Merge pull request #13 from bcmi-labs/cleaning

Cleaning

Author: Paolo Calao

ArduinoBLE_DFU/ArduinoBLE_DFU.ino

@@ -0,0 +1,27 @@
+/* 
+ * Use this sketch if you want to control unisense from 
+ * an external device acting as a host.
+ * Here, unisense just reacts to external stimuli coming from
+ * the eslov port or through BLE 
+*/
+
+#include "Arduino.h"
+#include "Arduino_BHY2.h"
+
+// Set DEBUG to true in order to enable debug print
+#define DEBUG false
+
+void setup()
+{
+#if DEBUG
+  Serial.begin(115200);
+  BHY2.debug(Serial);
+#endif
+
+  BHY2.begin();
+}
+
+void loop()
+{
+  BHY2.update();
+}

Arduino_BHY2/examples/App/App.ino

@@ -1,3 +1,10 @@
+/* 
+ * This sketch shows how unisense can be used in standalone mode.
+ * Without the need for an host, unisense can run sketches that 
+ * are able to configure the bhi sensors and are able to read all 
+ * the bhi sensors data.
+*/
+
 #include "Arduino.h"
 #include "Arduino_BHY2.h"
 
@@ -7,25 +14,16 @@ DataXYZ accValue;
 #define GYRO_ID (13)
 DataXYZ gyroValue;
 
-#define ORI_ID (43)
-DataOrientation orientation;
-
 void configureSensors() {
   SensorConfigurationPacket config;
   config.sampleRate = 1;
   config.latency = 0;
 
   config.sensorId = ACCEL_ID;
-  BHY2.configureSensor(&config);
-
-  config.sensorId = ORI_ID;
-  BHY2.configureSensor(&config);
+  BHY2.configureSensor(config);
 
   config.sensorId = GYRO_ID;
-  BHY2.configureSensor(&config);
-
-  config.sensorId = 34;
-  BHY2.configureSensor(&config);
+  BHY2.configureSensor(config);
 }
 
 void setup()
@@ -42,6 +40,10 @@ void loop()
   static auto printTime = millis();
   static auto sampleTime = millis();
 
+  // Update function should be continuously polled
+  BHY2.update();
+
+  // Retrieve new data at each 10 ms
   if (millis() - sampleTime >= 10) {
     sampleTime = millis();
 
@@ -50,29 +52,27 @@ void loop()
       BHY2.readSensorData(data);
 
       if (data.sensorId == ACCEL_ID) {
-        Serial.print("Received accel: ");
+        Serial.println("Received accel");
         BHY2.parse(data, accValue);
 
       } else if (data.sensorId == GYRO_ID) {
-        Serial.print("Received gyro: ");
+        Serial.println("Received gyro");
         BHY2.parse(data, gyroValue);
 
-      } else if (data.sensorId == ORI_ID) {
-        Serial.println("orientation");
-        BHY2.parse(data, orientation, 360.0f / 32768.0f);
-
       }
     }
   }
 
+  // Print the last sensor data at each 200 ms
   if (millis() - printTime >= 200) {
     printTime = millis();
 
-    Serial.println(orientation.toString());
+    Serial.print("Accelerometer values: ");
+    Serial.println(accValue.toString());
+
+    Serial.print("Orientation values: ");
     Serial.println(gyroValue.toString());
   }
-
-  BHY2.update();
 }
 
 

Arduino_BHY2/examples/interpreter/interpreter.ino renamed to Arduino_BHY2/examples/Standalone/Standalone.ino

@@ -28,11 +28,20 @@ void Arduino_BHY2::update()
   bleHandler.update();
 }
 
-void Arduino_BHY2::configureSensor(SensorConfigurationPacket *config)
+void Arduino_BHY2::configureSensor(SensorConfigurationPacket& config)
 {
   sensortec.configureSensor(config);
 }
 
+void Arduino_BHY2::configureSensor(uint8_t sensorId, float sampleRate, uint32_t latency)
+{
+  SensorConfigurationPacket config;
+  config.sensorId = sensorId;
+  config.sampleRate = sampleRate;
+  config.latency = latency;
+  sensortec.configureSensor(config);
+}
+
 void Arduino_BHY2::addSensorData(const SensorDataPacket &sensorData)
 {
   sensortec.addSensorData(sensorData);

Arduino_BHY2/examples/app/app.ino

@@ -15,7 +15,8 @@ class Arduino_BHY2 {
   void update();
 
   // API for using the bosch sensortec from sketch
-  void configureSensor(SensorConfigurationPacket *config);
+  void configureSensor(SensorConfigurationPacket& config);
+  void configureSensor(uint8_t sensorId, float sampleRate, uint32_t latency);
   void addSensorData(const SensorDataPacket &sensorData);
   uint8_t availableSensorData();
   bool readSensorData(SensorDataPacket &data);

Arduino_BHY2/src/Arduino_BHY2.cpp

@@ -78,7 +78,7 @@ void BLEHandler::receivedSensorConfig(BLEDevice central, BLECharacteristic chara
     _debug->println(data.sampleRate);
     _debug->println(data.latency);
   }
-  sensortec.configureSensor(&data);
+  sensortec.configureSensor(data);
 }
 
 void BLEHandler::begin()
@@ -114,7 +114,6 @@ void BLEHandler::update()
   if (sensorDataCharacteristic.subscribed()) {
 
     // Simulate a request for reading new sensor data
-    // Better: bypass SensorChannel
     uint8_t availableData = sensortec.availableSensorData();
     while (availableData) {
       SensorDataPacket data;

Arduino_BHY2/src/Arduino_BHY2.h

@@ -51,9 +51,9 @@ void BoschSensortec::begin()
   bhy2_update_virtual_sensor_list(&_bhy2);
 }
 
-void BoschSensortec::configureSensor(SensorConfigurationPacket *config)
+void BoschSensortec::configureSensor(SensorConfigurationPacket& config)
 {
-  auto ret = bhy2_set_virt_sensor_cfg(config->sensorId, config->sampleRate, config->latency, &_bhy2);
+  auto ret = bhy2_set_virt_sensor_cfg(config.sensorId, config.sampleRate, config.latency, &_bhy2);
   if (_debug) _debug->println(get_api_error(ret));
 }