initial commit
This commit is contained in:
commit
a429c81bcb
9
.vscode/settings.json
vendored
Normal file
9
.vscode/settings.json
vendored
Normal file
@ -0,0 +1,9 @@
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{
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"go.toolsEnvVars": {
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"GOOS": "linux",
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"GOARCH": "arm",
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"GOROOT": "/Users/fabian/Library/Caches/tinygo/goroot-a02c847ffd7efbf1e1c759b3cf7d01927ed38f0106b48dbfb04faff6caf9ce40",
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"GOFLAGS": "-tags=cortexm,baremetal,linux,arm,nrf52840,nrf,softdevice,s140v7,nrf52840_reset_uf2,xiao_ble,tinygo,purego,osusergo,math_big_pure_go,gc.conservative,scheduler.tasks,serial.usb"
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},
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"go.buildTags": "softdevice",
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}
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13
Makefile
Normal file
13
Makefile
Normal file
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xiao: flash
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prepare:
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./flashing_time.py
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flash:
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tinygo flash -target=xiao-ble -size=short
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production:
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tinygo flash -target=xiao-ble -serial=none -size=short
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testing:
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tinygo flash -target=xiao-ble -serial=none -size=short -opt=2 -gc=leaking -scheduler=tasks
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25
README.md
Normal file
25
README.md
Normal file
@ -0,0 +1,25 @@
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# Pet Activity Recorder
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This project contains the code for the microcontroller for recording gyro data and sending it to a connected device via Bluetooth.
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## Usage
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Only connect one microcontroller at the same time!
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- Flash the code to the connected microcontroller.
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```bash
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make flash
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```
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- Flash the code in production mode (deactivated serial).
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```bash
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make production
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```
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- Flash the code in testing mode (enhanced optimisations that need more testing)
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```bash
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make testing
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```
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15
flashing_time.py
Executable file
15
flashing_time.py
Executable file
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#!/usr/bin/env python
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from subprocess import run
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# requires pySerial:
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# python -m pip install pyserial
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import serial
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# grab the port for the seeed nrf52 (only connect one at a time)
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data = run("ls /dev/ | grep 'cu.usbmodem'", capture_output=True, shell=True, text=True)
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ser = serial.Serial("/dev/" + data.stdout.strip(), 1200)
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# send 16 null characters as reset signal to enter the bootloader
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ser.write(b"\x00" * 16)
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ser.close()
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19
go.mod
Normal file
19
go.mod
Normal file
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module xiao-pet-tracker
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go 1.23.1
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require (
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github.com/go-ole/go-ole v1.2.6 // indirect
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github.com/godbus/dbus/v5 v5.1.0 // indirect
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github.com/google/shlex v0.0.0-20191202100458-e7afc7fbc510 // indirect
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github.com/saltosystems/winrt-go v0.0.0-20240509164145-4f7860a3bd2b // indirect
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github.com/sirupsen/logrus v1.9.3 // indirect
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github.com/soypat/cyw43439 v0.0.0-20240609122733-da9153086796 // indirect
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github.com/soypat/seqs v0.0.0-20240527012110-1201bab640ef // indirect
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github.com/tinygo-org/cbgo v0.0.4 // indirect
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github.com/tinygo-org/pio v0.0.0-20231216154340-cd888eb58899 // indirect
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golang.org/x/exp v0.0.0-20230728194245-b0cb94b80691 // indirect
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golang.org/x/sys v0.11.0 // indirect
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tinygo.org/x/bluetooth v0.10.0 // indirect
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tinygo.org/x/drivers v0.28.0 // indirect
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)
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39
go.sum
Normal file
39
go.sum
Normal file
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github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
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github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
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github.com/go-ole/go-ole v1.2.6 h1:/Fpf6oFPoeFik9ty7siob0G6Ke8QvQEuVcuChpwXzpY=
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github.com/go-ole/go-ole v1.2.6/go.mod h1:pprOEPIfldk/42T2oK7lQ4v4JSDwmV0As9GaiUsvbm0=
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github.com/godbus/dbus/v5 v5.1.0 h1:4KLkAxT3aOY8Li4FRJe/KvhoNFFxo0m6fNuFUO8QJUk=
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github.com/godbus/dbus/v5 v5.1.0/go.mod h1:xhWf0FNVPg57R7Z0UbKHbJfkEywrmjJnf7w5xrFpKfA=
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github.com/google/shlex v0.0.0-20191202100458-e7afc7fbc510 h1:El6M4kTTCOh6aBiKaUGG7oYTSPP8MxqL4YI3kZKwcP4=
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github.com/google/shlex v0.0.0-20191202100458-e7afc7fbc510/go.mod h1:pupxD2MaaD3pAXIBCelhxNneeOaAeabZDe5s4K6zSpQ=
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github.com/konsorten/go-windows-terminal-sequences v1.0.1/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ=
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github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
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github.com/saltosystems/winrt-go v0.0.0-20240509164145-4f7860a3bd2b h1:du3zG5fd8snsFN6RBoLA7fpaYV9ZQIsyH9snlk2Zvik=
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github.com/saltosystems/winrt-go v0.0.0-20240509164145-4f7860a3bd2b/go.mod h1:CIltaIm7qaANUIvzr0Vmz71lmQMAIbGJ7cvgzX7FMfA=
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github.com/sirupsen/logrus v1.5.0/go.mod h1:+F7Ogzej0PZc/94MaYx/nvG9jOFMD2osvC3s+Squfpo=
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github.com/sirupsen/logrus v1.9.3 h1:dueUQJ1C2q9oE3F7wvmSGAaVtTmUizReu6fjN8uqzbQ=
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github.com/sirupsen/logrus v1.9.3/go.mod h1:naHLuLoDiP4jHNo9R0sCBMtWGeIprob74mVsIT4qYEQ=
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github.com/soypat/cyw43439 v0.0.0-20240609122733-da9153086796 h1:1/r2URInjjFtWqT61gU7YGVCq3BRyXt/C7z4oLRF9Lo=
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github.com/soypat/cyw43439 v0.0.0-20240609122733-da9153086796/go.mod h1:1Otjk6PRhfzfcVHeWMEeku/VntFqWghUwuSQyivb2vE=
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github.com/soypat/seqs v0.0.0-20240527012110-1201bab640ef h1:phH95I9wANjTYw6bSYLZDQfNvao+HqYDom8owbNa0P4=
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github.com/soypat/seqs v0.0.0-20240527012110-1201bab640ef/go.mod h1:oCVCNGCHMKoBj97Zp9znLbQ1nHxpkmOY9X+UAGzOxc8=
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github.com/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME=
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github.com/stretchr/testify v1.2.2/go.mod h1:a8OnRcib4nhh0OaRAV+Yts87kKdq0PP7pXfy6kDkUVs=
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github.com/stretchr/testify v1.7.0/go.mod h1:6Fq8oRcR53rry900zMqJjRRixrwX3KX962/h/Wwjteg=
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github.com/tinygo-org/cbgo v0.0.4 h1:3D76CRYbH03Rudi8sEgs/YO0x3JIMdyq8jlQtk/44fU=
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github.com/tinygo-org/cbgo v0.0.4/go.mod h1:7+HgWIHd4nbAz0ESjGlJ1/v9LDU1Ox8MGzP9mah/fLk=
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github.com/tinygo-org/pio v0.0.0-20231216154340-cd888eb58899 h1:/DyaXDEWMqoVUVEJVJIlNk1bXTbFs8s3Q4GdPInSKTQ=
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github.com/tinygo-org/pio v0.0.0-20231216154340-cd888eb58899/go.mod h1:LU7Dw00NJ+N86QkeTGjMLNkYcEYMor6wTDpTCu0EaH8=
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golang.org/x/exp v0.0.0-20230728194245-b0cb94b80691 h1:/yRP+0AN7mf5DkD3BAI6TOFnd51gEoDEb8o35jIFtgw=
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golang.org/x/exp v0.0.0-20230728194245-b0cb94b80691/go.mod h1:FXUEEKJgO7OQYeo8N01OfiKP8RXMtf6e8aTskBGqWdc=
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golang.org/x/sys v0.0.0-20190422165155-953cdadca894/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
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golang.org/x/sys v0.0.0-20190916202348-b4ddaad3f8a3/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
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golang.org/x/sys v0.0.0-20220715151400-c0bba94af5f8/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
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golang.org/x/sys v0.11.0 h1:eG7RXZHdqOJ1i+0lgLgCpSXAp6M3LYlAo6osgSi0xOM=
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golang.org/x/sys v0.11.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
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gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
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gopkg.in/yaml.v3 v3.0.0-20200313102051-9f266ea9e77c/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
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tinygo.org/x/bluetooth v0.10.0 h1:42n8qj2tuF5AfdbAUR2Nv45EhtVmbDFH6UoWnt6lzZQ=
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tinygo.org/x/bluetooth v0.10.0/go.mod h1:t/Vm2a/rslsBoqFQKCBsWQw/cmRicQq+8Tl3tj5RCRI=
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tinygo.org/x/drivers v0.28.0 h1:ROVrGGXddmpn2+oV/Bu3LceYbtPCJckmgIqvPcN/L0k=
|
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tinygo.org/x/drivers v0.28.0/go.mod h1:T6snsUqS0RAxOANxiV81fQwLxDDNmprxTAYzmxoA7J0=
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173
main.go
Normal file
173
main.go
Normal file
@ -0,0 +1,173 @@
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package main
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import (
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"encoding/binary"
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"fmt"
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"machine"
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"time"
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"tinygo.org/x/bluetooth"
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"tinygo.org/x/drivers/lsm6ds3tr"
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)
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var adapter = bluetooth.DefaultAdapter
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var isBleConnected bool = false
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var isCapturing bool = false
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var (
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LSM6DS3TRService = [16]byte{0x4C, 0x53, 0x4D, 0x36, 0x44, 0x53, 0x33, 0x54, 0x52, 0x53, 0x65, 0x72, 0x76, 0x69, 0x63, 0x65}
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accelerationData = [16]byte{0x61, 0x63, 0x63, 0x65, 0x6C, 0x65, 0x72, 0x61, 0x74, 0x69, 0x6F, 0x6E, 0x44, 0x61, 0x74, 0x61}
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unixTimeStampRst = [16]byte{0x75, 0x6E, 0x69, 0x78, 0x54, 0x69, 0x6D, 0x65, 0x53, 0x74, 0x61, 0x6D, 0x70, 0x52, 0x73, 0x74}
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capturingService = [16]byte{0x63, 0x61, 0x70, 0x74, 0x75, 0x72, 0x69, 0x6E, 0x67, 0x53, 0x65, 0x72, 0x76, 0x69, 0x63, 0x65}
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//tempSenseService = [16]byte{0x74, 0x65, 0x6D, 0x70, 0x53, 0x65, 0x6E, 0x73, 0x65, 0x53, 0x65, 0x72, 0x76, 0x69, 0x63, 0x65}
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//temperatureSense = [16]byte{0x74, 0x65, 0x6D, 0x70, 0x65, 0x72, 0x61, 0x74, 0x75, 0x72, 0x65, 0x53, 0x65, 0x6E, 0x73, 0x65}
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)
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var currentTimeStamp time.Time = time.Now()
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var lastTimeStamp time.Time = time.Now()
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const sleepDuration time.Duration = time.Millisecond * 100
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func main() {
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// Configure LSM6DS3TR
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machine.I2C0.Configure(machine.I2CConfig{})
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accel := lsm6ds3tr.New(machine.I2C0)
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err := accel.Configure(lsm6ds3tr.Configuration{})
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if err != nil {
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for {
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println("Failed to configure", err.Error())
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time.Sleep(time.Second)
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}
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}
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// Configure Bluetooth
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must("enable BLE stack", adapter.Enable())
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adv := adapter.DefaultAdvertisement()
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must("config adv", adv.Configure(bluetooth.AdvertisementOptions{
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LocalName: "Go Bluetooth",
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ManufacturerData: []bluetooth.ManufacturerDataElement{
|
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// 0xFFFF: Special Use/Default ID
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// Bluetooth Company Identifiers:
|
||||
// https://gist.github.com/angorb/f92f76108b98bb0d81c74f60671e9c67
|
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{CompanyID: 0xffff, Data: []byte{0x01, 0x02}},
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||||
},
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||||
}))
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||||
adapter.SetConnectHandler(func(device bluetooth.Device, connected bool) {
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if connected {
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isBleConnected = true
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adv.Stop()
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} else {
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isBleConnected = false
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isCapturing = false
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adv.Start()
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||||
}
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||||
})
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//
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// Start Bluetooth advertisment
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must("start adv", adv.Start())
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||||
var senseCharacteristic bluetooth.Characteristic
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must("add sense service", adapter.AddService(&bluetooth.Service{
|
||||
UUID: bluetooth.NewUUID(LSM6DS3TRService),
|
||||
Characteristics: []bluetooth.CharacteristicConfig{
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||||
{
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||||
Handle: &senseCharacteristic,
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||||
UUID: bluetooth.NewUUID(accelerationData),
|
||||
// can only send a max amount of 20 bytes in one packet
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||||
//Value: []byte{},
|
||||
Flags: bluetooth.CharacteristicNotifyPermission | bluetooth.CharacteristicReadPermission | bluetooth.CharacteristicWritePermission | bluetooth.CharacteristicWriteWithoutResponsePermission,
|
||||
},
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||||
{
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||||
UUID: bluetooth.NewUUID(unixTimeStampRst),
|
||||
Flags: bluetooth.CharacteristicNotifyPermission | bluetooth.CharacteristicReadPermission | bluetooth.CharacteristicWritePermission | bluetooth.CharacteristicWriteWithoutResponsePermission,
|
||||
WriteEvent: func(client bluetooth.Connection, offset int, value []byte) {
|
||||
if len(value) != 8 {
|
||||
return
|
||||
}
|
||||
millisFromEpoch := binary.BigEndian.Uint64(value)
|
||||
currentTimeStamp = time.Unix(0, int64(millisFromEpoch)*int64(time.Millisecond))
|
||||
},
|
||||
},
|
||||
{
|
||||
UUID: bluetooth.NewUUID(capturingService),
|
||||
Flags: bluetooth.CharacteristicNotifyPermission | bluetooth.CharacteristicReadPermission | bluetooth.CharacteristicWritePermission | bluetooth.CharacteristicWriteWithoutResponsePermission,
|
||||
WriteEvent: func(client bluetooth.Connection, offset int, value []byte) {
|
||||
if len(value) != 1 {
|
||||
return
|
||||
}
|
||||
if value[0] == 1 {
|
||||
isCapturing = true
|
||||
} else {
|
||||
isCapturing = false
|
||||
}
|
||||
},
|
||||
},
|
||||
},
|
||||
}))
|
||||
|
||||
// var tempCharacteristic bluetooth.Characteristic
|
||||
// must("add temperature service", adapter.AddService(&bluetooth.Service{
|
||||
// UUID: bluetooth.NewUUID(tempSenseService),
|
||||
// Characteristics: []bluetooth.CharacteristicConfig{
|
||||
// {
|
||||
// Handle: &tempCharacteristic,
|
||||
// UUID: bluetooth.NewUUID(temperatureSense),
|
||||
// Value: []byte(tempData),
|
||||
// Flags: bluetooth.CharacteristicNotifyPermission | bluetooth.CharacteristicReadPermission,
|
||||
// },
|
||||
// },
|
||||
// }))
|
||||
|
||||
// Main Loop
|
||||
for {
|
||||
// Only read and update sensor data
|
||||
// with an active bluetooth connection
|
||||
// and when `isCapturing` is set to true
|
||||
if isBleConnected && isCapturing {
|
||||
X, Y, Z, _ := accel.ReadRotation()
|
||||
x, y, z, _ := accel.ReadAcceleration()
|
||||
|
||||
arrRot := valuesToByteArray(X, Y, Z, int8(1))
|
||||
arrAcc := valuesToByteArray(x, y, z, int8(2))
|
||||
|
||||
currentTimeStamp = currentTimeStamp.Add(time.Now().Sub(lastTimeStamp))
|
||||
fmt.Println("TIME: ", time.Now().Sub(lastTimeStamp))
|
||||
arrTime := timeStampToByteArray(currentTimeStamp.UnixMilli(), int8(3))
|
||||
|
||||
senseCharacteristic.Write(arrRot)
|
||||
senseCharacteristic.Write(arrAcc)
|
||||
senseCharacteristic.Write(arrTime)
|
||||
}
|
||||
|
||||
if isCapturing {
|
||||
lastTimeStamp = time.Now()
|
||||
}
|
||||
time.Sleep(sleepDuration)
|
||||
}
|
||||
}
|
||||
|
||||
func valuesToByteArray(x int32, y int32, z int32, p int8) []byte {
|
||||
byteSlice := make([]byte, 13)
|
||||
binary.LittleEndian.PutUint32(byteSlice, uint32(x))
|
||||
binary.LittleEndian.PutUint32(byteSlice[4:], uint32(y))
|
||||
binary.LittleEndian.PutUint32(byteSlice[8:], uint32(z))
|
||||
byteSlice[12] = byte(p)
|
||||
return byteSlice
|
||||
}
|
||||
|
||||
func timeStampToByteArray(value int64, p int8) []byte {
|
||||
byteSlice := make([]byte, 9)
|
||||
binary.LittleEndian.PutUint64(byteSlice, uint64(value))
|
||||
byteSlice[8] = byte(p)
|
||||
return byteSlice
|
||||
}
|
||||
|
||||
func must(action string, err error) {
|
||||
if err != nil {
|
||||
panic("failed to " + action + ": " + err.Error())
|
||||
}
|
||||
}
|
||||
Loading…
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Reference in New Issue
Block a user