Yutaka Yoshida / Mbed 2 deprecated BLE_MPU6050_Nano

MPU6050センサ　Wallbot_BLE用　サンプル

Dependencies:   BLE_API mbed nRF51822

main.cpp@4:3a25f1bdffc7, 2015-01-26 (annotated)

Committer:
mbed_tw_hoehoe
Date:
Mon Jan 26 11:21:56 2015 +0000
Revision:
4:3a25f1bdffc7
Parent:
3:ca2cdabf5977
Child:
5:807096fdd895
change one service uuid.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_tw_hoehoe 0:2fa085b36ad8 1 #include "mbed.h"
mbed_tw_hoehoe 0:2fa085b36ad8 2 #include "BLEDevice.h"
mbed_tw_hoehoe 0:2fa085b36ad8 3 #include "MPU6050.h"
mbed_tw_hoehoe 0:2fa085b36ad8 4
mbed_tw_hoehoe 0:2fa085b36ad8 5 /*
mbed_tw_hoehoe 0:2fa085b36ad8 6 #define DBG 1
mbed_tw_hoehoe 0:2fa085b36ad8 7 #define NEED_CONSOLE_OUTPUT 1 // Set this if you need debug messages on the console;
mbed_tw_hoehoe 0:2fa085b36ad8 8 // it will have an impact on code-size and power consumption.
mbed_tw_hoehoe 0:2fa085b36ad8 9
mbed_tw_hoehoe 0:2fa085b36ad8 10 #if NEED_CONSOLE_OUTPUT
mbed_tw_hoehoe 0:2fa085b36ad8 11 Serial pc(USBTX, USBRX);
mbed_tw_hoehoe 0:2fa085b36ad8 12 #define DEBUG(...) { pc.printf(__VA_ARGS__); }
mbed_tw_hoehoe 0:2fa085b36ad8 13 #else
mbed_tw_hoehoe 0:2fa085b36ad8 14 #define DEBUG(...) // nothing //
mbed_tw_hoehoe 0:2fa085b36ad8 15 #endif // #if NEED_CONSOLE_OUTPUT //
mbed_tw_hoehoe 0:2fa085b36ad8 16 */
mbed_tw_hoehoe 0:2fa085b36ad8 17
mbed_tw_hoehoe 0:2fa085b36ad8 18 BLEDevice ble;
mbed_tw_hoehoe 0:2fa085b36ad8 19
mbed_tw_hoehoe 0:2fa085b36ad8 20 MPU6050 mpu(I2C_SDA0, I2C_SCL0);
mbed_tw_hoehoe 0:2fa085b36ad8 21
mbed_tw_hoehoe 0:2fa085b36ad8 22 static const char DEVICENAME[] = "BLE-Nano";
mbed_tw_hoehoe 0:2fa085b36ad8 23 static volatile bool triggerSensorPolling = false;
mbed_tw_hoehoe 0:2fa085b36ad8 24
mbed_tw_hoehoe 0:2fa085b36ad8 25 //9FDF3283-9049-CF8D-5C4D-98E7E2002731
mbed_tw_hoehoe 4:3a25f1bdffc7 26 //const uint8_t MPU6050_adv_service_uuid[] = {
mbed_tw_hoehoe 4:3a25f1bdffc7 27 // 0x9F,0xDF,0x32,0x83,
mbed_tw_hoehoe 4:3a25f1bdffc7 28 // 0x90,0x49,
mbed_tw_hoehoe 4:3a25f1bdffc7 29 // 0xCF,0x8D,
mbed_tw_hoehoe 4:3a25f1bdffc7 30 // 0x5C,0x4D,
mbed_tw_hoehoe 4:3a25f1bdffc7 31 // 0x98,0xE7,0xE2,0x00,0x27,0x31
mbed_tw_hoehoe 4:3a25f1bdffc7 32 //};
mbed_tw_hoehoe 0:2fa085b36ad8 33
mbed_tw_hoehoe 0:2fa085b36ad8 34 const uint8_t MPU6050_service_uuid[] = {
mbed_tw_hoehoe 0:2fa085b36ad8 35 0x31,0x27,0x00,0xE2,0xE7,0x98,0x4D,0x5C,0x8D,0xCF,0x49,0x90,0x83,0x32,0xDF,0x9F
mbed_tw_hoehoe 0:2fa085b36ad8 36 };
mbed_tw_hoehoe 0:2fa085b36ad8 37
mbed_tw_hoehoe 0:2fa085b36ad8 38 const uint8_t MPU6050_Accel_Characteristic_uuid[] = {
mbed_tw_hoehoe 0:2fa085b36ad8 39 0xFF,0xA2,0x8C,0xDE,0x65,0x25,
mbed_tw_hoehoe 0:2fa085b36ad8 40 0x44,0x89,
mbed_tw_hoehoe 0:2fa085b36ad8 41 0x80,0x1C,
mbed_tw_hoehoe 0:2fa085b36ad8 42 0x1C,0x06,0x0C,0xAC,0x97,0x67
mbed_tw_hoehoe 0:2fa085b36ad8 43 };
mbed_tw_hoehoe 0:2fa085b36ad8 44
mbed_tw_hoehoe 4:3a25f1bdffc7 45 //const uint8_t MPU6050_Gyro_Characteristic_uuid[] = {
mbed_tw_hoehoe 4:3a25f1bdffc7 46 // 0x65, 0x60, 0xBE, 0x95,0xD9, 0x31,
mbed_tw_hoehoe 4:3a25f1bdffc7 47 // 0x4F, 0x64,
mbed_tw_hoehoe 4:3a25f1bdffc7 48 // 0x95, 0x75,
mbed_tw_hoehoe 4:3a25f1bdffc7 49 // 0xC6, 0xDD, 0xB5, 0xAE, 0x7F, 0xA5
mbed_tw_hoehoe 4:3a25f1bdffc7 50 //};
mbed_tw_hoehoe 0:2fa085b36ad8 51
mbed_tw_hoehoe 4:3a25f1bdffc7 52 uint8_t accelPayload[sizeof(float)*7] = {0,};
mbed_tw_hoehoe 4:3a25f1bdffc7 53 //uint8_t gyroPayload[sizeof(float)*3] = {0,0,0};
mbed_tw_hoehoe 4:3a25f1bdffc7 54 //uint8_t tempPayload[sizeof(float)*1] = {0};
mbed_tw_hoehoe 4:3a25f1bdffc7 55 //uint8_t batt = 100; /* Battery level */
mbed_tw_hoehoe 4:3a25f1bdffc7 56 //uint8_t read_batt = 0; /* Variable to hold battery level reads */
mbed_tw_hoehoe 0:2fa085b36ad8 57
mbed_tw_hoehoe 0:2fa085b36ad8 58 GattCharacteristic accelChar (MPU6050_Accel_Characteristic_uuid,
mbed_tw_hoehoe 4:3a25f1bdffc7 59 accelPayload, (sizeof(float) * 7), (sizeof(float) * 7),
mbed_tw_hoehoe 0:2fa085b36ad8 60 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
mbed_tw_hoehoe 0:2fa085b36ad8 61
mbed_tw_hoehoe 4:3a25f1bdffc7 62 //GattCharacteristic gyroChar (MPU6050_Gyro_Characteristic_uuid,
mbed_tw_hoehoe 4:3a25f1bdffc7 63 // gyroPayload, (sizeof(float) * 3), (sizeof(float) * 3),
mbed_tw_hoehoe 4:3a25f1bdffc7 64 // GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
mbed_tw_hoehoe 0:2fa085b36ad8 65
mbed_tw_hoehoe 4:3a25f1bdffc7 66 //GattCharacteristic *ControllerChars[] = { &accelChar, &gyroChar, };
mbed_tw_hoehoe 4:3a25f1bdffc7 67 GattCharacteristic *ControllerChars[] = { &accelChar, };
mbed_tw_hoehoe 4:3a25f1bdffc7 68 GattService MPU6050Service(MPU6050_service_uuid, ControllerChars, sizeof(ControllerChars) / sizeof(GattCharacteristic *));
mbed_tw_hoehoe 0:2fa085b36ad8 69
mbed_tw_hoehoe 0:2fa085b36ad8 70 void updateValue();
mbed_tw_hoehoe 0:2fa085b36ad8 71
mbed_tw_hoehoe 0:2fa085b36ad8 72 void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason) // Mod
mbed_tw_hoehoe 0:2fa085b36ad8 73 {
mbed_tw_hoehoe 0:2fa085b36ad8 74
mbed_tw_hoehoe 0:2fa085b36ad8 75 //DEBUG("Disconnected handle %u, reason %u\n", handle, reason);
mbed_tw_hoehoe 0:2fa085b36ad8 76 //DEBUG("Restarting the advertising process\n\r");
mbed_tw_hoehoe 0:2fa085b36ad8 77
mbed_tw_hoehoe 0:2fa085b36ad8 78 ble.startAdvertising();
mbed_tw_hoehoe 0:2fa085b36ad8 79 }
mbed_tw_hoehoe 0:2fa085b36ad8 80
mbed_tw_hoehoe 0:2fa085b36ad8 81 void onConnectionCallback(Gap::Handle_t handle, Gap::addr_type_t peerAddrType, const Gap::address_t peerAddr, const Gap::ConnectionParams_t *params) //Mod
mbed_tw_hoehoe 0:2fa085b36ad8 82 {
mbed_tw_hoehoe 0:2fa085b36ad8 83
mbed_tw_hoehoe 0:2fa085b36ad8 84 //DEBUG("connected. Got handle %u\r\n", handle);
mbed_tw_hoehoe 0:2fa085b36ad8 85
mbed_tw_hoehoe 0:2fa085b36ad8 86 /*******************************************************************************/
mbed_tw_hoehoe 0:2fa085b36ad8 87 /* CentralがMacOS X の時 connection intervalを設定する場合は */
mbed_tw_hoehoe 0:2fa085b36ad8 88 /* nRF51822 -> projectconfig.h -> GAP -> */
mbed_tw_hoehoe 0:2fa085b36ad8 89 /* CFG_GAP_CONNECTION_MIN_INTERVAL_MS / CFG_GAP_CONNECTION_MAX_INTERVAL_MSを */
mbed_tw_hoehoe 0:2fa085b36ad8 90 /* 直接編集すること */
mbed_tw_hoehoe 0:2fa085b36ad8 91 /******************************************************************************/
mbed_tw_hoehoe 0:2fa085b36ad8 92
mbed_tw_hoehoe 3:ca2cdabf5977 93 #define MIN_CONN_INTERVAL 250 /**< Minimum connection interval (250 ms) */
mbed_tw_hoehoe 4:3a25f1bdffc7 94 #define MAX_CONN_INTERVAL 350 /**< Maximum connection interval (350 ms). */
mbed_tw_hoehoe 0:2fa085b36ad8 95 #define CONN_SUP_TIMEOUT 6000 /**< Connection supervisory timeout (6 seconds). */
mbed_tw_hoehoe 0:2fa085b36ad8 96 #define SLAVE_LATENCY 4
mbed_tw_hoehoe 0:2fa085b36ad8 97
mbed_tw_hoehoe 0:2fa085b36ad8 98 Gap::ConnectionParams_t gap_conn_params;
mbed_tw_hoehoe 0:2fa085b36ad8 99 gap_conn_params.minConnectionInterval = Gap::MSEC_TO_GAP_DURATION_UNITS(MIN_CONN_INTERVAL);
mbed_tw_hoehoe 0:2fa085b36ad8 100 gap_conn_params.maxConnectionInterval = Gap::MSEC_TO_GAP_DURATION_UNITS(MAX_CONN_INTERVAL);
mbed_tw_hoehoe 0:2fa085b36ad8 101 gap_conn_params.connectionSupervisionTimeout = Gap::MSEC_TO_GAP_DURATION_UNITS(CONN_SUP_TIMEOUT);
mbed_tw_hoehoe 0:2fa085b36ad8 102 gap_conn_params.slaveLatency = SLAVE_LATENCY;
mbed_tw_hoehoe 0:2fa085b36ad8 103 ble.updateConnectionParams(handle, &gap_conn_params);
mbed_tw_hoehoe 0:2fa085b36ad8 104 //if (ble.updateConnectionParams(handle, &gap_conn_params) != BLE_ERROR_NONE) {
mbed_tw_hoehoe 0:2fa085b36ad8 105 // DEBUG("failed to update connection paramter\r\n");
mbed_tw_hoehoe 0:2fa085b36ad8 106 //}
mbed_tw_hoehoe 0:2fa085b36ad8 107
mbed_tw_hoehoe 0:2fa085b36ad8 108 updateValue();
mbed_tw_hoehoe 0:2fa085b36ad8 109 }
mbed_tw_hoehoe 0:2fa085b36ad8 110
mbed_tw_hoehoe 0:2fa085b36ad8 111 void timeoutCallback(void)
mbed_tw_hoehoe 0:2fa085b36ad8 112 {
mbed_tw_hoehoe 0:2fa085b36ad8 113 //DEBUG("TimeOut\n\r");
mbed_tw_hoehoe 0:2fa085b36ad8 114 //DEBUG("Restarting the advertising process\n\r");
mbed_tw_hoehoe 0:2fa085b36ad8 115
mbed_tw_hoehoe 0:2fa085b36ad8 116 ble.startAdvertising();
mbed_tw_hoehoe 0:2fa085b36ad8 117 }
mbed_tw_hoehoe 0:2fa085b36ad8 118
mbed_tw_hoehoe 0:2fa085b36ad8 119 void periodicCallback(void)
mbed_tw_hoehoe 0:2fa085b36ad8 120 {
mbed_tw_hoehoe 0:2fa085b36ad8 121 //oneSecondLed = !oneSecondLed; /* Do blinky on LED1 while we're waiting for BLE events */
mbed_tw_hoehoe 0:2fa085b36ad8 122
mbed_tw_hoehoe 0:2fa085b36ad8 123 /* Note that the periodicCallback() executes in interrupt context, so it is safer to do
mbed_tw_hoehoe 0:2fa085b36ad8 124 * heavy-weight sensor polling from the main thread. */
mbed_tw_hoehoe 0:2fa085b36ad8 125 triggerSensorPolling = true;
mbed_tw_hoehoe 0:2fa085b36ad8 126 }
mbed_tw_hoehoe 0:2fa085b36ad8 127
mbed_tw_hoehoe 0:2fa085b36ad8 128 /**************************************************************************/
mbed_tw_hoehoe 0:2fa085b36ad8 129 /*!
mbed_tw_hoehoe 0:2fa085b36ad8 130 @brief Program entry point
mbed_tw_hoehoe 0:2fa085b36ad8 131 */
mbed_tw_hoehoe 0:2fa085b36ad8 132 /**************************************************************************/
mbed_tw_hoehoe 0:2fa085b36ad8 133 int main(void)
mbed_tw_hoehoe 0:2fa085b36ad8 134 {
mbed_tw_hoehoe 0:2fa085b36ad8 135
mbed_tw_hoehoe 0:2fa085b36ad8 136 //#if DBG
mbed_tw_hoehoe 0:2fa085b36ad8 137 // pc.printf("Start\n\r");
mbed_tw_hoehoe 0:2fa085b36ad8 138 //#endif
mbed_tw_hoehoe 0:2fa085b36ad8 139
mbed_tw_hoehoe 0:2fa085b36ad8 140 if( mpu.testConnection() ){
mbed_tw_hoehoe 0:2fa085b36ad8 141 //pc.printf("mpu test:OK\n\r");
mbed_tw_hoehoe 0:2fa085b36ad8 142 }else{
mbed_tw_hoehoe 0:2fa085b36ad8 143 //pc.printf("mpu test:NG\n\r");
mbed_tw_hoehoe 0:2fa085b36ad8 144 }
mbed_tw_hoehoe 0:2fa085b36ad8 145
mbed_tw_hoehoe 0:2fa085b36ad8 146 Ticker ticker;
mbed_tw_hoehoe 4:3a25f1bdffc7 147 ticker.attach(periodicCallback, 0.25f); //1sec
mbed_tw_hoehoe 0:2fa085b36ad8 148
mbed_tw_hoehoe 0:2fa085b36ad8 149 ble.init();
mbed_tw_hoehoe 0:2fa085b36ad8 150 ble.onDisconnection(disconnectionCallback);
mbed_tw_hoehoe 0:2fa085b36ad8 151 ble.onConnection(onConnectionCallback);
mbed_tw_hoehoe 0:2fa085b36ad8 152 ble.onTimeout(timeoutCallback);
mbed_tw_hoehoe 0:2fa085b36ad8 153
mbed_tw_hoehoe 0:2fa085b36ad8 154 /* setup device name */
mbed_tw_hoehoe 0:2fa085b36ad8 155 ble.setDeviceName((const uint8_t *)DEVICENAME);
mbed_tw_hoehoe 0:2fa085b36ad8 156
mbed_tw_hoehoe 0:2fa085b36ad8 157 /* setup advertising */
mbed_tw_hoehoe 0:2fa085b36ad8 158 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
mbed_tw_hoehoe 0:2fa085b36ad8 159 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
mbed_tw_hoehoe 0:2fa085b36ad8 160 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (const uint8_t *)DEVICENAME, sizeof(DEVICENAME));
mbed_tw_hoehoe 0:2fa085b36ad8 161 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
mbed_tw_hoehoe 4:3a25f1bdffc7 162 (const uint8_t *)MPU6050_service_uuid, sizeof(MPU6050_service_uuid));
mbed_tw_hoehoe 4:3a25f1bdffc7 163 //(const uint8_t *)MPU6050_adv_service_uuid, sizeof(MPU6050_adv_service_uuid));
mbed_tw_hoehoe 0:2fa085b36ad8 164
mbed_tw_hoehoe 0:2fa085b36ad8 165 ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
mbed_tw_hoehoe 0:2fa085b36ad8 166 ble.startAdvertising();
mbed_tw_hoehoe 0:2fa085b36ad8 167
mbed_tw_hoehoe 0:2fa085b36ad8 168 ble.addService(MPU6050Service);
mbed_tw_hoehoe 0:2fa085b36ad8 169
mbed_tw_hoehoe 0:2fa085b36ad8 170 while(true) {
mbed_tw_hoehoe 0:2fa085b36ad8 171 if (triggerSensorPolling && ble.getGapState().connected) {
mbed_tw_hoehoe 0:2fa085b36ad8 172 triggerSensorPolling = false;
mbed_tw_hoehoe 0:2fa085b36ad8 173 updateValue();
mbed_tw_hoehoe 0:2fa085b36ad8 174 } else {
mbed_tw_hoehoe 0:2fa085b36ad8 175 ble.waitForEvent();
mbed_tw_hoehoe 0:2fa085b36ad8 176 }
mbed_tw_hoehoe 0:2fa085b36ad8 177 }
mbed_tw_hoehoe 0:2fa085b36ad8 178 }
mbed_tw_hoehoe 0:2fa085b36ad8 179
mbed_tw_hoehoe 0:2fa085b36ad8 180 void updateValue(void){
mbed_tw_hoehoe 0:2fa085b36ad8 181
mbed_tw_hoehoe 0:2fa085b36ad8 182 float acData[3];
mbed_tw_hoehoe 0:2fa085b36ad8 183 float gyData[3];
mbed_tw_hoehoe 0:2fa085b36ad8 184 float tempData = 0.0;
mbed_tw_hoehoe 0:2fa085b36ad8 185
mbed_tw_hoehoe 3:ca2cdabf5977 186 //加速度を取得
mbed_tw_hoehoe 3:ca2cdabf5977 187 mpu.getAccelero(acData);
mbed_tw_hoehoe 0:2fa085b36ad8 188
mbed_tw_hoehoe 0:2fa085b36ad8 189 memcpy(accelPayload+sizeof(float)*0, &acData[0], sizeof(acData[0]));
mbed_tw_hoehoe 0:2fa085b36ad8 190 memcpy(accelPayload+sizeof(float)*1, &acData[1], sizeof(acData[1]));
mbed_tw_hoehoe 0:2fa085b36ad8 191 memcpy(accelPayload+sizeof(float)*2, &acData[2], sizeof(acData[2]));
mbed_tw_hoehoe 0:2fa085b36ad8 192
mbed_tw_hoehoe 3:ca2cdabf5977 193 //ジャイロを取得
mbed_tw_hoehoe 3:ca2cdabf5977 194 mpu.getGyro(gyData);
mbed_tw_hoehoe 0:2fa085b36ad8 195
mbed_tw_hoehoe 4:3a25f1bdffc7 196 memcpy(accelPayload+sizeof(float)*3, &gyData[0], sizeof(gyData[0]));
mbed_tw_hoehoe 4:3a25f1bdffc7 197 memcpy(accelPayload+sizeof(float)*4, &gyData[1], sizeof(gyData[1]));
mbed_tw_hoehoe 4:3a25f1bdffc7 198 memcpy(accelPayload+sizeof(float)*5, &gyData[2], sizeof(gyData[2]));
mbed_tw_hoehoe 0:2fa085b36ad8 199
mbed_tw_hoehoe 0:2fa085b36ad8 200 //温度を取得
mbed_tw_hoehoe 0:2fa085b36ad8 201 tempData = mpu.getTemp();
mbed_tw_hoehoe 0:2fa085b36ad8 202
mbed_tw_hoehoe 4:3a25f1bdffc7 203 memcpy(accelPayload+sizeof(float)*6, &tempData, sizeof(tempData));
mbed_tw_hoehoe 0:2fa085b36ad8 204 /*
mbed_tw_hoehoe 0:2fa085b36ad8 205 pc.printf("Accel: %.3lf,%.3lf,%.3lf\r\n",
mbed_tw_hoehoe 0:2fa085b36ad8 206 *(float*)&accelPayload[sizeof(float)*0],
mbed_tw_hoehoe 0:2fa085b36ad8 207 *(float*)&accelPayload[sizeof(float)*1],
mbed_tw_hoehoe 0:2fa085b36ad8 208 *(float*)&accelPayload[sizeof(float)*2]);
mbed_tw_hoehoe 0:2fa085b36ad8 209
mbed_tw_hoehoe 0:2fa085b36ad8 210 pc.printf("Gyro: %.3lf,%.3lf,%.3lf\r\n",
mbed_tw_hoehoe 0:2fa085b36ad8 211 *(float*)&gyroPayload[sizeof(float)*0],
mbed_tw_hoehoe 0:2fa085b36ad8 212 *(float*)&gyroPayload[sizeof(float)*1],
mbed_tw_hoehoe 0:2fa085b36ad8 213 *(float*)&gyroPayload[sizeof(float)*2]);
mbed_tw_hoehoe 0:2fa085b36ad8 214
mbed_tw_hoehoe 0:2fa085b36ad8 215 pc.printf("Temp: %.3lf\r\n", *(float*)&tempPayload[sizeof(float)*0]);
mbed_tw_hoehoe 0:2fa085b36ad8 216 pc.printf("Battery: %d\r\n", batt);
mbed_tw_hoehoe 0:2fa085b36ad8 217 */
mbed_tw_hoehoe 0:2fa085b36ad8 218
mbed_tw_hoehoe 0:2fa085b36ad8 219 ble.updateCharacteristicValue(accelChar.getValueAttribute().getHandle(), accelPayload, sizeof(accelPayload)); //Mod
mbed_tw_hoehoe 0:2fa085b36ad8 220 }