ST / Mbed OS Node_BLE_Sensors_Device

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Dependencies:   X_NUCLEO_IKS01A2

Fork of Node_BLE_Switch_Device by ST

Bluetooth Low Energy enabled device with environmental and inertial features, i.e. "Pressure", "Humidity", "Temperature", "Accelerometer", "Gyroscope", and "Magnetometer", plus "Switch" feature, compatible with BlueST Protocol.

source/main.cpp@7:2b5ed57b088c, 2018-08-06 (annotated)

Committer:
Davidroid
Date:
Mon Aug 06 09:57:49 2018 +0000
Revision:
7:2b5ed57b088c
Parent:
6:01d49589410e 
Correct Custom Service UUID

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:6b34c49b5285 1 /**
Davidroid 0:6b34c49b5285 2 *******************************************************************************
Davidroid 0:6b34c49b5285 3 * @file main.cpp
Davidroid 0:6b34c49b5285 4 * @author Davide Aliprandi, STMicroelectronics
Davidroid 0:6b34c49b5285 5 * @version V1.0.0
Davidroid 0:6b34c49b5285 6 * @date March 31st, 2018
Davidroid 0:6b34c49b5285 7 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IDB05A1
Davidroid 0:6b34c49b5285 8 * Bluetooth Low energy Expansion Board.
Davidroid 0:6b34c49b5285 9 *******************************************************************************
Davidroid 0:6b34c49b5285 10 * @attention
Davidroid 0:6b34c49b5285 11 *
Davidroid 0:6b34c49b5285 12 * <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
Davidroid 0:6b34c49b5285 13 *
Davidroid 0:6b34c49b5285 14 * Redistribution and use in source and binary forms, with or without
Davidroid 0:6b34c49b5285 15 * modification, are permitted provided that the following conditions are met:
Davidroid 0:6b34c49b5285 16 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:6b34c49b5285 17 * this list of conditions and the following disclaimer.
Davidroid 0:6b34c49b5285 18 * 2. Redistributions in binary form must reproduce the above copyright
Davidroid 0:6b34c49b5285 19 * notice, this list of conditions and the following disclaimer in the
Davidroid 0:6b34c49b5285 20 * documentation and/or other materials provided with the distribution.
Davidroid 0:6b34c49b5285 21 * 3. Neither the name of STMicroelectronics nor the names of its
Davidroid 0:6b34c49b5285 22 * contributors may be used to endorse or promote products derived from
Davidroid 0:6b34c49b5285 23 * this software without specific prior written permission.
Davidroid 0:6b34c49b5285 24 *
Davidroid 0:6b34c49b5285 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:6b34c49b5285 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:6b34c49b5285 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
Davidroid 0:6b34c49b5285 28 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS
Davidroid 0:6b34c49b5285 29 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
Davidroid 0:6b34c49b5285 30 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
Davidroid 0:6b34c49b5285 31 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
Davidroid 0:6b34c49b5285 32 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
Davidroid 0:6b34c49b5285 33 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
Davidroid 0:6b34c49b5285 34 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
Davidroid 0:6b34c49b5285 35 * POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:6b34c49b5285 36 *
Davidroid 0:6b34c49b5285 37 *******************************************************************************
Davidroid 0:6b34c49b5285 38 */
Davidroid 0:6b34c49b5285 39
Davidroid 0:6b34c49b5285 40
Davidroid 0:6b34c49b5285 41 /* Includes ------------------------------------------------------------------*/
Davidroid 0:6b34c49b5285 42
Davidroid 0:6b34c49b5285 43 /* mbed specific header files. */
Davidroid 0:6b34c49b5285 44 #include <events/mbed_events.h>
Davidroid 0:6b34c49b5285 45 #include <mbed.h>
Davidroid 0:6b34c49b5285 46 #include "ble/BLE.h"
Davidroid 0:6b34c49b5285 47 #include "CustomService.h"
Davidroid 4:a10e2c94c8c8 48 #include "XNucleoIKS01A2.h"
Davidroid 0:6b34c49b5285 49
Davidroid 0:6b34c49b5285 50
Davidroid 0:6b34c49b5285 51 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:6b34c49b5285 52
Davidroid 0:6b34c49b5285 53 #define BLE_ADVERTISING_INTERVAL_ms 1000
Davidroid 0:6b34c49b5285 54 #define BLUETOOTH_PERIODIC_CALLBACK_ms 500
Davidroid 0:6b34c49b5285 55 #define DELAY_1 100
Davidroid 0:6b34c49b5285 56
Davidroid 0:6b34c49b5285 57
Davidroid 0:6b34c49b5285 58 /* Types ---------------------------------------------------------------------*/
Davidroid 0:6b34c49b5285 59
Davidroid 0:6b34c49b5285 60 /* Toggle state. */
Davidroid 0:6b34c49b5285 61 typedef enum
Davidroid 0:6b34c49b5285 62 {
Davidroid 0:6b34c49b5285 63 TOGGLE_OFF = 0,
Davidroid 0:6b34c49b5285 64 TOGGLE_ON
Davidroid 0:6b34c49b5285 65 } toggle_t;
Davidroid 0:6b34c49b5285 66
Davidroid 0:6b34c49b5285 67
Davidroid 0:6b34c49b5285 68 /* Variables -----------------------------------------------------------------*/
Davidroid 0:6b34c49b5285 69
Davidroid 7:2b5ed57b088c 70 /* Switch and toggle state. */
Davidroid 7:2b5ed57b088c 71 CustomService::switch_state_t switch_state;
Davidroid 0:6b34c49b5285 72 bool toggle_state;
Davidroid 0:6b34c49b5285 73
Davidroid 0:6b34c49b5285 74 /* LED to indicate system state. */
Davidroid 0:6b34c49b5285 75 DigitalOut led_state(LED1); //Conflicts with SPI CLK on D13.
Davidroid 0:6b34c49b5285 76
Davidroid 0:6b34c49b5285 77 /* Bluetooth. */
Davidroid 6:01d49589410e 78 const static char DEVICE_NAME[] = "IOT_DEVICE";
Davidroid 6:01d49589410e 79 const static uint8_t MANUFACTURER_SPECIFIC_DATA[]= {0x01,0x80,0x20,0xfc,0x00,0x00};
Davidroid 0:6b34c49b5285 80 static EventQueue event_queue(/* event count */ 10 * EVENTS_EVENT_SIZE);
Davidroid 0:6b34c49b5285 81 CustomService *custom_service;
Davidroid 0:6b34c49b5285 82
Davidroid 0:6b34c49b5285 83 /* Button event. */
Davidroid 0:6b34c49b5285 84 InterruptIn event(USER_BUTTON);
Davidroid 0:6b34c49b5285 85
Davidroid 4:a10e2c94c8c8 86 /* Instantiate the expansion board */
Davidroid 4:a10e2c94c8c8 87 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
Davidroid 4:a10e2c94c8c8 88
Davidroid 4:a10e2c94c8c8 89 /* Components. */
Davidroid 6:01d49589410e 90 static HTS221Sensor *hum_tem = mems_expansion_board->ht_sensor;
Davidroid 6:01d49589410e 91 static LPS22HBSensor *pre_tem = mems_expansion_board->pt_sensor;
Davidroid 6:01d49589410e 92 static LSM6DSLSensor *acc_gyr = mems_expansion_board->acc_gyro;
Davidroid 6:01d49589410e 93 static LSM303AGRMagSensor *mag = mems_expansion_board->magnetometer;
Davidroid 6:01d49589410e 94 //static LSM303AGRAccSensor *acc = mems_expansion_board->accelerometer;
Davidroid 4:a10e2c94c8c8 95
Davidroid 6:01d49589410e 96 /* Timestamp. */
Davidroid 4:a10e2c94c8c8 97 static uint16_t time_stamp = 0;
Davidroid 4:a10e2c94c8c8 98
Davidroid 4:a10e2c94c8c8 99
Davidroid 4:a10e2c94c8c8 100 /* Custom service related functions ------------------------------------------*/
Davidroid 4:a10e2c94c8c8 101
Davidroid 4:a10e2c94c8c8 102 void button_callback(void) {
Davidroid 7:2b5ed57b088c 103 switch_state = (CustomService::switch_state_t) (CustomService::SWITCH_ON - switch_state);
Davidroid 4:a10e2c94c8c8 104 toggle_state = true;
Davidroid 4:a10e2c94c8c8 105 }
Davidroid 4:a10e2c94c8c8 106
Davidroid 6:01d49589410e 107 void get_and_send_env_sensors() {
Davidroid 6:01d49589410e 108 float pressure, humidity, temperature;
Davidroid 6:01d49589410e 109
Davidroid 6:01d49589410e 110 pre_tem->get_pressure(&pressure);
Davidroid 6:01d49589410e 111 hum_tem->get_humidity(&humidity);
Davidroid 6:01d49589410e 112 hum_tem->get_temperature(&temperature);
Davidroid 6:01d49589410e 113
Davidroid 6:01d49589410e 114 event_queue.call(Callback<void(
Davidroid 6:01d49589410e 115 uint16_t,
Davidroid 6:01d49589410e 116 float, float, float
Davidroid 6:01d49589410e 117 )>(custom_service, &CustomService::send_env_sensors),
Davidroid 6:01d49589410e 118 time_stamp++,
Davidroid 6:01d49589410e 119 pressure, humidity, temperature
Davidroid 6:01d49589410e 120 );
Davidroid 6:01d49589410e 121 //printf("Env Sensors: (%d) %d %d %d\r\n", time_stamp, pressure, humidity, temperature);
Davidroid 6:01d49589410e 122 }
Davidroid 6:01d49589410e 123
Davidroid 6:01d49589410e 124 void get_and_send_ine_sensors() {
Davidroid 6:01d49589410e 125 static axes_t accelerometer, gyroscope, magnetometer;
Davidroid 6:01d49589410e 126
Davidroid 6:01d49589410e 127 acc_gyr->get_x_axes((int32_t *) &accelerometer);
Davidroid 6:01d49589410e 128 acc_gyr->get_g_axes((int32_t *) &gyroscope);
Davidroid 6:01d49589410e 129 mag->get_m_axes((int32_t *) &magnetometer);
Davidroid 6:01d49589410e 130 //accelerometer->get_x_axes((int32_t *) (&accelerometer));
Davidroid 6:01d49589410e 131
Davidroid 6:01d49589410e 132 event_queue.call(Callback<void(
Davidroid 6:01d49589410e 133 uint16_t,
Davidroid 6:01d49589410e 134 axes_t*, axes_t*, axes_t*
Davidroid 6:01d49589410e 135 )>(custom_service, &CustomService::send_ine_sensors),
Davidroid 6:01d49589410e 136 time_stamp++,
Davidroid 6:01d49589410e 137 &accelerometer, &gyroscope, &magnetometer
Davidroid 6:01d49589410e 138 );
Davidroid 6:01d49589410e 139 //printf("Ine Sensors: (%d) %d %d %d %d %d %d %d %d %d\r\n", time_stamp, accelerometer.x, accelerometer.y, accelerometer.z, gyroscope.x, gyroscope.y, gyroscope.z, magnetometer.x, magnetometer.y, magnetometer.z);
Davidroid 4:a10e2c94c8c8 140 }
Davidroid 4:a10e2c94c8c8 141
Davidroid 0:6b34c49b5285 142
Davidroid 0:6b34c49b5285 143 /* Bluetooth related functions -----------------------------------------------*/
Davidroid 0:6b34c49b5285 144
Davidroid 0:6b34c49b5285 145 void on_disconnection_callback(const Gap::DisconnectionCallbackParams_t *params)
Davidroid 0:6b34c49b5285 146 {
Davidroid 0:6b34c49b5285 147 (void) params;
Davidroid 0:6b34c49b5285 148 BLE::Instance().gap().startAdvertising();
Davidroid 0:6b34c49b5285 149 }
Davidroid 0:6b34c49b5285 150
Davidroid 0:6b34c49b5285 151 /**
Davidroid 0:6b34c49b5285 152 * This callback allows the custom service to read updates from the
Davidroid 0:6b34c49b5285 153 * characteristic.
Davidroid 0:6b34c49b5285 154 *
Davidroid 0:6b34c49b5285 155 * @param[in] params
Davidroid 0:6b34c49b5285 156 * Information about the characterisitc being updated.
Davidroid 0:6b34c49b5285 157 */
Davidroid 0:6b34c49b5285 158 void on_data_read_callback(const GattReadCallbackParams *params) {
Davidroid 4:a10e2c94c8c8 159 /* Reading characteristic and sending it via bluetooth. */
Davidroid 7:2b5ed57b088c 160 /*
Davidroid 7:2b5ed57b088c 161 if (params->handle == custom_service->get_state_command_handle()) {
Davidroid 7:2b5ed57b088c 162 if (BLE::Instance().getGapState().connected) {
Davidroid 7:2b5ed57b088c 163 event_queue.call(Callback<void(uint16_t, uint8_t)>(custom_service, &CustomService::send_state), time_stamp++, led_state.read() ? CustomService::SWITCH_ON : CustomService::SWITCH_OFF);
Davidroid 7:2b5ed57b088c 164 }
Davidroid 7:2b5ed57b088c 165 } else
Davidroid 7:2b5ed57b088c 166 */
Davidroid 6:01d49589410e 167 if (params->handle == custom_service->get_env_sensors_handle()) {
Davidroid 0:6b34c49b5285 168 if (BLE::Instance().getGapState().connected) {
Davidroid 6:01d49589410e 169 get_and_send_env_sensors();
Davidroid 6:01d49589410e 170 }
Davidroid 6:01d49589410e 171 } else if (params->handle == custom_service->get_ine_sensors_handle()) {
Davidroid 6:01d49589410e 172 if (BLE::Instance().getGapState().connected) {
Davidroid 6:01d49589410e 173 get_and_send_ine_sensors();
Davidroid 0:6b34c49b5285 174 }
Davidroid 0:6b34c49b5285 175 }
Davidroid 0:6b34c49b5285 176 }
Davidroid 0:6b34c49b5285 177
Davidroid 0:6b34c49b5285 178 /**
Davidroid 0:6b34c49b5285 179 * This callback allows the custom service to write updates to the
Davidroid 0:6b34c49b5285 180 * characteristic.
Davidroid 0:6b34c49b5285 181 *
Davidroid 0:6b34c49b5285 182 * @param[in] params
Davidroid 0:6b34c49b5285 183 * Information about the characterisitc being updated.
Davidroid 0:6b34c49b5285 184 */
Davidroid 0:6b34c49b5285 185 void on_data_written_callback(const GattWriteCallbackParams *params) {
Davidroid 4:a10e2c94c8c8 186 /* Receiving data via bluetooth and writing it to the characteristic. */
Davidroid 4:a10e2c94c8c8 187 if (params->handle == custom_service->get_state_command_handle()) {
Davidroid 7:2b5ed57b088c 188 led_state.write(((CustomService::switch_state_t) ((uint8_t *) (params->data))[SWITCH_DATA_INDEX]));
Davidroid 4:a10e2c94c8c8 189 }
Davidroid 0:6b34c49b5285 190 }
Davidroid 0:6b34c49b5285 191
Davidroid 0:6b34c49b5285 192 /**
Davidroid 4:a10e2c94c8c8 193 * This function is called periodically and sends notifications.
Davidroid 0:6b34c49b5285 194 */
Davidroid 0:6b34c49b5285 195 void periodic_callback(void)
Davidroid 0:6b34c49b5285 196 {
Davidroid 4:a10e2c94c8c8 197 /* Reading toggle command and sending it via bluetooth, if needed. */
Davidroid 0:6b34c49b5285 198 if (toggle_state) {
Davidroid 0:6b34c49b5285 199 if (BLE::Instance().getGapState().connected) {
Davidroid 7:2b5ed57b088c 200 event_queue.call(Callback<void(uint16_t, uint8_t)>(custom_service, &CustomService::send_state), time_stamp++, switch_state);
Davidroid 0:6b34c49b5285 201 toggle_state = false;
Davidroid 0:6b34c49b5285 202 }
Davidroid 0:6b34c49b5285 203 }
Davidroid 4:a10e2c94c8c8 204
Davidroid 4:a10e2c94c8c8 205 /* Reading sensors and sending data via bluetooth. */
Davidroid 4:a10e2c94c8c8 206 if (BLE::Instance().getGapState().connected) {
Davidroid 6:01d49589410e 207 get_and_send_env_sensors();
Davidroid 6:01d49589410e 208 get_and_send_ine_sensors();
Davidroid 4:a10e2c94c8c8 209 }
Davidroid 0:6b34c49b5285 210 }
Davidroid 0:6b34c49b5285 211
Davidroid 0:6b34c49b5285 212 /**
Davidroid 0:6b34c49b5285 213 * This function is called when the ble initialization process has failled.
Davidroid 0:6b34c49b5285 214 */
Davidroid 0:6b34c49b5285 215 void on_ble_init_error_callback(BLE &ble, ble_error_t error)
Davidroid 0:6b34c49b5285 216 {
Davidroid 0:6b34c49b5285 217 /* Initialization error handling should go here */
Davidroid 0:6b34c49b5285 218 }
Davidroid 0:6b34c49b5285 219
Davidroid 0:6b34c49b5285 220 /**
Davidroid 0:6b34c49b5285 221 * Callback triggered when the ble initialization process has finished.
Davidroid 0:6b34c49b5285 222 */
Davidroid 0:6b34c49b5285 223 void ble_init_complete(BLE::InitializationCompleteCallbackContext *params)
Davidroid 0:6b34c49b5285 224 {
Davidroid 0:6b34c49b5285 225 BLE& ble = params->ble;
Davidroid 0:6b34c49b5285 226 ble_error_t error = params->error;
Davidroid 0:6b34c49b5285 227
Davidroid 0:6b34c49b5285 228 if (error != BLE_ERROR_NONE) {
Davidroid 0:6b34c49b5285 229 /* In case of error, forward the error handling to on_ble_init_error_callback */
Davidroid 0:6b34c49b5285 230 on_ble_init_error_callback(ble, error);
Davidroid 0:6b34c49b5285 231 return;
Davidroid 0:6b34c49b5285 232 }
Davidroid 0:6b34c49b5285 233
Davidroid 0:6b34c49b5285 234 /* Ensure that it is the default instance of BLE */
Davidroid 0:6b34c49b5285 235 if(ble.getInstanceID() != BLE::DEFAULT_INSTANCE) {
Davidroid 0:6b34c49b5285 236 return;
Davidroid 0:6b34c49b5285 237 }
Davidroid 0:6b34c49b5285 238
Davidroid 0:6b34c49b5285 239 ble.gap().onDisconnection(on_disconnection_callback);
Davidroid 0:6b34c49b5285 240 ble.gattServer().onDataWritten(on_data_written_callback);
Davidroid 4:a10e2c94c8c8 241 ble.gattServer().onDataRead(on_data_read_callback);
Davidroid 0:6b34c49b5285 242
Davidroid 0:6b34c49b5285 243 custom_service = new CustomService(ble);
Davidroid 0:6b34c49b5285 244
Davidroid 0:6b34c49b5285 245 /* Setup advertising data. */
Davidroid 0:6b34c49b5285 246 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
Davidroid 4:a10e2c94c8c8 247 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS, (uint8_t *) CUSTOM_SERVICE_UUID, sizeof(CUSTOM_SERVICE_UUID));
Davidroid 0:6b34c49b5285 248 ble.gap().accumulateScanResponse(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA, MANUFACTURER_SPECIFIC_DATA, sizeof(MANUFACTURER_SPECIFIC_DATA));
Davidroid 3:b880b9a9ccdf 249 ble.gap().accumulateScanResponse(GapAdvertisingData::COMPLETE_LOCAL_NAME, (const uint8_t *) DEVICE_NAME, sizeof(DEVICE_NAME) - 1);
Davidroid 0:6b34c49b5285 250 ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
Davidroid 0:6b34c49b5285 251 ble.gap().setAdvertisingInterval(BLE_ADVERTISING_INTERVAL_ms);
Davidroid 0:6b34c49b5285 252 ble.gap().startAdvertising();
Davidroid 0:6b34c49b5285 253 }
Davidroid 0:6b34c49b5285 254
Davidroid 0:6b34c49b5285 255 void schedule_ble_events_processing(BLE::OnEventsToProcessCallbackContext* context) {
Davidroid 0:6b34c49b5285 256 BLE &ble = BLE::Instance();
Davidroid 0:6b34c49b5285 257 event_queue.call(Callback<void()>(&ble, &BLE::processEvents));
Davidroid 0:6b34c49b5285 258 }
Davidroid 0:6b34c49b5285 259
Davidroid 0:6b34c49b5285 260
Davidroid 0:6b34c49b5285 261 /* Main function -------------------------------------------------------------*/
Davidroid 0:6b34c49b5285 262
Davidroid 0:6b34c49b5285 263 int main()
Davidroid 0:6b34c49b5285 264 {
Davidroid 0:6b34c49b5285 265 /*----- Initialization. -----*/
Davidroid 0:6b34c49b5285 266
Davidroid 0:6b34c49b5285 267 /* Printing to the console. */
Davidroid 4:a10e2c94c8c8 268 printf("Sensors Node Application Example\r\n\n");
Davidroid 0:6b34c49b5285 269
Davidroid 0:6b34c49b5285 270 /* Bluetooth. */
Davidroid 0:6b34c49b5285 271 event_queue.call_every(BLUETOOTH_PERIODIC_CALLBACK_ms, periodic_callback);
Davidroid 0:6b34c49b5285 272 BLE &ble = BLE::Instance();
Davidroid 0:6b34c49b5285 273 ble.onEventsToProcess(schedule_ble_events_processing);
Davidroid 0:6b34c49b5285 274 ble.init(ble_init_complete);
Davidroid 0:6b34c49b5285 275
Davidroid 0:6b34c49b5285 276 /* Attaching and enabling interrupt handlers. */
Davidroid 0:6b34c49b5285 277 event.fall(button_callback);
Davidroid 0:6b34c49b5285 278
Davidroid 0:6b34c49b5285 279 /* Setting up initial state: led OFF, no toggle state. */
Davidroid 0:6b34c49b5285 280 led_state.write(CustomService::SWITCH_OFF);
Davidroid 0:6b34c49b5285 281 toggle_state = false;
Davidroid 4:a10e2c94c8c8 282
Davidroid 4:a10e2c94c8c8 283 /* Enabling sensors. */
Davidroid 6:01d49589410e 284 hum_tem->enable();
Davidroid 6:01d49589410e 285 pre_tem->enable();
Davidroid 6:01d49589410e 286 acc_gyr->enable_x();
Davidroid 6:01d49589410e 287 acc_gyr->enable_g();
Davidroid 6:01d49589410e 288 mag->enable();
Davidroid 6:01d49589410e 289 //acc->enable();
Davidroid 0:6b34c49b5285 290
Davidroid 0:6b34c49b5285 291 /* Start. */
Davidroid 0:6b34c49b5285 292 event_queue.dispatch_forever();
Davidroid 0:6b34c49b5285 293
Davidroid 0:6b34c49b5285 294 return 0;
Davidroid 0:6b34c49b5285 295 }