Ex6 basis.

.gitignore

@@ -24,3 +24,8 @@ ex_4/pca10040/blank/ses/template_pca10040.emSession
 !ex_5/pca10040/blank/config/*
 ex_5/pca10040/blank/ses/Output
 ex_5/pca10040/blank/ses/template_pca10040.emSession
+
+!ex_6/pca10040/blank/ses/*
+!ex_6/pca10040/blank/config/*
+ex_6/pca10040/blank/ses/Output
+ex_6/pca10040/blank/ses/template_pca10040.emSession

ex_6/main.c

+/**
+ * Copyright (c) 2009 - 2019, Nordic Semiconductor ASA
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form, except as embedded into a Nordic
+ *    Semiconductor ASA integrated circuit in a product or a software update for
+ *    such product, must reproduce the above copyright notice, this list of
+ *    conditions and the following disclaimer in the documentation and/or other
+ *    materials provided with the distribution.
+ *
+ * 3. Neither the name of Nordic Semiconductor ASA nor the names of its
+ *    contributors may be used to endorse or promote products derived from this
+ *    software without specific prior written permission.
+ *
+ * 4. This software, with or without modification, must only be used with a
+ *    Nordic Semiconductor ASA integrated circuit.
+ *
+ * 5. Any software provided in binary form under this license must not be reverse
+ *    engineered, decompiled, modified and/or disassembled.
+ *
+ * THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS
+ * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+ * OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
+ * GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+/** @file
+* @brief Example template project.
+* @defgroup nrf_templates_example Example Template
+*
+*/
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "nrf_drv_spi.h"
+#include "bmi160.h"
+#include "nrf_delay.h"
+#include "nrf_drv_gpiote.h"
+
+#define SPI_INSTANCE 0 // SPI instance index. We use SPI master 0
+#define SPI_SS_PIN 26
+#define SPI_MISO_PIN 23
+#define SPI_MOSI_PIN 24
+#define SPI_SCK_PIN 22
+#define INT_PIN 27
+
+//SPI instance
+static const nrf_drv_spi_t spi = NRF_DRV_SPI_INSTANCE(SPI_INSTANCE);
+//Flag used to indicate that SPI instance completed the transfer
+static volatile bool spi_xfer_done;
+
+static uint8_t SPI_RX_Buffer[201]; // Allocate a buffer for SPI reads
+struct bmi160_dev sensor; // An instance of bmi160 sensor
+
+// Declare memory to store the raw FIFO buffer information
+uint8_t fifo_buff[200];
+// Modify the FIFO buffer instance and link to the device instance
+struct bmi160_fifo_frame fifo_frame;
+
+// 200 bytes -> ~7bytes per frame -> ~28 data frames
+struct bmi160_sensor_data acc_data[28];
+
+/**
+* Function for reading FIFO data
+*/
+int8_t get_bmi160_fifo_data()
+{
+  int8_t rslt = BMI160_OK;
+  uint8_t acc_frames_req = 28;
+  // Read the fifo buffer using SPI
+  rslt = bmi160_get_fifo_data(&sensor);
+  // Parse the data and extract 28 accelerometer frames
+  rslt = bmi160_extract_accel(acc_data, &acc_frames_req, &sensor);
+  return rslt;
+}
+
+/**
+* SPI user event handler.
+*/
+void spi_event_handler(nrf_drv_spi_evt_t const * p_event, void *p_context) {
+  spi_xfer_done = true; // Set a flag when transfer is done
+}
+
+void gpio_event_handler(nrf_drv_gpiote_pin_t pin, nrf_gpiote_polarity_t action) {
+  get_bmi160_fifo_data();
+}
+
+/**
+* Function for setting up the SPI communication.
+*/
+uint32_t spi_config() {
+
+  uint32_t err_code;
+
+  // Use nRF's default configurations
+  nrf_drv_spi_config_t spi_config = NRF_DRV_SPI_DEFAULT_CONFIG;
+
+  // Define each GPIO pin
+  spi_config.ss_pin = SPI_SS_PIN;
+  spi_config.miso_pin = SPI_MISO_PIN;
+  spi_config.mosi_pin = SPI_MOSI_PIN;
+  spi_config.sck_pin = SPI_SCK_PIN;
+
+  // Initialize the SPI peripheral and give it a function pointer to
+  // it’s event handler
+  err_code = nrf_drv_spi_init(&spi, &spi_config, spi_event_handler, NULL);
+
+  return err_code;
+}
+
+/**
+* Function for writing to the BMI160 via SPI.
+*/
+int8_t bmi160_spi_bus_write(uint8_t hw_addr, uint8_t reg_addr, uint8_t *reg_data, uint16_t cnt) {
+
+  spi_xfer_done = false; // set the flag down during transfer
+
+  int32_t error = 0;
+
+  // Allocate array, which lenght is address + number of data bytes to be sent
+  uint8_t tx_buff[cnt+1];
+  uint16_t stringpos;
+
+  // AND address with 0111 1111; set msb to '0' (write operation)
+  tx_buff[0] = reg_addr & 0x7F;
+  for (stringpos = 0; stringpos < cnt; stringpos++) {
+    tx_buff[stringpos+1] = *(reg_data + stringpos);
+  }
+
+  // Do the actual SPI transfer
+  nrf_drv_spi_transfer(&spi, tx_buff, cnt+1, NULL, 0);
+  while (!spi_xfer_done) {}; // Loop until the transfer is complete
+
+  return (int8_t)error;
+}
+
+/**
+* Function for reading from the BMI160 via SPI.
+*/
+int8_t bmi160_spi_bus_read(uint8_t hw_addr, uint8_t reg_addr, uint8_t *reg_data, uint16_t len) {
+
+  spi_xfer_done = false; // set the flag down during transfer
+
+  int32_t error = 0;
+
+  uint8_t tx_buff = reg_addr | 0x80; // OR address with 1000 0000; Read -> set msb to '1';
+  uint8_t * rx_buff_pointer;
+  uint16_t stringpos;
+
+  rx_buff_pointer = (uint8_t *) (SPI_RX_Buffer);
+
+  // Do the actual SPI transfer
+  nrf_drv_spi_transfer(&spi, &tx_buff, 1, rx_buff_pointer, len+1);
+
+  while (!spi_xfer_done) {} // Loop until the transfer is complete
+
+  // Copy received bytes to reg_data
+  for (stringpos = 0; stringpos < len; stringpos++)
+  *(reg_data + stringpos) = SPI_RX_Buffer[stringpos + 1];
+
+  return (int8_t)error;
+}
+
+/**
+* Function for configuring the sensor
+*/
+int8_t sensor_config() {
+  int8_t rslt = BMI160_OK;
+
+  sensor.id = 0; // We use SPI so id == 0
+  sensor.interface = BMI160_SPI_INTF;
+
+  // Give the driver the correct interfacing functions
+  sensor.read = bmi160_spi_bus_read;
+  sensor.write = bmi160_spi_bus_write;
+  sensor.delay_ms = nrf_delay_ms;
+
+  // Initialize the sensor and check if everything went ok
+  rslt = bmi160_init(&sensor);
+
+  // Configure the accelerometer's sampling freq, range and modes
+  sensor.accel_cfg.odr = BMI160_ACCEL_ODR_25HZ;
+  sensor.accel_cfg.range = BMI160_ACCEL_RANGE_8G;
+  sensor.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
+  sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
+  // Set the configurations
+  rslt = bmi160_set_sens_conf(&sensor);
+  // Some fifo settings
+  fifo_frame.data = fifo_buff;
+  fifo_frame.length = 200;
+  sensor.fifo = &fifo_frame;
+
+  // Configure the sensor's FIFO settings
+  rslt = bmi160_set_fifo_config(BMI160_FIFO_ACCEL, BMI160_ENABLE, &sensor);
+  // Create an instance for interrupt settings
+  struct bmi160_int_settg int_config;
+  // Interrupt channel/pin 1
+  int_config.int_channel = BMI160_INT_CHANNEL_1;
+  // Choosing fifo watermark interrupt
+  int_config.int_type = BMI160_ACC_GYRO_FIFO_WATERMARK_INT;
+  // Set fifo watermark level to 180
+  rslt = bmi160_set_fifo_wm((uint8_t) 180, &sensor);
+  // Enabling interrupt pins to act as output pin
+  int_config.int_pin_settg.output_en = BMI160_ENABLE;
+  // Choosing push-pull mode for interrupt pin
+  int_config.int_pin_settg.output_mode = BMI160_DISABLE;
+  // Choosing active high output
+  int_config.int_pin_settg.output_type = BMI160_ENABLE;
+  // Choosing edge triggered output
+  int_config.int_pin_settg.edge_ctrl = BMI160_ENABLE;
+  // Disabling interrupt pin to act as input
+  int_config.int_pin_settg.input_en = BMI160_DISABLE;
+  // Non-latched output
+  int_config.int_pin_settg.latch_dur = BMI160_LATCH_DUR_NONE;
+  // Enabling FIFO watermark interrupt
+  int_config.fifo_WTM_int_en = BMI160_ENABLE;
+  // Set interrupt configurations
+  rslt = bmi160_set_int_config(&int_config, &sensor);
+
+  return rslt;
+}
+
+/**
+* Function for configuring General Purpose I/O.
+*/
+uint32_t config_gpio() {
+  uint32_t err_code = NRF_SUCCESS;
+
+  if(!nrf_drv_gpiote_is_init()) {
+    err_code = nrf_drv_gpiote_init();
+  }
+
+  // Set which clock edge triggers the interrupt
+  nrf_drv_gpiote_in_config_t config = GPIOTE_CONFIG_IN_SENSE_LOTOHI(true);
+
+  // Configure the internal pull up resistor
+  //config.pull = NRF_GPIO_PIN_PULLUP;
+
+  // Configure the pin as input
+  err_code = nrf_drv_gpiote_in_init(INT_PIN, &config, gpio_event_handler);
+  if (err_code != NRF_SUCCESS) {
+    // handle error condition
+  }
+
+  // Enable events
+  nrf_drv_gpiote_in_event_enable(INT_PIN, true);
+  return err_code;
+}
+
+int main(void) {
+
+  uint32_t err_code = spi_config();
+  if (err_code != NRF_SUCCESS)
+  {
+    // error check failed!
+  }
+
+  err_code = config_gpio();
+  if (err_code != NRF_SUCCESS)
+  {
+    // error check failed!
+  }
+
+  err_code = sensor_config();
+  if (err_code != NRF_SUCCESS)
+  {
+    // error check failed!
+  }
+
+  while(true) {
+    __WFE(); // sleep until an event wakes us up
+    __SEV(); // sleep until an event wakes us up
+    __WFE(); // sleep until an event wakes us up
+  }
+}

ex_6/pca10040/blank/ses/ex3_Release.jlink

+[BREAKPOINTS]
+ForceImpTypeAny = 0
+ShowInfoWin = 1
+EnableFlashBP = 2
+BPDuringExecution = 0
+[CFI]
+CFISize = 0x00
+CFIAddr = 0x00
+[CPU]
+MonModeVTableAddr = 0xFFFFFFFF
+MonModeDebug = 0
+MaxNumAPs = 0
+LowPowerHandlingMode = 0
+OverrideMemMap = 0
+AllowSimulation = 1
+ScriptFile=""
+[FLASH]
+CacheExcludeSize = 0x00
+CacheExcludeAddr = 0x00
+MinNumBytesFlashDL = 0
+SkipProgOnCRCMatch = 1
+VerifyDownload = 1
+AllowCaching = 1
+EnableFlashDL = 2
+Override = 0
+Device="ARM7"
+[GENERAL]
+WorkRAMSize = 0x00
+WorkRAMAddr = 0x00
+RAMUsageLimit = 0x00
+[SWO]
+SWOLogFile=""
+[MEM]
+RdOverrideOrMask = 0x00
+RdOverrideAndMask = 0xFFFFFFFF
+RdOverrideAddr = 0xFFFFFFFF
+WrOverrideOrMask = 0x00
+WrOverrideAndMask = 0xFFFFFFFF
+WrOverrideAddr = 0xFFFFFFFF

ex_6/pca10040/blank/ses/ex4_Release.jlink

+[BREAKPOINTS]
+ForceImpTypeAny = 0
+ShowInfoWin = 1
+EnableFlashBP = 2
+BPDuringExecution = 0
+[CFI]
+CFISize = 0x00
+CFIAddr = 0x00
+[CPU]
+MonModeVTableAddr = 0xFFFFFFFF
+MonModeDebug = 0
+MaxNumAPs = 0
+LowPowerHandlingMode = 0
+OverrideMemMap = 0
+AllowSimulation = 1
+ScriptFile=""
+[FLASH]
+CacheExcludeSize = 0x00
+CacheExcludeAddr = 0x00
+MinNumBytesFlashDL = 0
+SkipProgOnCRCMatch = 1
+VerifyDownload = 1
+AllowCaching = 1
+EnableFlashDL = 2
+Override = 0
+Device="ARM7"
+[GENERAL]
+WorkRAMSize = 0x00
+WorkRAMAddr = 0x00
+RAMUsageLimit = 0x00
+[SWO]
+SWOLogFile=""
+[MEM]
+RdOverrideOrMask = 0x00
+RdOverrideAndMask = 0xFFFFFFFF
+RdOverrideAddr = 0xFFFFFFFF
+WrOverrideOrMask = 0x00
+WrOverrideAndMask = 0xFFFFFFFF
+WrOverrideAddr = 0xFFFFFFFF

ex_6/pca10040/blank/ses/flash_placement.xml

+<!DOCTYPE Linker_Placement_File>
+<Root name="Flash Section Placement">
+  <MemorySegment name="FLASH" start="$(FLASH_PH_START)" size="$(FLASH_PH_SIZE)">
+    <ProgramSection alignment="0x100" load="Yes" name=".vectors" start="$(FLASH_START)" />
+    <ProgramSection alignment="4" load="Yes" name=".init" />
+    <ProgramSection alignment="4" load="Yes" name=".init_rodata" />
+    <ProgramSection alignment="4" load="Yes" name=".text" />
+    <ProgramSection alignment="4" keep="Yes" load="Yes" name=".nrf_queue" inputsections="*(.nrf_queue*)" address_symbol="__start_nrf_queue" end_symbol="__stop_nrf_queue" />
+    <ProgramSection alignment="4" keep="Yes" load="Yes" name=".pwr_mgmt_data" inputsections="*(SORT(.pwr_mgmt_data*))" address_symbol="__start_pwr_mgmt_data" end_symbol="__stop_pwr_mgmt_data" />
+    <ProgramSection alignment="4" keep="Yes" load="Yes" name=".log_const_data" inputsections="*(SORT(.log_const_data*))" address_symbol="__start_log_const_data" end_symbol="__stop_log_const_data" />
+    <ProgramSection alignment="4" keep="Yes" load="Yes" name=".nrf_balloc" inputsections="*(.nrf_balloc*)" address_symbol="__start_nrf_balloc" end_symbol="__stop_nrf_balloc" />
+    <ProgramSection alignment="4" keep="Yes" load="Yes" name=".crypto_data" inputsections="*(SORT(.crypto_data*))" address_symbol="__start_crypto_data" end_symbol="__stop_crypto_data" />
+    <ProgramSection alignment="4" keep="Yes" load="Yes" name=".cli_command" inputsections="*(.cli_command*)" address_symbol="__start_cli_command" end_symbol="__stop_cli_command" />
+    <ProgramSection alignment="4" keep="Yes" load="Yes" name=".log_backends" inputsections="*(SORT(.log_backends*))" address_symbol="__start_log_backends" end_symbol="__stop_log_backends" />
+    <ProgramSection alignment="4" keep="Yes" load="No" name=".nrf_sections" address_symbol="__start_nrf_sections" />
+    <ProgramSection alignment="4" keep="Yes" load="Yes" name=".fs_data"  inputsections="*(.fs_data*)" runin=".fs_data_run"/>
+    <ProgramSection alignment="4" keep="Yes" load="Yes" name=".log_dynamic_data"  inputsections="*(SORT(.log_dynamic_data*))" runin=".log_dynamic_data_run"/>
+    <ProgramSection alignment="4" keep="Yes" load="Yes" name=".log_filter_data"  inputsections="*(SORT(.log_filter_data*))" runin=".log_filter_data_run"/>
+    <ProgramSection alignment="4" keep="Yes" load="Yes" name=".cli_sorted_cmd_ptrs"  inputsections="*(.cli_sorted_cmd_ptrs*)" runin=".cli_sorted_cmd_ptrs_run"/>
+    <ProgramSection alignment="4" load="Yes" name=".dtors" />
+    <ProgramSection alignment="4" load="Yes" name=".ctors" />
+    <ProgramSection alignment="4" load="Yes" name=".rodata" />
+    <ProgramSection alignment="4" load="Yes" name=".ARM.exidx" address_symbol="__exidx_start" end_symbol="__exidx_end" />
+    <ProgramSection alignment="4" load="Yes" runin=".fast_run" name=".fast" />
+    <ProgramSection alignment="4" load="Yes" runin=".data_run" name=".data" />
+    <ProgramSection alignment="4" load="Yes" runin=".tdata_run" name=".tdata" />
+  </MemorySegment>
+  <MemorySegment name="RAM" start="$(RAM_PH_START)" size="$(RAM_PH_SIZE)">
+    <ProgramSection alignment="0x100" load="No" name=".vectors_ram" start="$(RAM_START)" address_symbol="__app_ram_start__"/>
+    <ProgramSection alignment="4" keep="Yes" load="No" name=".nrf_sections_run" address_symbol="__start_nrf_sections_run" />
+    <ProgramSection alignment="4" keep="Yes" load="No" name=".fs_data_run" address_symbol="__start_fs_data" end_symbol="__stop_fs_data" />
+    <ProgramSection alignment="4" keep="Yes" load="No" name=".log_dynamic_data_run" address_symbol="__start_log_dynamic_data" end_symbol="__stop_log_dynamic_data" />
+    <ProgramSection alignment="4" keep="Yes" load="No" name=".log_filter_data_run" address_symbol="__start_log_filter_data" end_symbol="__stop_log_filter_data" />
+    <ProgramSection alignment="4" keep="Yes" load="No" name=".cli_sorted_cmd_ptrs_run" address_symbol="__start_cli_sorted_cmd_ptrs" end_symbol="__stop_cli_sorted_cmd_ptrs" />
+    <ProgramSection alignment="4" keep="Yes" load="No" name=".nrf_sections_run_end" address_symbol="__end_nrf_sections_run" />
+    <ProgramSection alignment="4" load="No" name=".fast_run" />
+    <ProgramSection alignment="4" load="No" name=".data_run" />
+    <ProgramSection alignment="4" load="No" name=".tdata_run" />
+    <ProgramSection alignment="4" load="No" name=".bss" />
+    <ProgramSection alignment="4" load="No" name=".tbss" />
+    <ProgramSection alignment="4" load="No" name=".non_init" />
+    <ProgramSection alignment="4" size="__HEAPSIZE__" load="No" name=".heap" />
+    <ProgramSection alignment="8" size="__STACKSIZE__" load="No" place_from_segment_end="Yes" name=".stack"  address_symbol="__StackLimit" end_symbol="__StackTop"/>
+    <ProgramSection alignment="8" size="__STACKSIZE_PROCESS__" load="No" name=".stack_process" />
+  </MemorySegment>
+</Root>

ex_6/pca10040/blank/ses/template_pca10040_Release.jlink

+[BREAKPOINTS]
+ForceImpTypeAny = 0
+ShowInfoWin = 1
+EnableFlashBP = 2
+BPDuringExecution = 0
+[CFI]
+CFISize = 0x00
+CFIAddr = 0x00
+[CPU]
+MonModeVTableAddr = 0xFFFFFFFF
+MonModeDebug = 0
+MaxNumAPs = 0
+LowPowerHandlingMode = 0
+OverrideMemMap = 0
+AllowSimulation = 1
+ScriptFile=""
+[FLASH]
+CacheExcludeSize = 0x00
+CacheExcludeAddr = 0x00
+MinNumBytesFlashDL = 0
+SkipProgOnCRCMatch = 1
+VerifyDownload = 1
+AllowCaching = 1
+EnableFlashDL = 2
+Override = 0
+Device="ARM7"
+[GENERAL]
+WorkRAMSize = 0x00
+WorkRAMAddr = 0x00
+RAMUsageLimit = 0x00
+[SWO]
+SWOLogFile=""
+[MEM]
+RdOverrideOrMask = 0x00
+RdOverrideAndMask = 0xFFFFFFFF
+RdOverrideAddr = 0xFFFFFFFF
+WrOverrideOrMask = 0x00
+WrOverrideAndMask = 0xFFFFFFFF
+WrOverrideAddr = 0xFFFFFFFF

ex_6/template.eww

+<?xml version="1.0" encoding="iso-8859-1"?>
+
+<workspace>  <project>
+    <path>$WS_DIR$\pca10056\blank\iar\template_pca10056.ewp</path>
+  </project>  <project>
+    <path>$WS_DIR$\pca10040\blank\iar\template_pca10040.ewp</path>
+  </project>  <batchBuild/>
+</workspace>
\ No newline at end of file