update fork with upstream

CHANGELOG.md

@@ -6,6 +6,17 @@ For the detailed description, please explore nested folders and corresponding CH
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [1.2.3] - 2026-04-02
+
+### Added
+
+- Added optional accelerometer streaming on the nRF52, enabled only when requested by the user configuration.
+
+### Fixed
+
+### Changed
+
+
 ## [1.2.2] - 2025-03-23
 
 ### Added

README.md

@@ -1,6 +1,6 @@
 <img src="docs/images/wulpus_main.png" alt="WULPUS main" width="100%"/>
 
-# WULPUS v1.2.2
+# WULPUS v1.2.3
 ## Wearable Ultra Low-Power Ultrasound
 
 # Introduction

fw/nrf52/ble_peripheral/US_probe_nRF52_firmware/CHANGELOG.md

@@ -5,7 +5,21 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
-## [Unreleased]
+## [1.2.3] - 2026-04-02
+
+### Added
+
+- Optional accelerometer streaming on the nRF52, enabled only when requested by the user configuration.
+- `fw/nrf52/ble_peripheral/US_probe_nRF52_firmware/iis2dh.c`: Added IIS2DH accelerometer driver, runtime enable/disable handling, and ACC/non-ACC frame finalization.
+- `fw/nrf52/ble_peripheral/US_probe_nRF52_firmware/iis2dh.h`: Added IIS2DH register definitions, types, and public driver API.
+
+### Changed
+
+- `fw/nrf52/ble_peripheral/US_probe_nRF52_firmware/main.c`: Added runtime accelerometer state handling and deferred mode application from the main loop.
+- `fw/nrf52/ble_peripheral/US_probe_nRF52_firmware/us_ble.c`: Added config-packet parsing for user-requested accelerometer streaming and deferred update signaling.
+- `fw/nrf52/ble_peripheral/US_probe_nRF52_firmware/us_spi.c`: Moved frame completion responsibility to the ACC/non-ACC post-processing path.
+- `fw/nrf52/ble_peripheral/US_probe_nRF52_firmware/pca10040/s132/ses/US_probe_nRF52_firmware.emProject`: Added IIS2DH source files and TWI driver sources to the SES project.
+
 
 ## [1.1.0] - 2024-02-21
 

fw/nrf52/ble_peripheral/US_probe_nRF52_firmware/iis2dh.c

@@ -0,0 +1,314 @@
+#include "iis2dh.h"
+#include "us_spi.h"
+#include "us_defines.h"
+
+
+/* TWI instance */
+static const nrf_drv_twi_t IIS2DH_twi = NRF_DRV_TWI_INSTANCE(TWI_INSTANCE_ID);
+
+/* Flag to know when a I2C transfer has been completed */
+static volatile bool IIS2DH_xfer_done = false;
+
+extern volatile bool flag_add_IMU;
+
+extern int buffer_content;
+extern int buffer_counter;
+extern int BLE_packet_ready;
+extern ArrayList_type m_rx_buf[NUMBER_OF_XFERS*MAX_BUFFER_NUMBER_OF_US_FRAMES];
+
+uint8_t IIS2DH_buffer[805] = {};
+uint16_t IIS2DH_buffer_index =0;
+/* Frame counter for IIS2DH over bluetooth */
+uint16_t IIS2DH_frame_number =0;
+
+
+//Event Handler
+static void twi_handler(nrf_drv_twi_evt_t const * p_event, void * p_context)
+{
+    //Check the event to see what type of event occurred
+    switch (p_event->type)
+    {
+        //If data transmission or receiving is finished
+	case NRF_DRV_TWI_EVT_DONE:
+        IIS2DH_xfer_done = true;//Set the flag
+        break;
+
+        default:
+        // do nothing
+          break;
+    }
+}
+
+
+/**
+ * @brief TWI initialization function for the MCP9808 sensor
+ *
+ */
+static void iis2dh_twi_init (void)
+{
+    ret_code_t err_code;
+
+    const nrf_drv_twi_config_t twi_config = {
+       .scl                = PIN_IIS2DH_SCL,
+       .sda                = PIN_IIS2DH_SDA,
+       .frequency          = NRF_DRV_TWI_FREQ_100K, 
+       .interrupt_priority = APP_IRQ_PRIORITY_LOWEST, 
+       .clear_bus_init     = false
+    };
+
+    err_code = nrf_drv_twi_init(&IIS2DH_twi, &twi_config, twi_handler, NULL);
+    APP_ERROR_CHECK(err_code);
+
+    nrf_drv_twi_enable(&IIS2DH_twi);
+}
+
+void IIS2DH_init()
+{
+    iis2dh_twi_init();
+    IIS2DH_buffer[0] = 0xFF;
+    IIS2DH_buffer[1] = 128;
+    //((uint16_t*)IIS2DH_buffer)[1] = IIS2DH_frame_number++;
+        IIS2DH_buffer[3] = 0;
+    IIS2DH_buffer[2] = IIS2DH_frame_number++;
+
+    IIS2DH_buffer_index = 4;
+    nrf_delay_ms(500);
+}
+
+bool IIS2DH_register_read(uint8_t register_address, uint8_t * rx_buffer, uint8_t number_of_bytes)
+{
+    ret_code_t err_code;
+
+    //Set the flag to false to show the receiving is not yet completed
+    IIS2DH_xfer_done = false;
+
+    // Send the register address where we want to read the data from
+    err_code = nrf_drv_twi_tx(&IIS2DH_twi, IIS2DH_ADDRESS, &register_address, 1, true);
+
+    //Wait for the transmission to be completed
+    while (IIS2DH_xfer_done == false){}
+
+    // If transmission was not successful, exit the function and return false
+    if (NRF_SUCCESS != err_code)
+    {
+        return false;
+    }
+
+    //reset the flag so that we can read data from the IIS2DH's internal register
+    IIS2DH_xfer_done = false;
+
+    // Receive the data from the IIS2DH
+    err_code = nrf_drv_twi_rx(&IIS2DH_twi, IIS2DH_ADDRESS, rx_buffer, number_of_bytes);
+    //wait until the transmission is completed
+    while (IIS2DH_xfer_done == false){}
+
+    // if data was successfully read, return true else return false
+    if (NRF_SUCCESS != err_code)
+    {
+        return false;
+    }
+
+    return true;
+}
+bool IIS2DH_register_write(uint8_t register_address, uint8_t * wx_buffer, uint8_t number_of_bytes)
+{
+    ret_code_t err_code;
+
+    //Set the flag to false to show the receiving is not yet completed
+    IIS2DH_xfer_done = false;
+
+    uint8_t wxbuffer_with_address[10];
+    wxbuffer_with_address[0] = register_address;
+    if (number_of_bytes>8) return false;
+    for (int i = 0; i<number_of_bytes; i++){
+      wxbuffer_with_address[i+1] = wx_buffer[i];
+    }
+
+    // Send the register address where we want to read the data from
+    err_code = nrf_drv_twi_tx(&IIS2DH_twi, IIS2DH_ADDRESS, wxbuffer_with_address, number_of_bytes+1, true);
+
+    //Wait for the transmission to be completed
+    while (IIS2DH_xfer_done == false){}
+
+    // If transmission was not successful, exit the function and return false
+    if (NRF_SUCCESS != err_code)
+    {
+        return false;
+    }
+    return true;
+}
+
+bool setupTemp(){
+  uint8_t wx_buffer[1] = {0};
+  wx_buffer[0] = 0b11000000;
+  bool check = IIS2DH_register_write(IIS2DH_REG_TEMP_CFG_REG,wx_buffer , 1);
+  if (!check){
+    return false;
+  }
+  uint8_t rx_buffer[1] = {0};
+
+  check = IIS2DH_register_read(IIS2DH_REG_CTRL_REG4,rx_buffer , 1);
+  if (!check){
+    return false;
+  }
+  wx_buffer[0] = rx_buffer[0] | 0x80;
+  check = IIS2DH_register_write(IIS2DH_REG_CTRL_REG4,wx_buffer , 1);
+  if (!check){
+    return false;
+  }
+
+
+}
+
+int8_t getTemp(){
+  uint8_t rx_buffer[1] = {0};
+  bool check = IIS2DH_register_read(IIS2DH_REG_OUT_TEMP_H, rx_buffer, 1);
+  if (!check){
+    return 0;
+  }
+  int8_t res = rx_buffer[0];
+  check = IIS2DH_register_read(IIS2DH_REG_OUT_TEMP_L, rx_buffer, 1);
+  if (!check){
+    return 0;
+  }
+  //res|= rx_buffer[0];
+  return res;
+
+
+}
+
+bool setupAccelormeter(IIS2DH_OperatingModes mode, IIS2DH_DataRate rate, IIS2DH_FullScale fs){
+  uint8_t wx_reg1_buffer[1];
+  uint8_t wx_reg4_buffer[1];
+
+  if (mode == IIS2DH_LowPowerMode){
+    wx_reg1_buffer[0] = 0x0F;
+  }else{
+    wx_reg1_buffer[0] = 0x07;
+  }
+  wx_reg1_buffer[0] = wx_reg1_buffer[0] | rate; // set the odr bits
+  if (mode == IIS2DH_HighResolutionMode){
+    wx_reg4_buffer[0] = 0b00001000;
+  }else{
+    wx_reg4_buffer[0] = 0b00000000;
+  }
+  wx_reg4_buffer[0] |= wx_reg4_buffer[0] | fs;
+
+
+  bool res = IIS2DH_register_write(IIS2DH_REG_CTRL_REG1, wx_reg1_buffer, 1);
+  res &= IIS2DH_register_write(IIS2DH_REG_CTRL_REG4, wx_reg4_buffer, 1);
+  return true;
+}
+
+
+double convert2mg(uint16_t data_in, IIS2DH_FullScale range){
+  if (range == IIS2DH_Precision_2g){
+    return ((double) data_in)*0.06125;
+  }else if (range == IIS2DH_Precision_4g){
+    return ((double) data_in)*0.121875;
+  }else if (range == IIS2DH_Precision_8g){
+    return ((double) data_in)*0.244375;
+  }else if (range == IIS2DH_Precision_16g){
+    return ((double) data_in)*0.7325;
+  }
+}
+
+uint16_t getHighandLow(uint8_t register_address_L, uint8_t register_address_H, IIS2DH_OperatingModes mode){
+  uint8_t rx_buffer[1] ={0};
+
+  IIS2DH_register_read(register_address_H, rx_buffer, 1);
+  uint16_t res = rx_buffer[0]<<8;
+  rx_buffer[0] =0;
+  IIS2DH_register_read(register_address_L, rx_buffer, 1);
+  res += rx_buffer[0];
+
+  if (mode == IIS2DH_LowPowerMode){
+    res = res>>8;
+  }else if (mode == IIS2DH_NormalMode){
+    res = res>>6;
+  }else if (mode == IIS2DH_HighResolutionMode){
+    res = res>>4;
+  }
+  return res;
+
+}
+
+bool getAccelerationData(uint16_t* X, uint16_t* Y, uint16_t* Z, IIS2DH_OperatingModes mode, IIS2DH_FullScale range){
+  *X = getHighandLow(IIS2DH_REG_OUT_X_L, IIS2DH_REG_OUT_X_H, mode);  
+  *Y = getHighandLow(IIS2DH_REG_OUT_Y_L, IIS2DH_REG_OUT_Y_H, mode);
+  *Z = getHighandLow(IIS2DH_REG_OUT_Z_L, IIS2DH_REG_OUT_Z_H, mode);
+  //*X = convert2mg(X_in, range);
+  //*Y = convert2mg(Y_in, range);
+  //*Z = convert2mg(Z_in, range);
+
+
+  return true;
+
+}
+
+static void finalizeCurrentFrame(void)
+{
+    buffer_counter++;
+    if (buffer_counter == MAX_BUFFER_NUMBER_OF_US_FRAMES)
+    {
+        buffer_counter = 0;
+    }
+
+    BLE_packet_ready = 1;
+}
+
+bool IIS2DH_set_streaming_enabled(bool enable)
+{
+    if (enable)
+    {
+        return setupAccelormeter(IIS2DH_HighResolutionMode,
+                                 AllModes_400Hz,
+                                 IIS2DH_Precision_2g);
+    }
+    else
+    {
+        // Power-down mode: CTRL_REG1 = 0
+        uint8_t ctrl_reg1 = 0x00;
+        return IIS2DH_register_write(IIS2DH_REG_CTRL_REG1, &ctrl_reg1, 1);
+    }
+}
+
+void finalizeFrameWithoutIMU(void)
+{
+    while(flag_add_IMU == false) {}
+
+    flag_add_IMU = false;
+
+    // Zero out the 6 bytes that would normally carry accel data
+    uint8_t *dst = &m_rx_buf[3 + buffer_counter * NUMBER_OF_XFERS].buffer[0] + 202 - 6;
+    dst[0] = 0;
+    dst[1] = 0;
+    dst[2] = 0;
+    dst[3] = 0;
+    dst[4] = 0;
+    dst[5] = 0;
+
+    finalizeCurrentFrame();
+}
+
+void getIIS2DHData2Buffer(){
+
+  IIS2DH_buffer_index = 0;
+  IIS2DH_register_read(IIS2DH_REG_OUT_X_H, &IIS2DH_buffer[IIS2DH_buffer_index++], 1); 
+  IIS2DH_register_read(IIS2DH_REG_OUT_X_L, &IIS2DH_buffer[IIS2DH_buffer_index++], 1); 
+  IIS2DH_register_read(IIS2DH_REG_OUT_Y_H, &IIS2DH_buffer[IIS2DH_buffer_index++], 1); 
+  IIS2DH_register_read(IIS2DH_REG_OUT_Y_L, &IIS2DH_buffer[IIS2DH_buffer_index++], 1); 
+  IIS2DH_register_read(IIS2DH_REG_OUT_Z_H, &IIS2DH_buffer[IIS2DH_buffer_index++], 1); 
+  IIS2DH_register_read(IIS2DH_REG_OUT_Z_L, &IIS2DH_buffer[IIS2DH_buffer_index++], 1); 
+  //NRF_LOG_INFO("Received: %u", IIS2DH_buffer_index);
+
+  while(flag_add_IMU == false) {}
+
+  flag_add_IMU = false;
+
+  memcpy(&m_rx_buf[3 + buffer_counter * NUMBER_OF_XFERS].buffer[0] + 202 - 6,
+         &IIS2DH_buffer[0],
+         6);
+
+  finalizeCurrentFrame();
+}