alonso palomino
/
ST
iot
main.cpp
- Committer:
- alonsopg
- Date:
- 2017-10-15
- Revision:
- 2:02175845b24c
- Parent:
- 1:3eec9883598a
- Child:
- 3:3157e61f2bfd
File content as of revision 2:02175845b24c:
#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 testMPUConnection = true; bool doSensorInitialization = false; 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 */ } /** * 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); 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 SHOULD BE 0x71\n\r"); wait(1); } if (doSensorInitialization) { // 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 && 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); 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); 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); } 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); } }