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@xtnctx
xtnctx authored Feb 18, 2024
1 parent f1c8d47 commit 6211b9b
Showing 1 changed file with 96 additions and 75 deletions.
171 changes: 96 additions & 75 deletions Arduino Nano 33 BLE Sense/ble_file_transfer.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,8 @@ limitations under the License.

#include <ArduinoBLE.h>
#include <Arduino_LSM9DS1.h>
#include <Arduino_APDS9960.h>
#include <Arduino_HTS221.h>
#include "Adafruit_VL53L0X.h"
#include <Adafruit_MLX90614.h>

#include <TensorFlowLite.h>
#include <tensorflow/lite/micro/all_ops_resolver.h>
Expand All @@ -33,14 +33,17 @@ limitations under the License.

SdFat sd;
File modelFile;
Adafruit_VL53L0X lox = Adafruit_VL53L0X();
Adafruit_MLX90614 mlx = Adafruit_MLX90614();

bool isConnected = false;
bool isBLEBusy = false;

int buzzerPin = 8;
int buzzTime = 200;

int buzzTime = 200; // buzzer frequency
unsigned long buzzStartTime = 0;
const unsigned long buzzDuration = 5000; // buzz and vibrate for 5 seconds
int vibrationPin = 6;
String currentDate = "";

// global variables used for TensorFlow Lite (Micro)
// pull in all the TFLM ops, you can remove this line and
Expand All @@ -64,6 +67,7 @@ const char* HOTSPOT[] = {
"on_target"
};
String previous_file;
String currentDate = "";
String currentUser = "";
double on_target_threshold = 0.8;

Expand Down Expand Up @@ -120,10 +124,9 @@ BLECharacteristic error_message_characteristic(FILE_TRANSFER_UUID("3006"), BLERe
constexpr int32_t data_size_count = 32;
BLECharacteristic accelerometer_characteristic(FILE_TRANSFER_UUID("3007"), BLERead | BLENotify, data_size_count);
BLECharacteristic gyroscope_characteristic(FILE_TRANSFER_UUID("3008"), BLERead | BLENotify, data_size_count);
BLECharacteristic distance_characteristic(FILE_TRANSFER_UUID("3009"), BLERead | BLENotify, data_size_count);
// BLECharacteristic temperature_characteristic(FILE_TRANSFER_UUID("3010"), BLERead | BLENotify, data_size_count);
BLECharacteristic distance_temperature_characteristic(FILE_TRANSFER_UUID("3009"), BLERead | BLENotify, data_size_count);

BLECharacteristic file_update_characteristic(FILE_TRANSFER_UUID("3011"), BLERead | BLENotify, file_block_byte_count);
BLECharacteristic file_update_characteristic(FILE_TRANSFER_UUID("3010"), BLERead | BLENotify, file_block_byte_count);



Expand Down Expand Up @@ -238,14 +241,16 @@ void onFileTransferComplete() {


onBLEFileReceived(finished_file_buffer, finished_file_buffer_byte_count);
isBLEBusy = false;
}

void onFileBlockWritten(BLEDevice central, BLECharacteristic characteristic) {
if (in_progress_file_buffer == nullptr) {
notifyError("File block sent while no valid command is active");
isBLEBusy = false;
return;
}

isBLEBusy = true;
const int32_t file_block_length = characteristic.valueLength();
if (file_block_length > file_block_byte_count) {
notifyError(String("Too many bytes in block: Expected ") + String(file_block_byte_count) +
Expand Down Expand Up @@ -296,8 +301,6 @@ void startFileTransfer() {
notifyError("File transfer command received while previous transfer is still in progress");
return;
}
delay(1000);
isModelInitialized = false;

int32_t file_length_value;
file_length_characteristic.readValue(file_length_value);
Expand Down Expand Up @@ -396,7 +399,7 @@ void setupBLEFileTransfer() {

service.addCharacteristic(accelerometer_characteristic);
service.addCharacteristic(gyroscope_characteristic);
service.addCharacteristic(distance_characteristic);
service.addCharacteristic(distance_temperature_characteristic);

service.addCharacteristic(file_update_characteristic);

Expand All @@ -408,36 +411,33 @@ void setupBLEFileTransfer() {

// Called in your loop function to handle BLE housekeeping.
void updateBLEFileTransfer() {
BLE.poll();
BLEDevice central = BLE.central();
static bool was_connected_last = false;
if (central && !was_connected_last) {
Serial.print("Connected to central: ");
Serial.println(central.address());
}
was_connected_last = central;

isConnected = central.connected();

}

} // namespace

void buzz(bool enable) {
void buzzVibrate(bool enable) {
if (enable) {
digitalWrite(buzzerPin, HIGH);
delayMicroseconds(buzzTime);
buzzStartTime = millis();
digitalWrite(vibrationPin, HIGH);
while (millis() - buzzStartTime < buzzDuration) {
digitalWrite(buzzerPin, HIGH);
delayMicroseconds(buzzTime);
digitalWrite(buzzerPin, LOW);
delayMicroseconds(buzzTime);
}
digitalWrite(buzzerPin, LOW);
delayMicroseconds(buzzTime);
digitalWrite(vibrationPin, LOW);
} else {
digitalWrite(buzzerPin, LOW);
}

}

void vibrate(bool enable) {
if (enable) {
digitalWrite(vibrationPin, HIGH);
} else {
digitalWrite(vibrationPin, LOW);
}
}
Expand All @@ -459,20 +459,38 @@ void setup() {
Serial.println("SD Card Initialized.");

// LSM9DS1 setup
if (!IMU.begin()) {
Serial.println("Failed to initialize IMU!");
while (1);
bool imuInit = IMU.begin();
while (!imuInit) {
Serial.println("Failed to initialize IMU, retrying...");
imuInit = IMU.begin();
delay(500);
}
Serial.println("LSM9DS1 successfully initialized.");

if (!APDS.begin()) {
Serial.println("Error initializing APDS-9960 sensor!");
while (1);

// VL53L0X setup
Serial.println("Adafruit VL53L0X test.");
bool loxInit = lox.begin();
while (!loxInit) {
Serial.println("Failed to boot VL53L0X, retrying...");
loxInit = lox.begin();
delay(500);
}
Serial.println(F("VL53L0X API Continuous Ranging example\n\n"));
lox.startRangeContinuous();
Serial.println("Adafruit VL53L0X successfully initialized.");

if (!HTS.begin()) {
Serial.println("Failed to initialize humidity temperature sensor!");
while (1);
// MLX90614 setup
Serial.println("Adafruit MLX90614 test.");
bool mlxInit = mlx.begin();
while (!mlxInit) {
Serial.println("Failed to boot MLX90614, retrying...");
mlxInit = mlx.begin();
delay(500);
}
Serial.println("Adafruit MLX90614 successfully initialized.");
Serial.print("Emissivity = "); Serial.println(mlx.readEmissivity());


pinMode(buzzerPin, OUTPUT);
pinMode(vibrationPin, OUTPUT);
Expand Down Expand Up @@ -548,7 +566,9 @@ void initializeTFL(uint8_t model[]){
isModelInitialized = true;
}

void runPrediction(float aX, float aY, float aZ, float gX, float gY, float gZ) {
// void runClassification(float aX, float aY, float aZ, float gX, float gY, float gZ, uint16_t dist, double temp) {
// return null if one of the parameters is nan or null
void runClassification(float aX, float aY, float aZ, float gX, float gY, float gZ) {
// normalize the IMU data between 0 to 1 and store in the model's
// input tensor
tflInputTensor->data.f[0] = (aX + 4.0) / 8.0;
Expand All @@ -569,22 +589,20 @@ void runPrediction(float aX, float aY, float aZ, float gX, float gY, float gZ) {

double onTargetPredictValue = tflOutputTensor->data.f[1];
if (onTargetPredictValue > on_target_threshold) {
buzz(true);
vibrate(true);
saveBuzz(currentDate, currentUser);
buzzVibrate(true);
// saveBuzz(currentDate, currentUser);
delay(1000);
} else {
buzz(false);
vibrate(false);
buzzVibrate(false);
}

// Loop through the output tensor values from the model
for (int i = 0; i < NUM_HOTSPOT; i++) {
// Serial.print(HOTSPOT[i]);
// Serial.print(": ");
// Serial.println(tflOutputTensor->data.f[i], 6);
Serial.print(HOTSPOT[i]);
Serial.print(": ");
Serial.println(tflOutputTensor->data.f[i], 6);
}
// Serial.println();
Serial.println();
}

String getPreviousFile() {
Expand Down Expand Up @@ -714,10 +732,12 @@ void writeUpdatedChunks(const String& data) {
String chunk = data.substring(i, min(i + chunkSize, dataSize));
const char* chunkCStr = chunk.c_str();
file_update_characteristic.writeValue(chunkCStr);
isBLEBusy = true;
Serial.print("Data to send: ");
Serial.println(chunk);
delay(100); // Adjust delay as needed based on your requirements
}
isBLEBusy = false;
}

void sendData(String filename) {
Expand Down Expand Up @@ -767,13 +787,14 @@ void sendAllData(String filename) {
}
const char* chunkCStr = dataChunk.c_str();
file_update_characteristic.writeValue(chunkCStr);
isBLEBusy = true;
delay(100);
} else {
isReading = false;
dataFile.close();
}
}

isBLEBusy = false;
} else {
return;
}
Expand All @@ -793,7 +814,7 @@ void onBLEFileReceived(uint8_t* file_data, int file_length) {
// last
// - sends the last two data (yesterday & today)
String xupdaterequestx = "";
for (uint32_t i=0; i<30; i++) {
for (uint32_t i=0; i<50; i++) {
uint8_t dataByte = file_data[i];
if (dataByte == 0) {
break;
Expand Down Expand Up @@ -865,55 +886,55 @@ void onBLEFileReceived(uint8_t* file_data, int file_length) {
file_buffers[i] = 0;
}


saveModel(file_name, file_buffers);
setPreviousFile(file_name);
initializeTFL(file_buffers);
delay(100);
notifySuccess(true);
}

}





void loop() {
updateBLEFileTransfer();
// isConnected = central.connected();
updateBLEFileTransfer(); // Keep the BLE service open
if (isBLEBusy) return;

// Accelerometer & Gyroscope read values
float aX, aY, aZ, gX, gY, gZ;
float temperature = HTS.readTemperature();

if (IMU.accelerationAvailable() && IMU.gyroscopeAvailable()) {
if (IMU.accelerationAvailable() && IMU.gyroscopeAvailable() && lox.isRangeComplete()) {
IMU.readAcceleration(aX, aY, aZ);
char accReadings[data_size_count];
IMU_read(aX, aY, aZ, accReadings);


IMU.readGyroscope(gX, gY, gZ);
char gyroReadings[data_size_count];
IMU_read(gX, gY, gZ, gyroReadings);

if (isConnected) {
accelerometer_characteristic.writeValue(accReadings);
gyroscope_characteristic.writeValue(gyroReadings);
// VL53L0X & MLX90614 read values
uint16_t lox_read = lox.readRange();
double mlx_read = mlx.readObjectTempC();
Serial.print("Distance in mm: ");
Serial.println(lox_read);
Serial.print("*C\tObject = "); Serial.print(mlx_read); Serial.println("*C");

// Check if sensor readings are valid
if (!isnan(lox_read) && !isnan(mlx_read)) {
String distance = String(lox_read);
String temperature = String(mlx_read);

if (isConnected) {
String distance_temperature = distance + "," + temperature;
const char* distance_temperature_cstr = distance_temperature.c_str();
distance_temperature_characteristic.writeValue(distance_temperature_cstr);
accelerometer_characteristic.writeValue(accReadings);
gyroscope_characteristic.writeValue(gyroReadings);
}
delay(100); // adds 0.1s for the mobile app to keep up - ( for smooth plotting )
}

delay(100); // adds 0.1s for the webBLE to keep up - ( for smooth plotting )
}

// runPrediction(aX, aY, aZ, gX, gY, gZ);
if (isModelInitialized) {
runPrediction(aX, aY, aZ, gX, gY, gZ);
// TFLite classification
if (isModelInitialized && !currentDate.equals("") && !currentUser.equals("")) {
runClassification(aX, aY, aZ, gX, gY, gZ);
}


// Serial.print("Temperature = ");
// Serial.print(temperature);
// Serial.println(" °C");



delay(10);
}

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