Diff: main.cpp

Revision:

6:e640afab8288

Parent:

5:807096fdd895

Child:

7:e18346358299

--- a/main.cpp	Fri Jan 30 16:42:24 2015 +0000
+++ b/main.cpp	Sat Jan 31 21:54:53 2015 +0000
@@ -57,8 +57,8 @@
 //    0xC6, 0xDD, 0xB5, 0xAE, 0x7F, 0xA5
 //};
 
-uint8_t accelPayload[sizeof(float)*7] = {0,};
-uint8_t writePayload[3] = {0};
+uint8_t accelPayload[sizeof(float)*8] = {0,};
+uint8_t writePayload[3] = {0,};
 
 //uint8_t gyroPayload[sizeof(float)*3] = {0,0,0};
 //uint8_t tempPayload[sizeof(float)*1] = {0};
@@ -66,7 +66,7 @@
 //uint8_t read_batt = 0;  /* Variable to hold battery level reads */
 
 GattCharacteristic  accelChar (MPU6050_Accel_Characteristic_uuid,
-                                        accelPayload, (sizeof(float) * 7), (sizeof(float) * 7),
+                                        accelPayload, (sizeof(float) * 8), (sizeof(float) * 8),
                                         GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
 
 GattCharacteristic  writeChar (MPU6050_Write_Characteristic_uuid,
@@ -82,6 +82,8 @@
 GattCharacteristic *ControllerChars[] = { &accelChar, &writeChar, };
 GattService         MPU6050Service(MPU6050_service_uuid, ControllerChars, sizeof(ControllerChars) / sizeof(GattCharacteristic *));
 
+Timer timer;
+
 void updateValue();
 
 void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)    // Mod
@@ -217,8 +219,8 @@
         //pc.printf("mpu test:NG\n\r");
     }
     
-    Ticker ticker;
-    ticker.attach(periodicCallback, 0.25f); //1sec
+    //Ticker ticker;
+    //ticker.attach(periodicCallback, 0.25f); //1sec
     
     ble.init();
     ble.onDisconnection(disconnectionCallback);
@@ -243,12 +245,12 @@
     ble.addService(MPU6050Service);
     
     while(true) {
-        if (triggerSensorPolling && ble.getGapState().connected) {
-            triggerSensorPolling = false;
+        //if (triggerSensorPolling && ble.getGapState().connected) {
+            //triggerSensorPolling = false;
             updateValue();
-        } else {
-            ble.waitForEvent();
-        }
+        //} else {
+        //    ble.waitForEvent();
+        //}
     }
 }
 
@@ -256,7 +258,10 @@
 
     float   acData[3];
     float   gyData[3];
-    float   tempData = 0.0;
+    float   tempData = 0.0f;
+    float   t = 0.0f;
+    
+    timer.start();
     
     //加速度を取得
     mpu.getAccelero(acData);
@@ -290,6 +295,9 @@
     pc.printf("Temp: %.3lf\r\n", *(float*)&tempPayload[sizeof(float)*0]);
     pc.printf("Battery: %d\r\n", batt);
     */
-    
+    timer.stop();
+    t = timer.read_ms();
+    memcpy(accelPayload+sizeof(float)*7, &t, sizeof(t));
+    timer.reset();
     ble.updateCharacteristicValue(accelChar.getValueAttribute().getHandle(), accelPayload, sizeof(accelPayload));    //Mod
 }