Merge pull request #169 from JF002/heartRateSensor

Heart rate sensor

src/components/ble/HeartRateService.cpp

@@ -0,0 +1,82 @@
+#include "HeartRateService.h"
+#include "components/heartrate/HeartRateController.h"
+#include "systemtask/SystemTask.h"
+
+using namespace Pinetime::Controllers;
+
+constexpr ble_uuid16_t HeartRateService::heartRateServiceUuid;
+constexpr ble_uuid16_t HeartRateService::heartRateMeasurementUuid;
+
+namespace {
+  int HeartRateServiceServiceCallback(uint16_t conn_handle, uint16_t attr_handle, struct ble_gatt_access_ctxt *ctxt, void *arg) {
+    auto* heartRateService = static_cast<HeartRateService*>(arg);
+    return heartRateService->OnHeartRateRequested(conn_handle, attr_handle, ctxt);
+  }
+}
+
+// TODO Refactoring - remove dependency to SystemTask
+HeartRateService::HeartRateService(Pinetime::System::SystemTask &system, Controllers::HeartRateController& heartRateController) :
+        system{system},
+        heartRateController{heartRateController},
+        characteristicDefinition{
+                {
+                        .uuid = (ble_uuid_t *) &heartRateMeasurementUuid,
+                        .access_cb = HeartRateServiceServiceCallback,
+                        .arg = this,
+                        .flags = BLE_GATT_CHR_F_READ | BLE_GATT_CHR_F_NOTIFY,
+                        .val_handle = &heartRateMeasurementHandle
+                },
+                {
+                        0
+                }
+        },
+        serviceDefinition{
+                {
+                        /* Device Information Service */
+                        .type = BLE_GATT_SVC_TYPE_PRIMARY,
+                        .uuid = (ble_uuid_t *) &heartRateServiceUuid,
+                        .characteristics = characteristicDefinition
+                },
+                {
+                        0
+                },
+        }{
+  // TODO refactor to prevent this loop dependency (service depends on controller and controller depends on service)
+  heartRateController.SetService(this);
+}
+
+void HeartRateService::Init() {
+  int res = 0;
+  res = ble_gatts_count_cfg(serviceDefinition);
+  ASSERT(res == 0);
+
+  res = ble_gatts_add_svcs(serviceDefinition);
+  ASSERT(res == 0);
+}
+
+int HeartRateService::OnHeartRateRequested(uint16_t connectionHandle, uint16_t attributeHandle,
+                                           ble_gatt_access_ctxt *context) {
+  if(attributeHandle == heartRateMeasurementHandle) {
+    NRF_LOG_INFO("BATTERY : handle = %d", heartRateMeasurementHandle);
+    static uint8_t batteryValue = heartRateController.HeartRate();
+
+    uint8_t buffer[2] = {0, heartRateController.HeartRate()}; // [0] = flags, [1] = hr value
+
+    int res = os_mbuf_append(context->om, buffer, 2);
+    return (res == 0) ? 0 : BLE_ATT_ERR_INSUFFICIENT_RES;
+  }
+  return 0;
+}
+
+void HeartRateService::OnNewHeartRateValue(uint8_t heartRateValue) {
+  uint8_t buffer[2] = {0, heartRateController.HeartRate()}; // [0] = flags, [1] = hr value
+  auto *om = ble_hs_mbuf_from_flat(buffer, 2);
+
+  uint16_t connectionHandle = system.nimble().connHandle();
+
+  if (connectionHandle == 0 || connectionHandle == BLE_HS_CONN_HANDLE_NONE) {
+    return;
+  }
+
+  ble_gattc_notify_custom(connectionHandle, heartRateMeasurementHandle, om);
+}

src/components/ble/HeartRateService.h

@@ -0,0 +1,44 @@
+#pragma once
+#define min // workaround: nimble's min/max macros conflict with libstdc++
+#define max
+#include <host/ble_gap.h>
+#undef max
+#undef min
+
+namespace Pinetime {
+  namespace System {
+    class SystemTask;
+  }
+  namespace Controllers {
+    class HeartRateController;
+    class HeartRateService {
+      public:
+        HeartRateService(Pinetime::System::SystemTask &system, Controllers::HeartRateController& heartRateController);
+        void Init();
+        int OnHeartRateRequested(uint16_t connectionHandle, uint16_t attributeHandle, ble_gatt_access_ctxt *context);
+        void OnNewHeartRateValue(uint8_t hearRateValue);
+
+    private:
+        Pinetime::System::SystemTask &system;
+        Controllers::HeartRateController& heartRateController;
+        static constexpr uint16_t heartRateServiceId {0x180D};
+        static constexpr uint16_t heartRateMeasurementId {0x2A37};
+
+        static constexpr ble_uuid16_t heartRateServiceUuid {
+                .u {.type = BLE_UUID_TYPE_16},
+                .value = heartRateServiceId
+        };
+
+        static constexpr ble_uuid16_t heartRateMeasurementUuid {
+                .u {.type = BLE_UUID_TYPE_16},
+                .value = heartRateMeasurementId
+        };
+
+        struct ble_gatt_chr_def characteristicDefinition[3];
+        struct ble_gatt_svc_def serviceDefinition[2];
+
+        uint16_t heartRateMeasurementHandle;
+
+    };
+  }
+}

src/components/ble/NimbleController.cpp

@@ -22,7 +22,8 @@ NimbleController::NimbleController(Pinetime::System::SystemTask& systemTask,
         DateTime& dateTimeController,
         Pinetime::Controllers::NotificationManager& notificationManager,
         Controllers::Battery& batteryController,
-        Pinetime::Drivers::SpiNorFlash& spiNorFlash) :
+        Pinetime::Drivers::SpiNorFlash& spiNorFlash,
+        Controllers::HeartRateController& heartRateController) :
         systemTask{systemTask},
         bleController{bleController},
         dateTimeController{dateTimeController},
@@ -36,7 +37,8 @@ NimbleController::NimbleController(Pinetime::System::SystemTask& systemTask,
         musicService{systemTask},
         batteryInformationService{batteryController},
         immediateAlertService{systemTask, notificationManager},
-        serviceDiscovery({&currentTimeClient, &alertNotificationClient}) {
+        serviceDiscovery({&currentTimeClient, &alertNotificationClient}),
+        heartRateService{systemTask, heartRateController} {
 }
 
 int GAPEventCallback(struct ble_gap_event *event, void *arg) {
@@ -58,6 +60,7 @@ void NimbleController::Init() {
   dfuService.Init();
   batteryInformationService.Init();
   immediateAlertService.Init();
+  heartRateService.Init();
   int res;
   res = ble_hs_util_ensure_addr(0);
   ASSERT(res == 0);

src/components/ble/NimbleController.h

@@ -17,6 +17,7 @@
 #include "ImmediateAlertService.h"
 #include "MusicService.h"
 #include "ServiceDiscovery.h"
+#include "HeartRateService.h"
 
 namespace Pinetime {
   namespace Drivers {
@@ -37,7 +38,8 @@ namespace Pinetime {
       public:
         NimbleController(Pinetime::System::SystemTask& systemTask, Pinetime::Controllers::Ble& bleController,
                 DateTime& dateTimeController, Pinetime::Controllers::NotificationManager& notificationManager,
-                Controllers::Battery& batteryController, Pinetime::Drivers::SpiNorFlash& spiNorFlash);
+                Controllers::Battery& batteryController, Pinetime::Drivers::SpiNorFlash& spiNorFlash,
+                Controllers::HeartRateController& heartRateController);
         void Init();
         void StartAdvertising();
         int OnGAPEvent(ble_gap_event *event);
@@ -74,6 +76,7 @@ namespace Pinetime {
         MusicService musicService;
         BatteryInformationService batteryInformationService;
         ImmediateAlertService immediateAlertService;
+        HeartRateService heartRateService;
 
         uint8_t addrType; // 1 = Random, 0 = PUBLIC
         uint16_t connectionHandle = 0;

src/components/heartrate/Biquad.cpp

@@ -0,0 +1,27 @@
+/*
+  SPDX-License-Identifier: LGPL-3.0-or-later
+  Original work Copyright (C) 2020 Daniel Thompson
+  C++ port Copyright (C) 2021 Jean-François Milants
+*/
+
+#include "Biquad.h"
+
+using namespace Pinetime::Controllers;
+
+/** Original implementation from wasp-os : https://github.com/daniel-thompson/wasp-os/blob/master/wasp/ppg.py */
+Biquad::Biquad(float b0, float b1, float b2, float a1, float a2) : b0{b0}, b1{b1}, b2{b2}, a1{a1}, a2{a2} {
+
+}
+
+float Biquad::Step(float x) {
+  auto v1 = this->v1;
+  auto v2 = this->v2;
+
+  auto v = x - (a1 * v1) - (a2 * v2);
+  auto y = (b0 * v) + (b1 * v1) + (b2 * v2);
+
+  this->v2 = v1;
+  this->v1 = v;
+
+  return y;
+}

src/components/heartrate/Biquad.h

@@ -0,0 +1,22 @@
+#pragma once
+
+namespace Pinetime {
+  namespace Controllers {
+    /// Direct Form II Biquad Filter
+    class Biquad {
+    public:
+      Biquad(float b0, float  b1, float b2, float a1, float a2);
+      float Step(float x);
+
+    private:
+      float b0;
+      float b1;
+      float b2;
+      float a1;
+      float a2;
+
+      float v1 = 0.0f;
+      float v2 = 0.0f;
+    };
+  }
+}

src/components/heartrate/HeartRateController.cpp

@@ -0,0 +1,41 @@
+#include "HeartRateController.h"
+#include <heartratetask/HeartRateTask.h>
+#include <systemtask/SystemTask.h>
+
+using namespace Pinetime::Controllers;
+
+HeartRateController::HeartRateController(Pinetime::System::SystemTask &systemTask) : systemTask{systemTask} {
+
+}
+
+
+void HeartRateController::Update(HeartRateController::States newState, uint8_t heartRate) {
+  this->state = newState;
+  if(this->heartRate != heartRate) {
+    this->heartRate = heartRate;
+    service->OnNewHeartRateValue(heartRate);
+  }
+}
+
+void HeartRateController::Start() {
+  if(task != nullptr) {
+    state = States::NotEnoughData;
+    task->PushMessage(Pinetime::Applications::HeartRateTask::Messages::StartMeasurement);
+  }
+}
+
+void HeartRateController::Stop() {
+  if(task != nullptr) {
+    state = States::Stopped;
+    task->PushMessage(Pinetime::Applications::HeartRateTask::Messages::StopMeasurement);
+  }
+}
+
+void HeartRateController::SetHeartRateTask(Pinetime::Applications::HeartRateTask *task) {
+  this->task = task;
+}
+
+void HeartRateController::SetService(Pinetime::Controllers::HeartRateService *service) {
+  this->service = service;
+}
+

src/components/heartrate/HeartRateController.h

@@ -0,0 +1,38 @@
+#pragma once
+
+#include <cstdint>
+#include <components/ble/HeartRateService.h>
+
+namespace Pinetime {
+  namespace Applications {
+    class HeartRateTask;
+  }
+  namespace System {
+    class SystemTask;
+  }
+  namespace Controllers {
+    class HeartRateController {
+    public:
+      enum class States { Stopped, NotEnoughData, NoTouch, Running};
+
+      explicit HeartRateController(System::SystemTask& systemTask);
+
+      void Start();
+      void Stop();
+      void Update(States newState, uint8_t heartRate);
+
+      void SetHeartRateTask(Applications::HeartRateTask* task);
+      States State() const { return state; }
+      uint8_t HeartRate() const { return heartRate; }
+
+      void SetService(Pinetime::Controllers::HeartRateService *service);
+
+    private:
+      System::SystemTask& systemTask;
+      Applications::HeartRateTask* task = nullptr;
+      States state = States::Stopped;
+      uint8_t heartRate = 0;
+      Pinetime::Controllers::HeartRateService* service = nullptr;
+    };
+  }
+}

src/components/heartrate/Ppg.cpp

@@ -0,0 +1,106 @@
+/*
+  SPDX-License-Identifier: LGPL-3.0-or-later
+  Original work Copyright (C) 2020 Daniel Thompson
+  C++ port Copyright (C) 2021 Jean-François Milants
+*/
+
+#include <vector>
+#include <nrf_log.h>
+#include "Ppg.h"
+using namespace Pinetime::Controllers;
+
+/** Original implementation from wasp-os : https://github.com/daniel-thompson/wasp-os/blob/master/wasp/ppg.py */
+namespace {
+  int Compare(int* d1, int* d2, size_t count) {
+    int e = 0;
+    for(int i = 0; i < count; i++) {
+      auto d = d1[i] - d2[i];
+      e += d * d;
+    }
+    return e;
+  }
+
+  int CompareShift(int* d, int shift, size_t count) {
+    return Compare(d +shift, d, count - shift);
+  }
+
+  int Trough(int* d, size_t size, float mn, float mx) {
+    auto z2 = CompareShift(d, mn-2, size);
+    auto z1 = CompareShift(d, mn-1, size);
+    for(int i = mn; i < mx + 1; i++) {
+      auto z = CompareShift(d, i, size);
+      if(z2 > z1 && z1 < z)
+        return i;
+      z2 = z1;
+      z1 = z;
+    }
+    return -1;
+  }
+}
+
+Ppg::Ppg(float spl) : offset{spl},
+                      hpf{0.87033078, -1.74066156, 0.87033078,-1.72377617, 0.75754694},
+                      agc{20, 0.971, 2},
+                      lpf{0.11595249, 0.23190498, 0.11595249,-0.72168143, 0.18549138} {
+
+}
+
+int Ppg::Preprocess(float spl) {
+  spl -= offset;
+  spl = hpf.Step(spl);
+  spl = agc.Step(spl);
+  spl = lpf.Step(spl);
+
+  auto spl_int = static_cast<int>(spl);
+
+  if(dataIndex < 200)
+    data[dataIndex++] = spl_int;
+  return spl_int;
+}
+
+float Ppg::HeartRate() {
+  if(dataIndex < 200)
+    return 0;
+
+  NRF_LOG_INFO("PREPROCESS, offset = %d", offset);
+  auto hr = ProcessHeartRate();
+  dataIndex = 0;
+  return hr;
+}
+
+int cccount = 0;
+float Ppg::ProcessHeartRate() {
+
+  if(cccount > 2)
+    asm("nop");
+  cccount ++;
+  auto t0 = Trough(data.data(), dataIndex, 7, 48);
+  if(t0 < 0)
+    return 0;
+
+  float t1 = t0 * 2;
+  t1 = Trough(data.data(), dataIndex, t1-5, t1+5);
+  if(t1 < 0)
+    return 0;
+
+  float t2 = static_cast<int>(t1 * 3) / 2;
+  t2 = Trough(data.data(), dataIndex, t2 - 5, t2 + 5);
+  if(t2 < 0)
+    return 0;
+
+  float t3 = static_cast<int>(t2 * 4) / 3;
+  t3 = Trough(data.data(), dataIndex, t3 - 4, t3 + 4);
+  if(t3 < 0)
+    return static_cast<int>(60 * 24 * 3) / static_cast<int>(t2);
+
+  return static_cast<int>(60 * 24 * 4) / static_cast<int>(t3);
+}
+
+void Ppg::SetOffset(uint16_t offset) {
+  this->offset = offset;
+  dataIndex = 0;
+}
+
+void Ppg::Reset() {
+  dataIndex = 0;
+}

src/components/heartrate/Ppg.h

@@ -0,0 +1,31 @@
+#pragma once
+
+#include <array>
+#include "Biquad.h"
+#include "Ptagc.h"
+
+namespace Pinetime {
+  namespace Controllers {
+    class Ppg {
+    public:
+      explicit Ppg(float spl);
+
+      int Preprocess(float spl);
+      float HeartRate();
+
+      void SetOffset(uint16_t i);
+      void Reset();
+
+    private:
+      std::array<int, 200> data;
+      size_t dataIndex = 0;
+      float offset;
+      Biquad hpf;
+      Ptagc agc;
+      Biquad lpf;
+
+
+      float ProcessHeartRate();
+    };
+  }
+}

src/components/heartrate/Ptagc.cpp

@@ -0,0 +1,28 @@
+/*
+  SPDX-License-Identifier: LGPL-3.0-or-later
+  Original work Copyright (C) 2020 Daniel Thompson
+  C++ port Copyright (C) 2021 Jean-François Milants
+*/
+
+#include <cmath>
+#include "Ptagc.h"
+
+using namespace Pinetime::Controllers;
+
+/** Original implementation from wasp-os : https://github.com/daniel-thompson/wasp-os/blob/master/wasp/ppg.py */
+Ptagc::Ptagc(float start, float decay, float threshold) : peak{start}, decay{decay}, boost{1.0f/decay}, threshold{threshold} {
+
+}
+
+float Ptagc::Step(float spl) {
+  if(std::abs(spl) > peak)
+    peak *= boost;
+  else
+    peak *= decay;
+
+  if((spl > (peak * threshold)) || (spl < (peak * -threshold)))
+    return 0.0f;
+
+  spl = 100.0f * spl / (2.0f * peak);
+  return spl;
+}

src/components/heartrate/Ptagc.h

@@ -0,0 +1,18 @@
+#pragma once
+
+namespace Pinetime {
+  namespace Controllers {
+    class Ptagc {
+    public:
+      Ptagc(float start, float decay, float threshold);
+      float Step(float spl);
+
+    private:
+      float peak;
+      float decay;
+      float boost;
+      float threshold;
+
+    };
+  }
+}