File content as of revision 2:874137e546ea:

/* mbed Microcontroller Library
 * Copyright (c) 2006-2013 ARM Limited
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "mbed.h"
#include "ble/BLE.h"

#include "ble/services/UARTService.h"
#include "LSM6DS3/LSM6DS3.h"

LSM6DS3 imu(p30, p7);
Serial pc(p9, p11);

#define NEED_CONSOLE_OUTPUT 1 /* Set this if you need debug messages on the console;
                               * it will have an impact on code-size and power consumption. */

#if NEED_CONSOLE_OUTPUT
#define DEBUG(...) { pc.printf(__VA_ARGS__); }
#else
#define DEBUG(...) /* nothing */
#endif /* #if NEED_CONSOLE_OUTPUT */

BLEDevice  ble;
DigitalOut led1(LED1);
DigitalOut led4(LED4);

UARTService *uartServicePtr;

void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
{
    DEBUG("Disconnected!\n\r");
    DEBUG("Restarting the advertising process\n\r");
    ble.startAdvertising();
}

void onDataWritten(const GattWriteCallbackParams *params)
{
    if ((uartServicePtr != NULL) && (params->handle == uartServicePtr->getTXCharacteristicHandle())) {
        uint16_t bytesRead = params->len;
        uint8_t value = *(params->data);
        uint16_t status;
        DEBUG("received %u bytes\n\r", bytesRead);
        DEBUG("recevied %d data\n\r", value);
        
        switch(value) {
            case 49:
                DEBUG("Off power\n\r");
                status = imu.begin(imu.G_SCALE_245DPS, imu.A_SCALE_2G,
                                   imu.G_POWER_DOWN, imu.A_POWER_DOWN);
                break;
            case 50:
                DEBUG("Low power\n\r");
                status = imu.begin(imu.G_SCALE_245DPS, imu.A_SCALE_2G,
                                   imu.G_ODR_13_BW_0, imu.A_ODR_13);
                break;
            case 51:
                DEBUG("High power\n\r");
                status = imu.begin(imu.G_SCALE_2000DPS, imu.A_SCALE_8G,
                                   imu.G_ODR_1660, imu.A_ODR_6660);
                break;
            default:
                DEBUG("Nothing happened\n\r");
                break;
        }
                
        pc.printf("LSM6DS3 WHO_AM_I's returned: 0x%X\r\n", status);
        pc.printf("Should be 0x69\r\n");
        
        ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), params->data, bytesRead);
    }
}

void periodicCallback(void)
{
    led1 = !led1;
}

// Interrupt signal
void flip() {
    led4 = !led4;
}

int main(void)
{
    led1 = 1;
    Ticker ticker;
    ticker.attach(periodicCallback, 1);

    DEBUG("Initialising the nRF51822\n\r");
    pc.printf("PC: Initialising the nRF51822\n\r");
    ble.init();
    ble.onDisconnection(disconnectionCallback);
    ble.onDataWritten(onDataWritten);

    /* setup advertising */
    ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
    ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
    ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
                                     (const uint8_t *)"BLE UART", sizeof("BLE UART") - 1);
    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
                                     (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));

    ble.setAdvertisingInterval(1000); /* 1000ms; in multiples of 0.625ms. */
    ble.startAdvertising();

    UARTService uartService(ble);
    uartServicePtr = &uartService;
    
    // setup baud rate and reset sensor
    pc.baud(115200);
    led4 = 1; 

    while (true) {
        ble.waitForEvent();
        
        imu.readAccel();
        pc.printf("%2f,%2f,%2f\r\n", imu.ax,imu.ay,imu.az);
        imu.readGyro();
        pc.printf("%2f,%2f,%2f\r\n", imu.gx,imu.gy,imu.gz);
        // no magnetometer available for this sensor
        pc.printf("0.000000,0.000000,0.000000\r\n");
        imu.readIntr();
//        pc.printf("intr: %f\r\n", imu.intr);
        if(imu.intr > 0) {
//            pc.printf(" == interrupted == \r\n");
            flip();
        }
        
        wait(1.0);
    }
}