boards/nrf52: add Thingy:52 NimBLE demo (env sensors, gas, battery, RGB)

Documentation/components/io/sensor.rst

@@ -54,6 +54,8 @@ Dawn Type           Default Dawn Unit
 ``ir``              ``float`` or ``b16``, lux
 ``uv``              ``float`` or ``b16``, UV index
 ``gas``             ``float`` or ``b16``, kilohms
+``co2``             ``float`` or ``b16``, ppm
+``tvoc``            ``float`` or ``b16``, ppm
 ``gnss``            ``float``, 5-vector: latitude, longitude (degrees), altitude (metres), ground speed (m/s), course (degrees)
 ``gnss_time``       ``uint64``, UTC time in seconds since the Unix epoch
 ``gnss_info``       ``float``, 5-vector: horizontal/vertical accuracy (metres), HDOP, PDOP, VDOP
@@ -107,6 +109,8 @@ underlying NuttX sensor structures:
    "ir", "sensor_ir", "struct sensor_ir"
    "uv", "sensor_uv", "struct sensor_uv"
    "gas", "sensor_gas", "struct sensor_gas"
+   "co2", "sensor_co2", "struct sensor_co2"
+   "tvoc", "sensor_tvoc", "struct sensor_tvoc"
    "gnss", "sensor_gnss", "struct sensor_gnss"
    "gnss_time", "sensor_gnss", "struct sensor_gnss"
    "gnss_info", "sensor_gnss", "struct sensor_gnss"

Documentation/components/proto/nimble/imds.rst

@@ -52,6 +52,8 @@ Supported keys:
 - ``uv_index``
 - ``gas_resistance`` (uses non-standard 0x272A UUID; see :ref:`nimble_units`)
 - ``light``
+- ``co2`` (CO2 Concentration, 0x2B8C)
+- ``tvoc`` (VOC Concentration, 0x2BE7)
 
 Each measurement may be either a direct IO reference or a mapping with
 ``data``/``io`` and ``metadata``. Supported metadata:

Documentation/components/proto/nimble/index.rst

@@ -102,6 +102,8 @@ Relative Humidity   float, percent (%), scale = 1          sint16, percent (%),
 PM1P0               float, SI units (ug/m^3), scale = 1    not yet supported in Dawn
 PH                  float, pH unit, scale = 1              not yet supported in Dawn
 Gas resistance      float, kilohm, scale = 1               sint16, kilohm, scale = 1 (non-standard UUID 0x272A)
+CO2                 float, ppm, scale = 1                  uint16, ppm, scale = 1
+TVOC                float, ppm, scale = 1                  uint16, ppb, scale = 1000
 Force               float, N unit, scale = 1               not yet supported in Dawn
 Hall                int32_t, hall state                    not yet supported in Dawn
 IR                  float, lux unit, scale = 1             uint24, lux, scale = 0.01

boards/arm/nrf52/thingy52/CMakeLists.txt

@@ -0,0 +1,7 @@
+# boards/arm/nrf52/thingy52/CMakeLists.txt
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../../../common
+                 ${CMAKE_BINARY_DIR}/boards/common)

boards/arm/nrf52/thingy52/configs/nimble_thingy52/defconfig

@@ -0,0 +1,105 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_NET_ETHERNET is not set
+# CONFIG_NET_IPv4 is not set
+# CONFIG_STANDARD_SERIAL is not set
+# CONFIG_WIRELESS_BLUETOOTH_HOST is not set
+CONFIG_ADC=y
+CONFIG_ADC_FIFOSIZE=2
+CONFIG_ALLOW_BSDNORDIC_COMPONENTS=y
+CONFIG_ALLOW_BSD_COMPONENTS=y
+CONFIG_ANALOG=y
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_COMMON=y
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="boards/arm/nrf52/thingy52/"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="thingy52"
+CONFIG_ARCH_CHIP="nrf52"
+CONFIG_ARCH_CHIP_NRF52=y
+CONFIG_ARCH_CHIP_NRF52832=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_STDARG_H=y
+CONFIG_BLUETOOTH_BUFFER_PREALLOC=8
+CONFIG_BOARDCTL=y
+CONFIG_BOARD_LOOPSPERMSEC=5500
+CONFIG_CXX_LOCALIZATION=y
+CONFIG_CXX_WCHAR=y
+CONFIG_DEBUG_ASSERTIONS=y
+CONFIG_DEBUG_ASSERTIONS_EXPRESSION=y
+CONFIG_DEBUG_FEATURES=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SENSORS=y
+CONFIG_DEBUG_SENSORS_ERROR=y
+CONFIG_DEBUG_SENSORS_INFO=y
+CONFIG_DEBUG_SENSORS_WARN=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEV_GPIO=y
+CONFIG_FS_PROCFS=y
+CONFIG_GPIO_LOWER_HALF=y
+CONFIG_HAVE_CXX=y
+CONFIG_I2C=y
+CONFIG_I2C_POLLED=y
+CONFIG_IDLETHREAD_STACKSIZE=2048
+CONFIG_INIT_ENTRYPOINT="dawn_main"
+CONFIG_INTELHEX_BINARY=y
+CONFIG_IOEXPANDER=y
+CONFIG_IOEXPANDER_PWM=y
+CONFIG_IOEXPANDER_SX1509=y
+CONFIG_LIBCXX=y
+CONFIG_LIBCXXABI=y
+CONFIG_LIBC_LOCALE=y
+CONFIG_LINE_MAX=64
+CONFIG_MM_REGIONS=2
+CONFIG_NET=y
+CONFIG_IOB_NBUFFERS=4
+CONFIG_NETDEV_LATEINIT=y
+CONFIG_NETUTILS_NETINIT=y
+CONFIG_NET_BLUETOOTH=y
+CONFIG_NIMBLE=y
+CONFIG_NIMBLE_TRANSPORT_ACL_FROM_HS_COUNT=3
+CONFIG_NIMBLE_TRANSPORT_ACL_FROM_LL_COUNT=3
+CONFIG_NIMBLE_BLE_ATT_PREFFERED_MTU=128
+CONFIG_NIMBLE_MSYS_1_BLOCK_COUNT=6
+CONFIG_NIMBLE_MSYS_1_BLOCK_SIZE=200
+CONFIG_NIMBLE_ROLE_PERIPHERAL=y
+CONFIG_NRF52_GPIOTE=y
+CONFIG_NRF52_I2C0_MASTER=y
+CONFIG_NRF52_SAADC=y
+CONFIG_NRF52_SAADC_RESOLUTION=2
+CONFIG_NRF52_SAADC_CHANNELS=1
+CONFIG_NRF52_SOFTDEVICE_CONTROLLER=y
+CONFIG_NRF52_SDC_DLE=y
+CONFIG_NRF52_SDC_LE_2M_PHY=y
+CONFIG_PREALLOC_MQ_MSGS=8
+CONFIG_PWM=y
+CONFIG_PWM_NCHANNELS=3
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=65536
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RGBLED=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEGGER_RTT_BUFFER_SIZE_UP=256
+CONFIG_SENSORS=y
+CONFIG_SENSORS_CCS811=y
+CONFIG_SENSORS_HTS221=y
+CONFIG_SENSORS_LPS22HB=y
+CONFIG_SERIAL_RTT0=y
+CONFIG_SIG_EVTHREAD=y
+CONFIG_START_DAY=26
+CONFIG_START_MONTH=3
+CONFIG_SX1509_LED_ENABLE=y
+CONFIG_SYMTAB_ORDEREDBYNAME=y
+CONFIG_SYSLOG_RTT=y
+CONFIG_TASK_NAME_SIZE=64
+CONFIG_TLS_NELEM=4
+CONFIG_WIRELESS=y
+CONFIG_WIRELESS_BLUETOOTH=y
+#include "defconfig.dawn"

boards/arm/nrf52/thingy52/configs/nimble_thingy52/defconfig.dawn

@@ -0,0 +1,21 @@
+CONFIG_DAWN=y
+CONFIG_DAWN_APPS_DAWN=y
+CONFIG_DAWN_APPS_EXAMPLE_DESC_FORMAT_YAML=y
+CONFIG_DAWN_APPS_EXAMPLE_DESC_YAML_PATH="../../../descriptors/examples/nimble_thingy52_demo.yaml"
+CONFIG_DAWN_DEBUG_ERROR=y
+CONFIG_DAWN_DEBUG_INFO=y
+CONFIG_DAWN_DEBUG_WARN=y
+CONFIG_DAWN_IO_NOTIFY=y
+CONFIG_DAWN_IO_RGB_LED=y
+CONFIG_DAWN_IO_ADC_FETCH=y
+CONFIG_DAWN_IO_SENSOR=y
+CONFIG_DAWN_IO_VIRT=y
+CONFIG_DAWN_PROG=y
+CONFIG_DAWN_PROG_ADJUST=y
+CONFIG_DAWN_PROG_SAMPLING=y
+CONFIG_DAWN_PROTO=y
+CONFIG_DAWN_PROTO_NIMBLE=y
+CONFIG_DAWN_PROTO_NIMBLE_BAS=y
+CONFIG_DAWN_PROTO_NIMBLE_DIS=y
+CONFIG_DAWN_PROTO_NIMBLE_ESS=y
+CONFIG_DAWN_PROTO_NIMBLE_IMDS=y

dawn/include/dawn/io/common.hxx

@@ -123,47 +123,51 @@ public:
     IO_CLASS_SENSOR_IR = 20,            ///< Infrared sensor
     IO_CLASS_SENSOR_UV = 21,            ///< Ultraviolet sensor
     IO_CLASS_SENSOR_GAS = 22,           ///< Gas sensor
+    IO_CLASS_SENSOR_CO2 = 23,           ///< CO2 concentration sensor
+    IO_CLASS_SENSOR_TVOC = 24,          ///< TVOC concentration sensor
 
     // Sensor producers
 
-    IO_CLASS_SENSOR_PRODUCER_ACCELEROMETER = 23, ///< Accelerometer publisher
-    IO_CLASS_SENSOR_PRODUCER_MAGNETICFIELD = 24, ///< Magnetic field publisher
-    IO_CLASS_SENSOR_PRODUCER_GYROSCOPE = 25,     ///< Gyroscope publisher
-    IO_CLASS_SENSOR_PRODUCER_LIGHT = 26,         ///< Light publisher
-    IO_CLASS_SENSOR_PRODUCER_BAROMETER = 27,     ///< Barometer publisher
-    IO_CLASS_SENSOR_PRODUCER_PROXIMITY = 28,     ///< Proximity publisher
-    IO_CLASS_SENSOR_PRODUCER_HUMIDITY = 29,      ///< Humidity publisher
-    IO_CLASS_SENSOR_PRODUCER_TEMPERATURE = 30,   ///< Temperature publisher
-    IO_CLASS_SENSOR_PRODUCER_ATEMPERATURE = 31,  ///< Ambient temperature publisher
-    IO_CLASS_SENSOR_PRODUCER_RGB = 32,           ///< RGB color publisher
-    IO_CLASS_SENSOR_PRODUCER_IR = 33,            ///< Infrared publisher
-    IO_CLASS_SENSOR_PRODUCER_UV = 34,            ///< Ultraviolet publisher
-    IO_CLASS_SENSOR_PRODUCER_GAS = 35,           ///< Gas publisher
+    IO_CLASS_SENSOR_PRODUCER_ACCELEROMETER = 25, ///< Accelerometer publisher
+    IO_CLASS_SENSOR_PRODUCER_MAGNETICFIELD = 26, ///< Magnetic field publisher
+    IO_CLASS_SENSOR_PRODUCER_GYROSCOPE = 27,     ///< Gyroscope publisher
+    IO_CLASS_SENSOR_PRODUCER_LIGHT = 28,         ///< Light publisher
+    IO_CLASS_SENSOR_PRODUCER_BAROMETER = 29,     ///< Barometer publisher
+    IO_CLASS_SENSOR_PRODUCER_PROXIMITY = 30,     ///< Proximity publisher
+    IO_CLASS_SENSOR_PRODUCER_HUMIDITY = 31,      ///< Humidity publisher
+    IO_CLASS_SENSOR_PRODUCER_TEMPERATURE = 32,   ///< Temperature publisher
+    IO_CLASS_SENSOR_PRODUCER_ATEMPERATURE = 33,  ///< Ambient temperature publisher
+    IO_CLASS_SENSOR_PRODUCER_RGB = 34,           ///< RGB color publisher
+    IO_CLASS_SENSOR_PRODUCER_IR = 35,            ///< Infrared publisher
+    IO_CLASS_SENSOR_PRODUCER_UV = 36,            ///< Ultraviolet publisher
+    IO_CLASS_SENSOR_PRODUCER_GAS = 37,           ///< Gas publisher
+    IO_CLASS_SENSOR_PRODUCER_CO2 = 38,           ///< CO2 concentration publisher
+    IO_CLASS_SENSOR_PRODUCER_TVOC = 39,          ///< TVOC concentration publisher
 
     // GNSS sensor (uORB sensor_gnss). Read-only, so it has no producer
     // counterpart and lives outside the aligned sensor/producer ranges above.
 
-    IO_CLASS_SENSOR_GNSS = 36,            ///< GNSS position+velocity (lat/lon/alt/speed/course)
-    IO_CLASS_SENSOR_GNSS_TIME = 37,       ///< GNSS UTC time (seconds since epoch)
-    IO_CLASS_SENSOR_GNSS_INFO = 38,       ///< GNSS accuracy + DOP (eph/epv/hdop/pdop/vdop)
-    IO_CLASS_SENSOR_GNSS_SATELLITES = 39, ///< GNSS satellites used in fix
+    IO_CLASS_SENSOR_GNSS = 40,            ///< GNSS position+velocity (lat/lon/alt/speed/course)
+    IO_CLASS_SENSOR_GNSS_TIME = 41,       ///< GNSS UTC time (seconds since epoch)
+    IO_CLASS_SENSOR_GNSS_INFO = 42,       ///< GNSS accuracy + DOP (eph/epv/hdop/pdop/vdop)
+    IO_CLASS_SENSOR_GNSS_SATELLITES = 43, ///< GNSS satellites used in fix
 
     // there is 59 sensor types in Nuttx now, most likely it grows later
     // we still have many free slots, but in the future, it there are no free IO slots
     // we can thing about combining sensor and sensor producer
 
     // System information
 
-    IO_CLASS_SYSTEM_UPTIME = 40,     ///< System uptime
-    IO_CLASS_SYSTEM_CPULOAD = 41,    ///< CPU load
-    IO_CLASS_SYSTEM_RESET = 42,      ///< System reset control
-    IO_CLASS_SYSTEM_RESETCAUSE = 43, ///< Reset cause
-    IO_CLASS_SYSTEM_POWEROFF = 44,   ///< Power off control
-    IO_CLASS_SYSTEM_HOSTNAME = 45,   ///< System hostname
-    IO_CLASS_SYSTEM_UUID = 46,       ///< UUID
-    IO_CLASS_SYSTEM_SYSTEMTIME = 47, ///< System time
+    IO_CLASS_SYSTEM_UPTIME = 44,     ///< System uptime
+    IO_CLASS_SYSTEM_CPULOAD = 45,    ///< CPU load
+    IO_CLASS_SYSTEM_RESET = 46,      ///< System reset control
+    IO_CLASS_SYSTEM_RESETCAUSE = 47, ///< Reset cause
+    IO_CLASS_SYSTEM_POWEROFF = 48,   ///< Power off control
+    IO_CLASS_SYSTEM_HOSTNAME = 49,   ///< System hostname
+    IO_CLASS_SYSTEM_UUID = 50,       ///< UUID
+    IO_CLASS_SYSTEM_SYSTEMTIME = 51, ///< System time
 
-    // Slots 48-59 reserved for future system classes (serial number,
+    // Slots 52-59 reserved for future system classes (serial number,
     // firmware version, firmware update, etc.).
 
     // GPIO

dawn/include/dawn/io/sensor.hxx

@@ -86,6 +86,10 @@ public:
           return "uv";
         case IO_CLASS_SENSOR_GAS:
           return "gas";
+        case IO_CLASS_SENSOR_CO2:
+          return "co2";
+        case IO_CLASS_SENSOR_TVOC:
+          return "tvoc";
         case IO_CLASS_SENSOR_GNSS:
           return "gnss";
         case IO_CLASS_SENSOR_GNSS_TIME:
@@ -212,6 +216,16 @@ public:
     return CIOSensor::objectId(CIOCommon::IO_CLASS_SENSOR_GAS, dtype, ts, inst);
   }
 
+  constexpr static SObjectId::ObjectId objectIdCo2(uint8_t dtype, bool ts, uint16_t inst)
+  {
+    return CIOSensor::objectId(CIOCommon::IO_CLASS_SENSOR_CO2, dtype, ts, inst);
+  }
+
+  constexpr static SObjectId::ObjectId objectIdTvoc(uint8_t dtype, bool ts, uint16_t inst)
+  {
+    return CIOSensor::objectId(CIOCommon::IO_CLASS_SENSOR_TVOC, dtype, ts, inst);
+  }
+
   constexpr static SObjectId::ObjectId objectIdGnss(uint8_t dtype, bool ts, uint16_t inst)
   {
     return CIOSensor::objectId(CIOCommon::IO_CLASS_SENSOR_GNSS, dtype, ts, inst);

dawn/include/dawn/io/sensor_producer.hxx

@@ -77,6 +77,10 @@ public:
           return "sprod_uv";
         case IO_CLASS_SENSOR_PRODUCER_GAS:
           return "sprod_gas";
+        case IO_CLASS_SENSOR_PRODUCER_CO2:
+          return "sprod_co2";
+        case IO_CLASS_SENSOR_PRODUCER_TVOC:
+          return "sprod_tvoc";
         default:
           return "sprod";
       }
@@ -199,6 +203,16 @@ public:
     return CIOSensorProducer::objectId(CIOCommon::IO_CLASS_SENSOR_PRODUCER_GAS, dtype, ts, inst);
   }
 
+  constexpr static SObjectId::ObjectId objectIdCo2(uint8_t dtype, bool ts, uint16_t inst)
+  {
+    return CIOSensorProducer::objectId(CIOCommon::IO_CLASS_SENSOR_PRODUCER_CO2, dtype, ts, inst);
+  }
+
+  constexpr static SObjectId::ObjectId objectIdTvoc(uint8_t dtype, bool ts, uint16_t inst)
+  {
+    return CIOSensorProducer::objectId(CIOCommon::IO_CLASS_SENSOR_PRODUCER_TVOC, dtype, ts, inst);
+  }
+
   constexpr static SObjectCfg::ObjectCfgId cfgIdQueueSize(uint16_t cls)
   {
     return SObjectCfg::objectCfg(SObjectId::OBJTYPE_IO,

dawn/include/dawn/porting/nuttx/sensors.hxx

@@ -104,6 +104,16 @@ public:
        sizeof(struct sensor_gas),
        1,
        offsetof(struct sensor_gas, gas_resistance)},
+      {CIOCommon::IO_CLASS_SENSOR_CO2,
+       "co2",
+       sizeof(struct sensor_co2),
+       1,
+       offsetof(struct sensor_co2, co2)},
+      {CIOCommon::IO_CLASS_SENSOR_TVOC,
+       "tvoc",
+       sizeof(struct sensor_tvoc),
+       1,
+       offsetof(struct sensor_tvoc, tvoc)},
       // GNSS variants (handled by CIOSensorGnss). All read the same
       // /dev/uorb/sensor_gnss device; the payload offset is unused because
       // CIOSensorGnss::getDataImpl assembles the specific fields itself. Only
@@ -143,13 +153,13 @@ public:
 
   static int16_t producerToSensorClass(int16_t cls)
   {
-    static_assert(CIOCommon::IO_CLASS_SENSOR_PRODUCER_GAS -
+    static_assert(CIOCommon::IO_CLASS_SENSOR_PRODUCER_TVOC -
                       CIOCommon::IO_CLASS_SENSOR_PRODUCER_ACCELEROMETER ==
-                    CIOCommon::IO_CLASS_SENSOR_GAS - CIOCommon::IO_CLASS_SENSOR_ACCELEROMETER,
+                    CIOCommon::IO_CLASS_SENSOR_TVOC - CIOCommon::IO_CLASS_SENSOR_ACCELEROMETER,
                   "Sensor and sensor producer class ranges must stay aligned");
 
     if (cls < CIOCommon::IO_CLASS_SENSOR_PRODUCER_ACCELEROMETER ||
-        cls > CIOCommon::IO_CLASS_SENSOR_PRODUCER_GAS)
+        cls > CIOCommon::IO_CLASS_SENSOR_PRODUCER_TVOC)
       {
         return CIOCommon::IO_CLASS_ANY;
       }

dawn/include/dawn/proto/nimble/iprph.hxx

@@ -345,6 +345,30 @@ public:
 
   constexpr static uint16_t UUID16_RESISTANCE = 0x272a;
 
+  /**
+   * @brief CO2 Concentration Characteristic UUID (0x2B8C).
+   *
+   * CO2 concentration in 1 ppm units (uint16).
+   */
+
+  constexpr static uint32_t UUID_CO2[4] = {0x2b8c0010, 0x7474754e, 0x694e2058, 0x454c426d};
+
+  /** @brief 16-bit UUID for CO2 Concentration characteristic. */
+
+  constexpr static uint16_t UUID16_CO2 = 0x2b8c;
+
+  /**
+   * @brief VOC Concentration Characteristic UUID (0x2BE7).
+   *
+   * VOC concentration in 1 ppb units (uint16).
+   */
+
+  constexpr static uint32_t UUID_TVOC[4] = {0x2be70010, 0x7474754e, 0x694e2058, 0x454c426d};
+
+  /** @brief 16-bit UUID for VOC Concentration characteristic. */
+
+  constexpr static uint16_t UUID16_TVOC = 0x2be7;
+
   /**
    * @brief Scaling factors for GATT characteristics.
    *
@@ -364,6 +388,10 @@ public:
 
     {UUID16_ILLUMINANCE, 100.0f}, /** Illuminance: 0.01 lux units */
 
+    {UUID16_CO2, 1.0f},           /** CO2 concentration: 1 ppm units (no scaling) */
+
+    {UUID16_TVOC, 1000.0f},       /** VOC concentration: IO ppm -> 1 ppb units */
+
   };
 
   /** @brief Number of characteristic scaling entries. */

dawn/include/dawn/proto/nimble/prph_imds.hxx

@@ -54,6 +54,8 @@ public:
     PRPH_IMDS_TYPE_GAS,   ///< Industrial gas resistance sensor (non-standard
                           ///< UUID).
     PRPH_IMDS_TYPE_LIGHT, ///< Industrial illuminance / light sensor.
+    PRPH_IMDS_TYPE_CO2,   ///< Industrial CO2 concentration sensor.
+    PRPH_IMDS_TYPE_TVOC,  ///< Industrial VOC concentration sensor.
   };
 
   struct