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Simple step tracking
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Diff: main.cpp
- Revision:
- 2:02175845b24c
- Parent:
- 1:3eec9883598a
- Child:
- 3:3157e61f2bfd
diff -r 3eec9883598a -r 02175845b24c main.cpp --- a/main.cpp Thu Oct 12 18:47:26 2017 +0000 +++ b/main.cpp Sun Oct 15 18:24:03 2017 +0000 @@ -1,5 +1,7 @@ #include "mbed.h" #include "MPU9250.h" +#include "ble/BLE.h" +#include "ButtonService.h" // Serial comms Serial pc(USBTX, USBRX); @@ -10,55 +12,177 @@ // Configuration bool testMPUConnection = true; bool doSensorInitialization = false; -bool printAccelerometer = true; -bool printGyroscope = true; +bool printAccelerometer = false; +bool printGyroscope = false; + +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 uint8_t buttonState = IDLE; + +static ButtonService *buttonServicePtr; + +void buttonPressedCallback(void) +{ + /* Note that the buttonPressedCallback() executes in interrupt context, so it is safer to access + * BLE device API from the main thread. */ + buttonState = PRESSED; +} + +void buttonReleasedCallback(void) +{ + /* Note that the buttonReleasedCallback() executes in interrupt context, so it is safer to access + * BLE device API from the main thread. */ + buttonState = RELEASED; +} + +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 */ +} -int main () { +/** + * 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}; - + 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); + button.fall(buttonPressedCallback); + button.rise(buttonReleasedCallback); + + 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 (testMPUConnection) { uint8_t whoami = mpu.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250 - pc.printf("I AM 0x%x\n\r", whoami); + pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r"); - wait(1); - } - + wait(1); + } + if (doSensorInitialization) { - // Initialise sensor board + // Initialise sensor board pc.printf("Initializing sensor\n\r"); mpu.initMPU9250(); pc.printf("Initialization finished\n\r"); wait(1); } - + while(1) { - pc.printf("Starting to stream data"); - if(printAccelerometer){ + + //pc.printf("Starting to stream data"); + 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; - - pc.printf("Acelerometer information, AX, AY, AZ \n"); - pc.printf("(%f, %f, %f)\n", ax,ay,az); - + + //pc.printf("Acelerometer information, AX, AY, AZ \n"); + //pc.printf("(%f, %f, %f)\n", ax,ay,az); + 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); - - pc.printf("Roll/Pitch/Yaw: (%f, %f, %f)\n", roll, pitch, yaw); - } - - if(printGyroscope){ + + //pc.printf("Roll/Pitch/Yaw: (%f, %f, %f)\n", roll, pitch, yaw); + 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("Gyroscope information, GX, GY, GZ \n"); - pc.printf("(:%f, %f, %f)\n", gx,gy,gz); + + + pc.printf("(%f, %f, %f, %f, %f, %f)\n", roll, pitch, yaw, gx, gy, gz); + + } - - wait(0.3); - } + if (buttonState != IDLE) { + //buttonServicePtr->updateButtonState(buttonState); + //char myword[] = { 'H', 'e', 'l', 'l', 'o', '\0' }; + uint8_t sensorValues[12] = {0}; + sensorValues[0] = 12; + sensorValues[1] = 12; + sensorValues[2] = 12; + sensorValues[3] = 12; + sensorValues[4] = 12; + sensorValues[5] = 12; + sensorValues[6] = 12; + sensorValues[7] = 12; + sensorValues[8] = 12; + sensorValues[9] = 12; + sensorValues[10] = 12; + sensorValues[11] = 12; + buttonServicePtr->updateButtonState(sensorValues); + buttonState = IDLE; + } + ble.waitForEvent(); + + //wait(0.3); + } } \ No newline at end of file