Li Menglu / Mbed 2 deprecated BLE_Acceleration_Statejudging

get the accelaration and judge the moving state then broadcast by BLE

Dependencies:   AE_KXSD9 BLE_API mbed nRF51822

main.cpp@0:de01d2d04e9d, 2016-06-09 (annotated)

Committer:
MonroeLee
Date:
Thu Jun 09 05:18:41 2016 +0000
Revision:
0:de01d2d04e9d
get the accelaration and judge the moving state then broadcast by BLE

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MonroeLee 0:de01d2d04e9d 1 #include "mbed.h"
MonroeLee 0:de01d2d04e9d 2 #include "BLEDevice.h"
MonroeLee 0:de01d2d04e9d 3 #include "AE_KXSD9.h"
MonroeLee 0:de01d2d04e9d 4 #include "nRF51822n.h"
MonroeLee 0:de01d2d04e9d 5
MonroeLee 0:de01d2d04e9d 6 #define ADDR_W 0x30
MonroeLee 0:de01d2d04e9d 7 #define ADDR_R 0x31
MonroeLee 0:de01d2d04e9d 8
MonroeLee 0:de01d2d04e9d 9 #define DBG 1
MonroeLee 0:de01d2d04e9d 10 #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need debug messages on the console;
MonroeLee 0:de01d2d04e9d 11 * it will have an impact on code-size and power consumption. */
MonroeLee 0:de01d2d04e9d 12
MonroeLee 0:de01d2d04e9d 13 #if NEED_CONSOLE_OUTPUT
MonroeLee 0:de01d2d04e9d 14 Serial pc(USBTX, USBRX);
MonroeLee 0:de01d2d04e9d 15 #define DEBUG(...) { pc.printf(__VA_ARGS__); }
MonroeLee 0:de01d2d04e9d 16 #else
MonroeLee 0:de01d2d04e9d 17 #define DEBUG(...) /* nothing */
MonroeLee 0:de01d2d04e9d 18 #endif /* #if NEED_CONSOLE_OUTPUT */
MonroeLee 0:de01d2d04e9d 19
MonroeLee 0:de01d2d04e9d 20 BLEDevice ble;
MonroeLee 0:de01d2d04e9d 21
MonroeLee 0:de01d2d04e9d 22 //AE_KXSD9 kxsd9(PinName sda, PinName scl, int addr1, int addr2); /* KXSD9 */
MonroeLee 0:de01d2d04e9d 23 AE_KXSD9 i2c(p22, p20, ADDR_W, ADDR_R); //sda, scl, addr_w, addr_r
MonroeLee 0:de01d2d04e9d 24
MonroeLee 0:de01d2d04e9d 25
MonroeLee 0:de01d2d04e9d 26 static const char DEVICENAME[] = "HRM1017";
MonroeLee 0:de01d2d04e9d 27 static volatile bool triggerSensorPolling = false;
MonroeLee 0:de01d2d04e9d 28
MonroeLee 0:de01d2d04e9d 29 const uint8_t KXSD9_service_uuid[] = {
MonroeLee 0:de01d2d04e9d 30 0x31,0x27,0x00,0xE2,0xE7,0x98,
MonroeLee 0:de01d2d04e9d 31 0x4D,0x5C,
MonroeLee 0:de01d2d04e9d 32 0x8D,0xCF,
MonroeLee 0:de01d2d04e9d 33 0x49,0x90,0x83,0x32,0xDF,0x9F
MonroeLee 0:de01d2d04e9d 34 };
MonroeLee 0:de01d2d04e9d 35
MonroeLee 0:de01d2d04e9d 36 const uint8_t KXSD9_Characteristic_uuid[] = {
MonroeLee 0:de01d2d04e9d 37 0xFF,0xA2,0x8C,0xDE,0x65,0x25,
MonroeLee 0:de01d2d04e9d 38 0x44,0x89,
MonroeLee 0:de01d2d04e9d 39 0x80,0x1C,
MonroeLee 0:de01d2d04e9d 40 0x1C,0x06,0x0C,0xAC,0x97,0x67
MonroeLee 0:de01d2d04e9d 41 };
MonroeLee 0:de01d2d04e9d 42
MonroeLee 0:de01d2d04e9d 43
MonroeLee 0:de01d2d04e9d 44 uint8_t thermTempPayload[sizeof(double)*4] = {0,0,0,0};
MonroeLee 0:de01d2d04e9d 45
MonroeLee 0:de01d2d04e9d 46 GattCharacteristic ControllerChar (KXSD9_Characteristic_uuid,
MonroeLee 0:de01d2d04e9d 47 thermTempPayload, (sizeof(double) * 4), (sizeof(double) * 4),
MonroeLee 0:de01d2d04e9d 48 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
MonroeLee 0:de01d2d04e9d 49
MonroeLee 0:de01d2d04e9d 50 GattCharacteristic *ControllerChars[] = { &ControllerChar, };
MonroeLee 0:de01d2d04e9d 51 GattService KXSD9Service(KXSD9_service_uuid, ControllerChars, sizeof(ControllerChars) / sizeof(GattCharacteristic *));
MonroeLee 0:de01d2d04e9d 52
MonroeLee 0:de01d2d04e9d 53 static Gap::ConnectionParams_t connectionParams;
MonroeLee 0:de01d2d04e9d 54
MonroeLee 0:de01d2d04e9d 55 void updateValue();
MonroeLee 0:de01d2d04e9d 56
MonroeLee 0:de01d2d04e9d 57 void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason) // Mod
MonroeLee 0:de01d2d04e9d 58 {
MonroeLee 0:de01d2d04e9d 59
MonroeLee 0:de01d2d04e9d 60 DEBUG("Disconnected handle %u, reason %u\n", handle, reason);
MonroeLee 0:de01d2d04e9d 61 DEBUG("Restarting the advertising process\n\r");
MonroeLee 0:de01d2d04e9d 62 ble.startAdvertising();
MonroeLee 0:de01d2d04e9d 63 }
MonroeLee 0:de01d2d04e9d 64
MonroeLee 0:de01d2d04e9d 65 void onConnectionCallback(Gap::Handle_t handle, const Gap::ConnectionParams_t *params) //Mod
MonroeLee 0:de01d2d04e9d 66 {
MonroeLee 0:de01d2d04e9d 67
MonroeLee 0:de01d2d04e9d 68 DEBUG("connected. Got handle %u\r\n", handle);
MonroeLee 0:de01d2d04e9d 69
MonroeLee 0:de01d2d04e9d 70 connectionParams.slaveLatency = 1;
MonroeLee 0:de01d2d04e9d 71 if (ble.updateConnectionParams(handle, &connectionParams) != BLE_ERROR_NONE) {
MonroeLee 0:de01d2d04e9d 72 DEBUG("failed to update connection paramter\r\n");
MonroeLee 0:de01d2d04e9d 73 }
MonroeLee 0:de01d2d04e9d 74 }
MonroeLee 0:de01d2d04e9d 75
MonroeLee 0:de01d2d04e9d 76 void periodicCallback(void)
MonroeLee 0:de01d2d04e9d 77 {
MonroeLee 0:de01d2d04e9d 78 //oneSecondLed = !oneSecondLed; /* Do blinky on LED1 while we're waiting for BLE events */
MonroeLee 0:de01d2d04e9d 79
MonroeLee 0:de01d2d04e9d 80 /* Note that the periodicCallback() executes in interrupt context, so it is safer to do
MonroeLee 0:de01d2d04e9d 81 * heavy-weight sensor polling from the main thread. */
MonroeLee 0:de01d2d04e9d 82 triggerSensorPolling = true;
MonroeLee 0:de01d2d04e9d 83 }
MonroeLee 0:de01d2d04e9d 84 /**************************************************************************/
MonroeLee 0:de01d2d04e9d 85 /*!
MonroeLee 0:de01d2d04e9d 86 @brief Program entry point
MonroeLee 0:de01d2d04e9d 87 */
MonroeLee 0:de01d2d04e9d 88 /**************************************************************************/
MonroeLee 0:de01d2d04e9d 89 int main(void)
MonroeLee 0:de01d2d04e9d 90 {
MonroeLee 0:de01d2d04e9d 91 //pc.baud(115200);
MonroeLee 0:de01d2d04e9d 92
MonroeLee 0:de01d2d04e9d 93 #if DBG
MonroeLee 0:de01d2d04e9d 94 pc.printf("Start\n\r");
MonroeLee 0:de01d2d04e9d 95 #endif
MonroeLee 0:de01d2d04e9d 96 Ticker ticker;
MonroeLee 0:de01d2d04e9d 97 ticker.attach(periodicCallback, 1);
MonroeLee 0:de01d2d04e9d 98
MonroeLee 0:de01d2d04e9d 99 i2c.init();
MonroeLee 0:de01d2d04e9d 100
MonroeLee 0:de01d2d04e9d 101 ble.init();
MonroeLee 0:de01d2d04e9d 102 ble.onDisconnection(disconnectionCallback);
MonroeLee 0:de01d2d04e9d 103 ble.onConnection(onConnectionCallback);
MonroeLee 0:de01d2d04e9d 104
MonroeLee 0:de01d2d04e9d 105 ble.getPreferredConnectionParams(&connectionParams);
MonroeLee 0:de01d2d04e9d 106
MonroeLee 0:de01d2d04e9d 107 /* setup advertising */
MonroeLee 0:de01d2d04e9d 108 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
MonroeLee 0:de01d2d04e9d 109 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
MonroeLee 0:de01d2d04e9d 110 ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, (const uint8_t *)DEVICENAME, sizeof(DEVICENAME));
MonroeLee 0:de01d2d04e9d 111 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
MonroeLee 0:de01d2d04e9d 112 (const uint8_t *)KXSD9_service_uuid, sizeof(KXSD9_service_uuid));
MonroeLee 0:de01d2d04e9d 113
MonroeLee 0:de01d2d04e9d 114 ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
MonroeLee 0:de01d2d04e9d 115 ble.startAdvertising();
MonroeLee 0:de01d2d04e9d 116
MonroeLee 0:de01d2d04e9d 117 ble.addService(KXSD9Service);
MonroeLee 0:de01d2d04e9d 118
MonroeLee 0:de01d2d04e9d 119 for(;;) {
MonroeLee 0:de01d2d04e9d 120 if (triggerSensorPolling) {
MonroeLee 0:de01d2d04e9d 121 triggerSensorPolling = false;
MonroeLee 0:de01d2d04e9d 122 updateValue();
MonroeLee 0:de01d2d04e9d 123 } else {
MonroeLee 0:de01d2d04e9d 124 ble.waitForEvent();
MonroeLee 0:de01d2d04e9d 125 }
MonroeLee 0:de01d2d04e9d 126 }
MonroeLee 0:de01d2d04e9d 127 }
MonroeLee 0:de01d2d04e9d 128
MonroeLee 0:de01d2d04e9d 129 double Judge_state(double a[128])
MonroeLee 0:de01d2d04e9d 130 {
MonroeLee 0:de01d2d04e9d 131 double state=0;
MonroeLee 0:de01d2d04e9d 132 int i;
MonroeLee 0:de01d2d04e9d 133 double sum0=0;
MonroeLee 0:de01d2d04e9d 134 double sum1=0;
MonroeLee 0:de01d2d04e9d 135 double avg=0;
MonroeLee 0:de01d2d04e9d 136 double M=0;
MonroeLee 0:de01d2d04e9d 137 int n=128;
MonroeLee 0:de01d2d04e9d 138 double LowChecker=1000;//区分静止和行走的界限
MonroeLee 0:de01d2d04e9d 139 double HighChecker=10000;//区分行走和跑步的界限
MonroeLee 0:de01d2d04e9d 140 for(i=0;i<n;i++)
MonroeLee 0:de01d2d04e9d 141 {
MonroeLee 0:de01d2d04e9d 142 sum0+=a[i];
MonroeLee 0:de01d2d04e9d 143 }
MonroeLee 0:de01d2d04e9d 144 avg=sum0/n;
MonroeLee 0:de01d2d04e9d 145 for(i=0;i<n;i++)
MonroeLee 0:de01d2d04e9d 146 {
MonroeLee 0:de01d2d04e9d 147 sum1+=abs(a[i]-avg);
MonroeLee 0:de01d2d04e9d 148 }
MonroeLee 0:de01d2d04e9d 149 M=sum1/n;
MonroeLee 0:de01d2d04e9d 150 if(M>=0&&M<LowChecker)
MonroeLee 0:de01d2d04e9d 151 {
MonroeLee 0:de01d2d04e9d 152 state=1.0;
MonroeLee 0:de01d2d04e9d 153 }
MonroeLee 0:de01d2d04e9d 154 else if(M>=LowChecker&&M<HighChecker)
MonroeLee 0:de01d2d04e9d 155 {
MonroeLee 0:de01d2d04e9d 156 state=2.0;
MonroeLee 0:de01d2d04e9d 157 }
MonroeLee 0:de01d2d04e9d 158 else state=3.0;
MonroeLee 0:de01d2d04e9d 159 return state;
MonroeLee 0:de01d2d04e9d 160 }
MonroeLee 0:de01d2d04e9d 161
MonroeLee 0:de01d2d04e9d 162 void updateValue(void){
MonroeLee 0:de01d2d04e9d 163
MonroeLee 0:de01d2d04e9d 164 double x = 0.0;
MonroeLee 0:de01d2d04e9d 165 double y = 0.0;
MonroeLee 0:de01d2d04e9d 166 double z = 0.0;
MonroeLee 0:de01d2d04e9d 167 double s=0;
MonroeLee 0:de01d2d04e9d 168 int i=0;
MonroeLee 0:de01d2d04e9d 169 double s_a; //合成的一维加速度
MonroeLee 0:de01d2d04e9d 170 double a[128];//用于存放128个一维加速度取样值
MonroeLee 0:de01d2d04e9d 171 i2c.read_xyz(&x, &y, &z);
MonroeLee 0:de01d2d04e9d 172 //pc.printf("%.3lf,%.3lf,%.3lf\r\n", x, y, z);
MonroeLee 0:de01d2d04e9d 173
MonroeLee 0:de01d2d04e9d 174 s_a=sqrt(x*x+y*y+z*z);
MonroeLee 0:de01d2d04e9d 175 a[i]=s_a-55602;
MonroeLee 0:de01d2d04e9d 176 i=i+1;
MonroeLee 0:de01d2d04e9d 177 if(i==127)
MonroeLee 0:de01d2d04e9d 178 {
MonroeLee 0:de01d2d04e9d 179 s=Judge_state(a);
MonroeLee 0:de01d2d04e9d 180 i=0;
MonroeLee 0:de01d2d04e9d 181 //printf("Dx=:%lf\r\n",x);
MonroeLee 0:de01d2d04e9d 182 //printf("Dy=:%lf\r\n",y);
MonroeLee 0:de01d2d04e9d 183 //printf("Dz=:%lf\r\n",z);
MonroeLee 0:de01d2d04e9d 184 //printf("Dz=:%lf\r\n",s);
MonroeLee 0:de01d2d04e9d 185 }
MonroeLee 0:de01d2d04e9d 186
MonroeLee 0:de01d2d04e9d 187
MonroeLee 0:de01d2d04e9d 188 memcpy(thermTempPayload+sizeof(double)*0, &x, sizeof(x));
MonroeLee 0:de01d2d04e9d 189
MonroeLee 0:de01d2d04e9d 190 memcpy(thermTempPayload+sizeof(double)*1, &y, sizeof(y));
MonroeLee 0:de01d2d04e9d 191
MonroeLee 0:de01d2d04e9d 192 memcpy(thermTempPayload+sizeof(double)*2, &z, sizeof(z));
MonroeLee 0:de01d2d04e9d 193
MonroeLee 0:de01d2d04e9d 194 memcpy(thermTempPayload+sizeof(double)*3, &s, sizeof(s));
MonroeLee 0:de01d2d04e9d 195
MonroeLee 0:de01d2d04e9d 196 pc.printf("%.3lf,%.3lf,%.3lf,%.3lf\r\n",
MonroeLee 0:de01d2d04e9d 197 *(double*)&thermTempPayload[sizeof(double)*0],
MonroeLee 0:de01d2d04e9d 198 *(double*)&thermTempPayload[sizeof(double)*1],
MonroeLee 0:de01d2d04e9d 199 *(double*)&thermTempPayload[sizeof(double)*2],
MonroeLee 0:de01d2d04e9d 200 *(double*)&thermTempPayload[sizeof(double)*3]);
MonroeLee 0:de01d2d04e9d 201 ble.updateCharacteristicValue(ControllerChar.getValueAttribute().getHandle(), thermTempPayload, sizeof(thermTempPayload)); //Mod
MonroeLee 0:de01d2d04e9d 202 }