Yutaka Yoshida
MPU6050センサ Wallbot_BLE用 サンプル
Dependencies: BLE_API mbed nRF51822
Diff: main.cpp
- Revision:
- 0:2fa085b36ad8
- Child:
- 2:bbf9db7db756
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jan 05 09:58:42 2015 +0000
@@ -0,0 +1,250 @@
+#include "mbed.h"
+#include "BLEDevice.h"
+#include "MPU6050.h"
+
+/*
+#define DBG 1
+#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
+Serial pc(USBTX, USBRX);
+#define DEBUG(...) { pc.printf(__VA_ARGS__); }
+#else
+#define DEBUG(...) // nothing //
+#endif // #if NEED_CONSOLE_OUTPUT //
+*/
+
+BLEDevice ble;
+
+MPU6050 mpu(I2C_SDA0, I2C_SCL0);
+
+static const char DEVICENAME[] = "BLE-Nano";
+static volatile bool triggerSensorPolling = false;
+
+//9FDF3283-9049-CF8D-5C4D-98E7E2002731
+const uint8_t MPU6050_adv_service_uuid[] = {
+ 0x9F,0xDF,0x32,0x83,
+ 0x90,0x49,
+ 0xCF,0x8D,
+ 0x5C,0x4D,
+ 0x98,0xE7,0xE2,0x00,0x27,0x31
+};
+
+const uint8_t MPU6050_service_uuid[] = {
+ 0x31,0x27,0x00,0xE2,0xE7,0x98,0x4D,0x5C,0x8D,0xCF,0x49,0x90,0x83,0x32,0xDF,0x9F
+};
+
+const uint8_t MPU6050_Accel_Characteristic_uuid[] = {
+ 0xFF,0xA2,0x8C,0xDE,0x65,0x25,
+ 0x44,0x89,
+ 0x80,0x1C,
+ 0x1C,0x06,0x0C,0xAC,0x97,0x67
+};
+
+const uint8_t MPU6050_Gyro_Characteristic_uuid[] = {
+ 0x65, 0x60, 0xBE, 0x95,0xD9, 0x31,
+ 0x4F, 0x64,
+ 0x95, 0x75,
+ 0xC6, 0xDD, 0xB5, 0xAE, 0x7F, 0xA5
+};
+
+uint8_t accelPayload[sizeof(float)*3] = {0,0,0};
+uint8_t gyroPayload[sizeof(float)*3] = {0,0,0};
+uint8_t tempPayload[sizeof(float)*1] = {0};
+uint8_t batt = 100; /* Battery level */
+uint8_t read_batt = 0; /* Variable to hold battery level reads */
+
+GattCharacteristic accelChar (MPU6050_Accel_Characteristic_uuid,
+ accelPayload, (sizeof(float) * 3), (sizeof(float) * 3),
+ GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
+
+GattCharacteristic gyroChar (MPU6050_Gyro_Characteristic_uuid,
+ gyroPayload, (sizeof(float) * 3), (sizeof(float) * 3),
+ GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
+
+GattCharacteristic *ControllerChars[] = { &accelChar, &gyroChar, };
+GattService MPU6050Service(MPU6050_service_uuid, ControllerChars, sizeof(ControllerChars) / sizeof(GattCharacteristic *));
+
+
+GattCharacteristic tempChar (GattCharacteristic::UUID_TEMPERATURE_MEASUREMENT_CHAR,
+ tempPayload, (sizeof(float) * 1), (sizeof(float) * 1),
+ GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
+
+GattCharacteristic *htmChars[] = { &tempChar, };
+GattService htmService(GattService::UUID_HEALTH_THERMOMETER_SERVICE, htmChars,
+ sizeof(htmChars) / sizeof(GattCharacteristic *));
+
+/* Battery Level Service */
+
+GattCharacteristic battLevel ( GattCharacteristic::UUID_BATTERY_LEVEL_CHAR,
+ (uint8_t *)batt, 1, 1,
+ GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
+
+GattCharacteristic *battChars[] = {&battLevel, };
+GattService battService(GattService::UUID_BATTERY_SERVICE, battChars,
+ sizeof(battChars) / sizeof(GattCharacteristic *));
+
+uint16_t uuid16_list[] = {GattService::UUID_HEALTH_THERMOMETER_SERVICE,
+ GattService::UUID_BATTERY_SERVICE};
+
+
+void updateValue();
+
+void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason) // Mod
+{
+
+ //DEBUG("Disconnected handle %u, reason %u\n", handle, reason);
+ //DEBUG("Restarting the advertising process\n\r");
+
+ ble.startAdvertising();
+}
+
+void onConnectionCallback(Gap::Handle_t handle, Gap::addr_type_t peerAddrType, const Gap::address_t peerAddr, const Gap::ConnectionParams_t *params) //Mod
+{
+
+ //DEBUG("connected. Got handle %u\r\n", handle);
+
+ /*******************************************************************************/
+ /* CentralがMacOS X の時 connection intervalを設定する場合は */
+ /* nRF51822 -> projectconfig.h -> GAP -> */
+ /* CFG_GAP_CONNECTION_MIN_INTERVAL_MS / CFG_GAP_CONNECTION_MAX_INTERVAL_MSを */
+ /* 直接編集すること */
+ /******************************************************************************/
+
+ #define MIN_CONN_INTERVAL 1000 /**< Minimum connection interval (250 ms) */
+ #define MAX_CONN_INTERVAL 1000 /**< Maximum connection interval (350 ms). */
+ #define CONN_SUP_TIMEOUT 6000 /**< Connection supervisory timeout (6 seconds). */
+ #define SLAVE_LATENCY 4
+
+ Gap::ConnectionParams_t gap_conn_params;
+ gap_conn_params.minConnectionInterval = Gap::MSEC_TO_GAP_DURATION_UNITS(MIN_CONN_INTERVAL);
+ gap_conn_params.maxConnectionInterval = Gap::MSEC_TO_GAP_DURATION_UNITS(MAX_CONN_INTERVAL);
+ gap_conn_params.connectionSupervisionTimeout = Gap::MSEC_TO_GAP_DURATION_UNITS(CONN_SUP_TIMEOUT);
+ gap_conn_params.slaveLatency = SLAVE_LATENCY;
+ ble.updateConnectionParams(handle, &gap_conn_params);
+ //if (ble.updateConnectionParams(handle, &gap_conn_params) != BLE_ERROR_NONE) {
+ // DEBUG("failed to update connection paramter\r\n");
+ //}
+
+ updateValue();
+}
+
+void timeoutCallback(void)
+{
+ //DEBUG("TimeOut\n\r");
+ //DEBUG("Restarting the advertising process\n\r");
+
+ ble.startAdvertising();
+}
+
+void periodicCallback(void)
+{
+ //oneSecondLed = !oneSecondLed; /* Do blinky on LED1 while we're waiting for BLE events */
+
+ /* Note that the periodicCallback() executes in interrupt context, so it is safer to do
+ * heavy-weight sensor polling from the main thread. */
+ triggerSensorPolling = true;
+}
+
+/**************************************************************************/
+/*!
+ @brief Program entry point
+*/
+/**************************************************************************/
+int main(void)
+{
+
+ //#if DBG
+ // pc.printf("Start\n\r");
+ //#endif
+
+ if( mpu.testConnection() ){
+ //pc.printf("mpu test:OK\n\r");
+ }else{
+ //pc.printf("mpu test:NG\n\r");
+ }
+
+ Ticker ticker;
+ ticker.attach(periodicCallback, 1); //1sec
+
+ ble.init();
+ ble.onDisconnection(disconnectionCallback);
+ ble.onConnection(onConnectionCallback);
+ ble.onTimeout(timeoutCallback);
+
+ /* setup device name */
+ ble.setDeviceName((const uint8_t *)DEVICENAME);
+
+ /* setup advertising */
+ ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
+ ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
+ ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS, (uint8_t*)uuid16_list, sizeof(uuid16_list));
+ ble.accumulateAdvertisingPayload(GapAdvertisingData::GENERIC_THERMOMETER);
+ ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (const uint8_t *)DEVICENAME, sizeof(DEVICENAME));
+ ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
+ (const uint8_t *)MPU6050_adv_service_uuid, sizeof(MPU6050_adv_service_uuid));
+
+ ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
+ ble.startAdvertising();
+
+ ble.addService(MPU6050Service);
+ ble.addService(htmService);
+ ble.addService(battService);
+
+ while(true) {
+ if (triggerSensorPolling && ble.getGapState().connected) {
+ triggerSensorPolling = false;
+ updateValue();
+ } else {
+ ble.waitForEvent();
+ }
+ }
+}
+
+void updateValue(void){
+
+ float acData[3];
+ float gyData[3];
+ float tempData = 0.0;
+
+ //加速度を取得。なんか、関数が逆みたいなので、getGyroが加速度だそうです。
+ //mpu.getAccelero(acData);
+ mpu.getGyro(acData);
+
+ memcpy(accelPayload+sizeof(float)*0, &acData[0], sizeof(acData[0]));
+ memcpy(accelPayload+sizeof(float)*1, &acData[1], sizeof(acData[1]));
+ memcpy(accelPayload+sizeof(float)*2, &acData[2], sizeof(acData[2]));
+
+ //ジャイロを取得。なんか、関数が逆みたいなので、getAcceleroがジャイロだそうです。
+ //mpu.getGyro(gyData);
+ mpu.getAccelero(gyData);
+
+ memcpy(gyroPayload+sizeof(float)*0, &gyData[0], sizeof(gyData[0]));
+ memcpy(gyroPayload+sizeof(float)*1, &gyData[1], sizeof(gyData[1]));
+ memcpy(gyroPayload+sizeof(float)*2, &gyData[2], sizeof(gyData[2]));
+
+ //温度を取得
+ tempData = mpu.getTemp();
+
+ memcpy(tempPayload+sizeof(float)*0, &tempData, sizeof(tempData));
+ /*
+ pc.printf("Accel: %.3lf,%.3lf,%.3lf\r\n",
+ *(float*)&accelPayload[sizeof(float)*0],
+ *(float*)&accelPayload[sizeof(float)*1],
+ *(float*)&accelPayload[sizeof(float)*2]);
+
+ pc.printf("Gyro: %.3lf,%.3lf,%.3lf\r\n",
+ *(float*)&gyroPayload[sizeof(float)*0],
+ *(float*)&gyroPayload[sizeof(float)*1],
+ *(float*)&gyroPayload[sizeof(float)*2]);
+
+ pc.printf("Temp: %.3lf\r\n", *(float*)&tempPayload[sizeof(float)*0]);
+ pc.printf("Battery: %d\r\n", batt);
+ */
+
+ ble.updateCharacteristicValue(accelChar.getValueAttribute().getHandle(), accelPayload, sizeof(accelPayload)); //Mod
+ ble.updateCharacteristicValue(gyroChar.getValueAttribute().getHandle(), gyroPayload, sizeof(gyroPayload)); //Mod
+ ble.updateCharacteristicValue(tempChar.getValueAttribute().getHandle(), tempPayload, sizeof(tempPayload)); //Mod
+ ble.updateCharacteristicValue(battLevel.getValueAttribute().getHandle(), &batt, sizeof(batt)); //Mod
+}