MtM+ / Mbed OS Mt05_MtSense03

51 52 with same code

Dependencies:   BMA250E BMG160

source/main.cpp@1:b8bbe971b26d, 2018-04-27 (annotated)

Committer:
johnathanlyu
Date:
Fri Apr 27 09:56:41 2018 +0000
Revision:
1:b8bbe971b26d
Parent:
0:e71874215e23 
51 52 with same code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
johnathanlyu 0:e71874215e23 1 /* mbed Microcontroller Library
johnathanlyu 0:e71874215e23 2 * Copyright (c) 2006-2014 ARM Limited
johnathanlyu 0:e71874215e23 3 *
johnathanlyu 0:e71874215e23 4 * Licensed under the Apache License, Version 2.0 (the "License");
johnathanlyu 0:e71874215e23 5 * you may not use this file except in compliance with the License.
johnathanlyu 0:e71874215e23 6 * You may obtain a copy of the License at
johnathanlyu 0:e71874215e23 7 *
johnathanlyu 0:e71874215e23 8 * http://www.apache.org/licenses/LICENSE-2.0
johnathanlyu 0:e71874215e23 9 *
johnathanlyu 0:e71874215e23 10 * Unless required by applicable law or agreed to in writing, software
johnathanlyu 0:e71874215e23 11 * distributed under the License is distributed on an "AS IS" BASIS,
johnathanlyu 0:e71874215e23 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
johnathanlyu 0:e71874215e23 13 * See the License for the specific language governing permissions and
johnathanlyu 0:e71874215e23 14 * limitations under the License.
johnathanlyu 0:e71874215e23 15 */
johnathanlyu 0:e71874215e23 16
johnathanlyu 0:e71874215e23 17 #include <events/mbed_events.h>
johnathanlyu 0:e71874215e23 18 #include <mbed.h>
johnathanlyu 0:e71874215e23 19 #include "ble/BLE.h"
johnathanlyu 0:e71874215e23 20 #include "ble/Gap.h"
johnathanlyu 0:e71874215e23 21 #include "BMA250E.h"
johnathanlyu 1:b8bbe971b26d 22 #include "BMG160.h"
johnathanlyu 1:b8bbe971b26d 23
johnathanlyu 1:b8bbe971b26d 24
johnathanlyu 0:e71874215e23 25 /* UART printf */
johnathanlyu 1:b8bbe971b26d 26 #ifdef NRF52
johnathanlyu 1:b8bbe971b26d 27 Serial pc(p20, p24);
johnathanlyu 1:b8bbe971b26d 28 #else
johnathanlyu 0:e71874215e23 29 Serial pc(p5, p4);
johnathanlyu 1:b8bbe971b26d 30 #endif
johnathanlyu 1:b8bbe971b26d 31
johnathanlyu 1:b8bbe971b26d 32
johnathanlyu 1:b8bbe971b26d 33 /* LED blink */
johnathanlyu 1:b8bbe971b26d 34 Ticker ledBlinkTicker;
johnathanlyu 1:b8bbe971b26d 35 DigitalOut ledR(p16, 1);
johnathanlyu 1:b8bbe971b26d 36 DigitalOut ledG(p15, 1);
johnathanlyu 1:b8bbe971b26d 37 DigitalOut ledB(p6 , 1);
johnathanlyu 0:e71874215e23 38
johnathanlyu 0:e71874215e23 39 /* Sensor */
johnathanlyu 1:b8bbe971b26d 40 uint8_t acceRange = 0x0C; // 2G(0x03), 4G(0x05), 8G(0x08), 16G(0x0C)
johnathanlyu 1:b8bbe971b26d 41 uint8_t gyroRange = 0x00; // 2000deg/s(0x00), 1000deg/s(0x01), 500deg/s(0x02), 250deg/s(0x03), 125deg/s(0x04)
johnathanlyu 1:b8bbe971b26d 42 int16_t acceXYZ[3];
johnathanlyu 1:b8bbe971b26d 43 int16_t gyroXYZ[3];
johnathanlyu 1:b8bbe971b26d 44 uint8_t accePayload[7];
johnathanlyu 1:b8bbe971b26d 45 uint8_t gyroPayload[7];
johnathanlyu 0:e71874215e23 46
johnathanlyu 1:b8bbe971b26d 47 /* UART printf */
johnathanlyu 1:b8bbe971b26d 48 #ifdef NRF52
johnathanlyu 1:b8bbe971b26d 49 BMA250E acclerameter(p14, p28, NC, NC, acceRange, 0x0D);
johnathanlyu 1:b8bbe971b26d 50 BMG160 gyro(p14, p28, NC, NC, gyroRange, 0x00);
johnathanlyu 1:b8bbe971b26d 51 #else
johnathanlyu 1:b8bbe971b26d 52 BMA250E acclerameter(p14, p13, NC, NC, acceRange, 0x0D);
johnathanlyu 1:b8bbe971b26d 53 BMG160 gyro(p14, p13, NC, NC, gyroRange, 0x00);
johnathanlyu 1:b8bbe971b26d 54 #endif
johnathanlyu 1:b8bbe971b26d 55
johnathanlyu 1:b8bbe971b26d 56 static EventQueue eventQueue(/* event count */ 16 * EVENTS_EVENT_SIZE);
johnathanlyu 0:e71874215e23 57
johnathanlyu 0:e71874215e23 58 /* UUID, Device name */
johnathanlyu 0:e71874215e23 59 uint16_t sensServUUID = /*0xA000*/0x1811;
johnathanlyu 0:e71874215e23 60 uint16_t acceCharUUID = /*0xA001*/0x2A56;
johnathanlyu 0:e71874215e23 61 uint16_t gyroCharUUID = /*0xA002*/0x2A57;
johnathanlyu 1:b8bbe971b26d 62 static const char DEVICE_NAME[] = "Mt5MtSense03";
johnathanlyu 0:e71874215e23 63 static const uint16_t uuid16_list[] = { /*0xA000*/0x1811 };
johnathanlyu 0:e71874215e23 64
johnathanlyu 0:e71874215e23 65 /* Setup custom characteristics */
johnathanlyu 0:e71874215e23 66 GattCharacteristic acceChar( acceCharUUID, accePayload,
johnathanlyu 0:e71874215e23 67 sizeof(accePayload), sizeof(accePayload),
johnathanlyu 0:e71874215e23 68 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY |
johnathanlyu 0:e71874215e23 69 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
johnathanlyu 0:e71874215e23 70
johnathanlyu 0:e71874215e23 71 GattCharacteristic gyroChar( gyroCharUUID, gyroPayload,
johnathanlyu 0:e71874215e23 72 sizeof(gyroPayload), sizeof(gyroPayload),
johnathanlyu 0:e71874215e23 73 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY |
johnathanlyu 0:e71874215e23 74 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
johnathanlyu 0:e71874215e23 75
johnathanlyu 0:e71874215e23 76 /* Setup custom service */
johnathanlyu 0:e71874215e23 77 GattCharacteristic *characteristics[] = {&acceChar, &gyroChar};
johnathanlyu 0:e71874215e23 78 GattService sensServ(sensServUUID, characteristics, sizeof(characteristics) / sizeof(GattCharacteristic *));
johnathanlyu 0:e71874215e23 79
johnathanlyu 1:b8bbe971b26d 80
johnathanlyu 0:e71874215e23 81
johnathanlyu 1:b8bbe971b26d 82 void ledBlinkCallback(void)
johnathanlyu 0:e71874215e23 83 {
johnathanlyu 1:b8bbe971b26d 84 ledR = !ledR;
johnathanlyu 1:b8bbe971b26d 85 ledG = !ledG;
johnathanlyu 1:b8bbe971b26d 86 ledB = !ledB;
johnathanlyu 0:e71874215e23 87 }
johnathanlyu 0:e71874215e23 88
johnathanlyu 1:b8bbe971b26d 89 void updateSensorCallback(void)
johnathanlyu 0:e71874215e23 90 {
johnathanlyu 1:b8bbe971b26d 91 /* Get sensor data */
johnathanlyu 1:b8bbe971b26d 92 acclerameter.ReadXYZ(acceXYZ);
johnathanlyu 1:b8bbe971b26d 93 gyro.ReadXYZ(gyroXYZ);
johnathanlyu 1:b8bbe971b26d 94 // pc.printf("aXYZ(%6d,%6d,%6d), gXYZ(%6d,%6d,%6d)\r\n", acceXYZ[0], acceXYZ[1], acceXYZ[2], gyroXYZ[0], gyroXYZ[1], gyroXYZ[2]);
johnathanlyu 1:b8bbe971b26d 95 BLE &ble = BLE::Instance();
johnathanlyu 1:b8bbe971b26d 96 if (ble.getGapState().connected) {
johnathanlyu 1:b8bbe971b26d 97 /* Write data to client */
johnathanlyu 1:b8bbe971b26d 98 accePayload[0] = acceRange;
johnathanlyu 1:b8bbe971b26d 99 accePayload[1] = (uint8_t)(acceXYZ[0] >> 8);
johnathanlyu 1:b8bbe971b26d 100 accePayload[2] = (uint8_t)(acceXYZ[0] >> 0);
johnathanlyu 1:b8bbe971b26d 101 accePayload[3] = (uint8_t)(acceXYZ[1] >> 8);
johnathanlyu 1:b8bbe971b26d 102 accePayload[4] = (uint8_t)(acceXYZ[1] >> 0);
johnathanlyu 1:b8bbe971b26d 103 accePayload[5] = (uint8_t)(acceXYZ[2] >> 8);
johnathanlyu 1:b8bbe971b26d 104 accePayload[6] = (uint8_t)(acceXYZ[2] >> 0);
johnathanlyu 1:b8bbe971b26d 105 ble.gattServer().write(acceChar.getValueHandle(), accePayload, sizeof(accePayload));
johnathanlyu 1:b8bbe971b26d 106 gyroPayload[0] = gyroRange;
johnathanlyu 1:b8bbe971b26d 107 gyroPayload[1] = (uint8_t)(gyroXYZ[0] >> 8);
johnathanlyu 1:b8bbe971b26d 108 gyroPayload[2] = (uint8_t)(gyroXYZ[0] >> 0);
johnathanlyu 1:b8bbe971b26d 109 gyroPayload[3] = (uint8_t)(gyroXYZ[1] >> 8);
johnathanlyu 1:b8bbe971b26d 110 gyroPayload[4] = (uint8_t)(gyroXYZ[1] >> 0);
johnathanlyu 1:b8bbe971b26d 111 gyroPayload[5] = (uint8_t)(gyroXYZ[2] >> 8);
johnathanlyu 1:b8bbe971b26d 112 gyroPayload[6] = (uint8_t)(gyroXYZ[2] >> 0);
johnathanlyu 1:b8bbe971b26d 113 ble.gattServer().write(gyroChar.getValueHandle(), gyroPayload, sizeof(gyroPayload));
johnathanlyu 1:b8bbe971b26d 114 }
johnathanlyu 0:e71874215e23 115 }
johnathanlyu 0:e71874215e23 116
johnathanlyu 0:e71874215e23 117 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
johnathanlyu 0:e71874215e23 118 {
johnathanlyu 0:e71874215e23 119 BLE::Instance(BLE::DEFAULT_INSTANCE).gap().startAdvertising(); // restart advertising
johnathanlyu 0:e71874215e23 120 }
johnathanlyu 0:e71874215e23 121
johnathanlyu 0:e71874215e23 122 void bleInitComplete(BLE::InitializationCompleteCallbackContext *params)
johnathanlyu 0:e71874215e23 123 {
johnathanlyu 1:b8bbe971b26d 124 BLE &ble = params->ble;
johnathanlyu 0:e71874215e23 125 ble_error_t error = params->error;
johnathanlyu 0:e71874215e23 126
johnathanlyu 0:e71874215e23 127 if (error != BLE_ERROR_NONE) {
johnathanlyu 0:e71874215e23 128 return;
johnathanlyu 0:e71874215e23 129 }
johnathanlyu 0:e71874215e23 130
johnathanlyu 0:e71874215e23 131 ble.gap().onDisconnection(disconnectionCallback);
johnathanlyu 0:e71874215e23 132
johnathanlyu 0:e71874215e23 133 /* Setup primary service. */
johnathanlyu 0:e71874215e23 134 ble.addService(sensServ);
johnathanlyu 0:e71874215e23 135
johnathanlyu 0:e71874215e23 136 /* Setup advertising. */
johnathanlyu 0:e71874215e23 137 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
johnathanlyu 0:e71874215e23 138 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS, (uint8_t *)uuid16_list, sizeof(uuid16_list));
johnathanlyu 0:e71874215e23 139 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::GENERIC_TAG);
johnathanlyu 0:e71874215e23 140 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
johnathanlyu 0:e71874215e23 141 ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
johnathanlyu 0:e71874215e23 142 ble.gap().setAdvertisingInterval(500); /* 500ms */
johnathanlyu 0:e71874215e23 143 ble.gap().startAdvertising();
johnathanlyu 1:b8bbe971b26d 144 }
johnathanlyu 1:b8bbe971b26d 145 void scheduleBleEventsProcessing(BLE::OnEventsToProcessCallbackContext* context) {
johnathanlyu 1:b8bbe971b26d 146 BLE &ble = BLE::Instance();
johnathanlyu 1:b8bbe971b26d 147 eventQueue.call(Callback<void()>(&ble, &BLE::processEvents));
johnathanlyu 0:e71874215e23 148 }
johnathanlyu 1:b8bbe971b26d 149 int main(void)
johnathanlyu 1:b8bbe971b26d 150 {
johnathanlyu 1:b8bbe971b26d 151 pc.set_flow_control(SerialBase::Disabled);
johnathanlyu 1:b8bbe971b26d 152 pc.baud(115200);
johnathanlyu 1:b8bbe971b26d 153 pc.printf("~ Hell World ~\n");
johnathanlyu 0:e71874215e23 154
johnathanlyu 1:b8bbe971b26d 155 /* LED blink timer */
johnathanlyu 1:b8bbe971b26d 156 eventQueue.call_every(1000, ledBlinkCallback);
johnathanlyu 0:e71874215e23 157
johnathanlyu 1:b8bbe971b26d 158 /* Update Sensor timer */
johnathanlyu 1:b8bbe971b26d 159 eventQueue.call_every(200, updateSensorCallback);
johnathanlyu 0:e71874215e23 160
johnathanlyu 1:b8bbe971b26d 161 /* Init BLE */
johnathanlyu 0:e71874215e23 162 BLE &ble = BLE::Instance();
johnathanlyu 0:e71874215e23 163 ble.onEventsToProcess(scheduleBleEventsProcessing);
johnathanlyu 0:e71874215e23 164 ble.init(bleInitComplete);
johnathanlyu 0:e71874215e23 165
johnathanlyu 0:e71874215e23 166 eventQueue.dispatch_forever();
johnathanlyu 0:e71874215e23 167
johnathanlyu 0:e71874215e23 168 return 0;
johnathanlyu 0:e71874215e23 169 }