Merge pull request #15 from 196510921/master

Add imu sensor API and imu sensor fusion to sensor tag fifo application

product/application/sensor_tag/mdk-arm/CAF.uvoptx

@@ -425,7 +425,7 @@
 
  <Group>
  <GroupName>system/juma</GroupName>
- <tvExp>0</tvExp>
+ <tvExp>1</tvExp>
  <tvExpOptDlg>0</tvExpOptDlg>
  <cbSel>0</cbSel>
  <RteFlg>0</RteFlg>

product/application/sensor_tag_fifo/app.c

@@ -0,0 +1,91 @@
+
+#include "app.h"
+#include "imu_sensor_fusion.h"
+/*start adv*/
+
+float pitch, roll, yal;
+
+static void sensor_read(void* arg);
+static void adv_name_generate(uint8_t* uni_name);
+static void fifo_status(void* arg);
+static void pitch_roll_yal_print(void* arg);
+
+#ifdef CANNON_V2
+char name[] = "CANNON_V2";
+#endif
+#ifdef CANNON_V1
+char name[] = "CANNON_V1";
+#endif
+uint8_t tx_power_level = 7;
+uint16_t adv_interval = 100;
+
+
+void on_ready(void)
+{
+ uint8_t bdAddr[6];
+ uint32_t data_rate = 800;
+ HCI_get_bdAddr(bdAddr);
+ adv_name_generate(bdAddr+4);
+ /*Config Adv Parameter And Ready to Adv*/
+ ble_set_adv_param(name, bdAddr, tx_power_level, adv_interval);
+ ble_device_start_advertising();
+
+ imu_sensor_select_features(ACC_AND_GYRO_ENABLE); 
+
+ imu_sensor_reset();
+
+ imu_sensor_set_data_rate(&data_rate);
+
+ imu_sensor_start();
+
+ run_after_delay(pitch_roll_yal_print, NULL, 500);
+}
+
+
+static void adv_name_generate(uint8_t* uni_name) {
+ char temp[3] = "_";
+ /*adv name aplice*/
+ sprintf(temp+1,"%d%d",*uni_name,*(uni_name+1));
+ strcat(name, temp);
+}
+
+static void fifo_status(void* arg)
+{
+ imu_sensor_read_fifo_status();
+ //imu_sensor_read_data_from_fifo();
+ run_after_delay(fifo_status, NULL, 100);
+}
+
+void app_pitch_roll(imu_sensor_data_t* Data)
+{
+
+ complementary_filter(Data->acc, Data->gyro, Data->mag, &pitch, &roll, &yal);
+ //printf("pitch: %f, roll: %f, yal: %f \n", pitch, roll, yal);
+}
+
+static void pitch_roll_yal_print(void* arg)
+{
+ printf("pitch: %f, roll: %f, yal: %f \n", pitch, roll, yal);
+ run_after_delay(pitch_roll_yal_print, NULL, 500);
+}
+
+/* Device On Message */
+void ble_device_on_message(uint8_t type, uint16_t length, uint8_t* value)
+{
+
+
+}
+/* Device on connect */
+void ble_device_on_connect(void)
+{
+
+ tBleStatus ret = BLE_WAIT_REMOTE_ENABLE_NOTIFY;
+
+}
+/* Device on disconnect */
+void ble_device_on_disconnect(uint8_t reason)
+{
+ /* Make the device connectable again. */
+ Ble_conn_state = BLE_CONNECTABLE;
+ ble_device_start_advertising();
+}

product/application/sensor_tag_fifo/app.h

@@ -0,0 +1,12 @@
+#ifndef _APP_H_
+#define _APP_H_
+#include "bluenrg_sdk_api.h"
+#include "juma_sensor.h"
+#include "imu_sensor.h"
+
+void app_pitch_roll(imu_sensor_data_t* Data);
+
+#endif //_APP_H_
+
+
+