Is it possible to run both BLE and TinyML inference inside the loop() function? If so will I have to set a flag for when I need to switch to bluetooth. The pseudo code for what i propose is,
loop() {
if ble is enabled
do BLE Functionalities
else
run ML inference
end if
}
Is it possible to run both BLE and TinyML inference inside the
loop()function?
Yes. I would also investigate the interrupt service routines available through the NRF52840 on the Nano 33 BLE (& SENSE). You can find more information here:
UPDATE: After working through interrupts on an Arduino Nano 33 BLE a bit, I have found some of the IRQ Handlers disabled. This is due to Arduino's mbed's implementation blocking weak link access to them. If attempting to call a weak IRQHandler causes a compiling error on your board, look into the pal_bb.h file in the mbed os library to access some IRQHandlers directly instead through callbacks.
Here are all the available IRQs:
/* ------------------------- Interrupt Number Definition ------------------------ */
typedef enum {
/* ------------------- Cortex-M4 Processor Exceptions Numbers ------------------- */
Reset_IRQn = -15, /*!< 1 Reset Vector, invoked on Power up and warm reset */
NonMaskableInt_IRQn = -14, /*!< 2 Non maskable Interrupt, cannot be stopped or preempted */
HardFault_IRQn = -13, /*!< 3 Hard Fault, all classes of Fault */
MemoryManagement_IRQn = -12, /*!< 4 Memory Management, MPU mismatch, including Access Violation
and No Match */
BusFault_IRQn = -11, /*!< 5 Bus Fault, Pre-Fetch-, Memory Access Fault, other address/memory
related Fault */
UsageFault_IRQn = -10, /*!< 6 Usage Fault, i.e. Undef Instruction, Illegal State Transition */
SVCall_IRQn = -5, /*!< 11 System Service Call via SVC instruction */
DebugMonitor_IRQn = -4, /*!< 12 Debug Monitor */
PendSV_IRQn = -2, /*!< 14 Pendable request for system service */
SysTick_IRQn = -1, /*!< 15 System Tick Timer */
/* --------------------- nrf52840 Specific Interrupt Numbers -------------------- */
POWER_CLOCK_IRQn = 0, /*!< 0 POWER_CLOCK */
RADIO_IRQn = 1, /*!< 1 RADIO */
UARTE0_UART0_IRQn = 2, /*!< 2 UARTE0_UART0 */
SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0_IRQn= 3, /*!< 3 SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0 */
SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1_IRQn= 4, /*!< 4 SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1 */
NFCT_IRQn = 5, /*!< 5 NFCT */
GPIOTE_IRQn = 6, /*!< 6 GPIOTE */
SAADC_IRQn = 7, /*!< 7 SAADC */
TIMER0_IRQn = 8, /*!< 8 TIMER0 */
TIMER1_IRQn = 9, /*!< 9 TIMER1 */
TIMER2_IRQn = 10, /*!< 10 TIMER2 */
RTC0_IRQn = 11, /*!< 11 RTC0 */
TEMP_IRQn = 12, /*!< 12 TEMP */
RNG_IRQn = 13, /*!< 13 RNG */
ECB_IRQn = 14, /*!< 14 ECB */
CCM_AAR_IRQn = 15, /*!< 15 CCM_AAR */
WDT_IRQn = 16, /*!< 16 WDT */
RTC1_IRQn = 17, /*!< 17 RTC1 */
QDEC_IRQn = 18, /*!< 18 QDEC */
COMP_LPCOMP_IRQn = 19, /*!< 19 COMP_LPCOMP */
SWI0_EGU0_IRQn = 20, /*!< 20 SWI0_EGU0 */
SWI1_EGU1_IRQn = 21, /*!< 21 SWI1_EGU1 */
SWI2_EGU2_IRQn = 22, /*!< 22 SWI2_EGU2 */
SWI3_EGU3_IRQn = 23, /*!< 23 SWI3_EGU3 */
SWI4_EGU4_IRQn = 24, /*!< 24 SWI4_EGU4 */
SWI5_EGU5_IRQn = 25, /*!< 25 SWI5_EGU5 */
TIMER3_IRQn = 26, /*!< 26 TIMER3 */
TIMER4_IRQn = 27, /*!< 27 TIMER4 */
PWM0_IRQn = 28, /*!< 28 PWM0 */
PDM_IRQn = 29, /*!< 29 PDM */
MWU_IRQn = 32, /*!< 32 MWU */
PWM1_IRQn = 33, /*!< 33 PWM1 */
PWM2_IRQn = 34, /*!< 34 PWM2 */
SPIM2_SPIS2_SPI2_IRQn = 35, /*!< 35 SPIM2_SPIS2_SPI2 */
RTC2_IRQn = 36, /*!< 36 RTC2 */
I2S_IRQn = 37, /*!< 37 I2S */
FPU_IRQn = 38, /*!< 38 FPU */
USBD_IRQn = 39, /*!< 39 USBD */
UARTE1_IRQn = 40, /*!< 40 UARTE1 */
QSPI_IRQn = 41, /*!< 41 QSPI */
CRYPTOCELL_IRQn = 42, /*!< 42 CRYPTOCELL */
PWM3_IRQn = 45, /*!< 45 PWM3 */
SPIM3_IRQn = 47 /*!< 47 SPIM3 */
} IRQn_Type;
This is an example of an IRQ Handler for the SWI3 in the EGU (Event Generator Unit):
void SWI3_EGU3_IRQHandler(void)
{
// Clear SWI Event.
if (NRF_EGU3->EVENTS_TRIGGERED[0] == 1)
{
NRF_EGU3->EVENTS_TRIGGERED[0] = 0;
}
}
Also be sure to enable interrupts and set their priority. This is done via the NVIC.
NVIC_SetPriority(IRQ_NUMBER,PRIORITY (Out of 8 options - default is 6));
NVIC_EnableIRQ(IRQ_NUMBER);
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