &BluetoothDevice::characteristicsRead); + connect(irTemperatureService, &QLowEnergyService::characteristicChanged, this, &BluetoothDevice::characteristicsRead); irTemperatureService->discoverDetails(); } if (!baroService) @@ -256,7 +245,7 @@ void BluetoothDevice::serviceScanDone() baroService = controller->createServiceObject(uuid); connect(baroService, &QLowEnergyService::stateChanged, this, &BluetoothDevice::barometerDetailsDiscovered); - connect(baroService, &QLowEnergyService::characteristicRead, this, &BluetoothDevice::characteristicsRead); + connect(baroService, &QLowEnergyService::characteristicChanged, this, &BluetoothDevice::characteristicsRead); baroService->discoverDetails(); } if (!humidityService) @@ -273,7 +262,7 @@ void BluetoothDevice::serviceScanDone() humidityService = controller->createServiceObject(uuid); connect(humidityService, &QLowEnergyService::stateChanged, this, &BluetoothDevice::humidityDetailsDiscovered); - connect(humidityService, &QLowEnergyService::characteristicRead, this, &BluetoothDevice::characteristicsRead); + connect(humidityService, &QLowEnergyService::characteristicChanged, this, &BluetoothDevice::characteristicsRead); humidityService->discoverDetails(); } @@ -291,7 +280,7 @@ void BluetoothDevice::serviceScanDone() lightService = controller->createServiceObject(uuid); connect(lightService, &QLowEnergyService::stateChanged, this, &BluetoothDevice::lightIntensityDetailsDiscovered); - connect(lightService, &QLowEnergyService::characteristicRead, this, &BluetoothDevice::characteristicsRead); + connect(lightService, &QLowEnergyService::characteristicChanged, this, &BluetoothDevice::characteristicsRead); lightService->discoverDetails(); } if (!motionService) @@ -306,7 +295,7 @@ void BluetoothDevice::serviceScanDone() } motionService = controller->createServiceObject(uuid); connect(motionService, &QLowEnergyService::stateChanged, this, &BluetoothDevice::motionDetailsDiscovered); - connect(motionService, &QLowEnergyService::characteristicRead, this, &BluetoothDevice::characteristicsRead); + connect(motionService, &QLowEnergyService::characteristicChanged, this, &BluetoothDevice::characteristicsRead); motionService->discoverDetails(); } attitudeChangeInterval.restart(); @@ -331,7 +320,7 @@ void BluetoothDevice::temperatureDetailsDiscovered(QLowEnergyService::ServiceSta if (id.toString().contains("f000aa01-0451-4000-b000-000000000000")) { //RN - irTemperatureService->writeDescriptor(characteristic.descriptors().at(0), QByteArray::fromHex(DISABLE_NOTIF_STR)); + irTemperatureService->writeDescriptor(characteristic.descriptors().at(0), QByteArray::fromHex(ENABLE_NOTIF_STR)); } if (id.toString().contains("f000aa02-0451-4000-b000-000000000000")) { //RW @@ -363,13 +352,13 @@ void BluetoothDevice::barometerDetailsDiscovered(QLowEnergyService::ServiceState qCDebug(boot2QtDemos)<<"characteristic:"<<id.toString(); if (id.toString().contains("f000aa41-0451-4000-b000-000000000000")) { - baroService->writeDescriptor(characteristic.descriptors().at(0), QByteArray::fromHex(DISABLE_NOTIF_STR)); + baroService->writeDescriptor(characteristic.descriptors().at(0), QByteArray::fromHex(ENABLE_NOTIF_STR)); } if (id.toString().contains("f000aa42-0451-4000-b000-000000000000")) { baroService->writeCharacteristic(characteristic, QByteArray::fromHex(START_MEASUREMENT_STR), QLowEnergyService::WriteWithResponse); // Start } if (id.toString().contains("f000aa44-0451-4000-b000-000000000000")) { - baroService->writeCharacteristic(characteristic, QByteArray::fromHex(SLOW_TIMER_TIMEOUT_STR), QLowEnergyService::WriteWithResponse); // Period 1 second + baroService->writeCharacteristic(characteristic, QByteArray::fromHex(MEDIUM_TIMER_TIMEOUT_STR), QLowEnergyService::WriteWithResponse); // Period 1 second } } m_barometerMeasurementStarted = true; @@ -394,7 +383,7 @@ void BluetoothDevice::humidityDetailsDiscovered(QLowEnergyService::ServiceState qCDebug(boot2QtDemos)<<"characteristic:"<<id.toString(); if (id.toString().contains("f000aa21-0451-4000-b000-000000000000")) { - humidityService->writeDescriptor(characteristic.descriptors().at(0), QByteArray::fromHex(DISABLE_NOTIF_STR)); + humidityService->writeDescriptor(characteristic.descriptors().at(0), QByteArray::fromHex(ENABLE_NOTIF_STR)); } if (id.toString().contains("f000aa22-0451-4000-b000-000000000000")) { humidityService->writeCharacteristic(characteristic, QByteArray::fromHex(START_MEASUREMENT_STR), QLowEnergyService::WriteWithResponse); // Start @@ -425,7 +414,7 @@ void BluetoothDevice::lightIntensityDetailsDiscovered(QLowEnergyService::Service qCDebug(boot2QtDemos)<<"characteristic:"<<id.toString(); if (id.toString().contains("f000aa71-0451-4000-b000-000000000000")) { - lightService->writeDescriptor(characteristic.descriptors().at(0), QByteArray::fromHex(DISABLE_NOTIF_STR)); + lightService->writeDescriptor(characteristic.descriptors().at(0), QByteArray::fromHex(ENABLE_NOTIF_STR)); } if (id.toString().contains("f000aa72-0451-4000-b000-000000000000")) { lightService->writeCharacteristic(characteristic, QByteArray::fromHex(START_MEASUREMENT_STR), QLowEnergyService::WriteWithResponse); // Start @@ -440,8 +429,13 @@ void BluetoothDevice::lightIntensityDetailsDiscovered(QLowEnergyService::Service void BluetoothDevice::motionDetailsDiscovered(QLowEnergyService::ServiceState newstate) { + // reset the time once more before we start to receive measurements. + lastMilliseconds = QDateTime::currentMSecsSinceEpoch(); + if (newstate == QLowEnergyService::ServiceDiscovered) { - connect(motionService, &QLowEnergyService::characteristicWritten, this, &BluetoothDevice::startTimers); + connect(motionService, &QLowEnergyService::characteristicWritten, [=]() { + qCDebug(boot2QtDemos) << "Wrote Characteristic - gyro"; + }); connect(motionService, static_cast<void(QLowEnergyService::*)(QLowEnergyService::ServiceError)>(&QLowEnergyService::error), [=](QLowEnergyService::ServiceError newError) { @@ -454,65 +448,19 @@ void BluetoothDevice::motionDetailsDiscovered(QLowEnergyService::ServiceState ne qCDebug(boot2QtDemos)<<"characteristic:"<<id.toString(); if (id.toString().contains("f000aa81-0451-4000-b000-000000000000")) { - motionService->writeDescriptor(characteristic.descriptors().at(0), QByteArray::fromHex(DISABLE_NOTIF_STR)); + motionService->writeDescriptor(characteristic.descriptors().at(0), QByteArray::fromHex(ENABLE_NOTIF_STR)); } if (id.toString().contains("f000aa82-0451-4000-b000-000000000000")) { motionService->writeCharacteristic(characteristic, QByteArray::fromHex(MOVEMENT_ENABLE_SENSORS_BITMASK_VALUE), QLowEnergyService::WriteWithResponse); } if (id.toString().contains("f000aa83-0451-4000-b000-000000000000")) { - motionService->writeCharacteristic(characteristic, QByteArray::fromHex("0a"), QLowEnergyService::WriteWithResponse); + motionService->writeCharacteristic(characteristic, QByteArray::fromHex(RAPID_TIMER_TIMEOUT_STR), QLowEnergyService::WriteWithResponse); } } m_motionMeasurementStarted = true; } } -void BluetoothDevice::startTimers() { - qCDebug(boot2QtDemos) << "Wrote Characteristic - gyro, starting timers."; - if (!slowTimer) { - slowTimer = new QTimer(this); - connect(slowTimer, SIGNAL(timeout()), this, SLOT(slowTimerExpired())); - slowTimer->start(SLOW_TIMER_MS); - } - if (!mediumTimer) { - mediumTimer = new QTimer(this); - connect(mediumTimer, SIGNAL(timeout()), this, SLOT(mediumTimerExpired())); - mediumTimer->start(MEDIUM_TIMER_MS); - } - if (!rapidTimer) { - rapidTimer = new QTimer(this); - connect(rapidTimer, SIGNAL(timeout()), this, SLOT(rapidTimerExpired())); - rapidTimer->start(RAPID_TIMER_MS); - } -} - -void BluetoothDevice::slowTimerExpired() -{ - if (irTemperatureService && m_temperatureMeasurementStarted) { - queueReadRequest(temperatureCharacteristic); - } - if (baroService && m_barometerMeasurementStarted) { - queueReadRequest(barometerCharacteristic); - } - if (humidityService && m_humidityMeasurementStarted){ - queueReadRequest(humidityCharacteristic); - } -} - -void BluetoothDevice::mediumTimerExpired() -{ - if (lightService && m_lightIntensityMeasurementStarted){ - queueReadRequest(lightCharacteristic); - } -} - -void BluetoothDevice::rapidTimerExpired() -{ - if (motionService && m_motionMeasurementStarted) { - queueReadRequest(motionCharacteristic); - } -} - void BluetoothDevice::characteristicsRead(const QLowEnergyCharacteristic &info, const QByteArray &value) { switch (info.handle()) @@ -536,9 +484,6 @@ void BluetoothDevice::characteristicsRead(const QLowEnergyCharacteristic &info, qWarning() << "Invalid handle" << info.handle() << "in characteristicsRead!"; break; } - delete readRequestQueue.takeFirst(); - // Response got, now we can send new request. - sendFirstFromQueue(); } void BluetoothDevice::setState(BluetoothDevice::DeviceState state) @@ -549,76 +494,22 @@ void BluetoothDevice::setState(BluetoothDevice::DeviceState state) } } -bool BluetoothDevice::isNotInQueue(CharacteristicType characteristic) -{ - bool characteristicFound = false; - QVector<QueueData*>::const_iterator i; - for (i = readRequestQueue.constBegin(); i != readRequestQueue.constEnd(); ++i) { - if (characteristic == (*i)->typeToSend) { - characteristicFound = true; - break; - } - } - return !characteristicFound; -} - -void BluetoothDevice::queueReadRequest(CharacteristicType characteristicToRead) -{ - if (isNotInQueue(characteristicToRead)) { - readRequestQueue.append(new QueueData(characteristicToRead)); - // Try to send. If there is a request ongoing, this does nothing. - sendFirstFromQueue(); - } else { - qWarning() << "tried to add request of type " << characteristicToRead << " to queue before previous response was received!"; - } -} - -void BluetoothDevice::sendFirstFromQueue() +double BluetoothDevice::convertIrTemperatureAPIReadingToCelsius(quint16 rawReading) { - while (readRequestQueue.length() && - (false == readRequestQueue.first()->alreadySent)) { - readRequestQueue.first()->alreadySent = true; - switch (readRequestQueue.first()->typeToSend) - { - case temperatureCharacteristic: - if (irTemperatureService) - irTemperatureService->readCharacteristic(irTemperatureService->characteristic(QUuid(QString("f000aa01-0451-4000-b000-000000000000")))); - break; - case humidityCharacteristic: - if (humidityService) - humidityService->readCharacteristic(humidityService->characteristic(QUuid(QString("f000aa21-0451-4000-b000-000000000000")))); - break; - case barometerCharacteristic: - if (baroService) - baroService->readCharacteristic(baroService->characteristic(QUuid(QString("f000aa41-0451-4000-b000-000000000000")))); - break; - case motionCharacteristic: - if (motionService) - motionService->readCharacteristic(motionService->characteristic(QUuid(QString("f000aa81-0451-4000-b000-000000000000")))); - break; - case lightCharacteristic: - if (lightService) - lightService->readCharacteristic(lightService->characteristic(QUuid(QString("f000aa71-0451-4000-b000-000000000000")))); - break; - default: - delete readRequestQueue.takeFirst(); - break; - } - } + // Compute and filter final value according to TI Bluetooth LE API + const float SCALE_LSB = 0.03125; + int it = (int)((rawReading) >> 2); + float t = (float)it; + return t * SCALE_LSB; } void BluetoothDevice::irTemperatureReceived(const QByteArray &value) { - //Merge bytes - unsigned int temperature_raw = (((quint8)value.at(3)) << 8) + ((quint8)value.at(2)); - double temperature = static_cast<double>(temperature_raw); - - //Compute and filter final value - if (temperature < 32768) - temperature = temperature/128.0; //Positive temperature values - else if (temperature > 32768) - temperature = (temperature - 65536) / 128.0; //Negative temperature values - emit temperatureChanged(temperature); + const unsigned int rawObjectTemperature = (((quint8)value.at(3)) << 8) + ((quint8)value.at(2)); + const double objectTemperature = convertIrTemperatureAPIReadingToCelsius(rawObjectTemperature); + const unsigned int rawAmbientTemperature = (((quint8)value.at(1)) << 8) + ((quint8)value.at(0)); + const double ambientTemperature = convertIrTemperatureAPIReadingToCelsius(rawAmbientTemperature); + emit temperatureChanged(ambientTemperature, objectTemperature); } void BluetoothDevice::barometerReceived(const QByteArray &value) @@ -635,10 +526,10 @@ void BluetoothDevice::barometerReceived(const QByteArray &value) } double temperature = static_cast<double>(temperature_raw); - temperature /= 100; + temperature /= BAROMETER_API_READING_DIVIDER; double barometer = static_cast<double>(barometer_raw); - barometer /= 100; + barometer /= BAROMETER_API_READING_DIVIDER; emit barometerChanged(temperature, barometer); } @@ -647,7 +538,7 @@ void BluetoothDevice::humidityReceived(const QByteArray &value) //Merge bytes unsigned int humidity_raw = (((quint8)value.at(3)) << 8) + ((quint8)value.at(2)); double humidity = static_cast<double>(humidity_raw); - humidity = (humidity / 65536)*100; + humidity = humidity * HUMIDITY_API_READING_MULTIPLIER; emit humidityChanged(humidity); } @@ -660,6 +551,7 @@ void BluetoothDevice::lightIntensityReceived(const QByteArray &value) m = lightIntensity_raw & 0x0FFF; e = (lightIntensity_raw & 0xF000) >> 12; + // Compute and final value according to TI Bluetooth LE API double lightIntensity = ((double)m) * (0.01 * (double)qPow(2.0,(qreal)e)); emit lightIntensityChanged(lightIntensity); } @@ -667,7 +559,9 @@ void BluetoothDevice::lightIntensityReceived(const QByteArray &value) void BluetoothDevice::motionReceived(const QByteArray &value) { static MotionSensorData data; - data.msSincePreviousData = attitudeChangeInterval.restart(); + data.msSincePreviousData = lastMilliseconds; + lastMilliseconds = QDateTime::currentMSecsSinceEpoch(); + data.msSincePreviousData = lastMilliseconds - data.msSincePreviousData; movement_data_t values; quint8* writePtr = (quint8*)(&values); @@ -679,13 +573,13 @@ void BluetoothDevice::motionReceived(const QByteArray &value) // Data is in little endian. Fix here if needed. //Convert gyroscope and accelometer readings to proper units - data.gyroScope_x = (double(values.gyrox) * 500) / 65536; - data.gyroScope_y = (double(values.gyroy) * 500) / 65536; - data.gyroScope_z = (double(values.gyroz) * 500) / 65536; + data.gyroScope_x = double(values.gyrox) * GYROSCOPE_API_READING_MULTIPLIER; + data.gyroScope_y = double(values.gyroy) * GYROSCOPE_API_READING_MULTIPLIER; + data.gyroScope_z = double(values.gyroz) * GYROSCOPE_API_READING_MULTIPLIER; // Accelometer at 8G - data.accelometer_x = (double(values.accelx)*8) / 32.768; - data.accelometer_y = (double(values.accely)*8) / 32.768; - data.accelometer_z = (double(values.accelz)*8) / 32.768; + data.accelometer_x = double(values.accelx) * ACCELOMETER_API_READING_MULTIPLIER; + data.accelometer_y = double(values.accely) * ACCELOMETER_API_READING_MULTIPLIER; + data.accelometer_z = double(values.accelz) * ACCELOMETER_API_READING_MULTIPLIER; data.magnetometer_x = double(values.magnetomx); data.magnetometer_y = double(values.magnetomy); data.magnetometer_z = double(values.magnetomz); |