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@5:807096fdd895, 2015-01-30 (annotated)

Committer:
mbed_tw_hoehoe
Date:
Fri Jan 30 16:42:24 2015 +0000
Revision:
5:807096fdd895
Parent:
4:3a25f1bdffc7
Child:
6:e640afab8288
add onDataWritten.

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 5:807096fdd895 45 static const uint8_t MPU6050_Write_Characteristic_uuid[] =
mbed_tw_hoehoe 5:807096fdd895 46 {
mbed_tw_hoehoe 5:807096fdd895 47 0x65, 0x60, 0xBE, 0x95,0xD9, 0x31,
mbed_tw_hoehoe 5:807096fdd895 48 0x4F, 0x64,
mbed_tw_hoehoe 5:807096fdd895 49 0x95, 0x75,
mbed_tw_hoehoe 5:807096fdd895 50 0xC6, 0xDD, 0xB5, 0xAE, 0x7F, 0xA5
mbed_tw_hoehoe 5:807096fdd895 51 };
mbed_tw_hoehoe 5:807096fdd895 52
mbed_tw_hoehoe 4:3a25f1bdffc7 53 //const uint8_t MPU6050_Gyro_Characteristic_uuid[] = {
mbed_tw_hoehoe 4:3a25f1bdffc7 54 // 0x65, 0x60, 0xBE, 0x95,0xD9, 0x31,
mbed_tw_hoehoe 4:3a25f1bdffc7 55 // 0x4F, 0x64,
mbed_tw_hoehoe 4:3a25f1bdffc7 56 // 0x95, 0x75,
mbed_tw_hoehoe 4:3a25f1bdffc7 57 // 0xC6, 0xDD, 0xB5, 0xAE, 0x7F, 0xA5
mbed_tw_hoehoe 4:3a25f1bdffc7 58 //};
mbed_tw_hoehoe 0:2fa085b36ad8 59
mbed_tw_hoehoe 4:3a25f1bdffc7 60 uint8_t accelPayload[sizeof(float)*7] = {0,};
mbed_tw_hoehoe 5:807096fdd895 61 uint8_t writePayload[3] = {0};
mbed_tw_hoehoe 5:807096fdd895 62
mbed_tw_hoehoe 4:3a25f1bdffc7 63 //uint8_t gyroPayload[sizeof(float)*3] = {0,0,0};
mbed_tw_hoehoe 4:3a25f1bdffc7 64 //uint8_t tempPayload[sizeof(float)*1] = {0};
mbed_tw_hoehoe 4:3a25f1bdffc7 65 //uint8_t batt = 100; /* Battery level */
mbed_tw_hoehoe 4:3a25f1bdffc7 66 //uint8_t read_batt = 0; /* Variable to hold battery level reads */
mbed_tw_hoehoe 0:2fa085b36ad8 67
mbed_tw_hoehoe 0:2fa085b36ad8 68 GattCharacteristic accelChar (MPU6050_Accel_Characteristic_uuid,
mbed_tw_hoehoe 4:3a25f1bdffc7 69 accelPayload, (sizeof(float) * 7), (sizeof(float) * 7),
mbed_tw_hoehoe 0:2fa085b36ad8 70 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
mbed_tw_hoehoe 0:2fa085b36ad8 71
mbed_tw_hoehoe 5:807096fdd895 72 GattCharacteristic writeChar (MPU6050_Write_Characteristic_uuid,
mbed_tw_hoehoe 5:807096fdd895 73 writePayload, 3, 3,
mbed_tw_hoehoe 5:807096fdd895 74 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
mbed_tw_hoehoe 5:807096fdd895 75
mbed_tw_hoehoe 5:807096fdd895 76 // | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
mbed_tw_hoehoe 4:3a25f1bdffc7 77 //GattCharacteristic gyroChar (MPU6050_Gyro_Characteristic_uuid,
mbed_tw_hoehoe 4:3a25f1bdffc7 78 // gyroPayload, (sizeof(float) * 3), (sizeof(float) * 3),
mbed_tw_hoehoe 4:3a25f1bdffc7 79 // GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
mbed_tw_hoehoe 0:2fa085b36ad8 80
mbed_tw_hoehoe 4:3a25f1bdffc7 81 //GattCharacteristic *ControllerChars[] = { &accelChar, &gyroChar, };
mbed_tw_hoehoe 5:807096fdd895 82 GattCharacteristic *ControllerChars[] = { &accelChar, &writeChar, };
mbed_tw_hoehoe 4:3a25f1bdffc7 83 GattService MPU6050Service(MPU6050_service_uuid, ControllerChars, sizeof(ControllerChars) / sizeof(GattCharacteristic *));
mbed_tw_hoehoe 0:2fa085b36ad8 84
mbed_tw_hoehoe 0:2fa085b36ad8 85 void updateValue();
mbed_tw_hoehoe 0:2fa085b36ad8 86
mbed_tw_hoehoe 0:2fa085b36ad8 87 void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason) // Mod
mbed_tw_hoehoe 0:2fa085b36ad8 88 {
mbed_tw_hoehoe 0:2fa085b36ad8 89
mbed_tw_hoehoe 0:2fa085b36ad8 90 //DEBUG("Disconnected handle %u, reason %u\n", handle, reason);
mbed_tw_hoehoe 0:2fa085b36ad8 91 //DEBUG("Restarting the advertising process\n\r");
mbed_tw_hoehoe 0:2fa085b36ad8 92
mbed_tw_hoehoe 0:2fa085b36ad8 93 ble.startAdvertising();
mbed_tw_hoehoe 0:2fa085b36ad8 94 }
mbed_tw_hoehoe 0:2fa085b36ad8 95
mbed_tw_hoehoe 0:2fa085b36ad8 96 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 97 {
mbed_tw_hoehoe 0:2fa085b36ad8 98
mbed_tw_hoehoe 0:2fa085b36ad8 99 //DEBUG("connected. Got handle %u\r\n", handle);
mbed_tw_hoehoe 0:2fa085b36ad8 100
mbed_tw_hoehoe 0:2fa085b36ad8 101 /*******************************************************************************/
mbed_tw_hoehoe 0:2fa085b36ad8 102 /* CentralがMacOS X の時 connection intervalを設定する場合は */
mbed_tw_hoehoe 0:2fa085b36ad8 103 /* nRF51822 -> projectconfig.h -> GAP -> */
mbed_tw_hoehoe 0:2fa085b36ad8 104 /* CFG_GAP_CONNECTION_MIN_INTERVAL_MS / CFG_GAP_CONNECTION_MAX_INTERVAL_MSを */
mbed_tw_hoehoe 0:2fa085b36ad8 105 /* 直接編集すること */
mbed_tw_hoehoe 0:2fa085b36ad8 106 /******************************************************************************/
mbed_tw_hoehoe 0:2fa085b36ad8 107
mbed_tw_hoehoe 3:ca2cdabf5977 108 #define MIN_CONN_INTERVAL 250 /**< Minimum connection interval (250 ms) */
mbed_tw_hoehoe 4:3a25f1bdffc7 109 #define MAX_CONN_INTERVAL 350 /**< Maximum connection interval (350 ms). */
mbed_tw_hoehoe 0:2fa085b36ad8 110 #define CONN_SUP_TIMEOUT 6000 /**< Connection supervisory timeout (6 seconds). */
mbed_tw_hoehoe 0:2fa085b36ad8 111 #define SLAVE_LATENCY 4
mbed_tw_hoehoe 0:2fa085b36ad8 112
mbed_tw_hoehoe 0:2fa085b36ad8 113 Gap::ConnectionParams_t gap_conn_params;
mbed_tw_hoehoe 0:2fa085b36ad8 114 gap_conn_params.minConnectionInterval = Gap::MSEC_TO_GAP_DURATION_UNITS(MIN_CONN_INTERVAL);
mbed_tw_hoehoe 0:2fa085b36ad8 115 gap_conn_params.maxConnectionInterval = Gap::MSEC_TO_GAP_DURATION_UNITS(MAX_CONN_INTERVAL);
mbed_tw_hoehoe 0:2fa085b36ad8 116 gap_conn_params.connectionSupervisionTimeout = Gap::MSEC_TO_GAP_DURATION_UNITS(CONN_SUP_TIMEOUT);
mbed_tw_hoehoe 0:2fa085b36ad8 117 gap_conn_params.slaveLatency = SLAVE_LATENCY;
mbed_tw_hoehoe 0:2fa085b36ad8 118 ble.updateConnectionParams(handle, &gap_conn_params);
mbed_tw_hoehoe 0:2fa085b36ad8 119 //if (ble.updateConnectionParams(handle, &gap_conn_params) != BLE_ERROR_NONE) {
mbed_tw_hoehoe 0:2fa085b36ad8 120 // DEBUG("failed to update connection paramter\r\n");
mbed_tw_hoehoe 0:2fa085b36ad8 121 //}
mbed_tw_hoehoe 5:807096fdd895 122 }
mbed_tw_hoehoe 5:807096fdd895 123
mbed_tw_hoehoe 5:807096fdd895 124 void onDataWritten(const GattCharacteristicWriteCBParams *params){
mbed_tw_hoehoe 5:807096fdd895 125
mbed_tw_hoehoe 5:807096fdd895 126 if (params->charHandle == writeChar.getValueAttribute().getHandle()) {
mbed_tw_hoehoe 5:807096fdd895 127 uint16_t len = params->len;
mbed_tw_hoehoe 5:807096fdd895 128
mbed_tw_hoehoe 5:807096fdd895 129 if (len == 3) {
mbed_tw_hoehoe 5:807096fdd895 130 uint8_t controller[3] = {0};
mbed_tw_hoehoe 5:807096fdd895 131
mbed_tw_hoehoe 5:807096fdd895 132 ble.readCharacteristicValue(writeChar.getValueAttribute().getHandle(), writePayload, &len);
mbed_tw_hoehoe 5:807096fdd895 133 memcpy( &controller, writePayload, sizeof(controller));
mbed_tw_hoehoe 5:807096fdd895 134
mbed_tw_hoehoe 5:807096fdd895 135 /* mpu reset */
mbed_tw_hoehoe 5:807096fdd895 136 if(controller[0] == 1){
mbed_tw_hoehoe 5:807096fdd895 137 mpu.initialize();
mbed_tw_hoehoe 5:807096fdd895 138 }
mbed_tw_hoehoe 5:807096fdd895 139
mbed_tw_hoehoe 5:807096fdd895 140 /*
mbed_tw_hoehoe 5:807096fdd895 141 MPU6050_ACCELERO_RANGE_2G 0
mbed_tw_hoehoe 5:807096fdd895 142 MPU6050_ACCELERO_RANGE_4G 1
mbed_tw_hoehoe 5:807096fdd895 143 MPU6050_ACCELERO_RANGE_8G 2
mbed_tw_hoehoe 5:807096fdd895 144 */
mbed_tw_hoehoe 5:807096fdd895 145 switch(controller[1]){
mbed_tw_hoehoe 5:807096fdd895 146 case 0:
mbed_tw_hoehoe 5:807096fdd895 147 mpu.setAcceleroRange(0);
mbed_tw_hoehoe 5:807096fdd895 148 break;
mbed_tw_hoehoe 5:807096fdd895 149 case 1:
mbed_tw_hoehoe 5:807096fdd895 150 mpu.setAcceleroRange(1);
mbed_tw_hoehoe 5:807096fdd895 151 break;
mbed_tw_hoehoe 5:807096fdd895 152 case 2:
mbed_tw_hoehoe 5:807096fdd895 153 mpu.setAcceleroRange(2);
mbed_tw_hoehoe 5:807096fdd895 154 break;
mbed_tw_hoehoe 5:807096fdd895 155 default:
mbed_tw_hoehoe 5:807096fdd895 156 break;
mbed_tw_hoehoe 5:807096fdd895 157 }
mbed_tw_hoehoe 5:807096fdd895 158
mbed_tw_hoehoe 5:807096fdd895 159 /*
mbed_tw_hoehoe 5:807096fdd895 160 MPU6050_GYRO_RANGE_250 0
mbed_tw_hoehoe 5:807096fdd895 161 MPU6050_GYRO_RANGE_500 1
mbed_tw_hoehoe 5:807096fdd895 162 MPU6050_GYRO_RANGE_1000 2
mbed_tw_hoehoe 5:807096fdd895 163 MPU6050_GYRO_RANGE_2000 3
mbed_tw_hoehoe 5:807096fdd895 164 */
mbed_tw_hoehoe 5:807096fdd895 165 switch(controller[2]){
mbed_tw_hoehoe 5:807096fdd895 166 case 0:
mbed_tw_hoehoe 5:807096fdd895 167 mpu.setGyroRange(0);
mbed_tw_hoehoe 5:807096fdd895 168 break;
mbed_tw_hoehoe 5:807096fdd895 169 case 1:
mbed_tw_hoehoe 5:807096fdd895 170 mpu.setGyroRange(1);
mbed_tw_hoehoe 5:807096fdd895 171 break;
mbed_tw_hoehoe 5:807096fdd895 172 case 2:
mbed_tw_hoehoe 5:807096fdd895 173 mpu.setGyroRange(2);
mbed_tw_hoehoe 5:807096fdd895 174 break;
mbed_tw_hoehoe 5:807096fdd895 175 case 3:
mbed_tw_hoehoe 5:807096fdd895 176 mpu.setGyroRange(3);
mbed_tw_hoehoe 5:807096fdd895 177 break;
mbed_tw_hoehoe 5:807096fdd895 178 default:
mbed_tw_hoehoe 5:807096fdd895 179 break;
mbed_tw_hoehoe 5:807096fdd895 180 }
mbed_tw_hoehoe 5:807096fdd895 181 }
mbed_tw_hoehoe 5:807096fdd895 182 }
mbed_tw_hoehoe 0:2fa085b36ad8 183 }
mbed_tw_hoehoe 0:2fa085b36ad8 184
mbed_tw_hoehoe 0:2fa085b36ad8 185 void timeoutCallback(void)
mbed_tw_hoehoe 0:2fa085b36ad8 186 {
mbed_tw_hoehoe 0:2fa085b36ad8 187 //DEBUG("TimeOut\n\r");
mbed_tw_hoehoe 0:2fa085b36ad8 188 //DEBUG("Restarting the advertising process\n\r");
mbed_tw_hoehoe 0:2fa085b36ad8 189
mbed_tw_hoehoe 0:2fa085b36ad8 190 ble.startAdvertising();
mbed_tw_hoehoe 0:2fa085b36ad8 191 }
mbed_tw_hoehoe 0:2fa085b36ad8 192
mbed_tw_hoehoe 0:2fa085b36ad8 193 void periodicCallback(void)
mbed_tw_hoehoe 0:2fa085b36ad8 194 {
mbed_tw_hoehoe 0:2fa085b36ad8 195 //oneSecondLed = !oneSecondLed; /* Do blinky on LED1 while we're waiting for BLE events */
mbed_tw_hoehoe 0:2fa085b36ad8 196
mbed_tw_hoehoe 0:2fa085b36ad8 197 /* Note that the periodicCallback() executes in interrupt context, so it is safer to do
mbed_tw_hoehoe 0:2fa085b36ad8 198 * heavy-weight sensor polling from the main thread. */
mbed_tw_hoehoe 0:2fa085b36ad8 199 triggerSensorPolling = true;
mbed_tw_hoehoe 0:2fa085b36ad8 200 }
mbed_tw_hoehoe 0:2fa085b36ad8 201
mbed_tw_hoehoe 0:2fa085b36ad8 202 /**************************************************************************/
mbed_tw_hoehoe 0:2fa085b36ad8 203 /*!
mbed_tw_hoehoe 0:2fa085b36ad8 204 @brief Program entry point
mbed_tw_hoehoe 0:2fa085b36ad8 205 */
mbed_tw_hoehoe 0:2fa085b36ad8 206 /**************************************************************************/
mbed_tw_hoehoe 0:2fa085b36ad8 207 int main(void)
mbed_tw_hoehoe 0:2fa085b36ad8 208 {
mbed_tw_hoehoe 0:2fa085b36ad8 209
mbed_tw_hoehoe 0:2fa085b36ad8 210 //#if DBG
mbed_tw_hoehoe 0:2fa085b36ad8 211 // pc.printf("Start\n\r");
mbed_tw_hoehoe 0:2fa085b36ad8 212 //#endif
mbed_tw_hoehoe 0:2fa085b36ad8 213
mbed_tw_hoehoe 0:2fa085b36ad8 214 if( mpu.testConnection() ){
mbed_tw_hoehoe 0:2fa085b36ad8 215 //pc.printf("mpu test:OK\n\r");
mbed_tw_hoehoe 0:2fa085b36ad8 216 }else{
mbed_tw_hoehoe 0:2fa085b36ad8 217 //pc.printf("mpu test:NG\n\r");
mbed_tw_hoehoe 0:2fa085b36ad8 218 }
mbed_tw_hoehoe 0:2fa085b36ad8 219
mbed_tw_hoehoe 0:2fa085b36ad8 220 Ticker ticker;
mbed_tw_hoehoe 4:3a25f1bdffc7 221 ticker.attach(periodicCallback, 0.25f); //1sec
mbed_tw_hoehoe 0:2fa085b36ad8 222
mbed_tw_hoehoe 0:2fa085b36ad8 223 ble.init();
mbed_tw_hoehoe 0:2fa085b36ad8 224 ble.onDisconnection(disconnectionCallback);
mbed_tw_hoehoe 0:2fa085b36ad8 225 ble.onConnection(onConnectionCallback);
mbed_tw_hoehoe 5:807096fdd895 226 ble.onDataWritten(onDataWritten);
mbed_tw_hoehoe 0:2fa085b36ad8 227 ble.onTimeout(timeoutCallback);
mbed_tw_hoehoe 0:2fa085b36ad8 228
mbed_tw_hoehoe 0:2fa085b36ad8 229 /* setup device name */
mbed_tw_hoehoe 0:2fa085b36ad8 230 ble.setDeviceName((const uint8_t *)DEVICENAME);
mbed_tw_hoehoe 0:2fa085b36ad8 231
mbed_tw_hoehoe 0:2fa085b36ad8 232 /* setup advertising */
mbed_tw_hoehoe 0:2fa085b36ad8 233 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
mbed_tw_hoehoe 0:2fa085b36ad8 234 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
mbed_tw_hoehoe 0:2fa085b36ad8 235 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (const uint8_t *)DEVICENAME, sizeof(DEVICENAME));
mbed_tw_hoehoe 0:2fa085b36ad8 236 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
mbed_tw_hoehoe 4:3a25f1bdffc7 237 (const uint8_t *)MPU6050_service_uuid, sizeof(MPU6050_service_uuid));
mbed_tw_hoehoe 4:3a25f1bdffc7 238 //(const uint8_t *)MPU6050_adv_service_uuid, sizeof(MPU6050_adv_service_uuid));
mbed_tw_hoehoe 0:2fa085b36ad8 239
mbed_tw_hoehoe 0:2fa085b36ad8 240 ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
mbed_tw_hoehoe 0:2fa085b36ad8 241 ble.startAdvertising();
mbed_tw_hoehoe 0:2fa085b36ad8 242
mbed_tw_hoehoe 0:2fa085b36ad8 243 ble.addService(MPU6050Service);
mbed_tw_hoehoe 0:2fa085b36ad8 244
mbed_tw_hoehoe 0:2fa085b36ad8 245 while(true) {
mbed_tw_hoehoe 0:2fa085b36ad8 246 if (triggerSensorPolling && ble.getGapState().connected) {
mbed_tw_hoehoe 0:2fa085b36ad8 247 triggerSensorPolling = false;
mbed_tw_hoehoe 0:2fa085b36ad8 248 updateValue();
mbed_tw_hoehoe 0:2fa085b36ad8 249 } else {
mbed_tw_hoehoe 0:2fa085b36ad8 250 ble.waitForEvent();
mbed_tw_hoehoe 0:2fa085b36ad8 251 }
mbed_tw_hoehoe 0:2fa085b36ad8 252 }
mbed_tw_hoehoe 0:2fa085b36ad8 253 }
mbed_tw_hoehoe 0:2fa085b36ad8 254
mbed_tw_hoehoe 0:2fa085b36ad8 255 void updateValue(void){
mbed_tw_hoehoe 0:2fa085b36ad8 256
mbed_tw_hoehoe 0:2fa085b36ad8 257 float acData[3];
mbed_tw_hoehoe 0:2fa085b36ad8 258 float gyData[3];
mbed_tw_hoehoe 0:2fa085b36ad8 259 float tempData = 0.0;
mbed_tw_hoehoe 0:2fa085b36ad8 260
mbed_tw_hoehoe 3:ca2cdabf5977 261 //加速度を取得
mbed_tw_hoehoe 3:ca2cdabf5977 262 mpu.getAccelero(acData);
mbed_tw_hoehoe 0:2fa085b36ad8 263
mbed_tw_hoehoe 0:2fa085b36ad8 264 memcpy(accelPayload+sizeof(float)*0, &acData[0], sizeof(acData[0]));
mbed_tw_hoehoe 0:2fa085b36ad8 265 memcpy(accelPayload+sizeof(float)*1, &acData[1], sizeof(acData[1]));
mbed_tw_hoehoe 0:2fa085b36ad8 266 memcpy(accelPayload+sizeof(float)*2, &acData[2], sizeof(acData[2]));
mbed_tw_hoehoe 0:2fa085b36ad8 267
mbed_tw_hoehoe 3:ca2cdabf5977 268 //ジャイロを取得
mbed_tw_hoehoe 3:ca2cdabf5977 269 mpu.getGyro(gyData);
mbed_tw_hoehoe 0:2fa085b36ad8 270
mbed_tw_hoehoe 4:3a25f1bdffc7 271 memcpy(accelPayload+sizeof(float)*3, &gyData[0], sizeof(gyData[0]));
mbed_tw_hoehoe 4:3a25f1bdffc7 272 memcpy(accelPayload+sizeof(float)*4, &gyData[1], sizeof(gyData[1]));
mbed_tw_hoehoe 4:3a25f1bdffc7 273 memcpy(accelPayload+sizeof(float)*5, &gyData[2], sizeof(gyData[2]));
mbed_tw_hoehoe 0:2fa085b36ad8 274
mbed_tw_hoehoe 0:2fa085b36ad8 275 //温度を取得
mbed_tw_hoehoe 0:2fa085b36ad8 276 tempData = mpu.getTemp();
mbed_tw_hoehoe 0:2fa085b36ad8 277
mbed_tw_hoehoe 4:3a25f1bdffc7 278 memcpy(accelPayload+sizeof(float)*6, &tempData, sizeof(tempData));
mbed_tw_hoehoe 0:2fa085b36ad8 279 /*
mbed_tw_hoehoe 0:2fa085b36ad8 280 pc.printf("Accel: %.3lf,%.3lf,%.3lf\r\n",
mbed_tw_hoehoe 0:2fa085b36ad8 281 *(float*)&accelPayload[sizeof(float)*0],
mbed_tw_hoehoe 0:2fa085b36ad8 282 *(float*)&accelPayload[sizeof(float)*1],
mbed_tw_hoehoe 0:2fa085b36ad8 283 *(float*)&accelPayload[sizeof(float)*2]);
mbed_tw_hoehoe 0:2fa085b36ad8 284
mbed_tw_hoehoe 0:2fa085b36ad8 285 pc.printf("Gyro: %.3lf,%.3lf,%.3lf\r\n",
mbed_tw_hoehoe 0:2fa085b36ad8 286 *(float*)&gyroPayload[sizeof(float)*0],
mbed_tw_hoehoe 0:2fa085b36ad8 287 *(float*)&gyroPayload[sizeof(float)*1],
mbed_tw_hoehoe 0:2fa085b36ad8 288 *(float*)&gyroPayload[sizeof(float)*2]);
mbed_tw_hoehoe 0:2fa085b36ad8 289
mbed_tw_hoehoe 0:2fa085b36ad8 290 pc.printf("Temp: %.3lf\r\n", *(float*)&tempPayload[sizeof(float)*0]);
mbed_tw_hoehoe 0:2fa085b36ad8 291 pc.printf("Battery: %d\r\n", batt);
mbed_tw_hoehoe 0:2fa085b36ad8 292 */
mbed_tw_hoehoe 0:2fa085b36ad8 293
mbed_tw_hoehoe 0:2fa085b36ad8 294 ble.updateCharacteristicValue(accelChar.getValueAttribute().getHandle(), accelPayload, sizeof(accelPayload)); //Mod
mbed_tw_hoehoe 0:2fa085b36ad8 295 }