File content as of revision 11:03a4a6e9f27c:

#include "mbed.h"
#include "MPU9250.h"
#include "ble/BLE.h"
#include "ButtonService.h"

// Serial comms
Serial pc(USBTX, USBRX);

// Sensor board library
MPU9250 mpu = MPU9250(p26, p27);

// Configuration
bool doSensorInitialization = true;
bool printAccelerometer = true;
bool printGyroscope = true;

DigitalOut  led1(LED1);
InterruptIn button(BUTTON1);

const static char     DEVICE_NAME[] = "Terminator";
static const uint16_t uuid16_list[] = {ButtonService::BUTTON_SERVICE_UUID};

enum {
    RELEASED = 0,
    PRESSED,
    IDLE
};

static ButtonService *buttonServicePtr;

void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
{
    BLE::Instance().gap().startAdvertising();
}

void periodicFunctionCallback(void)
{
    led1 = !led1; /* Do blinky on LED1 to indicate system aliveness. */
}

/**
 * This function is called when the ble initialization process has failled
 */
void onBleInitError(BLE &ble, ble_error_t error)
{
    /* Initialization error handling should go here */
}

/**
 * Callback triggered when the ble initialization process has finished
 */
void bleInitComplete(BLE::InitializationCompleteCallbackContext *params)
{
    BLE&        ble   = params->ble;
    ble_error_t error = params->error;

    if (error != BLE_ERROR_NONE) {
        /* In case of error, forward the error handling to onBleInitError */
        onBleInitError(ble, error);
        return;
    }

    /* Ensure that it is the default instance of BLE */
    if(ble.getInstanceID() != BLE::DEFAULT_INSTANCE) {
        return;
    }

    ble.gap().onDisconnection(disconnectionCallback);

    /* Setup primary service */
    buttonServicePtr = new ButtonService(ble, false /* initial value for button pressed */);

    /* setup advertising */
    ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
    ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS, (uint8_t *)uuid16_list, sizeof(uuid16_list));
    ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
    ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
    ble.gap().setAdvertisingInterval(1000); /* 1000ms. */
    ble.gap().startAdvertising();

}

int main ()
{
    // Turn the led
    led1 = 1;
    int16_t accelerometer[3] = {0,0,0};
    int16_t gyroscope[3] = {0,0,0};

    //Attach a function to be called by the Ticker, specifiying the interval in seconds.
    Ticker ticker;
    ticker.attach(periodicFunctionCallback, 1);    

    BLE &ble = BLE::Instance();
    ble.init(bleInitComplete);

    /* SpinWait for initialization to complete. This is necessary because the
    * BLE object is used in the main loop below. */
    while (ble.hasInitialized()  == false) {
        /* spin loop */
    }

    if (doSensorInitialization) {
        // Initialise sensor board
        pc.printf("Initializing sensor\n\r");
        mpu.initMPU9250();
        pc.printf("Initialization finished\n\r");
        wait(1);
    }

    while(1) {

        if(printAccelerometer && printGyroscope) {
            mpu.readAccelData(accelerometer);
            float ax = accelerometer[0] * 2.0 / 32768.0;
            float ay = accelerometer[1] * 2.0 / 32768.0;
            float az = accelerometer[2] * 2.0 / 32768.0;

            float roll = float(atan2(ay, az) * 180/3.1416f);
            float pitch = float(atan2(-ax, sqrt(ay*ay + az*az)) * 180/3.1416f);
            float yaw = atan(ax/-ay);

            mpu.readGyroData(gyroscope);
            float gx = gyroscope[0] * 250.0 / 32768.0;
            float gy = gyroscope[1] * 250.0 / 32768.0;
            float gz = gyroscope[2] * 250.0 / 32768.0;
            
            pc.printf("%f, %f, %f, %f, %f, %f \n", roll, pitch, yaw, gx, gy, gz);        
            buttonServicePtr->updateButtonState(roll, pitch, yaw, gyroscope[0], gyroscope[1], gyroscope[2]);      
        }
        ble.waitForEvent();

        wait(0.3);
    }
}