Diff: main.cpp

Revision:

0:2fa085b36ad8

Child:

2:bbf9db7db756

diff -r 000000000000 -r 2fa085b36ad8 main.cpp
--- /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
+}