Sherry Yang / Mbed 2 deprecated BLE_LoopbackUART_with_LSM9DS1-2

Another commit for the interrupt added. Renamed the main branch screwed up somethings..

Dependencies:   BLE_API LSM9DS1 mbed nRF51822 nrf51_rtc

main.cpp@5:b0e3d5d682b0, 2016-07-11 (annotated)

Committer:
5hel2l2y
Date:
Mon Jul 11 20:53:21 2016 +0000
Revision:
5:b0e3d5d682b0
Parent:
4:89be9162c6aa 
Modified read rate.

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 0:d0291b4a856a 21 #include "LSM9DS1/LSM9DS1.h"
5hel2l2y 0:d0291b4a856a 22
5hel2l2y 5:b0e3d5d682b0 23 #include "nrf51_rtc.h"
5hel2l2y 5:b0e3d5d682b0 24
5hel2l2y 0:d0291b4a856a 25 LSM9DS1 imu(p30, p7);
5hel2l2y 0:d0291b4a856a 26 Serial pc(p9, p11);
5hel2l2y 0:d0291b4a856a 27
5hel2l2y 0:d0291b4a856a 28 #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need debug messages on the console;
5hel2l2y 0:d0291b4a856a 29 * it will have an impact on code-size and power consumption. */
5hel2l2y 0:d0291b4a856a 30
5hel2l2y 0:d0291b4a856a 31 #if NEED_CONSOLE_OUTPUT
5hel2l2y 0:d0291b4a856a 32 #define DEBUG(...) { pc.printf(__VA_ARGS__); }
5hel2l2y 0:d0291b4a856a 33 #else
5hel2l2y 0:d0291b4a856a 34 #define DEBUG(...) /* nothing */
5hel2l2y 0:d0291b4a856a 35 #endif /* #if NEED_CONSOLE_OUTPUT */
5hel2l2y 0:d0291b4a856a 36
5hel2l2y 0:d0291b4a856a 37 BLEDevice ble;
5hel2l2y 3:db2db5c9611f 38 // Status lights
5hel2l2y 3:db2db5c9611f 39 DigitalOut ledAlive(LED1);
5hel2l2y 3:db2db5c9611f 40 DigitalOut ledIntrM(LED2);
5hel2l2y 3:db2db5c9611f 41 DigitalOut ledIntrG(LED3);
5hel2l2y 3:db2db5c9611f 42 DigitalOut ledIntrO(LED4);
5hel2l2y 3:db2db5c9611f 43 // Interrupt pin connection
5hel2l2y 3:db2db5c9611f 44 InterruptIn intrMO(p16); //RDY
5hel2l2y 3:db2db5c9611f 45 InterruptIn intrM(p15); //INTM
5hel2l2y 3:db2db5c9611f 46 InterruptIn intrGX(p14); //INT1 (Gyro & Accel Interrupt)
5hel2l2y 3:db2db5c9611f 47 InterruptIn intrGXO(p13); //INT2 (Gyro & Accel Data Ready)
5hel2l2y 0:d0291b4a856a 48
5hel2l2y 0:d0291b4a856a 49 UARTService *uartServicePtr;
5hel2l2y 0:d0291b4a856a 50
5hel2l2y 0:d0291b4a856a 51 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
5hel2l2y 0:d0291b4a856a 52 {
5hel2l2y 0:d0291b4a856a 53 DEBUG("Disconnected!\n\r");
5hel2l2y 0:d0291b4a856a 54 DEBUG("Restarting the advertising process\n\r");
5hel2l2y 0:d0291b4a856a 55 ble.startAdvertising();
5hel2l2y 0:d0291b4a856a 56 }
5hel2l2y 0:d0291b4a856a 57
5hel2l2y 0:d0291b4a856a 58 void onDataWritten(const GattWriteCallbackParams *params)
5hel2l2y 0:d0291b4a856a 59 {
5hel2l2y 0:d0291b4a856a 60 if ((uartServicePtr != NULL) && (params->handle == uartServicePtr->getTXCharacteristicHandle())) {
5hel2l2y 0:d0291b4a856a 61 uint16_t bytesRead = params->len;
5hel2l2y 0:d0291b4a856a 62 uint8_t value = *(params->data);
5hel2l2y 0:d0291b4a856a 63 uint16_t status;
5hel2l2y 0:d0291b4a856a 64 DEBUG("received %u bytes\n\r", bytesRead);
5hel2l2y 0:d0291b4a856a 65 DEBUG("recevied %d data\n\r", value);
5hel2l2y 0:d0291b4a856a 66
5hel2l2y 0:d0291b4a856a 67 switch(value) {
5hel2l2y 0:d0291b4a856a 68 case 49:
5hel2l2y 0:d0291b4a856a 69 DEBUG("Off power\n\r");
5hel2l2y 0:d0291b4a856a 70 status = imu.begin(imu.G_SCALE_245DPS, imu.A_SCALE_2G, imu.M_SCALE_4GS,
5hel2l2y 3:db2db5c9611f 71 imu.G_POWER_DOWN, imu.A_POWER_DOWN, imu.M_ODR_0625);
5hel2l2y 0:d0291b4a856a 72 break;
5hel2l2y 0:d0291b4a856a 73 case 50:
5hel2l2y 4:89be9162c6aa 74 DEBUG("Accelerometer Low, Gyro Off, Magnetometer Low\n\r");
5hel2l2y 0:d0291b4a856a 75 status = imu.begin(imu.G_SCALE_245DPS, imu.A_SCALE_2G, imu.M_SCALE_4GS,
5hel2l2y 4:89be9162c6aa 76 imu.G_POWER_DOWN, imu.A_ODR_10, imu.M_ODR_0625);
5hel2l2y 0:d0291b4a856a 77 break;
5hel2l2y 0:d0291b4a856a 78 case 51:
5hel2l2y 4:89be9162c6aa 79 DEBUG("Accelerometer High, Gyro Off, Magnetometer Low\n\r");
5hel2l2y 4:89be9162c6aa 80 status = imu.begin(imu.G_SCALE_245DPS, imu.A_SCALE_8G, imu.M_SCALE_4GS,
5hel2l2y 4:89be9162c6aa 81 imu.G_POWER_DOWN, imu.A_ODR_952, imu.M_ODR_0625);
5hel2l2y 4:89be9162c6aa 82 break;
5hel2l2y 4:89be9162c6aa 83 case 52:
5hel2l2y 4:89be9162c6aa 84 DEBUG("Accelerometer High, Gyro High, Magnetometer Low\n\r");
5hel2l2y 4:89be9162c6aa 85 status = imu.begin(imu.G_SCALE_2000DPS, imu.A_SCALE_8G, imu.M_SCALE_4GS,
5hel2l2y 4:89be9162c6aa 86 imu.G_ODR_952_BW_100, imu.A_ODR_952, imu.M_ODR_0625);
5hel2l2y 0:d0291b4a856a 87 break;
5hel2l2y 0:d0291b4a856a 88 default:
5hel2l2y 3:db2db5c9611f 89 DEBUG("Default power\n\r");
5hel2l2y 3:db2db5c9611f 90 status = imu.begin();
5hel2l2y 0:d0291b4a856a 91 break;
5hel2l2y 0:d0291b4a856a 92 }
5hel2l2y 0:d0291b4a856a 93
5hel2l2y 0:d0291b4a856a 94 pc.printf("LSM9DS1 WHO_AM_I's returned: 0x%X\r\n", status);
5hel2l2y 0:d0291b4a856a 95 pc.printf("Should be 0x683D\r\n");
5hel2l2y 0:d0291b4a856a 96
5hel2l2y 0:d0291b4a856a 97 ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), params->data, bytesRead);
5hel2l2y 0:d0291b4a856a 98 }
5hel2l2y 0:d0291b4a856a 99 }
5hel2l2y 0:d0291b4a856a 100
5hel2l2y 0:d0291b4a856a 101 void periodicCallback(void)
5hel2l2y 0:d0291b4a856a 102 {
5hel2l2y 5:b0e3d5d682b0 103 ble.waitForEvent();
5hel2l2y 3:db2db5c9611f 104 ledAlive = !ledAlive;
5hel2l2y 0:d0291b4a856a 105 }
5hel2l2y 0:d0291b4a856a 106
5hel2l2y 2:151ea422eb53 107 // Interrupt signal
5hel2l2y 3:db2db5c9611f 108 void flip(DigitalOut led) {
5hel2l2y 3:db2db5c9611f 109 led = !led;
5hel2l2y 3:db2db5c9611f 110 }
5hel2l2y 3:db2db5c9611f 111
5hel2l2y 3:db2db5c9611f 112 void flip2() {
5hel2l2y 3:db2db5c9611f 113 ledIntrM = !ledIntrM;
5hel2l2y 3:db2db5c9611f 114 }
5hel2l2y 3:db2db5c9611f 115
5hel2l2y 3:db2db5c9611f 116 void flip3() {
5hel2l2y 3:db2db5c9611f 117 // pc.printf(" ++++ Data Change Triggered!! ++++ \n\r");
5hel2l2y 3:db2db5c9611f 118 flip(ledIntrO);
5hel2l2y 3:db2db5c9611f 119 }
5hel2l2y 3:db2db5c9611f 120
5hel2l2y 3:db2db5c9611f 121 void flip4() {
5hel2l2y 3:db2db5c9611f 122 // pc.printf(" ++++ G/X Triggered!! ++++ \n\r");
5hel2l2y 3:db2db5c9611f 123 flip(ledIntrG);
5hel2l2y 2:151ea422eb53 124 }
5hel2l2y 2:151ea422eb53 125
5hel2l2y 0:d0291b4a856a 126 int main(void)
5hel2l2y 0:d0291b4a856a 127 {
5hel2l2y 5:b0e3d5d682b0 128 time_t rawtime = 0;
5hel2l2y 5:b0e3d5d682b0 129
5hel2l2y 3:db2db5c9611f 130 // turn all LED off
5hel2l2y 3:db2db5c9611f 131 ledAlive = 1;
5hel2l2y 3:db2db5c9611f 132 ledIntrM = 1;
5hel2l2y 3:db2db5c9611f 133 ledIntrG = 1;
5hel2l2y 3:db2db5c9611f 134 ledIntrO = 1;
5hel2l2y 3:db2db5c9611f 135
5hel2l2y 0:d0291b4a856a 136 Ticker ticker;
5hel2l2y 0:d0291b4a856a 137 ticker.attach(periodicCallback, 1);
5hel2l2y 0:d0291b4a856a 138
5hel2l2y 0:d0291b4a856a 139 DEBUG("Initialising the nRF51822\n\r");
5hel2l2y 0:d0291b4a856a 140 pc.printf("PC: Initialising the nRF51822\n\r");
5hel2l2y 0:d0291b4a856a 141 ble.init();
5hel2l2y 0:d0291b4a856a 142 ble.onDisconnection(disconnectionCallback);
5hel2l2y 0:d0291b4a856a 143 ble.onDataWritten(onDataWritten);
5hel2l2y 0:d0291b4a856a 144
5hel2l2y 0:d0291b4a856a 145 /* setup advertising */
5hel2l2y 0:d0291b4a856a 146 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
5hel2l2y 0:d0291b4a856a 147 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
5hel2l2y 0:d0291b4a856a 148 ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
5hel2l2y 0:d0291b4a856a 149 (const uint8_t *)"BLE UART", sizeof("BLE UART") - 1);
5hel2l2y 0:d0291b4a856a 150 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
5hel2l2y 0:d0291b4a856a 151 (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
5hel2l2y 0:d0291b4a856a 152
5hel2l2y 0:d0291b4a856a 153 ble.setAdvertisingInterval(1000); /* 1000ms; in multiples of 0.625ms. */
5hel2l2y 0:d0291b4a856a 154 ble.startAdvertising();
5hel2l2y 0:d0291b4a856a 155
5hel2l2y 0:d0291b4a856a 156 UARTService uartService(ble);
5hel2l2y 0:d0291b4a856a 157 uartServicePtr = &uartService;
5hel2l2y 2:151ea422eb53 158
5hel2l2y 3:db2db5c9611f 159 // setup baud rate
5hel2l2y 3:db2db5c9611f 160 pc.baud(115200);
5hel2l2y 3:db2db5c9611f 161
5hel2l2y 3:db2db5c9611f 162 // setup Interrupt mode
5hel2l2y 3:db2db5c9611f 163 intrGXO.mode(PullUp);
5hel2l2y 3:db2db5c9611f 164 intrGX.mode(PullUp);
5hel2l2y 3:db2db5c9611f 165 intrM.mode(PullUp);
5hel2l2y 3:db2db5c9611f 166
5hel2l2y 3:db2db5c9611f 167 // status light will be lit based on sensor/data change
5hel2l2y 3:db2db5c9611f 168 intrGX.rise(&flip4);
5hel2l2y 3:db2db5c9611f 169 intrGXO.rise(&flip3);
5hel2l2y 0:d0291b4a856a 170
5hel2l2y 5:b0e3d5d682b0 171 while (true) {
5hel2l2y 5:b0e3d5d682b0 172 rawtime = rtc.time();
5hel2l2y 5:b0e3d5d682b0 173
5hel2l2y 2:151ea422eb53 174 imu.readAccel();
5hel2l2y 2:151ea422eb53 175 imu.readGyro();
5hel2l2y 2:151ea422eb53 176 imu.readMag();
5hel2l2y 5:b0e3d5d682b0 177 pc.printf("%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n", rawtime,imu.ax_raw,imu.ay_raw,imu.az_raw,imu.gx_raw,imu.gy_raw,imu.gz_raw,imu.mx_raw,imu.my_raw,imu.mz_raw);
5hel2l2y 3:db2db5c9611f 178
5hel2l2y 2:151ea422eb53 179 // Interrupt stats: This is only enabled in Low Power Mode
5hel2l2y 2:151ea422eb53 180 // 38 - no interrupt
5hel2l2y 2:151ea422eb53 181 // 42 - interrupt
5hel2l2y 2:151ea422eb53 182 // 101 - sleep
5hel2l2y 3:db2db5c9611f 183 //imu.readIntr();
5hel2l2y 2:151ea422eb53 184 // pc.printf("intr: %f\r\n", imu.intr);
5hel2l2y 3:db2db5c9611f 185 // if(imu.intr == 42) {
5hel2l2y 2:151ea422eb53 186 // pc.printf(" == interrupted == \r\n");
5hel2l2y 3:db2db5c9611f 187 // flip(ledIntrO);
5hel2l2y 3:db2db5c9611f 188 // }
5hel2l2y 0:d0291b4a856a 189 }
5hel2l2y 0:d0291b4a856a 190 }