Yutaka Yoshida
MPU6050センサ Wallbot_BLE用 サンプル
Dependencies: BLE_API mbed nRF51822
Diff: main.cpp
- Revision:
- 7:e18346358299
- Parent:
- 6:e640afab8288
- Child:
- 8:35390100e16f
diff -r e640afab8288 -r e18346358299 main.cpp
--- a/main.cpp Sat Jan 31 21:54:53 2015 +0000
+++ b/main.cpp Tue Feb 03 17:16:08 2015 +0000
@@ -50,20 +50,9 @@
0xC6, 0xDD, 0xB5, 0xAE, 0x7F, 0xA5
};
-//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)*8] = {0,};
uint8_t writePayload[3] = {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) * 8), (sizeof(float) * 8),
@@ -71,189 +60,13 @@
GattCharacteristic writeChar (MPU6050_Write_Characteristic_uuid,
writePayload, 3, 3,
- GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
+ GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
-// | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
-//GattCharacteristic gyroChar (MPU6050_Gyro_Characteristic_uuid,
-// gyroPayload, (sizeof(float) * 3), (sizeof(float) * 3),
-// GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
-
-//GattCharacteristic *ControllerChars[] = { &accelChar, &gyroChar, };
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
-{
-
- //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 250 /**< Minimum connection interval (250 ms) */
- #define MAX_CONN_INTERVAL 350 /**< 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");
- //}
-}
-
-void onDataWritten(const GattCharacteristicWriteCBParams *params){
-
- if (params->charHandle == writeChar.getValueAttribute().getHandle()) {
- uint16_t len = params->len;
-
- if (len == 3) {
- uint8_t controller[3] = {0};
-
- ble.readCharacteristicValue(writeChar.getValueAttribute().getHandle(), writePayload, &len);
- memcpy( &controller, writePayload, sizeof(controller));
-
- /* mpu reset */
- if(controller[0] == 1){
- mpu.initialize();
- }
-
- /*
- MPU6050_ACCELERO_RANGE_2G 0
- MPU6050_ACCELERO_RANGE_4G 1
- MPU6050_ACCELERO_RANGE_8G 2
- */
- switch(controller[1]){
- case 0:
- mpu.setAcceleroRange(0);
- break;
- case 1:
- mpu.setAcceleroRange(1);
- break;
- case 2:
- mpu.setAcceleroRange(2);
- break;
- default:
- break;
- }
-
- /*
- MPU6050_GYRO_RANGE_250 0
- MPU6050_GYRO_RANGE_500 1
- MPU6050_GYRO_RANGE_1000 2
- MPU6050_GYRO_RANGE_2000 3
- */
- switch(controller[2]){
- case 0:
- mpu.setGyroRange(0);
- break;
- case 1:
- mpu.setGyroRange(1);
- break;
- case 2:
- mpu.setGyroRange(2);
- break;
- case 3:
- mpu.setGyroRange(3);
- break;
- default:
- break;
- }
- }
- }
-}
-
-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, 0.25f); //1sec
-
- ble.init();
- ble.onDisconnection(disconnectionCallback);
- ble.onConnection(onConnectionCallback);
- ble.onDataWritten(onDataWritten);
- 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_LOCAL_NAME, (const uint8_t *)DEVICENAME, sizeof(DEVICENAME));
- ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
- (const uint8_t *)MPU6050_service_uuid, sizeof(MPU6050_service_uuid));
- //(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);
-
- while(true) {
- //if (triggerSensorPolling && ble.getGapState().connected) {
- //triggerSensorPolling = false;
- updateValue();
- //} else {
- // ble.waitForEvent();
- //}
- }
-}
-
void updateValue(void){
float acData[3];
@@ -301,3 +114,169 @@
timer.reset();
ble.updateCharacteristicValue(accelChar.getValueAttribute().getHandle(), accelPayload, sizeof(accelPayload)); //Mod
}
+
+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 250 /**< Minimum connection interval (250 ms) */
+ #define MAX_CONN_INTERVAL 350 /**< 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");
+ //}
+}
+
+void onDataWritten(const GattCharacteristicWriteCBParams *params){
+
+ if (params->charHandle == writeChar.getValueAttribute().getHandle()) {
+ uint16_t len = params->len;
+
+ if (len == 3) {
+ uint8_t controller[3] = {0};
+
+ ble.readCharacteristicValue(writeChar.getValueAttribute().getHandle(), writePayload, &len);
+
+ memcpy(controller+sizeof(uint8_t)*0, &writePayload[0], sizeof(writePayload[0]));
+ memcpy(controller+sizeof(uint8_t)*1, &writePayload[1], sizeof(writePayload[1]));
+ memcpy(controller+sizeof(uint8_t)*2, &writePayload[2], sizeof(writePayload[2]));
+
+ if(controller[0] == 1){
+ mpu.initialize();
+ }
+
+ switch(controller[1]){
+ case 0:
+ mpu.setAcceleroRange(0);
+ break;
+ case 1:
+ mpu.setAcceleroRange(1);
+ break;
+ case 2:
+ mpu.setAcceleroRange(2);
+ break;
+ default:
+ break;
+ }
+
+ switch(controller[2]){
+ case 0:
+ mpu.setGyroRange(0);
+ break;
+ case 1:
+ mpu.setGyroRange(1);
+ break;
+ case 2:
+ mpu.setGyroRange(2);
+ break;
+ case 3:
+ mpu.setGyroRange(3);
+ break;
+ default:
+ break;
+ }
+ if( mpu.testConnection() ){
+ //pc.printf("mpu test:OK\n\r");
+ }else{
+ //pc.printf("mpu test:NG\n\r");
+ }
+ }
+ }
+}
+
+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
+ mpu.initialize();
+
+ if( mpu.testConnection() ){
+ //pc.printf("mpu test:OK\n\r");
+ }else{
+ //pc.printf("mpu test:NG\n\r");
+ }
+
+ //Ticker ticker;
+ //ticker.attach(periodicCallback, 0.25f); //1sec
+
+ ble.init();
+ ble.onDisconnection(disconnectionCallback);
+ ble.onConnection(onConnectionCallback);
+ ble.onDataWritten(onDataWritten);
+ 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_LOCAL_NAME, (const uint8_t *)DEVICENAME, sizeof(DEVICENAME));
+ ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
+ (const uint8_t *)MPU6050_service_uuid, sizeof(MPU6050_service_uuid));
+ //(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);
+
+ while(true) {
+ //if (triggerSensorPolling && ble.getGapState().connected) {
+ //triggerSensorPolling = false;
+ updateValue();
+ //} else {
+ // ble.waitForEvent();
+ //}
+ }
+}
+