Diff: main.cpp

Revision:

3:6a7310ea51f7

Parent:

2:b9b42ff80e9a

Child:

4:6a2b306b6b41

diff -r b9b42ff80e9a -r 6a7310ea51f7 main.cpp
--- a/main.cpp	Wed Jul 09 15:02:59 2014 +0000
+++ b/main.cpp	Thu Jul 24 14:28:09 2014 +0000
@@ -1,10 +1,13 @@
-#include "mbed.h"
-#include "BLEDevice.h"
-#include "nRF51822n.h"
 #include "MPU6050.h"
 #include <math.h>
 
-#define DEBUG 1
+#define LOG_LEVEL_INFO
+#include "Puck.h"
+
+Puck* puck = &Puck::getPuck();
+
+const UUID CUBE_SERVICE_UUID = UUID(stringToUUID("bftj cube       "));
+const UUID DIRECTION_UUID = UUID(stringToUUID("bftj cube dirctn"));
 
 enum Direction {
     UP,
@@ -16,25 +19,7 @@
     UNDEFINED
 };
 
-Serial pc(USBTX, USBRX);
-
-BLEDevice ble;
-
 const static int16_t ACCELERATION_EXITATION_THRESHOLD = 15000;
-const static uint8_t beaconPayload[] = {
-    0x00, 0x4C, // Company identifier code (0x004C == Apple)
-    0x02,       // ID
-    0x15,       // length of the remaining payload
-    0xE2, 0x0A, 0x39, 0xF4, 0x73, 0xF5, 0x4B, 0xC4, // UUID
-    0xA1, 0x2F, 0x17, 0xD1, 0xAD, 0x07, 0xA9, 0x61,
-    0x13, 0x37, // the major value to differenciate a location
-    0xC0, 0xBE, // the minor value to differenciate a location
-    0xC8        // 2's complement of the Tx power (-56dB)
-};
-
-extern GattService cube_service;
-extern GattCharacteristic directionCharacteristic;
-extern uint8_t direction_data[1];
 
 MPU6050 mpu;
 
@@ -43,63 +28,29 @@
 
 Direction direction = UNDEFINED;
 
-void log_direction(void)
-{
+void log_direction(Direction direction) {
     switch(direction) {
-        case UP:
-            pc.printf("Direction UP\n");
-            break;
-
-        case DOWN:
-            pc.printf("Direction DOWN\n");
-            break;
-
-        case LEFT:
-            pc.printf("Direction LEFT\n");
-            break;
-
-        case RIGHT:
-            pc.printf("Direction RIGHT\n");
-            break;
-
-        case BACK:
-            pc.printf("Direction BACK\n");
-            break;
-
-        case FRONT:
-            pc.printf("Direction FRONT\n");
-            break;
-
-        default:
-            pc.printf("Direction UNSET\n");
-            break;
+        case UP: LOG_INFO("Direction UP\n"); break;
+        case DOWN: LOG_INFO("Direction DOWN\n"); break;
+        case LEFT: LOG_INFO("Direction LEFT\n"); break;
+        case RIGHT: LOG_INFO("Direction RIGHT\n"); break;
+        case BACK: LOG_INFO("Direction BACK\n"); break;
+        case FRONT: LOG_INFO("Direction FRONT\n"); break;
+        default: LOG_INFO("Direction UNSET\n"); break;
     }
 }
 
-int16_t direction_if_exited(int16_t acceleration)
-{
+int16_t direction_if_exited(int16_t acceleration) {
     if (acceleration > ACCELERATION_EXITATION_THRESHOLD) {
         return 1;
-    } else if (acceleration < -ACCELERATION_EXITATION_THRESHOLD) {
+    }
+    if (acceleration < -ACCELERATION_EXITATION_THRESHOLD) {
         return -1;
-    } else {
-        return 0;
     }
+    return 0;
 }
 
-void update_direction_characteristic(void)
-{
-    direction_data[0] = direction;
-    ble.updateCharacteristicValue(directionCharacteristic.getHandle(),
-                                  direction_data,
-                                  sizeof(direction_data));
-#if DEBUG
-    //pc.printf("Updated gatt characteristic\n");
-#endif
-}
-
-void update_cube_direction(void)
-{
+void updateCubeDirection(void) {
     mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
 
     int16_t x = direction_if_exited(ax);
@@ -111,7 +62,7 @@
         return;
     }
 
-    Direction new_direction;
+    Direction new_direction = UNDEFINED;
     if (z == 1) {
         new_direction = UP;
     } else if (z == -1) {
@@ -132,62 +83,35 @@
 
     direction = new_direction;
 
-#if DEBUG
-    log_direction();
-#endif
-    update_direction_characteristic();
-}
-
-void disconnectionCallback(void)
-{
-    pc.printf("Disconnected!\n");
-    pc.printf("Restarting the advertising process\n");
-    ble.startAdvertising();
-}
-
-void periodicCallback(void)
-{
-    update_cube_direction();
+    log_direction(direction);
+    uint8_t directionAsInteger = direction;
+    puck->updateCharacteristicValue(DIRECTION_UUID, &directionAsInteger, 1);
 }
 
-void setup_ble(void)
-{
-    ble.init();
-    ble.onDisconnection(disconnectionCallback);
-
-    ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
-    ble.accumulateAdvertisingPayload(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA,
-                                     beaconPayload, sizeof(beaconPayload));
-
-    ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
-    ble.setAdvertisingInterval(160);
-
-    ble.startAdvertising();
 
-    ble.addService(cube_service);
-
-    pc.printf("BLE set up and running\n");
-}
+int main() {
+    
+    Ticker ticker;
+    ticker.attach(updateCubeDirection, 1);
 
-int main()
-{
-    setup_ble();
-
-    Ticker ticker;
-    ticker.attach(periodicCallback, 1);
-
-    pc.printf("MPU6050 test startup:\n");
+    LOG_VERBOSE("MPU6050 test startup:\n");
 
     mpu.initialize();
-    pc.printf("TestConnection\n");
+    LOG_VERBOSE("TestConnection\n");
 
     if (mpu.testConnection()) {
-        pc.printf("MPU success\n");
+        LOG_INFO("MPU initialized.\n");
     } else {
-        pc.printf("MPU error\n");
+        LOG_ERROR("MPU not properly initialized!\n");
     }
 
-    while(1) {
-        ble.waitForEvent();
-    }
+    puck->addCharacteristic(
+        CUBE_SERVICE_UUID,
+        DIRECTION_UUID,
+        1,
+        GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
+    
+    puck->init(0xC0BE);
+
+    while(puck->drive());
 }
\ No newline at end of file