Nicla update and readme

Author: Xraydylan

README.md

@@ -245,7 +245,8 @@ edge_ml.set_ble_config("MyDevice", "1.2.3");
 
 #### `int get_active_count()`
 
-Returns the number of currently active sensors.
+Returns the number of currently active sensors.<br>
+(Not available on standard Nicla, unless `USE_SPECIAL_BOARD` in "flags.h" set to 0 and custom Sensor Manager provided)
 
 ```c++
 int activeSensors = edge_ml.get_active_count();
@@ -281,6 +282,8 @@ Allows to set a custom callback function that is triggered when a ble configurat
 void callback(SensorConfigurationPacket * config)
 ```
 
+- `config` (SensorConfigurationPacket): Pointer to a configuration packet struct.
+
 ```c++
 void handleConfig(SensorConfigurationPacket * config) {
   // Your custom logic here
@@ -292,7 +295,19 @@ edge_ml.set_config_callback(handleSensorData);
 
 #### `void set_custom(SensorManagerInterface * sensorManager) `
 Allows the user to set a custom Sensor Manager to implement a custom Board Configuration.
-More on that in the chapter below.
+More on that in the chapter below.<br>
+(Not available on standard Nicla, unless `USE_SPECIAL_BOARD` in "flags.h" set to 0)
+
+
+#### `void use_raw_sensor_values()`
+
+This is Nicla exclusive function.
+It disables the automatic conversion of internal sensor values.
+
+```c++
+edge_ml.use_raw_sensor_values();
+```
+
 
 ---
 ## Custom Board Configuration
@@ -485,6 +500,8 @@ public:
         // Set the sensor configurations
         SensorManagerInterface::set_sensor_configs(CONFIG);
     }
+    
+    void update() override {}; // update() is optional
 };
 ```
 
@@ -522,6 +539,8 @@ public:
         // Set the sensor configurations
         SensorManagerInterface::set_sensor_configs(CONFIG);
     }
+    
+    void update() override {}; // update() is optional
 };
 ```
 
@@ -551,6 +570,8 @@ public:
     void start() override;
     void stop() override;
 
+    void update() override {}; // update() is optional
+    
     void get_data(int sensorID, byte *data) override;
 
     int get_sensor_count() override;

generate_scheme_nicla/scheme_generator.h

@@ -76,27 +76,27 @@ enum SensorID_Nicla {
 };
 
 const SensorComponent ACC_COMPONENTS_Nicla[] = {
-        {"ACC", PARSE_TYPE_INT16, "X", ""},
-        {"ACC", PARSE_TYPE_INT16, "Y", ""},
-        {"ACC", PARSE_TYPE_INT16, "Z", ""}
+        {"ACC", PARSE_TYPE_FLOAT, "X", "g"},
+        {"ACC", PARSE_TYPE_FLOAT, "Y", "g"},
+        {"ACC", PARSE_TYPE_FLOAT, "Z", "g"}
 };
 
 const SensorComponent GYRO_COMPONENTS_Nicla[] = {
-        {"GYRO", PARSE_TYPE_INT16, "X",""},
-        {"GYRO", PARSE_TYPE_INT16, "Y",""},
-        {"GYRO", PARSE_TYPE_INT16, "Z",""}
+        {"GYRO", PARSE_TYPE_FLOAT, "X","dps"},
+        {"GYRO", PARSE_TYPE_FLOAT, "Y","dps"},
+        {"GYRO", PARSE_TYPE_FLOAT, "Z","dps"}
 };
 
 const SensorComponent MAG_COMPONENTS_Nicla[] = {
-        {"MAG", PARSE_TYPE_INT16, "X",""},
-        {"MAG", PARSE_TYPE_INT16, "Y",""},
-        {"MAG", PARSE_TYPE_INT16, "Z",""}
+        {"MAG", PARSE_TYPE_FLOAT, "X","uT"},
+        {"MAG", PARSE_TYPE_FLOAT, "Y","uT"},
+        {"MAG", PARSE_TYPE_FLOAT, "Z","uT"}
 };
 
 const SensorComponent ORI_COMPONENTS_Nicla[] = {
-        {"ORI", PARSE_TYPE_FLOAT, "Heading", ""},
-        {"ORI", PARSE_TYPE_FLOAT, "Pitch", ""},
-        {"ORI", PARSE_TYPE_FLOAT, "Roll", ""}
+        {"ORI", PARSE_TYPE_FLOAT, "Heading", "deg"},
+        {"ORI", PARSE_TYPE_FLOAT, "Pitch", "deg"},
+        {"ORI", PARSE_TYPE_FLOAT, "Roll", "deg"}
 };
 
 const SensorComponent TEMP_COMPONENTS_Nicla[] = {
@@ -171,10 +171,10 @@ schemeData *  make_scheme_buffer();
 
 String make_code(schemeData * scheme) {
     String out = "";
-    out += "\n\nbyte parse_scheme[] = ";
+    out += "\n\nconst byte parse_scheme[] = ";
     out += scheme->make_string();
     out += "\n\n";
-    out += "int scheme_size = ";
+    out += "const int scheme_size = ";
     out += String(scheme->length);
     out += ";\n\n";
 

src/EdgeML.h

@@ -101,6 +101,12 @@ class Edge_ML {
     }
 #endif
 
+#if defined NICLA_FLAG
+    void use_raw_sensor_values() {
+        edge_ml_nicla.use_raw_sensor_values();
+    }
+#endif
+
     void debug(Stream &stream) {
 #if defined NORMAL_BOARD
         edge_ml_generic.debug(stream);

src/boards/special_boards/nicla/BLEHandler.h

@@ -41,7 +41,7 @@ class BLEHandler {
     bool manual_advertise = false;
 
     int _scheme_length = 0;
-    byte * _scheme_buffer = nullptr;
+    const byte * _scheme_buffer = nullptr;
 
     String dfuServiceUuid = "34c2e3b8-34aa-11eb-adc1-0242ac120002";
     String dfuInternalUuid = "34c2e3b9-34aa-11eb-adc1-0242ac120002";

src/boards/special_boards/nicla/BoschParser.cpp

@@ -1,12 +1,23 @@
 #if defined(ARDUINO_NICLA)
 
 #include "BoschParser.h"
-#include "BoschSensortec.h"
 
 Stream* BoschParser::_debug = NULL;
 BLECharacteristic* BoschParser::_sensorDataCharacteristic = NULL;
 void (*BoschParser::_data_callback)(int ID, unsigned int timestamp, uint8_t * data, int size) = nullptr;
+bool BoschParser::_use_raw = false;
 
+const float BoschParser::acc_resolution = 16.0/65536.0; // [-4g, +4g]
+const float BoschParser::gyro_resolution = 4000.0/65536.0; // [-2000dps, +2000dps]
+
+// BMM150 conversion unclear; Please adjust; NO idea what Nicla does there
+const float BoschParser::magx_resolution = 2600.0/65536.0; // ±1300μT
+const float BoschParser::magy_resolution = 2600.0/65536.0; // ±1300μT
+const float BoschParser::magz_resolution = 5000.0/65536.0; // ±2500μT
+
+const float BoschParser::ori_heading_conversion = 360.0/32767.0;
+const float BoschParser::ori_pitch_conversion = 90.0/8192.0;
+const float BoschParser::ori_roll_conversion = 90.0/8192.0;
 
 void BoschParser::debug(Stream &stream)
 {
@@ -31,6 +42,10 @@ void BoschParser::set_data_callback(void (*callback)(int, unsigned int, uint8_t
     _data_callback = callback;
 }
 
+void BoschParser::use_raw_sensor_values() {
+    _use_raw = true;
+}
+
 void BoschParser::parseData(const struct bhy2_fifo_parse_data_info *fifoData, void *arg)
 {
     SensorDataPacket sensorData;
@@ -41,6 +56,10 @@ void BoschParser::parseData(const struct bhy2_fifo_parse_data_info *fifoData, vo
     sensorData.size = (fifoData->data_size > sizeof(sensorData.data)) ? sizeof(sensorData.data) : fifoData->data_size;
     memcpy(&sensorData.data, fifoData->data_ptr, sensorData.size);
 
+    if (!_use_raw) {
+        sensorData = convert_unit(&sensorData);
+    }
+
     if (_debug) {
         _debug->print("Sensor: ");
         _debug->print(sensorData.sensorId);
@@ -64,4 +83,90 @@ void BoschParser::parseData(const struct bhy2_fifo_parse_data_info *fifoData, vo
     }
 }
 
-#endif
+SensorDataPacket BoschParser::convert_unit(SensorDataPacket *data) {
+    SensorDataPacket out;
+    out.sensorId = data->sensorId;
+    out.time = data->time;
+
+    // hard coded parser
+    switch (data->sensorId) {
+        case ACCELERATION_NICLA: {
+            short * arr = (short*)data->data;
+            float * tar = (float*)out.data;
+
+            tar[0] = acc_resolution * static_cast<double>(arr[0]);
+            tar[1] = acc_resolution * static_cast<double>(arr[1]);
+            tar[2] = acc_resolution * static_cast<double>(arr[2]);
+
+            break;
+        }
+        case GYROSCOPE_NICLA: {
+            short * arr = (short*)data->data;
+            float * tar = (float*)out.data;
+
+            tar[0] = gyro_resolution * static_cast<double>(arr[0]);
+            tar[1] = gyro_resolution * static_cast<double>(arr[1]);
+            tar[2] = gyro_resolution * static_cast<double>(arr[2]);
+
+            break;
+        }
+        case MAGNET_NICLA: {
+            short * arr = (short*)data->data;
+            float * tar = (float*)out.data;
+
+            tar[0] = magx_resolution * static_cast<double>(arr[0]);
+            tar[1] = magy_resolution * static_cast<double>(arr[1]);
+            tar[2] = magz_resolution * static_cast<double>(arr[2]);
+
+            break;
+        }
+        case ORIENTATION_NICLA: {
+            short * arr = (short*)data->data;
+            float * tar = (float*)out.data;
+
+            tar[0] = ori_heading_conversion * static_cast<double>(arr[0]);
+            tar[1] = ori_pitch_conversion * static_cast<double>(arr[1]);
+            tar[2] = ori_roll_conversion * static_cast<double>(arr[2]);
+
+            break;
+            break;
+        }
+        case TEMPERATURE_NICLA: {
+            short * arr = (short*)data->data;
+            float * tar = (float*)out.data;
+
+            tar[0] = static_cast<double>(arr[0]) / 10.0;
+            break;
+        }
+        case BAROMETER_NICLA: {
+            int * arr = (int*)data->data;
+            float * tar = (float*)out.data;
+
+            tar[0] = static_cast<double>(arr[0]) / 1000.0;
+            break;
+        }
+        case HUMIDITY_NICLA: {
+            short * arr = (short*)data->data;
+            float * tar = (float*)out.data;
+
+            tar[0] = static_cast<double>(arr[0]);
+            break;
+        }
+        case GAS_NICLA: {
+            int * arr = (int*)data->data;
+            float * tar = (float*)out.data;
+
+            tar[0] = static_cast<double>(arr[0]);
+            break;
+        }
+        default:
+            out.size = data->size;
+            memcpy(&out.data, data->data, data->size); // ?
+    }
+    return out;
+}
+
+
+
+#endif
+

src/boards/special_boards/nicla/BoschParser.h

@@ -6,6 +6,7 @@
 #include "Arduino.h"
 #include "mbed.h"
 #include "ArduinoBLE.h"
+#include "BoschSensortec.h"
 
 #include "bosch/common/common.h"
 
@@ -26,12 +27,25 @@ class BoschParser {
 
     static void set_data_callback(void(*)(int, unsigned int, uint8_t*, int));
 
+    static void use_raw_sensor_values();
+    static SensorDataPacket convert_unit(SensorDataPacket * data);
+
 private:
     friend class Arduino_BHY2;
     static void debug(Stream &stream);
     static Stream *_debug;
     static BLECharacteristic *_sensorDataCharacteristic;
+    static bool _use_raw;
+
+    const static float acc_resolution;
+    const static float gyro_resolution;
+    const static float magx_resolution;
+    const static float magy_resolution;
+    const static float magz_resolution;
 
+    const static float ori_heading_conversion;
+    const static float ori_pitch_conversion;
+    const static float ori_roll_conversion;
 
     static void (*_data_callback)(int ID, unsigned int timestamp, uint8_t * data, int size);
 };

src/boards/special_boards/nicla/Edge_ML_Nicla.cpp

@@ -44,6 +44,10 @@ void Edge_ML_Nicla::set_config_callback(void (*callback)(SensorConfigurationPack
     bhy->set_config_callback(callback);
 }
 
+void Edge_ML_Nicla::use_raw_sensor_values() {
+    BoschParser::use_raw_sensor_values();
+}
+
 void Edge_ML_Nicla::debug(Stream &stream) {
     bhy->debug(stream);
 }

src/boards/special_boards/nicla/Edge_ML_Nicla.h

@@ -4,6 +4,7 @@
 #define Edge_ML_H_
 
 #include "Arduino_BHY2.h"
+#include "BoschParser.h"
 
 class Edge_ML_Nicla {
 public:
@@ -18,6 +19,7 @@ class Edge_ML_Nicla {
     void configure_sensor(SensorConfigurationPacket& config);
 
     void ble_manual_advertise();
+    void use_raw_sensor_values();
 
     void set_data_callback(void(*)(int, unsigned int, uint8_t*, int));
     void set_config_callback(void(*)(SensorConfigurationPacket *));

src/boards/special_boards/nicla/Nicla_Parse_Scheme.cpp

@@ -2,10 +2,10 @@
 
 #include "Nicla_Parse_Scheme.h"
 
-byte parse_scheme[] = {
-        8, 4, 12, 65, 67, 67, 69, 76, 69, 82, 65, 84, 73, 79, 78, 3, 2, 3, 65, 67, 67, 1, 88, 0, 2, 3, 65, 67, 67, 1, 89, 0, 2, 3, 65, 67, 67, 1, 90, 0, 13, 9, 71, 89, 82, 79, 83, 67, 79, 80, 69, 3, 2, 4, 71, 89, 82, 79, 1, 88, 0, 2, 4, 71, 89, 82, 79, 1, 89, 0, 2, 4, 71, 89, 82, 79, 1, 90, 0, 22, 12, 77, 65, 71, 78, 69, 84, 79, 77, 69, 84, 69, 82, 3, 2, 3, 77, 65, 71, 1, 88, 0, 2, 3, 77, 65, 71, 1, 89, 0, 2, 3, 77, 65, 71, 1, 90, 0, 43, 11, 79, 82, 73, 69, 78, 84, 65, 84, 73, 79, 78, 3, 6, 3, 79, 82, 73, 7, 72, 101, 97, 100, 105, 110, 103, 0, 6, 3, 79, 82, 73, 5, 80, 105, 116, 99, 104, 0, 6, 3, 79, 82, 73, 4, 82, 111, 108, 108, 0, 128, 11, 84, 72, 69, 82, 77, 79, 77, 69, 84, 69, 82, 1, 6, 4, 84, 69, 77, 80, 11, 84, 101, 109, 112, 101, 114, 97, 116, 117, 114, 101, 3, 194, 176, 67, 130, 10, 72, 89, 71, 82, 79, 77, 69, 84, 69, 82, 1, 6, 3, 72, 85, 77, 8, 72, 117, 109, 105, 100, 105, 116, 121, 1, 37, 129, 9, 66, 65, 82, 79, 77, 69, 84, 69, 82, 1, 6, 4, 66, 65, 82, 79, 8, 80, 114, 101, 115, 115, 117, 114, 101, 3, 107, 80, 97, 131, 3, 71, 65, 83, 3, 6, 3, 71, 65, 83, 3, 71, 97, 115, 0, 6, 3, 72, 85, 77, 8, 72, 117, 109, 105, 100, 105, 116, 121, 1, 37, 2, 3, 77, 65, 71, 1, 88, 0
+const byte parse_scheme[] = {
+        8, 4, 12, 65, 67, 67, 69, 76, 69, 82, 65, 84, 73, 79, 78, 3, 6, 3, 65, 67, 67, 1, 88, 1, 103, 6, 3, 65, 67, 67, 1, 89, 1, 103, 6, 3, 65, 67, 67, 1, 90, 1, 103, 13, 9, 71, 89, 82, 79, 83, 67, 79, 80, 69, 3, 6, 4, 71, 89, 82, 79, 1, 88, 3, 100, 112, 115, 6, 4, 71, 89, 82, 79, 1, 89, 3, 100, 112, 115, 6, 4, 71, 89, 82, 79, 1, 90, 3, 100, 112, 115, 22, 12, 77, 65, 71, 78, 69, 84, 79, 77, 69, 84, 69, 82, 3, 6, 3, 77, 65, 71, 1, 88, 2, 117, 84, 6, 3, 77, 65, 71, 1, 89, 2, 117, 84, 6, 3, 77, 65, 71, 1, 90, 2, 117, 84, 43, 11, 79, 82, 73, 69, 78, 84, 65, 84, 73, 79, 78, 3, 6, 3, 79, 82, 73, 7, 72, 101, 97, 100, 105, 110, 103, 3, 100, 101, 103, 6, 3, 79, 82, 73, 5, 80, 105, 116, 99, 104, 3, 100, 101, 103, 6, 3, 79, 82, 73, 4, 82, 111, 108, 108, 3, 100, 101, 103, 128, 11, 84, 72, 69, 82, 77, 79, 77, 69, 84, 69, 82, 1, 6, 4, 84, 69, 77, 80, 11, 84, 101, 109, 112, 101, 114, 97, 116, 117, 114, 101, 3, 194, 176, 67, 130, 10, 72, 89, 71, 82, 79, 77, 69, 84, 69, 82, 1, 6, 3, 72, 85, 77, 8, 72, 117, 109, 105, 100, 105, 116, 121, 1, 37, 129, 9, 66, 65, 82, 79, 77, 69, 84, 69, 82, 1, 6, 4, 66, 65, 82, 79, 8, 80, 114, 101, 115, 115, 117, 114, 101, 3, 107, 80, 97, 131, 3, 71, 65, 83, 3, 6, 3, 71, 65, 83, 3, 71, 97, 115, 0, 6, 3, 72, 85, 77, 8, 72, 117, 109, 105, 100, 105, 116, 121, 1, 37, 6, 3, 77, 65, 71, 1, 88, 2, 117, 84
 };
 
-int scheme_size = 305;
+const int scheme_size = 334;
 
 #endif

src/boards/special_boards/nicla/Nicla_Parse_Scheme.h

@@ -5,9 +5,9 @@
 
 #include "Arduino.h"
 
-extern byte parse_scheme[];
+extern const byte parse_scheme[];
 
-extern int scheme_size;
+extern const int scheme_size;
 
 #endif //NICLA_TEST_NICLA_PARSE_SCHEME_H
 #endif

src/boards/special_boards/nicla/sensors/SensorTypes.h

@@ -3,7 +3,18 @@
 
 #include "stdint.h"
 
-#define SENSOR_DATA_FIXED_LENGTH (10)
+#define SENSOR_DATA_FIXED_LENGTH (12)
+
+enum SensorID_Nicla {
+    ACCELERATION_NICLA = 4,
+    GYROSCOPE_NICLA = 13,
+    MAGNET_NICLA = 22,
+    ORIENTATION_NICLA = 43,
+    TEMPERATURE_NICLA = 128,
+    BAROMETER_NICLA = 129,
+    HUMIDITY_NICLA = 130,
+    GAS_NICLA = 131
+};
 
 struct __attribute__((packed)) SensorConfigurationPacket {
     uint8_t sensorId;