Acromegaly nRF51

Acromegaly nRF51 is an embedded controller for the adjustable height desk. Access to controller is available through BLE interface by the iOS client app

This resposity is a part of the Acromegaly project - Open Source desk with adjustable height.

Build

Code and structure of this repository bases on a BLE advertising template provided by Nordic. In sake of simplicity, folders for Keil uVision project and for other MCUs was removed.

Prerequisites

GNU Make 3.8+
nRF5 SDK 11.0.0 (89a8197)
nrfjprog 9.7.0+
nRF51822 or nRF51422 MCU (ie. nRF51 DK Board)
correct MCU wiring

Makefile

Setup absolute path to nRF5 SDK 11 in pca10028/s130/armgcc/Makefile:

SDK_ROOT := /Users/johndoe/nRF5_SDK_11.0.0_89a8197

That its, project is ready to build and flash along with Softdevice:

cd pca10028/s130/armgcc/
make build
make flash_softdevice
make flash

Depending of applied connections to MCU and logger configuration, the new BLE advertiser should appear.

In the opposite case, validate connection between nRF51 and Flash memory/UART/Segger according to the Eagle files.

Remind, if the Makefile has set ASMFLAGS += -DNRF_LOG_USES_RTT=1, then Segger SWDIO/SWCLK have to be connected. Otherwise the MCU would not boot.

Configuration

Depending of the actual desk construction, some geometrical values may be adjusted. Definitions of this values are localized in the config/acromegaly_config.h header:

/** Value used to convert ticks count to more recognizable unit, broadcasted by status service.
 * In this case, it's fraction 1*10e-6, where one unit of multiplied ticks equals 1um.
 */
#define TICK_TO_HEIGHT_MULTI 525

/**
 * Value in nanometers of minimal countertop position over ground
 */
#define BASE_HEIGHT 834000 

/**
 * The total number of ticks required to achieve a desk maximum height
 */
#define TICKS_UPPER_LIMIT 816
#define TICK_LOWER_LIMIT 0

Logging

Logging is supplied by utils library provided by Nordic SDK (utils/nrf_log). Project can be configured to use either UART and/or SeggerRTT. To make selection, set the proper flag in a Makefile.

JLink

-DNRF_LOG_USES_RTT=1

JLinkExe -device nRF51422 -speed 4000 -if SWD
JLinkRTTClient

UART

-DNRF_LOG_USES_UART=1

screen /dev/tty.usbserial-A602JN7W 115200

BLE Services

All BLE items has 4-letter-hex UUIDs alluding to their destination (for better reminding).

Control Service - 0x1EAD - aka LEAD

Responsible for receiving control instructions, like target position, move direction or switch state.

Characteristic - 0x5010 - aka SOLO

Position values should be send in little endian order (0xDD04 -> 1245 mm)

Stop - 0xAA

Command for stop current movement

Bytes	Value
0	`uint8` 0xAA

Go to target position - 0x60

Command for stop current movement

Bytes	Value
0	`uint8` 0x60
1 - 2	`uint16` targetPosition (mm)

Go to extremum position - 0x88

Initiates movement with target position out of possible bounds. When movement is finished, value of extremum is as as current. This method is designed to reset position counter and minimize position detion error.

Bytes	Value
0	`uint8` 0x88
1	`uint8` extremumType (Enum)

where extremumType is:

0xDD Bottom extremum
0xFF Upper extremum

Status Service - 0x5E1F - aka SELF

Characteristic - 0xFEED - aka... FEED

Allows to read and to subscribe for current controller state. Value of this characteristic is updated:

on device initiliazed (after boot/restart)
on new peer connected
on internal status changed but with not guarantee of being most recent state

Values

Particular values are transmitted in little endian order.

Bytes	Value
0 - 3	`int32` currentPosition (µm)
4 - 7	`int32` targetPosition (µm)
8	`uint8` movementState (Enum)

where movementState enum is:

0xA1 None movement
0x92 Moves down
0xCB Moves up

Contact

In case of new issues, concepts or just a will to say hello:

License

Based on Nordic project and provided by this company license.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE HEREBY
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER 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; DAMAGE TO ANY DEVICE, 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. SOME STATES DO NOT ALLOW 
THE EXCLUSION OF INCIDENTAL OR CONSEQUENTIAL DAMAGES, SO THE
ABOVE LIMITATIONS MAY NOT APPLY TO YOU.

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