Revision 1:91caa6c7f077, committed 2015-09-22

Comitter:

DarkerL

Date:

Tue Sep 22 04:49:00 2015 +0000

Parent:

0:a2cffc867df4

Commit message:

BLE_MPU6050

Changed in this revision

diff -r a2cffc867df4 -r 91caa6c7f077 MPU6050.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050.lib	Tue Sep 22 04:49:00 2015 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/users/DarkerL/code/MPU6050/#04a94bea4f74

diff -r a2cffc867df4 -r 91caa6c7f077 main.cpp
--- a/main.cpp	Wed Jan 14 12:36:59 2015 +0000
+++ b/main.cpp	Tue Sep 22 04:49:00 2015 +0000
@@ -1,15 +1,3 @@
-/* Copyright (c) 2012 Nordic Semiconductor. All Rights Reserved.
- *
- * The information contained herein is property of Nordic Semiconductor ASA.
- * Terms and conditions of usage are described in detail in NORDIC
- * SEMICONDUCTOR STANDARD SOFTWARE LICENSE AGREEMENT.
- *
- * Licensees are granted free, non-transferable use of the information. NO
- * WARRANTY of ANY KIND is provided. This heading must NOT be removed from
- * the file.
- *
- */
-
 #include "mbed.h"
 #include <stdint.h>
 #include <stdbool.h>
@@ -17,11 +5,32 @@
 #include "nrf51_bitfields.h"
 #include "ble_dtm.h"
 #include "nrf_gpio.h"
+#include <stdio.h>
+#include "MPU6050.h"
+#include "BLEDevice.h"
+
+
+// DFUService is already included & automatically advertised by the mbed lib dependancies (currently)
+
+const static char     DEVICE_NAME[]        = "Hello_LinkSprite";
+
+BLEDevice ble;
+
+DigitalOut myled(LED1);
+
+MPU6050 mpu(0x69);
+int16_t ax=0, ay=0, az=0;
+int16_t gx=0, gy=0, gz=0;
+int moyZ=0;                 //global Z value (mean)
+int16_t moy[64];            //array of different measurements
+
+
+//DigitalOut myled(LED2);
 
 // Configuration parameters.
-#define BITRATE         UART_BAUDRATE_BAUDRATE_Baud19200  /**< Serial bitrate on the UART */
-#define TX_PIN_NUMBER   USBTX /**< Use proper value for your hardware */
-#define RX_PIN_NUMBER   USBRX /**< Use proper value for your hardware */
+#define BITRATE         UART_BAUDRATE_BAUDRATE_Baud9600  /**< Serial bitrate on the UART */
+#define TX_PIN_NUMBER   0 /**< Use proper value for your hardware */
+#define RX_PIN_NUMBER   1 /**< Use proper value for your hardware */
 #define MAX_ITERATIONS_NEEDED_FOR_NEXT_BYTE 21
 /**@brief Function for UART initialization.
  */
@@ -48,30 +57,88 @@
 }
 
 
-/**@brief Function for splitting UART command bit fields into separate command parameters for the DTM library.
-*
- * @param[in]   command   The packed UART command.
- * @return      result status from dtmlib.
- */
-static uint32_t dtm_cmd_put(uint16_t command)
+
+void moyennage_Z()              //calculates the mean value by going through the whole array, sum and divide by the sample size (64)
 {
-    dtm_cmd_t      command_code = (command >> 14) & 0x03;
-    dtm_freq_t     freq         = (command >> 8) & 0x3F;
-    uint32_t       length       = (command >> 2) & 0x3F;
-    dtm_pkt_type_t payload      = command & 0x03;
+    for (int n=0; n<64; n++) 
+    {
+        moyZ=moyZ+moy[n];
+    }
+    moyZ=(int)moyZ/64;
+}
+
+
+const uint8_t MPU6050_service_uuid[] = {
+    0x45,0x35,0x56,0x80,0x0F,0xD8,0x5F,0xB5,0x51,0x48,0x30,0x27,0x06,0x9B,0x3F,0xD9
+};
+
+const uint8_t MPU6050_Accel_Characteristic_uuid[] = {
+    0x45,0x35,0x56,0x81,0x0F,0xD8,0x5F,0xB5,0x51,0x48,0x30,0x27,0x06,0x9B,0x3F,0xD9
+};
+
+
+uint8_t accelPayload[sizeof(int16_t)*6] = {0,};
+
+void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)
+{
+    ble.startAdvertising(); // restart advertising
+}
+
+GattCharacteristic  accelChar (MPU6050_Accel_Characteristic_uuid,
+                                        accelPayload, (sizeof(int16_t) * 6), (sizeof(int16_t) * 6),
+                                        GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
+
+GattCharacteristic *ControllerChars[] = { &accelChar };
+GattService         MPU6050Service(MPU6050_service_uuid, ControllerChars, sizeof(ControllerChars) / sizeof(GattCharacteristic *));
+
+
 
-    // Check for Vendor Specific payload.
-    if (payload == 0x03) {
-        /* Note that in a HCI adaption layer, as well as in the DTM PDU format,
-           the value 0x03 is a distinct bit pattern (PRBS15). Even though BLE does not
-           support PRBS15, this implementation re-maps 0x03 to DTM_PKT_VENDORSPECIFIC,
-           to avoid the risk of confusion, should the code be extended to greater coverage.
-        */
-        payload = DTM_PKT_VENDORSPECIFIC;
-    }
-    return dtm_cmd(command_code, freq, length, payload);
+int16_t exchange_position(int16_t temp)
+{
+    int16_t i = temp ;
+    
+    temp = temp>>8;
+    temp = (i<<8) | temp;
+            
+    return temp;
 }
 
+void updata_values()
+{
+    //int16_t value_test = 100;
+    
+    //value_test = exchange_position(value_test);
+    
+
+    mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+        
+        
+    ax = exchange_position(ax);
+    ay = exchange_position(ay);
+    az = exchange_position(az);
+    gx = exchange_position(gx);
+    gy = exchange_position(gy);
+    gz = exchange_position(gz);
+      
+    //memcpy(accelPayload+sizeof(int16_t)*0, &value_test, sizeof(value_test));
+    
+    memcpy(accelPayload+sizeof(int16_t)*0, &ax, sizeof(ax));
+    memcpy(accelPayload+sizeof(int16_t)*1, &ay, sizeof(ay));
+    memcpy(accelPayload+sizeof(int16_t)*2, &az, sizeof(az));
+    memcpy(accelPayload+sizeof(int16_t)*3, &gx, sizeof(gx));
+    memcpy(accelPayload+sizeof(int16_t)*4, &gy, sizeof(gy));
+    memcpy(accelPayload+sizeof(int16_t)*5, &gz, sizeof(gz));
+    
+    ble.updateCharacteristicValue(accelChar.getValueAttribute().getHandle(), accelPayload, sizeof(accelPayload));    //Mod
+    
+    wait(0.1);
+}
+
+
+
+
+
+
 /**@brief Function for application main entry.
  *
  * @details This function serves as an adaptation layer between a 2-wire UART interface and the
@@ -79,89 +146,93 @@
  *          dtmlib and events (i.e. results from the command) is reported back through the UART.
  */
 int main(void)
-{
-    uint32_t    current_time;
-    uint32_t    dtm_error_code;
-    uint32_t    msb_time          = 0;     // Time when MSB of the DTM command was read. Used to catch stray bytes from "misbehaving" testers.
-    bool        is_msb_read       = false; // True when MSB of the DTM command has been read and the application is waiting for LSB.
-    uint16_t    dtm_cmd_from_uart = 0;     // Packed command containing command_code:freqency:length:payload in 2:6:6:2 bits.
-    uint8_t     rx_byte;                   // Last byte read from UART.
-    dtm_event_t result;                    // Result of a DTM operation.
-
-    uart_init();
-
-    // Turn default LED on to indicate power
-    nrf_gpio_cfg_output(LED1);
-    nrf_gpio_pin_set(LED1);
-
-    dtm_error_code = dtm_init();
-    if (dtm_error_code != DTM_SUCCESS) {
-        // If DTM cannot be correctly initialized, then we just return.
-        return -1;
-    }
+{  
+    
+    int16_t test = 0x6400;
+    int16_t LinkSprite = 0;
+    LinkSprite = exchange_position(test);
+        
+    ble.init();
+    ble.onDisconnection(disconnectionCallback);
 
-    for (;;) {
-        // Will return every timeout, 625 us.
-        current_time = dtm_wait();
+    /* Setup advertising. */
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
+   // ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
+    ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
+//    ble.setAdvertisingInterval(Gap::MSEC_TO_ADVERTISEMENT_DURATION_UNITS(1000));
+ //   ble.startAdvertising();
+    
+    
+       
+    /* setup advertising */
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (const uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
+                                    (const uint8_t *)MPU6050_service_uuid, sizeof(MPU6050_service_uuid));
+                                    //(const uint8_t *)MPU6050_adv_service_uuid, sizeof(MPU6050_adv_service_uuid));
 
-        if (NRF_UART0->EVENTS_RXDRDY == 0) {
-            // Nothing read from the UART.
-            continue;
-        }
-        NRF_UART0->EVENTS_RXDRDY = 0;
-        rx_byte                  = (uint8_t)NRF_UART0->RXD;
-
-        if (!is_msb_read) {
-            // This is first byte of two-byte command.
-            is_msb_read       = true;
-            dtm_cmd_from_uart = ((dtm_cmd_t)rx_byte) << 8;
-            msb_time          = current_time;
-
-            // Go back and wait for 2nd byte of command word.
-            continue;
-        }
+    ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
+    ble.startAdvertising();
 
-        // This is the second byte read; combine it with the first and process command
-        if (current_time > (msb_time + MAX_ITERATIONS_NEEDED_FOR_NEXT_BYTE)) {
-            // More than ~5mS after msb: Drop old byte, take the new byte as MSB.
-            // The variable is_msb_read will remains true.
-            // Go back and wait for 2nd byte of the command word.
-            dtm_cmd_from_uart = ((dtm_cmd_t)rx_byte) << 8;
-            msb_time          = current_time;
-            continue;
-        }
-
-        // 2-byte UART command received.
-        is_msb_read        = false;
-        dtm_cmd_from_uart |= (dtm_cmd_t)rx_byte;
-
-        if (dtm_cmd_put(dtm_cmd_from_uart) != DTM_SUCCESS) {
-            // Extended error handling may be put here.
-            // Default behavior is to return the event on the UART (see below);
-            // the event report will reflect any lack of success.
-        }
-
-        // Retrieve result of the operation. This implementation will busy-loop
-        // for the duration of the byte transmissions on the UART.
-        if (dtm_event_get(&result)) {
-            // Report command status on the UART.
-            // Transmit MSB of the result.
-            NRF_UART0->TXD = (result >> 8) & 0xFF;
-            // Wait until MSB is sent.
-            while (NRF_UART0->EVENTS_TXDRDY != 1) {
-                // Do nothing.
-            }
-            NRF_UART0->EVENTS_TXDRDY = 0;
-
-            // Transmit LSB of the result.
-            NRF_UART0->TXD = result & 0xFF;
-            // Wait until LSB is sent.
-            while (NRF_UART0->EVENTS_TXDRDY != 1) {
-                // Do nothing.
-            }
-            NRF_UART0->EVENTS_TXDRDY = 0;
-        }
-    }
+    ble.addService(MPU6050Service);
+       
+    uart_init();
+         
+ //    Thread thread(mon_thr);
+    printf("MPU6050 test\n\n\r");               //procedure to test the connection to the mpu6050, if valid
+    printf("MPU6050 initialize \n\r");          //the code to execute is embedded in a if{}
+    mpu.initialize();
+    printf("MPU6050 testConnection \n\r");
+    bool mpu6050TestResult = mpu.testConnection();
+    
+    if(mpu6050TestResult) 
+    {
+      
+      printf("MPU6050 test passed \n\r");
+      
+      while(1) 
+          {
+                 /*     
+                myled = 0;             
+                wait(0.2);
+                myled = 1;
+                wait(0.2);
+            
+                wait(1);
+                
+                */
+                printf("hello LinkSprite123 \r\n");
+                
+                printf("LinkSprite test = 0x%x \r\n\n\r", LinkSprite);
+                
+                
+               
+                
+                /* Uncomment below if you want to see accel and gyro data */
+                 /*
+                 for (int n=0; n<64; n++) 
+                 {                          //refreshing the 64-int16 array
+                        mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+                        moy[n]=az;
+                        wait(0.01);
+                 }
+                 
+                 */
+                 
+                 updata_values();
+                 wait(0.1);
+                 
+                moyennage_Z();                                      //calculating the mean value by a simple sum and divide
+                printf("%i\n\r",moyZ+17000);
+                printf("ax = %d, ay = %d, az = %d, gx = %d, gy = %d, gz = %d\n\r", ax,ay, az, gx, gy, gz);
+                wait(0.1);
+                printf("hello LinkSprite456 \r\n");
+              
+          }
+     }
+     
+     else 
+     {
+        printf("MPU6050 test failed \n\r");
+     }        
 }
 
-/// @}