Another commit for the interrupt added. Renamed the main branch screwed up somethings..
Dependencies: BLE_API LSM9DS1 mbed nRF51822 nrf51_rtc
main.cpp
- Committer:
- 5hel2l2y
- Date:
- 2016-07-11
- Revision:
- 5:b0e3d5d682b0
- Parent:
- 4:89be9162c6aa
File content as of revision 5:b0e3d5d682b0:
/* 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 "LSM9DS1/LSM9DS1.h" #include "nrf51_rtc.h" LSM9DS1 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; // Status lights DigitalOut ledAlive(LED1); DigitalOut ledIntrM(LED2); DigitalOut ledIntrG(LED3); DigitalOut ledIntrO(LED4); // Interrupt pin connection InterruptIn intrMO(p16); //RDY InterruptIn intrM(p15); //INTM InterruptIn intrGX(p14); //INT1 (Gyro & Accel Interrupt) InterruptIn intrGXO(p13); //INT2 (Gyro & Accel Data Ready) 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.M_SCALE_4GS, imu.G_POWER_DOWN, imu.A_POWER_DOWN, imu.M_ODR_0625); break; case 50: DEBUG("Accelerometer Low, Gyro Off, Magnetometer Low\n\r"); status = imu.begin(imu.G_SCALE_245DPS, imu.A_SCALE_2G, imu.M_SCALE_4GS, imu.G_POWER_DOWN, imu.A_ODR_10, imu.M_ODR_0625); break; case 51: DEBUG("Accelerometer High, Gyro Off, Magnetometer Low\n\r"); status = imu.begin(imu.G_SCALE_245DPS, imu.A_SCALE_8G, imu.M_SCALE_4GS, imu.G_POWER_DOWN, imu.A_ODR_952, imu.M_ODR_0625); break; case 52: DEBUG("Accelerometer High, Gyro High, Magnetometer Low\n\r"); status = imu.begin(imu.G_SCALE_2000DPS, imu.A_SCALE_8G, imu.M_SCALE_4GS, imu.G_ODR_952_BW_100, imu.A_ODR_952, imu.M_ODR_0625); break; default: DEBUG("Default power\n\r"); status = imu.begin(); break; } pc.printf("LSM9DS1 WHO_AM_I's returned: 0x%X\r\n", status); pc.printf("Should be 0x683D\r\n"); ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), params->data, bytesRead); } } void periodicCallback(void) { ble.waitForEvent(); ledAlive = !ledAlive; } // Interrupt signal void flip(DigitalOut led) { led = !led; } void flip2() { ledIntrM = !ledIntrM; } void flip3() { // pc.printf(" ++++ Data Change Triggered!! ++++ \n\r"); flip(ledIntrO); } void flip4() { // pc.printf(" ++++ G/X Triggered!! ++++ \n\r"); flip(ledIntrG); } int main(void) { time_t rawtime = 0; // turn all LED off ledAlive = 1; ledIntrM = 1; ledIntrG = 1; ledIntrO = 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 pc.baud(115200); // setup Interrupt mode intrGXO.mode(PullUp); intrGX.mode(PullUp); intrM.mode(PullUp); // status light will be lit based on sensor/data change intrGX.rise(&flip4); intrGXO.rise(&flip3); while (true) { rawtime = rtc.time(); imu.readAccel(); imu.readGyro(); imu.readMag(); 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); // Interrupt stats: This is only enabled in Low Power Mode // 38 - no interrupt // 42 - interrupt // 101 - sleep //imu.readIntr(); // pc.printf("intr: %f\r\n", imu.intr); // if(imu.intr == 42) { // pc.printf(" == interrupted == \r\n"); // flip(ledIntrO); // } } }