Gesture recognition #20
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| Standard: Cpp11 | ||
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| # | ||
| # Copyright (c) 2024 Nordic Semiconductor | ||
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| # SPDX-License-Identifier: LicenseRef-Nordic-5-Clause | ||
| # | ||
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| cmake_minimum_required(VERSION 3.20.0) | ||
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| find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE}) | ||
| project(nrf_edgeai_thingy53) | ||
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| set(CMAKE_BUILD_TYPE Debug) | ||
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| file(GLOB_RECURSE APP_SOURCE_FILES | ||
| "${CMAKE_CURRENT_LIST_DIR}/src/**") | ||
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| include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src/bsp) | ||
| include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src/nrf_edgeai_lib) | ||
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| target_sources(app PRIVATE ${APP_SOURCE_FILES}) | ||
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| zephyr_library_include_directories(${ZEPHYR_BASE}/samples/bluetooth) | ||
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| # | ||
| # Copyright (c) 2024 Nordic Semiconductor | ||
| # | ||
| # SPDX-License-Identifier: LicenseRef-Nordic-5-Clause | ||
| # | ||
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| source "Kconfig.zephyr" | ||
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| config DATA_COLLECTION_MODE | ||
| bool "Enble Data Collection Mode (no inference run)" | ||
| default n |
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| # | ||
| # Copyright (c) 2023 Nordic Semiconductor | ||
| # | ||
| # SPDX-License-Identifier: LicenseRef-Nordic-5-Clause | ||
| # | ||
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| source "share/sysbuild/Kconfig" | ||
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| config NRF_DEFAULT_IPC_RADIO | ||
| default y | ||
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| config NETCORE_IPC_RADIO_BT_HCI_IPC | ||
| default y |
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| # nRF Edge AI Nordic Thingy:53 Gesture Based BLE Remote Control Device | ||
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| - [Overview](#overview) | ||
| - [Hardware Used](#hw-used) | ||
| - [Setup Software Environment](#setup-sw-env) | ||
| - [Setup Firmware Project](#setup-fw-proj) | ||
| - [How The Project Works](#how-works) | ||
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| ## Overview <div id='overview'/> | ||
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| This project demonstrates a gesture based remote control device using [__Nordic Thingy:53__](https://www.nordicsemi.com/Products/Development-hardware/Nordic-Thingy-53). The development kit could be connected to the PC via Bluetooth as a HID device and using gestures the user can control media stream or slides of the presentation. Based on accelerometer and gyroscope data the nRF Edge AI model could recognize __8 classes__ of gestures: Swipe Right, Swipe Left, Double Shake, Double Tap, Rotation Clockwise and Counter clockwise, No Gestures(IDLE) and Unknown Gesture. Use-case demonstration [video](https://youtu.be/qDFdxapLbrA). Raw dataset used for model training, which you can use to train your own model, or augment it with your own data and train a more robust model is located [here](https://files.nordicsemi.com/artifactory/edge-ai/external/nordic53thingy_remote_ctrl_train_v101.csv). | ||
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| ## Hardware Used <div id='hw-used'/> | ||
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| [__Nordic Thingy:53 Multi-protocol IoT prototyping platform__](https://www.nordicsemi.com/Products/Development-hardware/Nordic-Thingy-53) | ||
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| The Nordic Thingy:53™ is an easy-to-use IoT prototyping platform. It makes it possible to create prototypes and proofs-of-concept without building custom hardware. The Thingy:53 is built around the nRF5340 SoC, the flagship dual-core wireless SoC. The processing power and memory size of its dual Arm Cortex-M33 processors enables it to run embedded machine learning (ML) models directly on the device. | ||
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| The Thingy:53 also includes many different integrated sensors, like environmental-, and color and light sensors, accelerometers, and a magnetometer, which all can be taken advantage of without additional hardware. It is powered by a rechargeable Li-Po battery that can be charged via USB-C. There is also an external 4-pin JST connector compatible with the Stemma/Qwiic/Grove standards for hardware accessories. | ||
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| ## Setup Software Environment <div id='setup-sw-env'/> | ||
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Member
There was a problem hiding this comment. I think that since this application are now part of the add-on, the sections Setup Software Environment and Setup Firmware Project should be reworked to match the add-on documentation. |
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| To set this project up, you will need to install the following software: | ||
| - Visual Studio Code (https://code.visualstudio.com) | ||
| - nRF Connect for VS Code (https://www.nordicsemi.com/Products/Development-tools/nRF-Connect-for-VS-Code) | ||
| - [**Optional**] TeraTerm Terminal (https://teratermproject.github.io/index-en.html) | ||
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| ## Setup Firmware Project <div id='setup-fw-proj'/> | ||
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| 1. Clone this repository: https://github.com/Neuton-tinyML/neuton-nordic-thingy53-ble-remotecontrol | ||
| 2. In the VS code, `Open folder` where you did clone the repository. | ||
| 3. `Manage toolchain` install toolchain version **v3.1.0**. `Manage SDK` install version **v3.1.0** in nRF Connect tab. | ||
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| 4. `Add Build configuration` for Nordic Thingy 53 dev kit | ||
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| 5. Choose `thingy53_nrf5340_cpuapp` in the `Board` selector and click `Build Configuration` | ||
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| 6. After your build will be configured you should see the following options: | ||
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| **IMPORTANT** If your `thingy53_nrf5340_cpuapp_defconfig` file does not has **`CONFIG_FPU=y`** you should add this because nRF Edge AI library is compiled with `-mfloat-abi=hard` flag | ||
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| 8. Now turn on your Thingy 53 dev kit and connect to your PC via debugger and USB | ||
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| 9. Build & Flash the device with firmware | ||
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| 10. After successfull device programming you can open any serial port terminal and you should see the following messages: | ||
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| ```` | ||
| *** Booting nRF Connect SDK 7a22da43c1d4 *** | ||
| Set up button at gpio@842800 pin 14 | ||
| nRF Edge AI Gestures Recognition Demo: | ||
| Application version: 3.0.0 | ||
| nRF Edge AI Runtime Version: 1.0.0 | ||
| nRF Edge AI Lab Solution id: 84622 | ||
| Bluetooth initialized | ||
| Advertising successfully started | ||
| ```` | ||
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| MacOs CLI commands examples: | ||
| - Check connected usb devices: `ls -l /dev/cu.usb*` | ||
| - Output to serial port. Use your actual usb-device name: `stty -f /dev/cu.usbmodem101 115200 | cat /dev/cu.usbmodem101` | ||
| - Save serial port output to file, if necessary: `stty -f /dev/cu.usbmodem101 115200 | cat /dev/cu.usbmodem101 | tee filename.csv` | ||
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| 11. Explore the project and nRF Edge AI model capabilities! | ||
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| ### Data collection firmware build | ||
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| It is possible to create a special build that will output the raw data of the acceleromater and gyro sensors in the serial port. | ||
| This way it's possible to capture data for training new models, to test and implement new use cases. | ||
| The output of the sensors will integers of 16 bits, separated by a comma, in the following order | ||
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| ``` | ||
| <acc_x>,<acc_y>,<acc_z>,<gyro_x>,<gyro_y>,<giro_z> | ||
| ``` | ||
| *(Please note column headers are not included)* | ||
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| The output rate will be the configured sampling frequency, default value being 100Hz. | ||
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| To build this version, the following option must be enabled in the `prj.conf` file | ||
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| ``` | ||
| CONFIG_DATA_COLLECTION_MODE=y | ||
| ``` | ||
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| The project must be build and flashed again as described in the step **(9)**. | ||
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| No inference will be performed in this mode, it's just intended to simplify the capture of new datasets | ||
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| # How the project works <div id='how-works'/> | ||
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| Once the device is up and running, Bluetooth advertising starts as a HID device and waits for connection request from the PC. | ||
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| You can connect devices in the same way as, for example, a regular Bluetooth keyboard. | ||
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| 1. For Windows 10 PC you can go to `Settings -> Bluetooth & other devices -> Add Bluetooth or other device`. | ||
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| 2. The device should appear in `Add a device` window, choose the device for pairing. | ||
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| 3. After Bluetooth pairing the device should appear in your `Mouse, keyboard, & pen` section | ||
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| 4. In the serial port terminal you should se the following logs messages: | ||
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| ``` | ||
| Connected 9C:B6:D0:C0:CE:FC (public) | ||
| Security changed: 9C:B6:D0:C0:CE:FC (public) level 2 | ||
| Input CCCD enabled | ||
| Input attribute handle: 0 | ||
| Consumer CCCD enabled | ||
| ``` | ||
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| After Bluetooth connection the device will change LED indication from RED LED glowing to GREEN or BLUE LEDs glowing depending on __Keyboard control mode__. | ||
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| The project has two Keyboard control modes: __Presentation Control__ and __Music Control__. You can switch between control modes by pushing user button `BTN0`, for different control modes there is a different LED indication. If the device in __Presentation Control__ mode the LED glows BLUE color, if the device in __Music Control__ mode the LED glows GREEN color: | ||
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| __LED indication in different device states:__ | ||
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| | No Bluetooth connection | Presentation Control mode | Music Control mode | | ||
| | ------------------------ |---------------------------- | ----------------------- | | ||
| |  | | | | ||
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| Depending on the control mode, recognized gestures will be mapped to different keyboard keys: | ||
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| __Gestures to Keyboard Keys Mapping__ | ||
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| | | Presentation Control | Music Control | | ||
| | ----------------------------- | ---------- | ----------------- | | ||
| | Double Shake | F5 | Media Play/Pause | | ||
| | Double Tap | ESCAPE | Media Mute | | ||
| | Swipe Right | Arrow Right| Media Next | | ||
| | Swipe Left | Arrow Left | Media Previous | | ||
| | Rotation Clockwise | Not used | Media Volume Up | | ||
| | Rotation Counter clockwise | Not used | Media Volume Down | | ||
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| __How to Make Gestures__ | ||
| > **_NOTE:_** The dataset for creating this model is immature and this affects the generalization of the model on different persons, so please follow the instructions for good gesture recognition. | ||
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| To begin with, please make sure that the default (initial) position of the device is the same as following: | ||
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| Next, follow the images on how to make gestures. For better recognition use your wrists more when making gestures, and not your whole hand: | ||
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| __Swipe Right & Left__ | ||
| | | | | ||
| | -------------------------------------- | --------------------------------------------- | | ||
| |  |  | | ||
| | Swipe Right | Swipe Left | | ||
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| __Rotation Clockwise & Counter Clockwise__ | ||
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| | | | | ||
| | -------------------------------------- | --------------------------------------------- | | ||
| |  |  | | ||
| | Rotation Clockwise(Right) | Rotation Counter Clockwise(Left) | | ||
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| __Double Shake & Double Tap__ | ||
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| | | | | ||
| | -------------------------------------- | --------------------------------------------- | | ||
| |  |  | | ||
| | Double Shake | Double Tap | | ||
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| When performing gestures with the device, in the serial port terminal, you should see the similar messages: | ||
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| ``` | ||
| Predicted class: DOUBLE SHAKE, with probability 96 % | ||
| BLE HID Key 8 sent successfully | ||
| Predicted class: SWIPE RIGHT, with probability 99 % | ||
| BLE HID Key 32 sent successfully | ||
| Predicted class: SWIPE LEFT, with probability 99 % | ||
| BLE HID Key 16 sent successfully | ||
| Predicted class: ROTATION RIGHT, with probability 93 % | ||
| BLE HID Key 1 sent successfully | ||
| ``` | ||
| Have fun and use this model for your future gesture control projects! | ||
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| # | ||
| # Copyright (c) 2018 Nordic Semiconductor | ||
| # | ||
| # SPDX-License-Identifier: LicenseRef-Nordic-5-Clause | ||
| # | ||
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| # nRF Edge AI | ||
| CONFIG_NRF_EDGEAI=y | ||
| # nRF Edge AI dependencies | ||
| CONFIG_NEWLIB_LIBC=y | ||
| CONFIG_FPU=y | ||
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| # Enable Bluetooth | ||
| CONFIG_BT=y | ||
| CONFIG_BT_PERIPHERAL=y | ||
| CONFIG_BT_DEVICE_NAME="T53_sensor_hub" | ||
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| # Enable buttons and LEDs | ||
| CONFIG_DK_LIBRARY=y | ||
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| CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE=2048 | ||
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| # Configure Thingy:53 sensors | ||
| CONFIG_STDOUT_CONSOLE=y | ||
| CONFIG_I2C=y | ||
| CONFIG_SPI=y | ||
| CONFIG_BMI270_TRIGGER_GLOBAL_THREAD=y | ||
| CONFIG_SENSOR=y | ||
| CONFIG_ADC=y | ||
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| CONFIG_LOG=y | ||
| CONFIG_LOG_DEFAULT_LEVEL=1 | ||
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| ################################################################################ | ||
| # Enable USB CDC ACM | ||
| CONFIG_USB_DEVICE_REMOTE_WAKEUP=n | ||
| CONFIG_USB_NRFX_WORK_QUEUE_STACK_SIZE=1200 | ||
| CONFIG_USB_DEVICE_PRODUCT="Thingy:53 Application" | ||
| CONFIG_USB_DEVICE_VID=0x1915 | ||
| CONFIG_USB_DEVICE_PID=0x530C | ||
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| # Enable CDC ACM (USB-UART) | ||
| CONFIG_USB_CDC_ACM=y | ||
| CONFIG_UART_LINE_CTRL=y | ||
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| # Enable console | ||
| CONFIG_CONSOLE=y | ||
| CONFIG_UART_CONSOLE=y | ||
| CONFIG_LOG_MODE_MINIMAL=n | ||
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| CONFIG_COUNTER=y | ||
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| # Enable FPU | ||
| CONFIG_FPU=y | ||
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| # Bluetooth configuration | ||
| CONFIG_NCS_SAMPLES_DEFAULTS=y | ||
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| CONFIG_BT=y | ||
| CONFIG_BT_LOG_LEVEL_DBG=n | ||
| CONFIG_BT_MAX_CONN=2 | ||
| CONFIG_BT_MAX_PAIRED=2 | ||
| CONFIG_BT_SMP=y | ||
| CONFIG_BT_L2CAP_TX_BUF_COUNT=5 | ||
| CONFIG_BT_PERIPHERAL=y | ||
| CONFIG_BT_DEVICE_NAME="Neuton NRF RemoteControl" | ||
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Member
There was a problem hiding this comment. change CONFIG_BT_DEVICE_NAME something like "nRF Edge AI Remote Control", or please consult with @wbober for proper name |
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| CONFIG_BT_DEVICE_APPEARANCE=961 | ||
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| CONFIG_BT_BAS=y | ||
| CONFIG_BT_HIDS=y | ||
| CONFIG_BT_HIDS_MAX_CLIENT_COUNT=1 | ||
| CONFIG_BT_HIDS_DEFAULT_PERM_RW_ENCRYPT=y | ||
| CONFIG_BT_GATT_UUID16_POOL_SIZE=40 | ||
| CONFIG_BT_GATT_CHRC_POOL_SIZE=20 | ||
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| CONFIG_BT_CONN_CTX=y | ||
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| CONFIG_BT_DIS=y | ||
| CONFIG_BT_DIS_PNP=y | ||
| CONFIG_BT_DIS_MANUF="NordicSemiconductor" | ||
| CONFIG_BT_DIS_PNP_VID_SRC=2 | ||
| CONFIG_BT_DIS_PNP_VID=0x1915 | ||
| CONFIG_BT_DIS_PNP_PID=0xEEEF | ||
| CONFIG_BT_DIS_PNP_VER=0x0100 | ||
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| CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE=2048 | ||
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| CONFIG_BT_SETTINGS=y | ||
| CONFIG_FLASH=y | ||
| CONFIG_FLASH_PAGE_LAYOUT=y | ||
| CONFIG_FLASH_MAP=y | ||
| CONFIG_NVS=y | ||
| CONFIG_SETTINGS=y | ||
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| CONFIG_DK_LIBRARY=y | ||
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| # Enable logging | ||
| CONFIG_USB_DEVICE_LOG_LEVEL_ERR=y | ||
| CONFIG_USB_DEVICE_LOG_LEVEL_DBG=n | ||
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| # LED configuration | ||
| CONFIG_PWM=y | ||
| CONFIG_DATA_COLLECTION_MODE=n | ||
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| sample: | ||
| description: Hello World sample, the simplest Zephyr | ||
|
Member
There was a problem hiding this comment. Should match the provided application description :) I believe now it is template for hello world |
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| application | ||
| name: hello world | ||
| common: | ||
| tags: introduction | ||
| integration_platforms: | ||
| - native_posix | ||
| harness: console | ||
| harness_config: | ||
| type: one_line | ||
| regex: | ||
| - "Hello World! (.*)" | ||
| tests: | ||
| sample.basic.helloworld: | ||
| tags: introduction | ||
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please use .clang-format from root of this repository
https://github.com/nrfconnect/sdk-edge-ai/blob/main/.clang-format