adding quaternion service

Author: hathach

libraries/BLEAdafruitService/library.properties

@@ -8,3 +8,4 @@ category=Communication
 url=https://github.com/adafruit/Adafruit_nRF52_Arduino
 architectures=*
 includes=BLEAdafruitService.h
+depends=Adafruit NeoPixel, Adafruit Unified Sensor, Adafruit AHRS

libraries/BLEAdafruitService/src/BLEAdafruitService.h

@@ -38,6 +38,7 @@
 #include "services/BLEAdafruitHumid.h"
 #include "services/BLEAdafruitLightSensor.h"
 #include "services/BLEAdafruitMagnetic.h"
+#include "services/BLEAdafruitQuaternion.h"
 #include "services/BLEAdafruitTemperature.h"
 #include "services/BLEAdafruitTone.h"
 

libraries/BLEAdafruitService/src/services/BLEAdafruitQuaternion.cpp

@@ -0,0 +1,81 @@
+/* 
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2019 Ha Thach (tinyusb.org) for Adafruit Industries
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "BLEAdafruitService.h"
+#include <Adafruit_AHRS.h>
+
+//--------------------------------------------------------------------+
+// MACRO TYPEDEF CONSTANT ENUM DECLARATION
+//--------------------------------------------------------------------+
+
+
+/* All Adafruit Service/Characteristic UUID128 share the same Base UUID:
+ *    ADAFxxx-C332-42A8-93BD-25E905756CB8
+ *
+ * Shared Characteristics
+ *  - Measurement Period  0001 | int32_t | Read + Write |
+ *    ms between measurements, -1: stop reading, 0: update when changes
+ *
+ * Quaternion service  0D00
+ *  - Quater              0D01 | float[4] | Read + Notify | qw, qx, qy, qz
+ *  - Measurement Period  0001
+ */
+
+const uint8_t BLEAdafruitQuaternion::UUID128_SERVICE[16] =
+{
+  0xB8, 0x6c, 0x75, 0x05, 0xE9, 0x25, 0xBD, 0x93,
+  0xA8, 0x42, 0x32, 0xC3, 0x00, 0x0D, 0xAF, 0xAD
+};
+
+const uint8_t BLEAdafruitQuaternion::UUID128_CHR_DATA[16] =
+{
+  0xB8, 0x6c, 0x75, 0x05, 0xE9, 0x25, 0xBD, 0x93,
+  0xA8, 0x42, 0x32, 0xC3, 0x01, 0x0D, 0xAF, 0xAD
+};
+
+// Constructor
+BLEAdafruitQuaternion::BLEAdafruitQuaternion(void)
+  : BLEAdafruitSensor(UUID128_SERVICE, UUID128_CHR_DATA)
+{
+  _accel = _gyro = _mag = NULL;
+  _filter = NULL;
+}
+
+err_t BLEAdafruitQuaternion::begin(Adafruit_AHRS_FusionInterface* filter, Adafruit_Sensor* accel, Adafruit_Sensor* gyro, Adafruit_Sensor* mag)
+{
+  _filter = filter;
+  _accel = accel;
+  _gyro  = gyro;
+  _mag   = mag;
+
+  // Setup Measurement Characteristic
+  _measurement.setProperties(CHR_PROPS_READ | CHR_PROPS_NOTIFY);
+  _measurement.setPermission(SECMODE_OPEN, SECMODE_NO_ACCESS);
+  _measurement.setFixedLen(4*4);
+
+  // Invoke base class begin(), this will add Service, Measurement and Period characteristics
+  VERIFY_STATUS( BLEAdafruitSensor::begin(DEFAULT_PERIOD) );
+
+  return ERROR_NONE;
+}

libraries/BLEAdafruitService/src/services/BLEAdafruitQuaternion.h

@@ -0,0 +1,50 @@
+/* 
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2019 Ha Thach (tinyusb.org) for Adafruit Industries
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef BLEADAFRUIT_QUATERNION_H_
+#define BLEADAFRUIT_QUATERNION_H_
+
+#include <Adafruit_Sensor.h>
+
+class Adafruit_AHRS_FusionInterface;
+
+class BLEAdafruitQuaternion : public BLEAdafruitSensor
+{
+  public:
+    static const uint8_t UUID128_SERVICE[16];
+    static const uint8_t UUID128_CHR_DATA[16];
+    static const int32_t DEFAULT_PERIOD = 100;
+
+    BLEAdafruitQuaternion(void);
+    virtual err_t begin(Adafruit_AHRS_FusionInterface* filter, Adafruit_Sensor* accel, Adafruit_Sensor* gyro, Adafruit_Sensor* mag);
+
+  private:
+    Adafruit_Sensor* _accel;
+    Adafruit_Sensor* _gyro;
+    Adafruit_Sensor* _mag;
+
+    Adafruit_AHRS_FusionInterface* _filter;
+};
+
+#endif /* BLEADAFRUIT_QUATERNION_H_ */

libraries/Bluefruit52Lib/library.properties

@@ -8,3 +8,4 @@ category=Communication
 url=https://github.com/adafruit/Adafruit_nRF52_Arduino
 architectures=*
 includes=bluefruit.h
+depends=Adafruit nRFCrypto