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Allow a configurable poll interval, and lower accelerometer output rate to 25Hz

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This commit is contained in:
Gordon Williams 2019-10-10 13:46:35 +01:00
parent 7e6661cdde
commit 1b8ce18cea
2 changed files with 163 additions and 98 deletions
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259
libs/banglejs/jswrap_bangle.c
View File

@ -180,15 +180,16 @@ typedef struct {
short x,y,z;
} Vector3;
#define ACCEL_POLL_INTERVAL 100 // in msec
#define DEFAULT_ACCEL_POLL_INTERVAL 100 // in msec
#define ACCEL_POLL_INTERVAL_MAX 5000 // in msec - DEFAULT_ACCEL_POLL_INTERVAL_MAX+TIMER_MAX must be <65535
#define BTN1_LOAD_TIMEOUT 1500 // in msec
#define TIMER_MAX 60000 // 60 sec - enough to fit in uint16_t without overflow if we add ACCEL_POLL_INTERVAL
/// Internal I2C used for Accelerometer/Pressure
JshI2CInfo internalI2C;
/// Is I2C busy? if so we'll skip one reading in our interrupt so we don't overlap
bool i2cBusy;
/// Promise when pressure is requested
JsVar *promisePressure;
/// How often should be poll for accelerometer/compass data?
volatile uint16_t pollInterval; // in ms
/// counter that counts up if watch has stayed face up or down
volatile unsigned char faceUpCounter;
/// Was the watch face-up? we use this when firing events
@ -235,6 +236,99 @@ void lcd_flip(JsVar *parent) {
lcdST7789_flip();
}
/* Scan peripherals for any data that's needed
* Also, holding down both buttons will reboot */
void peripheralPollHandler() {
//jshPinOutput(LED1_PININDEX, 1);
// Handle watchdog
if (!(jshPinGetValue(BTN1_PININDEX) && jshPinGetValue(BTN2_PININDEX)))
jshKickWatchDog();
// power on display if a button is pressed
if (lcdPowerTimeout &&
(jshPinGetValue(BTN1_PININDEX) || jshPinGetValue(BTN2_PININDEX) ||
jshPinGetValue(BTN3_PININDEX))) {
flipTimer = 0;
if (!lcdPowerOn)
bangleTasks |= JSBT_LCD_ON;
}
if (flipTimer < TIMER_MAX)
flipTimer += pollInterval;
// If BTN1 is held down, trigger a reset
if (jshPinGetValue(BTN1_PININDEX)) {
if (btn1Timer < TIMER_MAX)
btn1Timer += pollInterval;
} else {
if (btn1Timer > BTN1_LOAD_TIMEOUT) {
bangleTasks |= JSBT_RESET;
// execInfo.execute |= EXEC_CTRL_C|EXEC_CTRL_C_WAIT; // set CTRLC
}
btn1Timer = 0;
}
if (lcdPowerTimeout && lcdPowerOn && flipTimer>=lcdPowerTimeout) {
// 10 seconds of inactivity, turn off display
bangleTasks |= JSBT_LCD_OFF;
}
if (i2cBusy) return;
// check the magnetometer if we had it on
unsigned char buf[7];
if (compassPowerOn) {
buf[0]=0x10;
jsi2cWrite(&internalI2C, MAG_ADDR, 1, buf, true);
jsi2cRead(&internalI2C, MAG_ADDR, 7, buf, true);
if (buf[0]&1) { // then we have data (hopefully? No datasheet)
mag.y = buf[1] | (buf[2]<<8);
mag.x = buf[3] | (buf[4]<<8);
mag.z = buf[5] | (buf[6]<<8);
if (mag.x<magmin.x) magmin.x=mag.x;
if (mag.y<magmin.y) magmin.y=mag.y;
if (mag.z<magmin.z) magmin.z=mag.z;
if (mag.x>magmax.x) magmax.x=mag.x;
if (mag.y>magmax.y) magmax.y=mag.y;
if (mag.z>magmax.z) magmax.z=mag.z;
bangleTasks |= JSBT_MAG_DATA;
}
}
// poll KX023 accelerometer (no other way as IRQ line seems disconnected!)
// read interrupt source data
buf[0]=0x12; // INS1
jsi2cWrite(&internalI2C, ACCEL_ADDR, 1, buf, true);
jsi2cRead(&internalI2C, ACCEL_ADDR, 2, buf, true);
// 0 -> 0x12 INS1 - tap event
// 1 -> 0x13 INS2 - what kind of event
bool hasAccelData = (buf[1]&16)!=0; // DRDY
int tapType = (buf[1]>>2)&3; // TDTS0/1
if (tapType) {
// report tap
tapInfo = buf[0] | (tapType<<6);
bangleTasks |= JSBT_ACCEL_TAPPED;
// clear the IRQ flags
buf[0]=0x17;
jsi2cWrite(&internalI2C, ACCEL_ADDR, 1, buf, true);
jsi2cRead(&internalI2C, ACCEL_ADDR, 1, buf, true);
}
if (hasAccelData) {
buf[0]=6;
jsi2cWrite(&internalI2C, ACCEL_ADDR, 1, buf, true);
jsi2cRead(&internalI2C, ACCEL_ADDR, 6, buf, true);
short newx = (buf[1]<<8)|buf[0];
short newy = (buf[3]<<8)|buf[2];
short newz = (buf[5]<<8)|buf[4];
int dx = newx-acc.x;
int dy = newy-acc.y;
int dz = newz-acc.z;
acc.x = newx;
acc.y = newy;
acc.z = newz;
accdiff = dx*dx + dy*dy + dz*dz;
bangleTasks |= JSBT_ACCEL_DATA;
}
//jshPinOutput(LED1_PININDEX, 0);
}
/*JSON{
"type" : "staticmethod",
"class" : "Bangle",
@ -328,6 +422,28 @@ void jswrap_banglejs_setLCDTimeout(JsVarFloat timeout) {
if (lcdPowerTimeout<0) lcdPowerTimeout=0;
}
/*JSON{
"type" : "staticmethod",
"class" : "Bangle",
"name" : "setPollInterval",
"generate" : "jswrap_banglejs_setPollInterval",
"params" : [
["interval","float","Polling interval in milliseconds"]
]
}
Set how often the watch should poll for new acceleration/gyro data
*/
void jswrap_banglejs_setPollInterval(JsVarFloat interval) {
if (!isfinite(interval) || interval<10 || interval>ACCEL_POLL_INTERVAL_MAX) {
jsExceptionHere(JSET_ERROR, "Invalid interval");
return;
}
pollInterval = (uint16_t)interval;
JsSysTime t = jshGetTimeFromMilliseconds(pollInterval);
jstStopExecuteFn(peripheralPollHandler, 0);
jstExecuteFn(peripheralPollHandler, NULL, jshGetSystemTime()+t, t);
}
/*JSON{
"type" : "staticmethod",
"class" : "Bangle",
@ -442,93 +558,6 @@ void jswrap_banglejs_setCompassPower(bool isOn) {
}
// Holding down both buttons will reboot
void watchdogHandler() {
//jshPinOutput(LED1_PININDEX, 1);
// Handle watchdog
if (!(jshPinGetValue(BTN1_PININDEX) && jshPinGetValue(BTN2_PININDEX)))
jshKickWatchDog();
// power on display if a button is pressed
if (lcdPowerTimeout &&
(jshPinGetValue(BTN1_PININDEX) || jshPinGetValue(BTN2_PININDEX) ||
jshPinGetValue(BTN3_PININDEX))) {
flipTimer = 0;
if (!lcdPowerOn)
bangleTasks |= JSBT_LCD_ON;
}
if (flipTimer < TIMER_MAX)
flipTimer += ACCEL_POLL_INTERVAL;
// If BTN1 is held down, trigger a reset
if (jshPinGetValue(BTN1_PININDEX)) {
if (btn1Timer < TIMER_MAX)
btn1Timer += ACCEL_POLL_INTERVAL;
} else {
if (btn1Timer > BTN1_LOAD_TIMEOUT) {
bangleTasks |= JSBT_RESET;
// execInfo.execute |= EXEC_CTRL_C|EXEC_CTRL_C_WAIT; // set CTRLC
}
btn1Timer = 0;
}
if (lcdPowerTimeout && lcdPowerOn && flipTimer>=lcdPowerTimeout) {
// 10 seconds of inactivity, turn off display
bangleTasks |= JSBT_LCD_OFF;
}
if (i2cBusy) return;
// check the magnetometer if we had it on
unsigned char buf[6];
if (compassPowerOn) {
buf[0]=0x11;
jsi2cWrite(&internalI2C, MAG_ADDR, 1, buf, true);
jsi2cRead(&internalI2C, MAG_ADDR, 6, buf, true);
mag.y = buf[0] | (buf[1]<<8);
mag.x = buf[2] | (buf[3]<<8);
mag.z = buf[4] | (buf[5]<<8);
if (mag.x<magmin.x) magmin.x=mag.x;
if (mag.y<magmin.y) magmin.y=mag.y;
if (mag.z<magmin.z) magmin.z=mag.z;
if (mag.x>magmax.x) magmax.x=mag.x;
if (mag.y>magmax.y) magmax.y=mag.y;
if (mag.z>magmax.z) magmax.z=mag.z;
bangleTasks |= JSBT_MAG_DATA;
}
// poll KX023 accelerometer (no other way as IRQ line seems disconnected!)
buf[0]=6;
jsi2cWrite(&internalI2C, ACCEL_ADDR, 1, buf, true);
jsi2cRead(&internalI2C, ACCEL_ADDR, 6, buf, true);
short newx = (buf[1]<<8)|buf[0];
short newy = (buf[3]<<8)|buf[2];
short newz = (buf[5]<<8)|buf[4];
int dx = newx-acc.x;
int dy = newy-acc.y;
int dz = newz-acc.z;
acc.x = newx;
acc.y = newy;
acc.z = newz;
accdiff = dx*dx + dy*dy + dz*dz;
bangleTasks |= JSBT_ACCEL_DATA;
// read interrupt source data
buf[0]=0x12;
jsi2cWrite(&internalI2C, ACCEL_ADDR, 1, buf, true);
jsi2cRead(&internalI2C, ACCEL_ADDR, 2, buf, true);
// 0 -> 0x12 INS1 - tap event
// 1 -> 0x13 INS2 - what kind of event
int tapType = (buf[1]>>2)&3;
if (tapType) {
// report tap
tapInfo = buf[0] | (tapType<<6);
bangleTasks |= JSBT_ACCEL_TAPPED;
// clear the IRQ flags
buf[0]=0x17;
jsi2cWrite(&internalI2C, ACCEL_ADDR, 1, buf, true);
jsi2cRead(&internalI2C, ACCEL_ADDR, 1, buf, true);
}
//jshPinOutput(LED1_PININDEX, 0);
}
/*JSON{
"type" : "init",
"generate" : "jswrap_banglejs_init"
@ -634,8 +663,8 @@ void jswrap_banglejs_init() {
jswrap_banglejs_accelWr(0x18,0x0a); // CNTL1 Off, 4g range, Wakeup
jswrap_banglejs_accelWr(0x19,0x80); // CNTL2 Software reset
jshDelayMicroseconds(2000);
jswrap_banglejs_accelWr(0x1b,0x02); // ODCNTL - 50Hz acceleration output data rate, filteringlow-pass ODR/9
jswrap_banglejs_accelWr(0x1a,0b11011110); // CNTL3
jswrap_banglejs_accelWr(0x1a,0b10011000); // CNTL3 12.5Hz tilt, 400Hz tap, 0.781Hz motion detection
jswrap_banglejs_accelWr(0x1b,0b00000001); // ODCNTL - 25Hz acceleration output data rate, filteringlow-pass ODR/9
// 50Hz tilt
// 50Hz directional tap
// 50Hz general motion detection and the high-pass filtered outputs
@ -653,7 +682,7 @@ void jswrap_banglejs_init() {
jswrap_banglejs_accelWr(0x30,1); // ATH low wakeup detect threshold
jswrap_banglejs_accelWr(0x35,0); // LP_CNTL no averaging of samples
jswrap_banglejs_accelWr(0x3e,0); // clear the buffer
jswrap_banglejs_accelWr(0x18,0b10001100); // CNTL1 On, ODR/2(high res), 4g range, Wakeup, tap
jswrap_banglejs_accelWr(0x18,0b10101100); // CNTL1 On, DRDYE, ODR/2(high res), 4g range, Wakeup, TDTE (tap enable)
// compass init
jswrap_banglejs_compassWr(0x32,1);
jswrap_banglejs_compassWr(0x31,0);
@ -679,8 +708,9 @@ void jswrap_banglejs_init() {
// enable will do nothing - but good to try anyway
jshEnableWatchDog(5); // 5 second watchdog
// This timer kicks the watchdog, and does some other stuff as well
JsSysTime t = jshGetTimeFromMilliseconds(ACCEL_POLL_INTERVAL);
jstExecuteFn(watchdogHandler, NULL, jshGetSystemTime()+t, t);
pollInterval = DEFAULT_ACCEL_POLL_INTERVAL;
JsSysTime t = jshGetTimeFromMilliseconds(pollInterval);
jstExecuteFn(peripheralPollHandler, NULL, jshGetSystemTime()+t, t);
}
/*JSON{
@ -688,9 +718,7 @@ void jswrap_banglejs_init() {
"generate" : "jswrap_banglejs_kill"
}*/
void jswrap_banglejs_kill() {
jstStopExecuteFn(watchdogHandler, 0);
jsvUnLock(promisePressure);
promisePressure = 0;
jstStopExecuteFn(peripheralPollHandler, 0);
}
/*JSON{
@ -1044,6 +1072,41 @@ void jswrap_banglejs_ioWr(JsVarInt mask, bool on) {
}
/*JSON{
"type" : "staticmethod",
"class" : "Bangle",
"name" : "project",
"generate" : "jswrap_banglejs_project",
"params" : [
["latlong","JsVar","`{lat:..., lon:...}`"]
],
"return" : ["JsVar","{x:..., y:...}"]
}
Perform a Spherical [Web Mercator projection](https://en.wikipedia.org/wiki/Web_Mercator_projection)
of latitude and longitude into `x` and `y` coordinates, which are roughly
equivalent to meters from `{lat:0,lon:0}`.
This is the formula used for most online mapping and is a good way
to compare GPS coordinates to work out the distance between them.
*/
JsVar *jswrap_banglejs_project(JsVar *latlong) {
const double degToRad = PI / 180; // degree to radian conversion
const double latMax = 85.0511287798; // clip latitude to sane values
const double R = 6378137; // earth radius in m
double lat = jsvGetFloatAndUnLock(jsvObjectGetChild(latlong,"lat",0));
double lon = jsvGetFloatAndUnLock(jsvObjectGetChild(latlong,"lon",0));
if (lat > latMax) lat=latMax;
if (lat < -latMax) lat=-latMax;
double s = sin(lat * degToRad);
JsVar *o = jsvNewObject();
if (o) {
jsvObjectSetChildAndUnLock(o,"x", jsvNewFromFloat(R * lon * degToRad));
jsvObjectSetChildAndUnLock(o,"y", jsvNewFromFloat(R * log((1 + s) / (1 - s)) / 2));
}
return o;
}
/*JSON{
"type" : "staticmethod",
"class" : "Bangle",

2
libs/banglejs/jswrap_bangle.h
View File

@ -17,6 +17,7 @@ void jswrap_banglejs_lcdWr(JsVarInt cmd, JsVar *data);
void jswrap_banglejs_setLCDPower(bool isOn);
void jswrap_banglejs_setLCDMode(JsVar *mode);
void jswrap_banglejs_setLCDTimeout(JsVarFloat timeout);
void jswrap_banglejs_setPollInterval(JsVarFloat interval);
bool jswrap_banglejs_isLCDOn();
bool jswrap_banglejs_isCharging();
@ -27,6 +28,7 @@ void jswrap_banglejs_accelWr(JsVarInt reg, JsVarInt data);
int jswrap_banglejs_accelRd(JsVarInt reg);
void jswrap_banglejs_compassWr(JsVarInt reg, JsVarInt data);
void jswrap_banglejs_ioWr(JsVarInt mask, bool on);
JsVar *jswrap_banglejs_project(JsVar *latlong);
void jswrap_banglejs_off();
JsVar *jswrap_banglejs_menu(JsVar *menu);