/* Copyright (c) 2015 Nordic Semiconductor. All Rights Reserved.

*

* The information contained herein is property of Nordic Semiconductor ASA.

* Terms and conditions of usage are described in detail in NORDIC

* SEMICONDUCTOR STANDARD SOFTWARE LICENSE AGREEMENT.

*

* Licensees are granted free, non-transferable use of the information. NO

* WARRANTY of ANY KIND is provided. This heading must NOT be removed from

* the file.

*

*/

/** @file

*

* @defgroup ble_sdk_app_lns_main main.c

* @{

* @ingroup ble_sdk_app_lns

* @brief Location and Navigation Service Sample Application main file.

*

* This file contains the source code for a sample application using the Location and Navigation service

* (and also Battery and Device Information services). This application uses the

* @ref srvlib_conn_params module.

*/

#define USE_BSP 0

#include <stdint.h>

#include <string.h>

#include "nordic_common.h"

#include "nrf.h"

#include "nrf_assert.h"

#include "nrf_error.h"

// #include "app_util_platform.h" // for interrupts,

// #include "ble_date_time.h"

#include "nrf_delay.h"

#include "ble.h"

#include "ble_hci.h"

#include "ble_srv_common.h"

// #include "ble_advdata.h"

#include "ble_advertising.h" // main calls ble_advertising_start

#include "ble_dis.h"

#include "sensorsim.h"

#include "erl_ble.h"

#include "ble_hci.h"

#if USE_BSP

#include "bsp.h" // Board support package

#include "bsp_btn_ble.h"

#endif

#include "app_timer.h"

/*

#include "ble_srv_common.h"

#include "ble_advdata.h"

#include "ble_advertising.h"

#include "ble_bas.h"

#include "ble_lns.h"

#include "ble_dis.h"

#include "softdevice_handler.h"

#include "ble_conn_params.h"

#include "bsp.h"

#include "device_manager.h"

#include "pstorage.h"

*/

#include "sensorsim.h"

// #define ENABLE_DEBUG_LOG_SUPPORT

#include "app_trace.h"

// #include "SEGGER_RTT.h"

#include "app_util_platform.h" // for interrupts

#include "i2c_nrf51822_app.h"

#include "i2c.h"

#include "lsm303dlhc.h"

#define APPL_LOG app_trace_log

#define DEAD_BEEF 0xDEADBEEF /**< Value used as error code on stack dump, can be used to identify stack location on stack unwind. */

// #define APP_TIMER_PRESCALER 0 /**< Value of the RTC1 PRESCALER register. */

#if USE_BSP

#define APP_TIMER_MAX_TIMERS (6+BSP_APP_TIMERS_NUMBER) /**< Maximum number of simultaneously created timers. */

#else

#define APP_TIMER_MAX_TIMERS (6) /**< Maximum number of simultaneously created timers. */

#endif

#define APP_TIMER_OP_QUEUE_SIZE 4 /**< Size of timer operation queues. */

#define BATTERY_LEVEL_MEAS_INTERVAL APP_TIMER_TICKS(2400, APP_TIMER_PRESCALER) /**< Battery level measurement interval (ticks). */

#define MIN_BATTERY_LEVEL 81 /**< Minimum simulated battery level. */

#define MAX_BATTERY_LEVEL 100 /**< Maximum simulated battery level. */

#define BATTERY_LEVEL_INCREMENT 1 /**< Increment between each simulated battery level measurement. */

#define LOC_AND_NAV_DATA_INTERVAL APP_TIMER_TICKS(1000, APP_TIMER_PRESCALER) /**< Location and Navigation data interval (ticks). */

APP_TIMER_DEF(m_battery_timer_id); /**< Battery timer. */

APP_TIMER_DEF(m_loc_and_nav_timer_id); /**< Location and navigation measurement timer. */

static sensorsim_cfg_t m_battery_sim_cfg; /**< Battery Level sensor simulator configuration. */

static sensorsim_state_t m_battery_sim_state; /**< Battery Level sensor simulator state. */

/*

* static function prototypes

*/

// Simulation stuff

static void battery_level_meas_timeout_handler(void * p_context);

static void loc_and_nav_timeout_handler(void * p_context);

static void sim_init(void);

static void increment_time(ble_date_time_t * p_time);

static void loc_speed_simulation_update(void);

static void position_quality_simulation_update(void);

static void navigation_simulation_update(void);

static void buttons_leds_init(bool * p_erase_bonds);

#if USE_BSP

static void bsp_event_handler(bsp_event_t event);

#endif

/*

* Start of code

*/

void app_error_handler(uint32_t error_code, uint32_t line_num, const uint8_t * p_file_name)

{

char buf[ 1024 ];

printf( buf, "app_error_handler( %lu, %s:%lu )\n", error_code, p_file_name, line_num );

// SEGGER_RTT_WriteString(0, buf);

}

/**@brief Start application timers.

*/

static void application_timers_start(void)

{

uint32_t err_code;

// Start application timers

err_code = app_timer_start(m_battery_timer_id, BATTERY_LEVEL_MEAS_INTERVAL, NULL);

APP_ERROR_CHECK(err_code);

err_code = app_timer_start(m_loc_and_nav_timer_id, LOC_AND_NAV_DATA_INTERVAL, NULL);

APP_ERROR_CHECK(err_code);

}

/**@brief Initialize the simulators.

*/

static void sim_init(void)

{

// battery simulation

m_battery_sim_cfg.min = MIN_BATTERY_LEVEL;

m_battery_sim_cfg.max = MAX_BATTERY_LEVEL;

m_battery_sim_cfg.incr = BATTERY_LEVEL_INCREMENT;

m_battery_sim_cfg.start_at_max = true;

sensorsim_init(&m_battery_sim_state, &m_battery_sim_cfg);

}

/**@brief Timer initialization.

*

* @details Initializes the timer module. This creates and starts application timers.

*/

static void timers_init(void)

{

uint32_t err_code;

// Initialize timer module

APP_TIMER_INIT(APP_TIMER_PRESCALER, APP_TIMER_OP_QUEUE_SIZE, false);

// Create timers

err_code = app_timer_create(&m_battery_timer_id,

APP_TIMER_MODE_REPEATED,

battery_level_meas_timeout_handler);

APP_ERROR_CHECK(err_code);

err_code = app_timer_create(&m_loc_and_nav_timer_id,

APP_TIMER_MODE_REPEATED,

loc_and_nav_timeout_handler);

APP_ERROR_CHECK(err_code);

}

/**@brief Function for performing battery measurement and updating the Battery Level characteristic

* in Battery Service.

*/

static void battery_level_update(void)

{

uint32_t err_code;

uint8_t battery_level;

battery_level = (uint8_t)sensorsim_measure(&m_battery_sim_state, &m_battery_sim_cfg);

err_code = ble_bas_battery_level_update(&m_bas, battery_level);

if ((err_code != NRF_SUCCESS) &&

(err_code != NRF_ERROR_INVALID_STATE) &&

(err_code != BLE_ERROR_NO_TX_BUFFERS) &&

(err_code != BLE_ERROR_GATTS_SYS_ATTR_MISSING)

)

{

APP_ERROR_HANDLER(err_code);

}

}

/**@brief Function for handling the Battery measurement timer time-out.

*

* @details This function will be called each time the battery level measurement timer expires.

*

* @param[in] p_context Pointer used for passing some arbitrary information (context) from the

* app_start_timer() call to the time-out handler.

*/

static void battery_level_meas_timeout_handler(void * p_context)

{

UNUSED_PARAMETER(p_context);

battery_level_update();

}

/**@brief Location and navigation time-out handler.

*

* @details This function will be called each time the location and navigation measurement timer expires.

*

* @param[in] p_context Pointer used for passing some arbitrary information (context) from the

* app_start_timer() call to the time-out handler.

*/

static void loc_and_nav_timeout_handler(void * p_context)

{

uint32_t err_code;

UNUSED_PARAMETER(p_context);

loc_speed_simulation_update();

position_quality_simulation_update();

navigation_simulation_update();

err_code = ble_lns_loc_speed_send(&m_lns);

if (

(err_code != NRF_ERROR_INVALID_STATE)

&&

(err_code != BLE_ERROR_NO_TX_BUFFERS)

&&

(err_code != BLE_ERROR_GATTS_SYS_ATTR_MISSING)

)

{

APP_ERROR_CHECK(err_code);

}

err_code = ble_lns_navigation_send(&m_lns);

if (

(err_code != NRF_ERROR_INVALID_STATE)

&&

(err_code != BLE_ERROR_NO_TX_BUFFERS)

&&

(err_code != BLE_ERROR_GATTS_SYS_ATTR_MISSING)

)

{

APP_ERROR_CHECK(err_code);

}

}

/**@brief Callback function for asserts in the SoftDevice.

*

* @details This function will be called in case of an assert in the SoftDevice.

*

* @warning This handler is an example only and does not fit a final product. You need to analyze

* how your product is supposed to react in case of Assert.

* @warning On assert from the SoftDevice, the system can only recover on reset.

*

* @param[in] line_num Line number of the failing ASSERT call.

* @param[in] file_name File name of the failing ASSERT call.

*/

void assert_nrf_callback(uint16_t line_num, const uint8_t * p_file_name)

{

app_error_handler(DEAD_BEEF, line_num, p_file_name);

}

/**@brief Callback function for errors in the Location Navigation Service.

*

* @details This function will be called in case of an error in the Location Navigation Service.

*

* @warning This handler is an example only and does not fit a final product. You need to analyze

* how your product is supposed to react in case of Assert.

*/

static void lns_error_handler(uint32_t err_code)

{

app_error_handler(DEAD_BEEF, 0, 0);

}

/**@brief Function for putting the chip into sleep mode.

*

* @note This function will not return.

*/

static void sleep_mode_enter(void)

{

uint32_t err_code;

#if USE_BSP

bsp_indication_set(BSP_INDICATE_IDLE);

APP_ERROR_CHECK(err_code);

// Prepare wakeup buttons.

err_code = bsp_btn_ble_sleep_mode_prepare();

APP_ERROR_CHECK(err_code);

#endif

// Go to system-off mode (this function will not return; wakeup will cause a reset).

err_code = sd_power_system_off();

APP_ERROR_CHECK(err_code);

}

/**@brief Power manager.

*/

static void power_manage(void)

{

uint32_t err_code = sd_app_evt_wait();

APP_ERROR_CHECK(err_code);

}

/**@brief Application main function.

*/

int main(void)

{

uint32_t err_code;

bool erase_bonds = false;

sI2Cchannel i2cChannel;

int16_t acc[3];

int16_t mag[3];

// bool erase_bonds;

uint16_t heading;

// SEGGER_RTT_WriteString(0, "Hello World 3!\n");

// Initialize

app_trace_init();

app_trace_log( "test trace log\r\n" );

printf( "Hej, printf!\n" );

timers_init();

// buttons_leds_init(&erase_bonds);

erl_ble_init( erase_bonds, lns_error_handler, sleep_mode_enter );

// sim_init();

// Start out slow, at 100 kbps. Keep it simple - blocking - to start

nrf51822_app_i2c_init( &i2cChannel, NRF_TWI_FREQ_400K, APP_IRQ_PRIORITY_LOW, 1, 0 );

// SEGGER_RTT_WriteString(0, "i2c initialized\n");

lsm303dlhc_init( &i2cChannel );

// Test tilt compensation

acc[0] = 20000;

acc[1] = 2;

acc[2] = 999;

mag[0] = -408;

mag[1] = -297;

mag[2] = 237;

heading = lsm303dlhc_tilt_compensate( acc, mag );

heading = ((uint32_t) heading) * 360 / UINT16_MAX;

printf( "Test heading: %d\n", heading );

lsm303dlhc_acc_setDataRate( ACC_RATE_1_HZ );

lsm303dlhc_mag_setMode( LSM303DLHC_MAG_MODE_CONTINUOUS );

lsm303dlhc_acc_read( acc );

lsm303dlhc_mag_read( mag );

printf( "Acc: %d,%d,%d\n", acc[0], acc[1], acc[2] );

printf( "Mag: %d,%d,%d\n", mag[0], mag[1], mag[2] );

// Start execution

// application_timers_start();

// Move this function call to erl_bleng

// why is fast/slow specified here, when it is also enabled/disabled in advertising options?

err_code = ble_advertising_start(BLE_ADV_MODE_SLOW); // changed from fast to slow

APP_ERROR_CHECK(err_code);

#if USE_BSP

err_code = bsp_indication_set(BSP_INDICATE_ADVERTISING);

APP_ERROR_CHECK(err_code);

#endif

APPL_LOG( "main(): before loop\r\n" );

// Enter main loop

for (;;)

{

lsm303dlhc_acc_read( acc );

lsm303dlhc_mag_read( mag );

heading = lsm303dlhc_tilt_compensate( acc, mag );

heading = ((uint32_t) heading) * 36000 / UINT16_MAX;

printf( "Acc: %d,%d,%d\n", acc[0], acc[1], acc[2] );

printf( "Mag: %d,%d,%d\n", mag[0], mag[1], mag[2] );

printf( "Heading=%d\n", heading );

m_sim_location_speed.heading = heading; // ++;

err_code = ble_lns_loc_speed_send(&m_lns);

if (

(err_code != NRF_ERROR_INVALID_STATE)

&&

(err_code != BLE_ERROR_NO_TX_BUFFERS)

&&

(err_code != BLE_ERROR_GATTS_SYS_ATTR_MISSING)

)

{

APP_ERROR_CHECK(err_code);

}

nrf_delay_ms( 500 );

// fflush( stdout );

// power_manage();

}

}

static void navigation_simulation_update(void)

{

// ugly updating of status

m_sim_navigation.position_status = (ble_lns_pos_status_type_t)

(

( (uint32_t) m_sim_navigation.position_status + 1) %

( (uint32_t) BLE_LNS_LAST_KNOWN_POSITION + 1)

);

#if 0

m_sim_navigation.heading_source = (ble_lns_heading_source_t)

(

( (uint32_t) m_sim_navigation.heading_source + 1) %

( (uint32_t) BLE_LNS_HEADING_SOURCE_COMPASS + 1)

);

#endif

m_sim_navigation.navigation_indicator_type = (ble_lns_nav_indicator_type_t)

(

( (uint32_t) m_sim_navigation.navigation_indicator_type + 1) %

( (uint32_t) BLE_LNS_NAV_TO_DESTINATION + 1)

);

m_sim_navigation.waypoint_reached = !m_sim_navigation.waypoint_reached;

m_sim_navigation.destination_reached = !m_sim_navigation.destination_reached;

m_sim_navigation.bearing++;

// m_sim_navigation.heading++;

m_sim_navigation.remaining_distance++;

m_sim_navigation.remaining_vert_distance++;

increment_time(&m_sim_navigation.eta);

}

static void position_quality_simulation_update(void)

{

// ugly updating of status

m_sim_position_quality.position_status = (ble_lns_pos_status_type_t)

(

( (uint32_t) m_sim_position_quality.position_status + 1) %

( (uint32_t) BLE_LNS_LAST_KNOWN_POSITION + 1)

);

m_sim_position_quality.number_of_satellites_in_solution++;

m_sim_position_quality.number_of_satellites_in_view++;

m_sim_position_quality.time_to_first_fix++;

m_sim_position_quality.ehpe++;

m_sim_position_quality.evpe++;

m_sim_position_quality.hdop++;

m_sim_position_quality.vdop++;

}

/**@brief Provide simulated location and speed.

*/

static void loc_speed_simulation_update(void)

{

// ugly updating of status

m_sim_location_speed.position_status = (ble_lns_pos_status_type_t)

(

( (uint32_t) m_sim_location_speed.position_status + 1) %

( (uint32_t) BLE_LNS_LAST_KNOWN_POSITION + 1)

);

m_sim_location_speed.data_format = (ble_lns_speed_distance_format_t)

(

( (uint32_t) m_sim_location_speed.data_format + 1) %

( (uint32_t) BLE_LNS_SPEED_DISTANCE_FORMAT_3D + 1)

);

m_sim_location_speed.elevation_source = (ble_lns_elevation_source_t)

(

( (uint32_t) m_sim_location_speed.elevation_source + 1) %

( (uint32_t) BLE_LNS_ELEV_SOURCE_OTHER + 1)

);

#if 0

m_sim_location_speed.heading_source = (ble_lns_heading_source_t)

(

( (uint32_t) m_sim_location_speed.heading_source + 1) %

( (uint32_t) BLE_LNS_HEADING_SOURCE_COMPASS + 1)

);

#endif

m_sim_location_speed.total_distance++;

m_sim_location_speed.latitude++;

m_sim_location_speed.longitude++;

m_sim_location_speed.elevation++;

// m_sim_location_speed.heading++;

m_sim_location_speed.rolling_time++;

increment_time(&m_sim_location_speed.utc_time);

}

static void increment_time(ble_date_time_t * p_time)

{

p_time->seconds++;

if (p_time->seconds > 59)

{

p_time->seconds = 0;

p_time->minutes++;

if (p_time->minutes > 59)

{

p_time->minutes = 0;

p_time->hours++;

if (p_time->hours > 24)

{

p_time->hours = 0;

p_time->day++;

if (p_time->day > 31)

{

p_time->day = 0;

p_time->month++;

if (p_time->month > 12)

{

p_time->year++;

}

}

}

}

}

}

/**@brief Function for initializing buttons and LEDs.

*

* @param[out] p_erase_bonds Will be true if the clear bonding button was pressed to wake the application up.

*/

static void buttons_leds_init(bool * p_erase_bonds)

{

#if USE_BSP

bsp_event_t startup_event;

uint32_t err_code = bsp_init(BSP_INIT_LED | BSP_INIT_BUTTONS,

APP_TIMER_TICKS(100, APP_TIMER_PRESCALER),

bsp_event_handler);

APP_ERROR_CHECK(err_code);

err_code = bsp_btn_ble_init(NULL, &startup_event);

APP_ERROR_CHECK(err_code);

*p_erase_bonds = (startup_event == BSP_EVENT_CLEAR_BONDING_DATA);

#endif

}

#if USE_BSP

/**@brief Function for handling events from the BSP module.

*

* @param[in] event Event generated by button press.

*/

static void bsp_event_handler(bsp_event_t event)

{

uint32_t err_code;

switch (event)

{

case BSP_EVENT_SLEEP:

sleep_mode_enter();

break;

case BSP_EVENT_DISCONNECT:

err_code = sd_ble_gap_disconnect(m_conn_handle, BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION);

if (err_code != NRF_ERROR_INVALID_STATE)

{

APP_ERROR_CHECK(err_code);

}

break;

case BSP_EVENT_WHITELIST_OFF:

err_code = ble_advertising_restart_without_whitelist();

if (err_code != NRF_ERROR_INVALID_STATE)

{

APP_ERROR_CHECK(err_code);

}

break;

default:

break;

}

}

#endif

/**

* @}

*/