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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
main.cpp@1:7562cc147e26, 2016-06-20 (annotated)
- Committer:
- 5hel2l2y
- Date:
- Mon Jun 20 19:29:09 2016 +0000
- Revision:
- 1:7562cc147e26
- Parent:
- 0:d0291b4a856a
- Child:
- 2:514af7294ad0
Initial commit for program to communicate with LSM6DS3 sensor via nRF51-DK BLE.
Who changed what in which revision?
User | Revision | Line number | New 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 | 1:7562cc147e26 | 21 | #include "LSM6DS3/LSM6DS3.h" |
5hel2l2y | 0:d0291b4a856a | 22 | |
5hel2l2y | 1:7562cc147e26 | 23 | LSM6DS3 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 | 0:d0291b4a856a | 36 | DigitalOut led1(LED1); |
5hel2l2y | 0:d0291b4a856a | 37 | |
5hel2l2y | 0:d0291b4a856a | 38 | UARTService *uartServicePtr; |
5hel2l2y | 0:d0291b4a856a | 39 | |
5hel2l2y | 0:d0291b4a856a | 40 | void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params) |
5hel2l2y | 0:d0291b4a856a | 41 | { |
5hel2l2y | 0:d0291b4a856a | 42 | DEBUG("Disconnected!\n\r"); |
5hel2l2y | 0:d0291b4a856a | 43 | DEBUG("Restarting the advertising process\n\r"); |
5hel2l2y | 0:d0291b4a856a | 44 | ble.startAdvertising(); |
5hel2l2y | 0:d0291b4a856a | 45 | } |
5hel2l2y | 0:d0291b4a856a | 46 | |
5hel2l2y | 0:d0291b4a856a | 47 | void onDataWritten(const GattWriteCallbackParams *params) |
5hel2l2y | 0:d0291b4a856a | 48 | { |
5hel2l2y | 0:d0291b4a856a | 49 | if ((uartServicePtr != NULL) && (params->handle == uartServicePtr->getTXCharacteristicHandle())) { |
5hel2l2y | 0:d0291b4a856a | 50 | uint16_t bytesRead = params->len; |
5hel2l2y | 0:d0291b4a856a | 51 | uint8_t value = *(params->data); |
5hel2l2y | 0:d0291b4a856a | 52 | uint16_t status; |
5hel2l2y | 0:d0291b4a856a | 53 | DEBUG("received %u bytes\n\r", bytesRead); |
5hel2l2y | 0:d0291b4a856a | 54 | DEBUG("recevied %d data\n\r", value); |
5hel2l2y | 0:d0291b4a856a | 55 | |
5hel2l2y | 0:d0291b4a856a | 56 | switch(value) { |
5hel2l2y | 0:d0291b4a856a | 57 | case 49: |
5hel2l2y | 0:d0291b4a856a | 58 | DEBUG("Off power\n\r"); |
5hel2l2y | 1:7562cc147e26 | 59 | status = imu.begin(imu.G_SCALE_245DPS, imu.A_SCALE_2G, |
5hel2l2y | 1:7562cc147e26 | 60 | imu.G_POWER_DOWN, imu.A_POWER_DOWN); |
5hel2l2y | 0:d0291b4a856a | 61 | break; |
5hel2l2y | 0:d0291b4a856a | 62 | case 50: |
5hel2l2y | 0:d0291b4a856a | 63 | DEBUG("Low power\n\r"); |
5hel2l2y | 1:7562cc147e26 | 64 | status = imu.begin(imu.G_SCALE_245DPS, imu.A_SCALE_2G, |
5hel2l2y | 1:7562cc147e26 | 65 | imu.G_ODR_13_BW_0, imu.A_ODR_13); |
5hel2l2y | 0:d0291b4a856a | 66 | break; |
5hel2l2y | 0:d0291b4a856a | 67 | case 51: |
5hel2l2y | 0:d0291b4a856a | 68 | DEBUG("High power\n\r"); |
5hel2l2y | 1:7562cc147e26 | 69 | status = imu.begin(imu.G_SCALE_2000DPS, imu.A_SCALE_8G, |
5hel2l2y | 1:7562cc147e26 | 70 | imu.G_ODR_1660, imu.A_ODR_6660); |
5hel2l2y | 0:d0291b4a856a | 71 | break; |
5hel2l2y | 0:d0291b4a856a | 72 | default: |
5hel2l2y | 0:d0291b4a856a | 73 | DEBUG("Nothing happened\n\r"); |
5hel2l2y | 0:d0291b4a856a | 74 | break; |
5hel2l2y | 0:d0291b4a856a | 75 | } |
5hel2l2y | 0:d0291b4a856a | 76 | |
5hel2l2y | 1:7562cc147e26 | 77 | pc.printf("LSM6DS3 WHO_AM_I's returned: 0x%X\r\n", status); |
5hel2l2y | 1:7562cc147e26 | 78 | pc.printf("Should be 0x69\r\n"); |
5hel2l2y | 0:d0291b4a856a | 79 | |
5hel2l2y | 0:d0291b4a856a | 80 | ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), params->data, bytesRead); |
5hel2l2y | 0:d0291b4a856a | 81 | } |
5hel2l2y | 0:d0291b4a856a | 82 | } |
5hel2l2y | 0:d0291b4a856a | 83 | |
5hel2l2y | 0:d0291b4a856a | 84 | void periodicCallback(void) |
5hel2l2y | 0:d0291b4a856a | 85 | { |
5hel2l2y | 0:d0291b4a856a | 86 | led1 = !led1; |
5hel2l2y | 0:d0291b4a856a | 87 | } |
5hel2l2y | 0:d0291b4a856a | 88 | |
5hel2l2y | 0:d0291b4a856a | 89 | int main(void) |
5hel2l2y | 0:d0291b4a856a | 90 | { |
5hel2l2y | 0:d0291b4a856a | 91 | led1 = 1; |
5hel2l2y | 0:d0291b4a856a | 92 | Ticker ticker; |
5hel2l2y | 0:d0291b4a856a | 93 | ticker.attach(periodicCallback, 1); |
5hel2l2y | 0:d0291b4a856a | 94 | |
5hel2l2y | 0:d0291b4a856a | 95 | DEBUG("Initialising the nRF51822\n\r"); |
5hel2l2y | 0:d0291b4a856a | 96 | pc.printf("PC: Initialising the nRF51822\n\r"); |
5hel2l2y | 0:d0291b4a856a | 97 | ble.init(); |
5hel2l2y | 0:d0291b4a856a | 98 | ble.onDisconnection(disconnectionCallback); |
5hel2l2y | 0:d0291b4a856a | 99 | ble.onDataWritten(onDataWritten); |
5hel2l2y | 0:d0291b4a856a | 100 | |
5hel2l2y | 0:d0291b4a856a | 101 | /* setup advertising */ |
5hel2l2y | 0:d0291b4a856a | 102 | ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED); |
5hel2l2y | 0:d0291b4a856a | 103 | ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); |
5hel2l2y | 0:d0291b4a856a | 104 | ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, |
5hel2l2y | 0:d0291b4a856a | 105 | (const uint8_t *)"BLE UART", sizeof("BLE UART") - 1); |
5hel2l2y | 0:d0291b4a856a | 106 | ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS, |
5hel2l2y | 0:d0291b4a856a | 107 | (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed)); |
5hel2l2y | 0:d0291b4a856a | 108 | |
5hel2l2y | 0:d0291b4a856a | 109 | ble.setAdvertisingInterval(1000); /* 1000ms; in multiples of 0.625ms. */ |
5hel2l2y | 0:d0291b4a856a | 110 | ble.startAdvertising(); |
5hel2l2y | 0:d0291b4a856a | 111 | |
5hel2l2y | 0:d0291b4a856a | 112 | UARTService uartService(ble); |
5hel2l2y | 0:d0291b4a856a | 113 | uartServicePtr = &uartService; |
5hel2l2y | 0:d0291b4a856a | 114 | |
5hel2l2y | 0:d0291b4a856a | 115 | while (true) { |
5hel2l2y | 0:d0291b4a856a | 116 | ble.waitForEvent(); |
5hel2l2y | 0:d0291b4a856a | 117 | } |
5hel2l2y | 0:d0291b4a856a | 118 | } |