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@14:700c99bb766c, 2015-05-19 (annotated)

Committer:
mbed_tw_hoehoe
Date:
Tue May 19 11:35:13 2015 +0000
Revision:
14:700c99bb766c
Parent:
13:7b4edf8b8c1b
Child:
15:f0306f9dc7ad
change axis6 values.

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 12:6ef51c5442dd 18 //#define MIN_CONN_INTERVAL 250 /**< Minimum connection interval */
mbed_tw_hoehoe 12:6ef51c5442dd 19 //#define MAX_CONN_INTERVAL 350 /**< Maximum connection interval */
mbed_tw_hoehoe 12:6ef51c5442dd 20 #define CONN_INTERVAL 313 /**< connection interval 250ms; in multiples of 0.125ms. (durationInMillis * 1000) / UNIT_0_625_MS; */
mbed_tw_hoehoe 12:6ef51c5442dd 21 #define CONN_SUP_TIMEOUT 8000 /**< Connection supervisory timeout (6 seconds); in multiples of 0.125ms. */
mbed_tw_hoehoe 9:aca7ff8a1945 22 #define SLAVE_LATENCY 4
mbed_tw_hoehoe 9:aca7ff8a1945 23
mbed_tw_hoehoe 9:aca7ff8a1945 24
mbed_tw_hoehoe 0:2fa085b36ad8 25 BLEDevice ble;
mbed_tw_hoehoe 0:2fa085b36ad8 26
mbed_tw_hoehoe 0:2fa085b36ad8 27 MPU6050 mpu(I2C_SDA0, I2C_SCL0);
mbed_tw_hoehoe 10:f226b7907cf2 28
mbed_tw_hoehoe 0:2fa085b36ad8 29 static const char DEVICENAME[] = "BLE-Nano";
mbed_tw_hoehoe 11:5a3dcafaffbb 30 static volatile bool triggerSensorPolling = false;
mbed_tw_hoehoe 0:2fa085b36ad8 31
mbed_tw_hoehoe 0:2fa085b36ad8 32 //9FDF3283-9049-CF8D-5C4D-98E7E2002731
mbed_tw_hoehoe 4:3a25f1bdffc7 33 //const uint8_t MPU6050_adv_service_uuid[] = {
mbed_tw_hoehoe 4:3a25f1bdffc7 34 // 0x9F,0xDF,0x32,0x83,
mbed_tw_hoehoe 4:3a25f1bdffc7 35 // 0x90,0x49,
mbed_tw_hoehoe 4:3a25f1bdffc7 36 // 0xCF,0x8D,
mbed_tw_hoehoe 4:3a25f1bdffc7 37 // 0x5C,0x4D,
mbed_tw_hoehoe 4:3a25f1bdffc7 38 // 0x98,0xE7,0xE2,0x00,0x27,0x31
mbed_tw_hoehoe 4:3a25f1bdffc7 39 //};
mbed_tw_hoehoe 0:2fa085b36ad8 40
mbed_tw_hoehoe 0:2fa085b36ad8 41 const uint8_t MPU6050_service_uuid[] = {
mbed_tw_hoehoe 9:aca7ff8a1945 42 0x31,0x27,0x00,0xE2,0xE7,0x98,
mbed_tw_hoehoe 9:aca7ff8a1945 43 0x4D,0x5C,
mbed_tw_hoehoe 9:aca7ff8a1945 44 0x8D,0xCF,
mbed_tw_hoehoe 9:aca7ff8a1945 45 0x49,0x90,0x83,0x32,0xDF,0x9F
mbed_tw_hoehoe 0:2fa085b36ad8 46 };
mbed_tw_hoehoe 0:2fa085b36ad8 47
mbed_tw_hoehoe 0:2fa085b36ad8 48 const uint8_t MPU6050_Accel_Characteristic_uuid[] = {
mbed_tw_hoehoe 0:2fa085b36ad8 49 0xFF,0xA2,0x8C,0xDE,0x65,0x25,
mbed_tw_hoehoe 0:2fa085b36ad8 50 0x44,0x89,
mbed_tw_hoehoe 0:2fa085b36ad8 51 0x80,0x1C,
mbed_tw_hoehoe 0:2fa085b36ad8 52 0x1C,0x06,0x0C,0xAC,0x97,0x67
mbed_tw_hoehoe 0:2fa085b36ad8 53 };
mbed_tw_hoehoe 0:2fa085b36ad8 54
mbed_tw_hoehoe 5:807096fdd895 55 static const uint8_t MPU6050_Write_Characteristic_uuid[] =
mbed_tw_hoehoe 5:807096fdd895 56 {
mbed_tw_hoehoe 5:807096fdd895 57 0x65, 0x60, 0xBE, 0x95,0xD9, 0x31,
mbed_tw_hoehoe 5:807096fdd895 58 0x4F, 0x64,
mbed_tw_hoehoe 5:807096fdd895 59 0x95, 0x75,
mbed_tw_hoehoe 5:807096fdd895 60 0xC6, 0xDD, 0xB5, 0xAE, 0x7F, 0xA5
mbed_tw_hoehoe 5:807096fdd895 61 };
mbed_tw_hoehoe 5:807096fdd895 62
mbed_tw_hoehoe 14:700c99bb766c 63 uint8_t accelPayload[sizeof(float)*10] = {0,};
mbed_tw_hoehoe 9:aca7ff8a1945 64
mbed_tw_hoehoe 9:aca7ff8a1945 65 uint8_t defaultWriteValue = 2;
mbed_tw_hoehoe 9:aca7ff8a1945 66 uint8_t writePayload[3] = {0, defaultWriteValue, defaultWriteValue,};
mbed_tw_hoehoe 5:807096fdd895 67
mbed_tw_hoehoe 0:2fa085b36ad8 68
mbed_tw_hoehoe 0:2fa085b36ad8 69 GattCharacteristic accelChar (MPU6050_Accel_Characteristic_uuid,
mbed_tw_hoehoe 14:700c99bb766c 70 accelPayload, (sizeof(float) * 10), (sizeof(float) * 10),
mbed_tw_hoehoe 0:2fa085b36ad8 71 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
mbed_tw_hoehoe 0:2fa085b36ad8 72
mbed_tw_hoehoe 5:807096fdd895 73 GattCharacteristic writeChar (MPU6050_Write_Characteristic_uuid,
mbed_tw_hoehoe 14:700c99bb766c 74 writePayload, 2, 2,
mbed_tw_hoehoe 7:e18346358299 75 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
mbed_tw_hoehoe 5:807096fdd895 76
mbed_tw_hoehoe 5:807096fdd895 77 GattCharacteristic *ControllerChars[] = { &accelChar, &writeChar, };
mbed_tw_hoehoe 4:3a25f1bdffc7 78 GattService MPU6050Service(MPU6050_service_uuid, ControllerChars, sizeof(ControllerChars) / sizeof(GattCharacteristic *));
mbed_tw_hoehoe 0:2fa085b36ad8 79
mbed_tw_hoehoe 9:aca7ff8a1945 80
mbed_tw_hoehoe 6:e640afab8288 81
mbed_tw_hoehoe 0:2fa085b36ad8 82 void updateValue(void){
mbed_tw_hoehoe 0:2fa085b36ad8 83 float acData[3];
mbed_tw_hoehoe 0:2fa085b36ad8 84 float gyData[3];
mbed_tw_hoehoe 6:e640afab8288 85 float tempData = 0.0f;
mbed_tw_hoehoe 14:700c99bb766c 86 float at = 0.0f;
mbed_tw_hoehoe 14:700c99bb766c 87 float gt = 0.0f;
mbed_tw_hoehoe 14:700c99bb766c 88 float tickerInterval = 0.0f;
mbed_tw_hoehoe 9:aca7ff8a1945 89
mbed_tw_hoehoe 9:aca7ff8a1945 90 Timer timer;
mbed_tw_hoehoe 6:e640afab8288 91 timer.start();
mbed_tw_hoehoe 0:2fa085b36ad8 92
mbed_tw_hoehoe 3:ca2cdabf5977 93 //加速度を取得
mbed_tw_hoehoe 3:ca2cdabf5977 94 mpu.getAccelero(acData);
mbed_tw_hoehoe 14:700c99bb766c 95 timer.stop();
mbed_tw_hoehoe 14:700c99bb766c 96 at = timer.read_ms();
mbed_tw_hoehoe 14:700c99bb766c 97 timer.reset();
mbed_tw_hoehoe 14:700c99bb766c 98
mbed_tw_hoehoe 0:2fa085b36ad8 99 memcpy(accelPayload+sizeof(float)*0, &acData[0], sizeof(acData[0]));
mbed_tw_hoehoe 0:2fa085b36ad8 100 memcpy(accelPayload+sizeof(float)*1, &acData[1], sizeof(acData[1]));
mbed_tw_hoehoe 0:2fa085b36ad8 101 memcpy(accelPayload+sizeof(float)*2, &acData[2], sizeof(acData[2]));
mbed_tw_hoehoe 0:2fa085b36ad8 102
mbed_tw_hoehoe 3:ca2cdabf5977 103 //ジャイロを取得
mbed_tw_hoehoe 14:700c99bb766c 104 timer.start();
mbed_tw_hoehoe 3:ca2cdabf5977 105 mpu.getGyro(gyData);
mbed_tw_hoehoe 14:700c99bb766c 106 timer.stop();
mbed_tw_hoehoe 14:700c99bb766c 107 gt = timer.read_ms();
mbed_tw_hoehoe 14:700c99bb766c 108 timer.reset();
mbed_tw_hoehoe 14:700c99bb766c 109
mbed_tw_hoehoe 4:3a25f1bdffc7 110 memcpy(accelPayload+sizeof(float)*3, &gyData[0], sizeof(gyData[0]));
mbed_tw_hoehoe 4:3a25f1bdffc7 111 memcpy(accelPayload+sizeof(float)*4, &gyData[1], sizeof(gyData[1]));
mbed_tw_hoehoe 4:3a25f1bdffc7 112 memcpy(accelPayload+sizeof(float)*5, &gyData[2], sizeof(gyData[2]));
mbed_tw_hoehoe 0:2fa085b36ad8 113
mbed_tw_hoehoe 0:2fa085b36ad8 114 //温度を取得
mbed_tw_hoehoe 0:2fa085b36ad8 115 tempData = mpu.getTemp();
mbed_tw_hoehoe 0:2fa085b36ad8 116
mbed_tw_hoehoe 4:3a25f1bdffc7 117 memcpy(accelPayload+sizeof(float)*6, &tempData, sizeof(tempData));
mbed_tw_hoehoe 0:2fa085b36ad8 118 /*
mbed_tw_hoehoe 0:2fa085b36ad8 119 pc.printf("Accel: %.3lf,%.3lf,%.3lf\r\n",
mbed_tw_hoehoe 0:2fa085b36ad8 120 *(float*)&accelPayload[sizeof(float)*0],
mbed_tw_hoehoe 0:2fa085b36ad8 121 *(float*)&accelPayload[sizeof(float)*1],
mbed_tw_hoehoe 0:2fa085b36ad8 122 *(float*)&accelPayload[sizeof(float)*2]);
mbed_tw_hoehoe 11:5a3dcafaffbb 123
mbed_tw_hoehoe 0:2fa085b36ad8 124 pc.printf("Gyro: %.3lf,%.3lf,%.3lf\r\n",
mbed_tw_hoehoe 11:5a3dcafaffbb 125 *(float*)&accelPayload[sizeof(float)*3],
mbed_tw_hoehoe 11:5a3dcafaffbb 126 *(float*)&accelPayload[sizeof(float)*4],
mbed_tw_hoehoe 11:5a3dcafaffbb 127 *(float*)&accelPayload[sizeof(float)*5]);
mbed_tw_hoehoe 11:5a3dcafaffbb 128
mbed_tw_hoehoe 11:5a3dcafaffbb 129 pc.printf("Temp: %.3lf\r\n", *(float*)&accelPayload[sizeof(float)*6]);
mbed_tw_hoehoe 0:2fa085b36ad8 130 */
mbed_tw_hoehoe 14:700c99bb766c 131 memcpy(accelPayload+sizeof(float)*7, &at, sizeof(at));
mbed_tw_hoehoe 14:700c99bb766c 132 memcpy(accelPayload+sizeof(float)*8, &gt, sizeof(gt));
mbed_tw_hoehoe 10:f226b7907cf2 133
mbed_tw_hoehoe 14:700c99bb766c 134 tickerInterval = 0.02f;//(float)Gap::MSEC_TO_GAP_DURATION_UNITS(CONN_INTERVAL);
mbed_tw_hoehoe 14:700c99bb766c 135 memcpy(accelPayload+sizeof(float)*9, &tickerInterval, sizeof(tickerInterval));
mbed_tw_hoehoe 9:aca7ff8a1945 136
mbed_tw_hoehoe 0:2fa085b36ad8 137 ble.updateCharacteristicValue(accelChar.getValueAttribute().getHandle(), accelPayload, sizeof(accelPayload)); //Mod
mbed_tw_hoehoe 9:aca7ff8a1945 138 ble.updateCharacteristicValue(writeChar.getValueAttribute().getHandle(), writePayload, sizeof(writePayload)); //Mod
mbed_tw_hoehoe 0:2fa085b36ad8 139 }
mbed_tw_hoehoe 7:e18346358299 140
mbed_tw_hoehoe 7:e18346358299 141 void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason) // Mod
mbed_tw_hoehoe 7:e18346358299 142 {
mbed_tw_hoehoe 7:e18346358299 143
mbed_tw_hoehoe 7:e18346358299 144 //DEBUG("Disconnected handle %u, reason %u\n", handle, reason);
mbed_tw_hoehoe 7:e18346358299 145 //DEBUG("Restarting the advertising process\n\r");
mbed_tw_hoehoe 7:e18346358299 146
mbed_tw_hoehoe 7:e18346358299 147 ble.startAdvertising();
mbed_tw_hoehoe 7:e18346358299 148 }
mbed_tw_hoehoe 7:e18346358299 149
mbed_tw_hoehoe 7:e18346358299 150 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 7:e18346358299 151 {
mbed_tw_hoehoe 7:e18346358299 152
mbed_tw_hoehoe 7:e18346358299 153 //DEBUG("connected. Got handle %u\r\n", handle);
mbed_tw_hoehoe 7:e18346358299 154
mbed_tw_hoehoe 7:e18346358299 155 /*******************************************************************************/
mbed_tw_hoehoe 7:e18346358299 156 /* CentralがMacOS X の時 connection intervalを設定する場合は */
mbed_tw_hoehoe 7:e18346358299 157 /* nRF51822 -> projectconfig.h -> GAP -> */
mbed_tw_hoehoe 7:e18346358299 158 /* CFG_GAP_CONNECTION_MIN_INTERVAL_MS / CFG_GAP_CONNECTION_MAX_INTERVAL_MSを */
mbed_tw_hoehoe 7:e18346358299 159 /* 直接編集すること */
mbed_tw_hoehoe 7:e18346358299 160 /******************************************************************************/
mbed_tw_hoehoe 7:e18346358299 161
mbed_tw_hoehoe 7:e18346358299 162 Gap::ConnectionParams_t gap_conn_params;
mbed_tw_hoehoe 9:aca7ff8a1945 163 gap_conn_params.minConnectionInterval = Gap::MSEC_TO_GAP_DURATION_UNITS(CONN_INTERVAL);
mbed_tw_hoehoe 9:aca7ff8a1945 164 gap_conn_params.maxConnectionInterval = Gap::MSEC_TO_GAP_DURATION_UNITS(CONN_INTERVAL);
mbed_tw_hoehoe 7:e18346358299 165 gap_conn_params.connectionSupervisionTimeout = Gap::MSEC_TO_GAP_DURATION_UNITS(CONN_SUP_TIMEOUT);
mbed_tw_hoehoe 7:e18346358299 166 gap_conn_params.slaveLatency = SLAVE_LATENCY;
mbed_tw_hoehoe 7:e18346358299 167 ble.updateConnectionParams(handle, &gap_conn_params);
mbed_tw_hoehoe 7:e18346358299 168 //if (ble.updateConnectionParams(handle, &gap_conn_params) != BLE_ERROR_NONE) {
mbed_tw_hoehoe 7:e18346358299 169 // DEBUG("failed to update connection paramter\r\n");
mbed_tw_hoehoe 7:e18346358299 170 //}
mbed_tw_hoehoe 7:e18346358299 171 }
mbed_tw_hoehoe 7:e18346358299 172
mbed_tw_hoehoe 10:f226b7907cf2 173 void onDataWrittenCallback(const GattCharacteristicWriteCBParams *params){
mbed_tw_hoehoe 10:f226b7907cf2 174 char acceleroRange = 0xFF;
mbed_tw_hoehoe 10:f226b7907cf2 175 char gyroRange = 0xFF;
mbed_tw_hoehoe 10:f226b7907cf2 176
mbed_tw_hoehoe 7:e18346358299 177 if (params->charHandle == writeChar.getValueAttribute().getHandle()) {
mbed_tw_hoehoe 7:e18346358299 178 uint16_t len = params->len;
mbed_tw_hoehoe 7:e18346358299 179
mbed_tw_hoehoe 7:e18346358299 180 if (len == 3) {
mbed_tw_hoehoe 7:e18346358299 181 uint8_t controller[3] = {0};
mbed_tw_hoehoe 7:e18346358299 182
mbed_tw_hoehoe 7:e18346358299 183 ble.readCharacteristicValue(writeChar.getValueAttribute().getHandle(), writePayload, &len);
mbed_tw_hoehoe 10:f226b7907cf2 184 memcpy(controller, writePayload, sizeof(controller));
mbed_tw_hoehoe 7:e18346358299 185
mbed_tw_hoehoe 10:f226b7907cf2 186 //pc.printf("write: %u, %u, %u\r\n", controller[0],controller[1],controller[2]);
mbed_tw_hoehoe 7:e18346358299 187
mbed_tw_hoehoe 7:e18346358299 188 switch(controller[1]){
mbed_tw_hoehoe 7:e18346358299 189 case 0:
mbed_tw_hoehoe 10:f226b7907cf2 190 acceleroRange = MPU6050_ACCELERO_RANGE_2G;
mbed_tw_hoehoe 7:e18346358299 191 break;
mbed_tw_hoehoe 7:e18346358299 192 case 1:
mbed_tw_hoehoe 10:f226b7907cf2 193 acceleroRange = MPU6050_ACCELERO_RANGE_4G;
mbed_tw_hoehoe 7:e18346358299 194 break;
mbed_tw_hoehoe 7:e18346358299 195 case 2:
mbed_tw_hoehoe 10:f226b7907cf2 196 acceleroRange = MPU6050_ACCELERO_RANGE_8G;
mbed_tw_hoehoe 10:f226b7907cf2 197 break;
mbed_tw_hoehoe 10:f226b7907cf2 198 case 3:
mbed_tw_hoehoe 10:f226b7907cf2 199 acceleroRange = MPU6050_ACCELERO_RANGE_16G;
mbed_tw_hoehoe 10:f226b7907cf2 200
mbed_tw_hoehoe 7:e18346358299 201 break;
mbed_tw_hoehoe 7:e18346358299 202 default:
mbed_tw_hoehoe 7:e18346358299 203 break;
mbed_tw_hoehoe 7:e18346358299 204 }
mbed_tw_hoehoe 7:e18346358299 205
mbed_tw_hoehoe 7:e18346358299 206 switch(controller[2]){
mbed_tw_hoehoe 7:e18346358299 207 case 0:
mbed_tw_hoehoe 10:f226b7907cf2 208 gyroRange = MPU6050_GYRO_RANGE_250;
mbed_tw_hoehoe 7:e18346358299 209 break;
mbed_tw_hoehoe 7:e18346358299 210 case 1:
mbed_tw_hoehoe 11:5a3dcafaffbb 211 gyroRange = MPU6050_GYRO_RANGE_500;
mbed_tw_hoehoe 7:e18346358299 212 break;
mbed_tw_hoehoe 7:e18346358299 213 case 2:
mbed_tw_hoehoe 11:5a3dcafaffbb 214 gyroRange = MPU6050_GYRO_RANGE_1000;
mbed_tw_hoehoe 7:e18346358299 215 break;
mbed_tw_hoehoe 7:e18346358299 216 case 3:
mbed_tw_hoehoe 11:5a3dcafaffbb 217 gyroRange = MPU6050_GYRO_RANGE_2000;
mbed_tw_hoehoe 7:e18346358299 218 break;
mbed_tw_hoehoe 7:e18346358299 219 default:
mbed_tw_hoehoe 7:e18346358299 220 break;
mbed_tw_hoehoe 7:e18346358299 221 }
mbed_tw_hoehoe 11:5a3dcafaffbb 222 mpu.mpu_set_accel_fsr(acceleroRange);
mbed_tw_hoehoe 11:5a3dcafaffbb 223 mpu.mpu_set_gyro_fsr(gyroRange);
mbed_tw_hoehoe 11:5a3dcafaffbb 224
mbed_tw_hoehoe 7:e18346358299 225 }
mbed_tw_hoehoe 7:e18346358299 226 }
mbed_tw_hoehoe 7:e18346358299 227 }
mbed_tw_hoehoe 7:e18346358299 228
mbed_tw_hoehoe 7:e18346358299 229 void timeoutCallback(void)
mbed_tw_hoehoe 7:e18346358299 230 {
mbed_tw_hoehoe 7:e18346358299 231 //DEBUG("TimeOut\n\r");
mbed_tw_hoehoe 7:e18346358299 232 //DEBUG("Restarting the advertising process\n\r");
mbed_tw_hoehoe 7:e18346358299 233
mbed_tw_hoehoe 7:e18346358299 234 ble.startAdvertising();
mbed_tw_hoehoe 7:e18346358299 235 }
mbed_tw_hoehoe 7:e18346358299 236
mbed_tw_hoehoe 9:aca7ff8a1945 237 void periodicCallback(void)
mbed_tw_hoehoe 9:aca7ff8a1945 238 {
mbed_tw_hoehoe 7:e18346358299 239 //oneSecondLed = !oneSecondLed; /* Do blinky on LED1 while we're waiting for BLE events */
mbed_tw_hoehoe 7:e18346358299 240
mbed_tw_hoehoe 7:e18346358299 241 /* Note that the periodicCallback() executes in interrupt context, so it is safer to do
mbed_tw_hoehoe 7:e18346358299 242 * heavy-weight sensor polling from the main thread. */
mbed_tw_hoehoe 11:5a3dcafaffbb 243 triggerSensorPolling = true;
mbed_tw_hoehoe 9:aca7ff8a1945 244 }
mbed_tw_hoehoe 7:e18346358299 245
mbed_tw_hoehoe 7:e18346358299 246 /**************************************************************************/
mbed_tw_hoehoe 7:e18346358299 247 /*!
mbed_tw_hoehoe 7:e18346358299 248 @brief Program entry point
mbed_tw_hoehoe 7:e18346358299 249 */
mbed_tw_hoehoe 7:e18346358299 250 /**************************************************************************/
mbed_tw_hoehoe 7:e18346358299 251 int main(void)
mbed_tw_hoehoe 7:e18346358299 252 {
mbed_tw_hoehoe 7:e18346358299 253
mbed_tw_hoehoe 7:e18346358299 254 //#if DBG
mbed_tw_hoehoe 7:e18346358299 255 // pc.printf("Start\n\r");
mbed_tw_hoehoe 7:e18346358299 256 //#endif
mbed_tw_hoehoe 8:35390100e16f 257 /*
mbed_tw_hoehoe 8:35390100e16f 258 #define MPU6050_ACCELERO_RANGE_2G 0
mbed_tw_hoehoe 8:35390100e16f 259 #define MPU6050_ACCELERO_RANGE_4G 1
mbed_tw_hoehoe 8:35390100e16f 260 #define MPU6050_ACCELERO_RANGE_8G 2
mbed_tw_hoehoe 8:35390100e16f 261 #define MPU6050_ACCELERO_RANGE_16G 3
mbed_tw_hoehoe 8:35390100e16f 262
mbed_tw_hoehoe 8:35390100e16f 263 #define MPU6050_GYRO_RANGE_250 0
mbed_tw_hoehoe 8:35390100e16f 264 #define MPU6050_GYRO_RANGE_500 1
mbed_tw_hoehoe 8:35390100e16f 265 #define MPU6050_GYRO_RANGE_1000 2
mbed_tw_hoehoe 8:35390100e16f 266 #define MPU6050_GYRO_RANGE_2000 3
mbed_tw_hoehoe 8:35390100e16f 267 */
mbed_tw_hoehoe 9:aca7ff8a1945 268
mbed_tw_hoehoe 7:e18346358299 269 mpu.initialize();
mbed_tw_hoehoe 10:f226b7907cf2 270 mpu.setAcceleroRange(defaultWriteValue);
mbed_tw_hoehoe 9:aca7ff8a1945 271 mpu.setGyroRange(defaultWriteValue);
mbed_tw_hoehoe 7:e18346358299 272
mbed_tw_hoehoe 7:e18346358299 273 if( mpu.testConnection() ){
mbed_tw_hoehoe 7:e18346358299 274 //pc.printf("mpu test:OK\n\r");
mbed_tw_hoehoe 7:e18346358299 275 }else{
mbed_tw_hoehoe 7:e18346358299 276 //pc.printf("mpu test:NG\n\r");
mbed_tw_hoehoe 7:e18346358299 277 }
mbed_tw_hoehoe 10:f226b7907cf2 278
mbed_tw_hoehoe 9:aca7ff8a1945 279 Ticker ticker;
mbed_tw_hoehoe 13:7b4edf8b8c1b 280 ticker.attach(periodicCallback, 0.02f); //.2f-sec
mbed_tw_hoehoe 7:e18346358299 281
mbed_tw_hoehoe 7:e18346358299 282 ble.init();
mbed_tw_hoehoe 7:e18346358299 283 ble.onDisconnection(disconnectionCallback);
mbed_tw_hoehoe 7:e18346358299 284 ble.onConnection(onConnectionCallback);
mbed_tw_hoehoe 10:f226b7907cf2 285 ble.onDataWritten(onDataWrittenCallback);
mbed_tw_hoehoe 7:e18346358299 286 ble.onTimeout(timeoutCallback);
mbed_tw_hoehoe 7:e18346358299 287
mbed_tw_hoehoe 7:e18346358299 288 /* setup device name */
mbed_tw_hoehoe 7:e18346358299 289 ble.setDeviceName((const uint8_t *)DEVICENAME);
mbed_tw_hoehoe 7:e18346358299 290
mbed_tw_hoehoe 7:e18346358299 291 /* setup advertising */
mbed_tw_hoehoe 7:e18346358299 292 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
mbed_tw_hoehoe 7:e18346358299 293 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
mbed_tw_hoehoe 7:e18346358299 294 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (const uint8_t *)DEVICENAME, sizeof(DEVICENAME));
mbed_tw_hoehoe 7:e18346358299 295 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
mbed_tw_hoehoe 7:e18346358299 296 (const uint8_t *)MPU6050_service_uuid, sizeof(MPU6050_service_uuid));
mbed_tw_hoehoe 7:e18346358299 297 //(const uint8_t *)MPU6050_adv_service_uuid, sizeof(MPU6050_adv_service_uuid));
mbed_tw_hoehoe 7:e18346358299 298
mbed_tw_hoehoe 7:e18346358299 299 ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
mbed_tw_hoehoe 7:e18346358299 300 ble.startAdvertising();
mbed_tw_hoehoe 7:e18346358299 301
mbed_tw_hoehoe 7:e18346358299 302 ble.addService(MPU6050Service);
mbed_tw_hoehoe 10:f226b7907cf2 303
mbed_tw_hoehoe 7:e18346358299 304 while(true) {
mbed_tw_hoehoe 11:5a3dcafaffbb 305 if (triggerSensorPolling && ble.getGapState().connected) {
mbed_tw_hoehoe 11:5a3dcafaffbb 306 triggerSensorPolling = false;
mbed_tw_hoehoe 11:5a3dcafaffbb 307 updateValue();
mbed_tw_hoehoe 11:5a3dcafaffbb 308 } else {
mbed_tw_hoehoe 9:aca7ff8a1945 309 ble.waitForEvent();
mbed_tw_hoehoe 11:5a3dcafaffbb 310 }
mbed_tw_hoehoe 7:e18346358299 311 }
mbed_tw_hoehoe 7:e18346358299 312 }
mbed_tw_hoehoe 7:e18346358299 313