Sherry Yang / Mbed 2 deprecated BLE_LoopbackUART_with_BNO055

Access different power mode of BNO055 via nRF51-DK BLE

Dependencies:   BLE_API BNO055 mbed nRF51822 nrf51_rtc

Fork of BLE_LoopbackUART_with_LSM6DS3 by Sherry Yang

main.cpp@4:65f91237b687, 2016-06-23 (annotated)

Committer:
5hel2l2y
Date:
Thu Jun 23 22:29:04 2016 +0000
Revision:
4:65f91237b687
Parent:
3:c0d70871aa4d
Child:
5:cd414aaa44f6
Added interrupts on gyroscope.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
5hel2l2y 0:d0291b4a856a 1 /* mbed Microcontroller Library
5hel2l2y 0:d0291b4a856a 2 * Copyright (c) 2006-2013 ARM Limited
5hel2l2y 0:d0291b4a856a 3 *
5hel2l2y 0:d0291b4a856a 4 * Licensed under the Apache License, Version 2.0 (the "License");
5hel2l2y 0:d0291b4a856a 5 * you may not use this file except in compliance with the License.
5hel2l2y 0:d0291b4a856a 6 * You may obtain a copy of the License at
5hel2l2y 0:d0291b4a856a 7 *
5hel2l2y 0:d0291b4a856a 8 * http://www.apache.org/licenses/LICENSE-2.0
5hel2l2y 0:d0291b4a856a 9 *
5hel2l2y 0:d0291b4a856a 10 * Unless required by applicable law or agreed to in writing, software
5hel2l2y 0:d0291b4a856a 11 * distributed under the License is distributed on an "AS IS" BASIS,
5hel2l2y 0:d0291b4a856a 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
5hel2l2y 0:d0291b4a856a 13 * See the License for the specific language governing permissions and
5hel2l2y 0:d0291b4a856a 14 * limitations under the License.
5hel2l2y 0:d0291b4a856a 15 */
5hel2l2y 0:d0291b4a856a 16
5hel2l2y 0:d0291b4a856a 17 #include "mbed.h"
5hel2l2y 0:d0291b4a856a 18 #include "ble/BLE.h"
5hel2l2y 0:d0291b4a856a 19
5hel2l2y 0:d0291b4a856a 20 #include "ble/services/UARTService.h"
5hel2l2y 2:514af7294ad0 21 #include "BNO055/BNO055.h"
5hel2l2y 0:d0291b4a856a 22
5hel2l2y 2:514af7294ad0 23 BNO055 imu(p30, p7);
5hel2l2y 0:d0291b4a856a 24 Serial pc(p9, p11);
5hel2l2y 0:d0291b4a856a 25
5hel2l2y 0:d0291b4a856a 26 #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need debug messages on the console;
5hel2l2y 0:d0291b4a856a 27 * it will have an impact on code-size and power consumption. */
5hel2l2y 0:d0291b4a856a 28
5hel2l2y 0:d0291b4a856a 29 #if NEED_CONSOLE_OUTPUT
5hel2l2y 0:d0291b4a856a 30 #define DEBUG(...) { pc.printf(__VA_ARGS__); }
5hel2l2y 0:d0291b4a856a 31 #else
5hel2l2y 0:d0291b4a856a 32 #define DEBUG(...) /* nothing */
5hel2l2y 0:d0291b4a856a 33 #endif /* #if NEED_CONSOLE_OUTPUT */
5hel2l2y 0:d0291b4a856a 34
5hel2l2y 0:d0291b4a856a 35 BLEDevice ble;
5hel2l2y 4:65f91237b687 36 // Status lights
5hel2l2y 4:65f91237b687 37 DigitalOut ledAlive(LED1);
5hel2l2y 4:65f91237b687 38 DigitalOut ledIntrG(LED3);
5hel2l2y 4:65f91237b687 39 // Interrupt pin connection
5hel2l2y 4:65f91237b687 40 InterruptIn intrGX(p14); //INT (Gyro & Accel Interrupt)
5hel2l2y 0:d0291b4a856a 41
5hel2l2y 0:d0291b4a856a 42 UARTService *uartServicePtr;
5hel2l2y 0:d0291b4a856a 43
5hel2l2y 0:d0291b4a856a 44 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
5hel2l2y 0:d0291b4a856a 45 {
5hel2l2y 0:d0291b4a856a 46 DEBUG("Disconnected!\n\r");
5hel2l2y 0:d0291b4a856a 47 DEBUG("Restarting the advertising process\n\r");
5hel2l2y 0:d0291b4a856a 48 ble.startAdvertising();
5hel2l2y 0:d0291b4a856a 49 }
5hel2l2y 0:d0291b4a856a 50
5hel2l2y 0:d0291b4a856a 51 void onDataWritten(const GattWriteCallbackParams *params)
5hel2l2y 3:c0d70871aa4d 52 {
5hel2l2y 0:d0291b4a856a 53 if ((uartServicePtr != NULL) && (params->handle == uartServicePtr->getTXCharacteristicHandle())) {
5hel2l2y 0:d0291b4a856a 54 uint16_t bytesRead = params->len;
5hel2l2y 0:d0291b4a856a 55 uint8_t value = *(params->data);
5hel2l2y 0:d0291b4a856a 56 DEBUG("received %u bytes\n\r", bytesRead);
5hel2l2y 0:d0291b4a856a 57 DEBUG("recevied %d data\n\r", value);
5hel2l2y 3:c0d70871aa4d 58
5hel2l2y 3:c0d70871aa4d 59 imu.reset();
5hel2l2y 0:d0291b4a856a 60
5hel2l2y 2:514af7294ad0 61 // Set power mode, POWER_MODE_NORMAL(default), POWER_MODE_LOWPOWER, or POWER_MODE_SUSPEND(sleep)
5hel2l2y 2:514af7294ad0 62 // By default, I2C will pull high when bus is free(pg90 of datasheet)
5hel2l2y 0:d0291b4a856a 63 switch(value) {
5hel2l2y 0:d0291b4a856a 64 case 49:
5hel2l2y 0:d0291b4a856a 65 DEBUG("Off power\n\r");
5hel2l2y 2:514af7294ad0 66 imu.setpowermode(POWER_MODE_SUSPEND);
5hel2l2y 0:d0291b4a856a 67 break;
5hel2l2y 0:d0291b4a856a 68 case 50:
5hel2l2y 0:d0291b4a856a 69 DEBUG("Low power\n\r");
5hel2l2y 2:514af7294ad0 70 imu.setpowermode(POWER_MODE_LOWPOWER);
5hel2l2y 0:d0291b4a856a 71 break;
5hel2l2y 0:d0291b4a856a 72 case 51:
5hel2l2y 4:65f91237b687 73 DEBUG("No high power available for this sensor\n\r");
5hel2l2y 2:514af7294ad0 74 imu.setpowermode(POWER_MODE_NORMAL);
5hel2l2y 0:d0291b4a856a 75 break;
5hel2l2y 0:d0291b4a856a 76 default:
5hel2l2y 4:65f91237b687 77 DEBUG("Default power\n\r");
5hel2l2y 4:65f91237b687 78 imu.setpowermode(POWER_MODE_NORMAL);
5hel2l2y 0:d0291b4a856a 79 break;
5hel2l2y 0:d0291b4a856a 80 }
5hel2l2y 0:d0291b4a856a 81
5hel2l2y 2:514af7294ad0 82 if (imu.check())
5hel2l2y 2:514af7294ad0 83 {
5hel2l2y 4:65f91237b687 84 pc.printf("BNO055 WHO_AM_I's returned: 0x%X\r\n", imu.ID.id);
5hel2l2y 4:65f91237b687 85 pc.printf("Should be 0xA0\r\n");
5hel2l2y 4:65f91237b687 86 imu.initIntr();
5hel2l2y 2:514af7294ad0 87 }
5hel2l2y 0:d0291b4a856a 88
5hel2l2y 0:d0291b4a856a 89 ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), params->data, bytesRead);
5hel2l2y 0:d0291b4a856a 90 }
5hel2l2y 0:d0291b4a856a 91 }
5hel2l2y 0:d0291b4a856a 92
5hel2l2y 0:d0291b4a856a 93 void periodicCallback(void)
5hel2l2y 0:d0291b4a856a 94 {
5hel2l2y 4:65f91237b687 95 ledAlive = !ledAlive;
5hel2l2y 0:d0291b4a856a 96 }
5hel2l2y 0:d0291b4a856a 97
5hel2l2y 3:c0d70871aa4d 98 // Interrupt signal
5hel2l2y 4:65f91237b687 99 void flip(DigitalOut led) {
5hel2l2y 4:65f91237b687 100 led = !led;
5hel2l2y 4:65f91237b687 101 }
5hel2l2y 4:65f91237b687 102
5hel2l2y 4:65f91237b687 103 void flip4() {
5hel2l2y 4:65f91237b687 104 // pc.printf(" ++++ G/X Triggered!! ++++ \n\r");
5hel2l2y 4:65f91237b687 105 flip(ledIntrG);
5hel2l2y 4:65f91237b687 106 imu.resetIntr();
5hel2l2y 3:c0d70871aa4d 107 }
5hel2l2y 3:c0d70871aa4d 108
5hel2l2y 0:d0291b4a856a 109 int main(void)
5hel2l2y 0:d0291b4a856a 110 {
5hel2l2y 4:65f91237b687 111 // turn all LED off
5hel2l2y 4:65f91237b687 112 ledAlive = 1;
5hel2l2y 4:65f91237b687 113 ledIntrG = 1;
5hel2l2y 4:65f91237b687 114
5hel2l2y 0:d0291b4a856a 115 Ticker ticker;
5hel2l2y 0:d0291b4a856a 116 ticker.attach(periodicCallback, 1);
5hel2l2y 0:d0291b4a856a 117
5hel2l2y 0:d0291b4a856a 118 DEBUG("Initialising the nRF51822\n\r");
5hel2l2y 0:d0291b4a856a 119 pc.printf("PC: Initialising the nRF51822\n\r");
5hel2l2y 0:d0291b4a856a 120 ble.init();
5hel2l2y 0:d0291b4a856a 121 ble.onDisconnection(disconnectionCallback);
5hel2l2y 0:d0291b4a856a 122 ble.onDataWritten(onDataWritten);
5hel2l2y 0:d0291b4a856a 123
5hel2l2y 0:d0291b4a856a 124 /* setup advertising */
5hel2l2y 0:d0291b4a856a 125 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
5hel2l2y 0:d0291b4a856a 126 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
5hel2l2y 0:d0291b4a856a 127 ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
5hel2l2y 0:d0291b4a856a 128 (const uint8_t *)"BLE UART", sizeof("BLE UART") - 1);
5hel2l2y 0:d0291b4a856a 129 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
5hel2l2y 0:d0291b4a856a 130 (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
5hel2l2y 0:d0291b4a856a 131
5hel2l2y 0:d0291b4a856a 132 ble.setAdvertisingInterval(1000); /* 1000ms; in multiples of 0.625ms. */
5hel2l2y 0:d0291b4a856a 133 ble.startAdvertising();
5hel2l2y 0:d0291b4a856a 134
5hel2l2y 0:d0291b4a856a 135 UARTService uartService(ble);
5hel2l2y 0:d0291b4a856a 136 uartServicePtr = &uartService;
5hel2l2y 2:514af7294ad0 137
5hel2l2y 2:514af7294ad0 138 // setup baud rate and reset sensor
5hel2l2y 2:514af7294ad0 139 pc.baud(115200);
5hel2l2y 4:65f91237b687 140
5hel2l2y 4:65f91237b687 141 // setup Interrupt mode
5hel2l2y 4:65f91237b687 142 intrGX.mode(PullUp);
5hel2l2y 4:65f91237b687 143
5hel2l2y 4:65f91237b687 144 // status light will be lit based on sensor/data change
5hel2l2y 4:65f91237b687 145 intrGX.rise(&flip4);
5hel2l2y 0:d0291b4a856a 146
5hel2l2y 0:d0291b4a856a 147 while (true) {
5hel2l2y 0:d0291b4a856a 148 ble.waitForEvent();
5hel2l2y 3:c0d70871aa4d 149
5hel2l2y 3:c0d70871aa4d 150 imu.setmode(OPERATION_MODE_AMG);
5hel2l2y 3:c0d70871aa4d 151 imu.get_accel();
5hel2l2y 3:c0d70871aa4d 152 pc.printf("%2f,%2f,%2f\r\n", imu.accel.x, imu.accel.y, imu.accel.z);
5hel2l2y 3:c0d70871aa4d 153 imu.get_gyro();
5hel2l2y 3:c0d70871aa4d 154 pc.printf("%2f,%2f,%2f\r\n", imu.gyro.x, imu.gyro.y, imu.gyro.z);
5hel2l2y 3:c0d70871aa4d 155 imu.get_mag();
5hel2l2y 3:c0d70871aa4d 156 pc.printf("%2f,%2f,%2f\r\n", imu.mag.x, imu.mag.y, imu.mag.z);
5hel2l2y 4:65f91237b687 157
5hel2l2y 3:c0d70871aa4d 158 // Interrupt stats: This is only enabled in Low Power Mode
5hel2l2y 3:c0d70871aa4d 159 // 0 - no interrupt
5hel2l2y 3:c0d70871aa4d 160 // 64 - interrupt
5hel2l2y 3:c0d70871aa4d 161 // 128 - sleep
5hel2l2y 4:65f91237b687 162 //imu.get_intr();
5hel2l2y 4:65f91237b687 163 // pc.printf("intr: %d\r\n", imu.intr);
5hel2l2y 4:65f91237b687 164 // if(imu.intr == 64) {
5hel2l2y 4:65f91237b687 165 // pc.printf(" == interrupted == \r\n");
5hel2l2y 4:65f91237b687 166 // imu.resetIntr();
5hel2l2y 4:65f91237b687 167 // pc.printf("rx before: %d\r\n", imu.test3);
5hel2l2y 4:65f91237b687 168 // pc.printf("rx after: %d\r\n", imu.test4);
5hel2l2y 4:65f91237b687 169 // }
5hel2l2y 3:c0d70871aa4d 170
5hel2l2y 3:c0d70871aa4d 171 wait(1.0);
5hel2l2y 0:d0291b4a856a 172 }
5hel2l2y 0:d0291b4a856a 173 }