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@16:e2386ded5c74, 2015-05-26 (annotated)

Committer:
mbed_tw_hoehoe
Date:
Tue May 26 16:39:02 2015 +0000
Revision:
16:e2386ded5c74
Parent:
15:f0306f9dc7ad
Child:
17:e7c43d1b362f
bug fix.

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 15:f0306f9dc7ad 22 #define SLAVE_LATENCY 0
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 4:3a25f1bdffc7 32 //const uint8_t MPU6050_adv_service_uuid[] = {
mbed_tw_hoehoe 4:3a25f1bdffc7 33 // 0x9F,0xDF,0x32,0x83,
mbed_tw_hoehoe 4:3a25f1bdffc7 34 // 0x90,0x49,
mbed_tw_hoehoe 4:3a25f1bdffc7 35 // 0xCF,0x8D,
mbed_tw_hoehoe 4:3a25f1bdffc7 36 // 0x5C,0x4D,
mbed_tw_hoehoe 4:3a25f1bdffc7 37 // 0x98,0xE7,0xE2,0x00,0x27,0x31
mbed_tw_hoehoe 4:3a25f1bdffc7 38 //};
mbed_tw_hoehoe 0:2fa085b36ad8 39
mbed_tw_hoehoe 0:2fa085b36ad8 40 const uint8_t MPU6050_service_uuid[] = {
mbed_tw_hoehoe 15:f0306f9dc7ad 41 0x79,0x0B,0x56,0x80,0x62,0xC3,0x58,0x90,0xC4,0x42,0xCC,0x39,0x76,0x5E,0xC1,0x64
mbed_tw_hoehoe 0:2fa085b36ad8 42 };
mbed_tw_hoehoe 0:2fa085b36ad8 43
mbed_tw_hoehoe 0:2fa085b36ad8 44 const uint8_t MPU6050_Accel_Characteristic_uuid[] = {
mbed_tw_hoehoe 15:f0306f9dc7ad 45 0x79,0x0B,0x56,0x81,0x62,0xC3,0x58,0x90,0xC4,0x42,0xCC,0x39,0x76,0x5E,0xC1,0x64
mbed_tw_hoehoe 0:2fa085b36ad8 46 };
mbed_tw_hoehoe 0:2fa085b36ad8 47
mbed_tw_hoehoe 15:f0306f9dc7ad 48 const uint8_t MPU6050_Write_Characteristic_uuid[] =
mbed_tw_hoehoe 5:807096fdd895 49 {
mbed_tw_hoehoe 15:f0306f9dc7ad 50 0x79,0x0B,0x56,0x83,0x62,0xC3,0x58,0x90,0xC4,0x42,0xCC,0x39,0x76,0x5E,0xC1,0x64
mbed_tw_hoehoe 5:807096fdd895 51 };
mbed_tw_hoehoe 5:807096fdd895 52
mbed_tw_hoehoe 14:700c99bb766c 53 uint8_t accelPayload[sizeof(float)*10] = {0,};
mbed_tw_hoehoe 9:aca7ff8a1945 54
mbed_tw_hoehoe 9:aca7ff8a1945 55 uint8_t defaultWriteValue = 2;
mbed_tw_hoehoe 9:aca7ff8a1945 56 uint8_t writePayload[3] = {0, defaultWriteValue, defaultWriteValue,};
mbed_tw_hoehoe 5:807096fdd895 57
mbed_tw_hoehoe 0:2fa085b36ad8 58
mbed_tw_hoehoe 0:2fa085b36ad8 59 GattCharacteristic accelChar (MPU6050_Accel_Characteristic_uuid,
mbed_tw_hoehoe 14:700c99bb766c 60 accelPayload, (sizeof(float) * 10), (sizeof(float) * 10),
mbed_tw_hoehoe 0:2fa085b36ad8 61 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
mbed_tw_hoehoe 0:2fa085b36ad8 62
mbed_tw_hoehoe 5:807096fdd895 63 GattCharacteristic writeChar (MPU6050_Write_Characteristic_uuid,
mbed_tw_hoehoe 14:700c99bb766c 64 writePayload, 2, 2,
mbed_tw_hoehoe 7:e18346358299 65 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 66
mbed_tw_hoehoe 5:807096fdd895 67 GattCharacteristic *ControllerChars[] = { &accelChar, &writeChar, };
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 9:aca7ff8a1945 70
mbed_tw_hoehoe 6:e640afab8288 71
mbed_tw_hoehoe 0:2fa085b36ad8 72 void updateValue(void){
mbed_tw_hoehoe 0:2fa085b36ad8 73 float acData[3];
mbed_tw_hoehoe 0:2fa085b36ad8 74 float gyData[3];
mbed_tw_hoehoe 6:e640afab8288 75 float tempData = 0.0f;
mbed_tw_hoehoe 14:700c99bb766c 76 float at = 0.0f;
mbed_tw_hoehoe 14:700c99bb766c 77 float gt = 0.0f;
mbed_tw_hoehoe 14:700c99bb766c 78 float tickerInterval = 0.0f;
mbed_tw_hoehoe 0:2fa085b36ad8 79
mbed_tw_hoehoe 3:ca2cdabf5977 80 //加速度を取得
mbed_tw_hoehoe 15:f0306f9dc7ad 81 Timer acTimer;
mbed_tw_hoehoe 15:f0306f9dc7ad 82 acTimer.start();
mbed_tw_hoehoe 3:ca2cdabf5977 83 mpu.getAccelero(acData);
mbed_tw_hoehoe 15:f0306f9dc7ad 84 acTimer.stop();
mbed_tw_hoehoe 15:f0306f9dc7ad 85 at = acTimer.read_ms();
mbed_tw_hoehoe 15:f0306f9dc7ad 86 acTimer.reset();
mbed_tw_hoehoe 14:700c99bb766c 87
mbed_tw_hoehoe 0:2fa085b36ad8 88 memcpy(accelPayload+sizeof(float)*0, &acData[0], sizeof(acData[0]));
mbed_tw_hoehoe 0:2fa085b36ad8 89 memcpy(accelPayload+sizeof(float)*1, &acData[1], sizeof(acData[1]));
mbed_tw_hoehoe 0:2fa085b36ad8 90 memcpy(accelPayload+sizeof(float)*2, &acData[2], sizeof(acData[2]));
mbed_tw_hoehoe 0:2fa085b36ad8 91
mbed_tw_hoehoe 3:ca2cdabf5977 92 //ジャイロを取得
mbed_tw_hoehoe 15:f0306f9dc7ad 93 Timer gyTimer;
mbed_tw_hoehoe 15:f0306f9dc7ad 94 gyTimer.start();
mbed_tw_hoehoe 3:ca2cdabf5977 95 mpu.getGyro(gyData);
mbed_tw_hoehoe 15:f0306f9dc7ad 96 gyTimer.stop();
mbed_tw_hoehoe 15:f0306f9dc7ad 97 gt = gyTimer.read_ms();
mbed_tw_hoehoe 15:f0306f9dc7ad 98 gyTimer.reset();
mbed_tw_hoehoe 14:700c99bb766c 99
mbed_tw_hoehoe 4:3a25f1bdffc7 100 memcpy(accelPayload+sizeof(float)*3, &gyData[0], sizeof(gyData[0]));
mbed_tw_hoehoe 4:3a25f1bdffc7 101 memcpy(accelPayload+sizeof(float)*4, &gyData[1], sizeof(gyData[1]));
mbed_tw_hoehoe 4:3a25f1bdffc7 102 memcpy(accelPayload+sizeof(float)*5, &gyData[2], sizeof(gyData[2]));
mbed_tw_hoehoe 0:2fa085b36ad8 103
mbed_tw_hoehoe 0:2fa085b36ad8 104 //温度を取得
mbed_tw_hoehoe 0:2fa085b36ad8 105 tempData = mpu.getTemp();
mbed_tw_hoehoe 0:2fa085b36ad8 106
mbed_tw_hoehoe 4:3a25f1bdffc7 107 memcpy(accelPayload+sizeof(float)*6, &tempData, sizeof(tempData));
mbed_tw_hoehoe 0:2fa085b36ad8 108 /*
mbed_tw_hoehoe 0:2fa085b36ad8 109 pc.printf("Accel: %.3lf,%.3lf,%.3lf\r\n",
mbed_tw_hoehoe 0:2fa085b36ad8 110 *(float*)&accelPayload[sizeof(float)*0],
mbed_tw_hoehoe 0:2fa085b36ad8 111 *(float*)&accelPayload[sizeof(float)*1],
mbed_tw_hoehoe 0:2fa085b36ad8 112 *(float*)&accelPayload[sizeof(float)*2]);
mbed_tw_hoehoe 11:5a3dcafaffbb 113
mbed_tw_hoehoe 0:2fa085b36ad8 114 pc.printf("Gyro: %.3lf,%.3lf,%.3lf\r\n",
mbed_tw_hoehoe 11:5a3dcafaffbb 115 *(float*)&accelPayload[sizeof(float)*3],
mbed_tw_hoehoe 11:5a3dcafaffbb 116 *(float*)&accelPayload[sizeof(float)*4],
mbed_tw_hoehoe 11:5a3dcafaffbb 117 *(float*)&accelPayload[sizeof(float)*5]);
mbed_tw_hoehoe 11:5a3dcafaffbb 118
mbed_tw_hoehoe 11:5a3dcafaffbb 119 pc.printf("Temp: %.3lf\r\n", *(float*)&accelPayload[sizeof(float)*6]);
mbed_tw_hoehoe 0:2fa085b36ad8 120 */
mbed_tw_hoehoe 14:700c99bb766c 121 memcpy(accelPayload+sizeof(float)*7, &at, sizeof(at));
mbed_tw_hoehoe 14:700c99bb766c 122 memcpy(accelPayload+sizeof(float)*8, &gt, sizeof(gt));
mbed_tw_hoehoe 10:f226b7907cf2 123
mbed_tw_hoehoe 15:f0306f9dc7ad 124 tickerInterval = 0.02f;
mbed_tw_hoehoe 14:700c99bb766c 125 memcpy(accelPayload+sizeof(float)*9, &tickerInterval, sizeof(tickerInterval));
mbed_tw_hoehoe 9:aca7ff8a1945 126
mbed_tw_hoehoe 0:2fa085b36ad8 127 ble.updateCharacteristicValue(accelChar.getValueAttribute().getHandle(), accelPayload, sizeof(accelPayload)); //Mod
mbed_tw_hoehoe 9:aca7ff8a1945 128 ble.updateCharacteristicValue(writeChar.getValueAttribute().getHandle(), writePayload, sizeof(writePayload)); //Mod
mbed_tw_hoehoe 0:2fa085b36ad8 129 }
mbed_tw_hoehoe 7:e18346358299 130
mbed_tw_hoehoe 7:e18346358299 131 void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason) // Mod
mbed_tw_hoehoe 7:e18346358299 132 {
mbed_tw_hoehoe 7:e18346358299 133
mbed_tw_hoehoe 7:e18346358299 134 //DEBUG("Disconnected handle %u, reason %u\n", handle, reason);
mbed_tw_hoehoe 7:e18346358299 135 //DEBUG("Restarting the advertising process\n\r");
mbed_tw_hoehoe 7:e18346358299 136
mbed_tw_hoehoe 7:e18346358299 137 ble.startAdvertising();
mbed_tw_hoehoe 7:e18346358299 138 }
mbed_tw_hoehoe 7:e18346358299 139
mbed_tw_hoehoe 7:e18346358299 140 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 141 {
mbed_tw_hoehoe 7:e18346358299 142
mbed_tw_hoehoe 7:e18346358299 143 //DEBUG("connected. Got handle %u\r\n", handle);
mbed_tw_hoehoe 7:e18346358299 144
mbed_tw_hoehoe 7:e18346358299 145 /*******************************************************************************/
mbed_tw_hoehoe 7:e18346358299 146 /* CentralがMacOS X の時 connection intervalを設定する場合は */
mbed_tw_hoehoe 7:e18346358299 147 /* nRF51822 -> projectconfig.h -> GAP -> */
mbed_tw_hoehoe 7:e18346358299 148 /* CFG_GAP_CONNECTION_MIN_INTERVAL_MS / CFG_GAP_CONNECTION_MAX_INTERVAL_MSを */
mbed_tw_hoehoe 7:e18346358299 149 /* 直接編集すること */
mbed_tw_hoehoe 7:e18346358299 150 /******************************************************************************/
mbed_tw_hoehoe 7:e18346358299 151
mbed_tw_hoehoe 7:e18346358299 152 Gap::ConnectionParams_t gap_conn_params;
mbed_tw_hoehoe 9:aca7ff8a1945 153 gap_conn_params.minConnectionInterval = Gap::MSEC_TO_GAP_DURATION_UNITS(CONN_INTERVAL);
mbed_tw_hoehoe 9:aca7ff8a1945 154 gap_conn_params.maxConnectionInterval = Gap::MSEC_TO_GAP_DURATION_UNITS(CONN_INTERVAL);
mbed_tw_hoehoe 7:e18346358299 155 gap_conn_params.connectionSupervisionTimeout = Gap::MSEC_TO_GAP_DURATION_UNITS(CONN_SUP_TIMEOUT);
mbed_tw_hoehoe 7:e18346358299 156 gap_conn_params.slaveLatency = SLAVE_LATENCY;
mbed_tw_hoehoe 7:e18346358299 157 ble.updateConnectionParams(handle, &gap_conn_params);
mbed_tw_hoehoe 7:e18346358299 158 //if (ble.updateConnectionParams(handle, &gap_conn_params) != BLE_ERROR_NONE) {
mbed_tw_hoehoe 7:e18346358299 159 // DEBUG("failed to update connection paramter\r\n");
mbed_tw_hoehoe 7:e18346358299 160 //}
mbed_tw_hoehoe 7:e18346358299 161 }
mbed_tw_hoehoe 7:e18346358299 162
mbed_tw_hoehoe 10:f226b7907cf2 163 void onDataWrittenCallback(const GattCharacteristicWriteCBParams *params){
mbed_tw_hoehoe 10:f226b7907cf2 164 char acceleroRange = 0xFF;
mbed_tw_hoehoe 10:f226b7907cf2 165 char gyroRange = 0xFF;
mbed_tw_hoehoe 10:f226b7907cf2 166
mbed_tw_hoehoe 7:e18346358299 167 if (params->charHandle == writeChar.getValueAttribute().getHandle()) {
mbed_tw_hoehoe 7:e18346358299 168 uint16_t len = params->len;
mbed_tw_hoehoe 7:e18346358299 169
mbed_tw_hoehoe 16:e2386ded5c74 170 if (len == 2) {
mbed_tw_hoehoe 16:e2386ded5c74 171 uint8_t controller[2] = {0};
mbed_tw_hoehoe 7:e18346358299 172
mbed_tw_hoehoe 7:e18346358299 173 ble.readCharacteristicValue(writeChar.getValueAttribute().getHandle(), writePayload, &len);
mbed_tw_hoehoe 10:f226b7907cf2 174 memcpy(controller, writePayload, sizeof(controller));
mbed_tw_hoehoe 7:e18346358299 175
mbed_tw_hoehoe 10:f226b7907cf2 176 //pc.printf("write: %u, %u, %u\r\n", controller[0],controller[1],controller[2]);
mbed_tw_hoehoe 7:e18346358299 177
mbed_tw_hoehoe 16:e2386ded5c74 178 switch(controller[0]){
mbed_tw_hoehoe 7:e18346358299 179 case 0:
mbed_tw_hoehoe 10:f226b7907cf2 180 acceleroRange = MPU6050_ACCELERO_RANGE_2G;
mbed_tw_hoehoe 7:e18346358299 181 break;
mbed_tw_hoehoe 7:e18346358299 182 case 1:
mbed_tw_hoehoe 10:f226b7907cf2 183 acceleroRange = MPU6050_ACCELERO_RANGE_4G;
mbed_tw_hoehoe 7:e18346358299 184 break;
mbed_tw_hoehoe 7:e18346358299 185 case 2:
mbed_tw_hoehoe 10:f226b7907cf2 186 acceleroRange = MPU6050_ACCELERO_RANGE_8G;
mbed_tw_hoehoe 10:f226b7907cf2 187 break;
mbed_tw_hoehoe 10:f226b7907cf2 188 case 3:
mbed_tw_hoehoe 10:f226b7907cf2 189 acceleroRange = MPU6050_ACCELERO_RANGE_16G;
mbed_tw_hoehoe 10:f226b7907cf2 190
mbed_tw_hoehoe 7:e18346358299 191 break;
mbed_tw_hoehoe 7:e18346358299 192 default:
mbed_tw_hoehoe 7:e18346358299 193 break;
mbed_tw_hoehoe 7:e18346358299 194 }
mbed_tw_hoehoe 7:e18346358299 195
mbed_tw_hoehoe 16:e2386ded5c74 196 switch(controller[1]){
mbed_tw_hoehoe 7:e18346358299 197 case 0:
mbed_tw_hoehoe 10:f226b7907cf2 198 gyroRange = MPU6050_GYRO_RANGE_250;
mbed_tw_hoehoe 7:e18346358299 199 break;
mbed_tw_hoehoe 7:e18346358299 200 case 1:
mbed_tw_hoehoe 11:5a3dcafaffbb 201 gyroRange = MPU6050_GYRO_RANGE_500;
mbed_tw_hoehoe 7:e18346358299 202 break;
mbed_tw_hoehoe 7:e18346358299 203 case 2:
mbed_tw_hoehoe 11:5a3dcafaffbb 204 gyroRange = MPU6050_GYRO_RANGE_1000;
mbed_tw_hoehoe 7:e18346358299 205 break;
mbed_tw_hoehoe 7:e18346358299 206 case 3:
mbed_tw_hoehoe 11:5a3dcafaffbb 207 gyroRange = MPU6050_GYRO_RANGE_2000;
mbed_tw_hoehoe 7:e18346358299 208 break;
mbed_tw_hoehoe 7:e18346358299 209 default:
mbed_tw_hoehoe 7:e18346358299 210 break;
mbed_tw_hoehoe 7:e18346358299 211 }
mbed_tw_hoehoe 11:5a3dcafaffbb 212 mpu.mpu_set_accel_fsr(acceleroRange);
mbed_tw_hoehoe 11:5a3dcafaffbb 213 mpu.mpu_set_gyro_fsr(gyroRange);
mbed_tw_hoehoe 11:5a3dcafaffbb 214
mbed_tw_hoehoe 7:e18346358299 215 }
mbed_tw_hoehoe 7:e18346358299 216 }
mbed_tw_hoehoe 7:e18346358299 217 }
mbed_tw_hoehoe 7:e18346358299 218
mbed_tw_hoehoe 7:e18346358299 219 void timeoutCallback(void)
mbed_tw_hoehoe 7:e18346358299 220 {
mbed_tw_hoehoe 7:e18346358299 221 //DEBUG("TimeOut\n\r");
mbed_tw_hoehoe 7:e18346358299 222 //DEBUG("Restarting the advertising process\n\r");
mbed_tw_hoehoe 7:e18346358299 223
mbed_tw_hoehoe 7:e18346358299 224 ble.startAdvertising();
mbed_tw_hoehoe 7:e18346358299 225 }
mbed_tw_hoehoe 7:e18346358299 226
mbed_tw_hoehoe 9:aca7ff8a1945 227 void periodicCallback(void)
mbed_tw_hoehoe 9:aca7ff8a1945 228 {
mbed_tw_hoehoe 7:e18346358299 229 //oneSecondLed = !oneSecondLed; /* Do blinky on LED1 while we're waiting for BLE events */
mbed_tw_hoehoe 7:e18346358299 230
mbed_tw_hoehoe 7:e18346358299 231 /* Note that the periodicCallback() executes in interrupt context, so it is safer to do
mbed_tw_hoehoe 7:e18346358299 232 * heavy-weight sensor polling from the main thread. */
mbed_tw_hoehoe 11:5a3dcafaffbb 233 triggerSensorPolling = true;
mbed_tw_hoehoe 9:aca7ff8a1945 234 }
mbed_tw_hoehoe 7:e18346358299 235
mbed_tw_hoehoe 7:e18346358299 236 /**************************************************************************/
mbed_tw_hoehoe 7:e18346358299 237 /*!
mbed_tw_hoehoe 7:e18346358299 238 @brief Program entry point
mbed_tw_hoehoe 7:e18346358299 239 */
mbed_tw_hoehoe 7:e18346358299 240 /**************************************************************************/
mbed_tw_hoehoe 7:e18346358299 241 int main(void)
mbed_tw_hoehoe 7:e18346358299 242 {
mbed_tw_hoehoe 7:e18346358299 243
mbed_tw_hoehoe 7:e18346358299 244 //#if DBG
mbed_tw_hoehoe 7:e18346358299 245 // pc.printf("Start\n\r");
mbed_tw_hoehoe 7:e18346358299 246 //#endif
mbed_tw_hoehoe 8:35390100e16f 247 /*
mbed_tw_hoehoe 8:35390100e16f 248 #define MPU6050_ACCELERO_RANGE_2G 0
mbed_tw_hoehoe 8:35390100e16f 249 #define MPU6050_ACCELERO_RANGE_4G 1
mbed_tw_hoehoe 8:35390100e16f 250 #define MPU6050_ACCELERO_RANGE_8G 2
mbed_tw_hoehoe 8:35390100e16f 251 #define MPU6050_ACCELERO_RANGE_16G 3
mbed_tw_hoehoe 8:35390100e16f 252
mbed_tw_hoehoe 8:35390100e16f 253 #define MPU6050_GYRO_RANGE_250 0
mbed_tw_hoehoe 8:35390100e16f 254 #define MPU6050_GYRO_RANGE_500 1
mbed_tw_hoehoe 8:35390100e16f 255 #define MPU6050_GYRO_RANGE_1000 2
mbed_tw_hoehoe 8:35390100e16f 256 #define MPU6050_GYRO_RANGE_2000 3
mbed_tw_hoehoe 8:35390100e16f 257 */
mbed_tw_hoehoe 9:aca7ff8a1945 258
mbed_tw_hoehoe 7:e18346358299 259 mpu.initialize();
mbed_tw_hoehoe 10:f226b7907cf2 260 mpu.setAcceleroRange(defaultWriteValue);
mbed_tw_hoehoe 9:aca7ff8a1945 261 mpu.setGyroRange(defaultWriteValue);
mbed_tw_hoehoe 7:e18346358299 262
mbed_tw_hoehoe 7:e18346358299 263 if( mpu.testConnection() ){
mbed_tw_hoehoe 7:e18346358299 264 //pc.printf("mpu test:OK\n\r");
mbed_tw_hoehoe 7:e18346358299 265 }else{
mbed_tw_hoehoe 7:e18346358299 266 //pc.printf("mpu test:NG\n\r");
mbed_tw_hoehoe 7:e18346358299 267 }
mbed_tw_hoehoe 10:f226b7907cf2 268
mbed_tw_hoehoe 9:aca7ff8a1945 269 Ticker ticker;
mbed_tw_hoehoe 13:7b4edf8b8c1b 270 ticker.attach(periodicCallback, 0.02f); //.2f-sec
mbed_tw_hoehoe 7:e18346358299 271
mbed_tw_hoehoe 7:e18346358299 272 ble.init();
mbed_tw_hoehoe 7:e18346358299 273 ble.onDisconnection(disconnectionCallback);
mbed_tw_hoehoe 7:e18346358299 274 ble.onConnection(onConnectionCallback);
mbed_tw_hoehoe 10:f226b7907cf2 275 ble.onDataWritten(onDataWrittenCallback);
mbed_tw_hoehoe 7:e18346358299 276 ble.onTimeout(timeoutCallback);
mbed_tw_hoehoe 7:e18346358299 277
mbed_tw_hoehoe 7:e18346358299 278 /* setup device name */
mbed_tw_hoehoe 7:e18346358299 279 ble.setDeviceName((const uint8_t *)DEVICENAME);
mbed_tw_hoehoe 7:e18346358299 280
mbed_tw_hoehoe 7:e18346358299 281 /* setup advertising */
mbed_tw_hoehoe 7:e18346358299 282 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
mbed_tw_hoehoe 7:e18346358299 283 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
mbed_tw_hoehoe 7:e18346358299 284 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (const uint8_t *)DEVICENAME, sizeof(DEVICENAME));
mbed_tw_hoehoe 7:e18346358299 285 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
mbed_tw_hoehoe 7:e18346358299 286 (const uint8_t *)MPU6050_service_uuid, sizeof(MPU6050_service_uuid));
mbed_tw_hoehoe 7:e18346358299 287 //(const uint8_t *)MPU6050_adv_service_uuid, sizeof(MPU6050_adv_service_uuid));
mbed_tw_hoehoe 7:e18346358299 288
mbed_tw_hoehoe 7:e18346358299 289 ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
mbed_tw_hoehoe 7:e18346358299 290 ble.startAdvertising();
mbed_tw_hoehoe 7:e18346358299 291
mbed_tw_hoehoe 7:e18346358299 292 ble.addService(MPU6050Service);
mbed_tw_hoehoe 10:f226b7907cf2 293
mbed_tw_hoehoe 7:e18346358299 294 while(true) {
mbed_tw_hoehoe 11:5a3dcafaffbb 295 if (triggerSensorPolling && ble.getGapState().connected) {
mbed_tw_hoehoe 11:5a3dcafaffbb 296 triggerSensorPolling = false;
mbed_tw_hoehoe 11:5a3dcafaffbb 297 updateValue();
mbed_tw_hoehoe 11:5a3dcafaffbb 298 } else {
mbed_tw_hoehoe 9:aca7ff8a1945 299 ble.waitForEvent();
mbed_tw_hoehoe 11:5a3dcafaffbb 300 }
mbed_tw_hoehoe 7:e18346358299 301 }
mbed_tw_hoehoe 7:e18346358299 302 }
mbed_tw_hoehoe 7:e18346358299 303