Brunno Oliveira / Pulga_BLE_GPS

GPS to Pulga

Dependencies:   Si1133 BME280

source/main.cpp@22:2c6161c96a76, 2019-07-18 (annotated)

Committer:
pancotinho
Date:
Thu Jul 18 13:42:17 2019 +0000
Revision:
22:2c6161c96a76
Parent:
21:6cf50085f9f3
Child:
23:7f1c9c1a4c57
working version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 14:de95c96e3305 1 /* mbed Microcontroller Library
mbed_official 14:de95c96e3305 2 * Copyright (c) 2017 ARM Limited
mbed_official 14:de95c96e3305 3 *
mbed_official 14:de95c96e3305 4 * Licensed under the Apache License, Version 2.0 (the "License");
mbed_official 14:de95c96e3305 5 * you may not use this file except in compliance with the License.
mbed_official 14:de95c96e3305 6 * You may obtain a copy of the License at
mbed_official 14:de95c96e3305 7 *
mbed_official 14:de95c96e3305 8 * http://www.apache.org/licenses/LICENSE-2.0
mbed_official 14:de95c96e3305 9 *
mbed_official 14:de95c96e3305 10 * Unless required by applicable law or agreed to in writing, software
mbed_official 14:de95c96e3305 11 * distributed under the License is distributed on an "AS IS" BASIS,
mbed_official 14:de95c96e3305 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
mbed_official 14:de95c96e3305 13 * See the License for the specific language governing permissions and
mbed_official 14:de95c96e3305 14 * limitations under the License.
mbed_official 14:de95c96e3305 15 */
pancotinho 20:86417f956e22 16
pancotinho 20:86417f956e22 17 #include <events/mbed_events.h>
mbed_official 14:de95c96e3305 18 #include <stdio.h>
pancotinho 20:86417f956e22 19 #include "mbed.h"
mbed_official 14:de95c96e3305 20
mbed_official 14:de95c96e3305 21 #include "platform/Callback.h"
mbed_official 14:de95c96e3305 22 #include "events/EventQueue.h"
mbed_official 14:de95c96e3305 23 #include "platform/NonCopyable.h"
mbed_official 14:de95c96e3305 24
mbed_official 14:de95c96e3305 25 #include "ble/BLE.h"
mbed_official 14:de95c96e3305 26 #include "ble/Gap.h"
mbed_official 14:de95c96e3305 27 #include "ble/GattClient.h"
mbed_official 14:de95c96e3305 28 #include "ble/GapAdvertisingParams.h"
mbed_official 14:de95c96e3305 29 #include "ble/GapAdvertisingData.h"
mbed_official 14:de95c96e3305 30 #include "ble/GattServer.h"
mbed_official 14:de95c96e3305 31 #include "BLEProcess.h"
pancotinho 20:86417f956e22 32 #include "Si1133.h"
pancotinho 22:2c6161c96a76 33 #include "BME280.h"
pancotinho 20:86417f956e22 34
pancotinho 22:2c6161c96a76 35 /* defines the axis for acc */
pancotinho 22:2c6161c96a76 36 #define ACC_NOOF_AXIS 3
pancotinho 22:2c6161c96a76 37 #define GYR_NOOF_AXIS 2
pancotinho 22:2c6161c96a76 38
pancotinho 22:2c6161c96a76 39 /* bmi160 slave address */
pancotinho 22:2c6161c96a76 40 #define BMI160_ADDR ((0x69)<<1)
pancotinho 22:2c6161c96a76 41
pancotinho 22:2c6161c96a76 42 #define RAD_DEG 57.29577951
pancotinho 22:2c6161c96a76 43
pancotinho 22:2c6161c96a76 44 using mbed::callback;
pancotinho 22:2c6161c96a76 45
pancotinho 22:2c6161c96a76 46 Si1133 sensor_light(P0_13, P0_15);
pancotinho 22:2c6161c96a76 47 BME280 sensor_amb(P0_13, P0_15, 0x77 << 1) ;
pancotinho 22:2c6161c96a76 48
pancotinho 22:2c6161c96a76 49 I2C i2c(p13, p15);
mbed_official 14:de95c96e3305 50
pancotinho 22:2c6161c96a76 51 int msg;
pancotinho 22:2c6161c96a76 52 int sens;
pancotinho 22:2c6161c96a76 53 uint32_t lux = 0;
pancotinho 22:2c6161c96a76 54 uint32_t amb = 0;
pancotinho 22:2c6161c96a76 55 uint32_t imux = 0;
pancotinho 22:2c6161c96a76 56 uint32_t imuy = 0;
pancotinho 22:2c6161c96a76 57 uint32_t imuz = 0;
pancotinho 22:2c6161c96a76 58 float sensor_get = 0;
pancotinho 22:2c6161c96a76 59
pancotinho 22:2c6161c96a76 60 int16_t acc_sample_buffer[ACC_NOOF_AXIS] = {0x5555, 0x5555, 0x5555};
pancotinho 22:2c6161c96a76 61 int16_t gyr_sample_buffer[GYR_NOOF_AXIS] = {0x5555, 0x5555};
pancotinho 22:2c6161c96a76 62
pancotinho 22:2c6161c96a76 63 double acc_result_buffer[ACC_NOOF_AXIS] = {0x5555, 0x5555, 0x5555};
pancotinho 22:2c6161c96a76 64 double gyr_result_buffer[GYR_NOOF_AXIS] = {0x5555, 0x5555};
pancotinho 22:2c6161c96a76 65
pancotinho 22:2c6161c96a76 66 double accel_ang_x, accel_ang_y;
pancotinho 22:2c6161c96a76 67 double tiltx, tilty;
pancotinho 22:2c6161c96a76 68 double tiltx_prev, tilty_prev;
pancotinho 22:2c6161c96a76 69
pancotinho 22:2c6161c96a76 70 char i2c_reg_buffer[2] = {0};
pancotinho 20:86417f956e22 71
mbed_official 14:de95c96e3305 72
mbed_official 14:de95c96e3305 73 /**
pancotinho 20:86417f956e22 74 * A My service that demonstrate the GattServer features.
mbed_official 14:de95c96e3305 75 *
pancotinho 22:2c6161c96a76 76 * The My service host three characteristics that model the current amb,
pancotinho 22:2c6161c96a76 77 * led and lux of the My. The value of the lux characteristic is
mbed_official 14:de95c96e3305 78 * incremented automatically by the system.
mbed_official 14:de95c96e3305 79 *
pancotinho 20:86417f956e22 80 * A client can subscribe to updates of the My characteristics and get
mbed_official 14:de95c96e3305 81 * notified when one of the value is changed. Clients can also change value of
pancotinho 22:2c6161c96a76 82 * the lux, led and amb characteristric.
mbed_official 14:de95c96e3305 83 */
pancotinho 20:86417f956e22 84 class MyService {
pancotinho 20:86417f956e22 85 typedef MyService Self;
mbed_official 14:de95c96e3305 86
mbed_official 14:de95c96e3305 87 public:
pancotinho 20:86417f956e22 88 MyService() :
pancotinho 22:2c6161c96a76 89 _amb_char("00000000-000a-000a-a000-a0a000aa00aa", 0),
pancotinho 22:2c6161c96a76 90 _lux_char("11111111-111b-111b-b111-b1b111bb11bb", 0),
pancotinho 22:2c6161c96a76 91 _imux_char("22222222-222c-222c-c222-c2c222cc22cc", 0),
pancotinho 22:2c6161c96a76 92 _imuy_char("33333333-333d-333d-d333-d3d333dd33dd", 0),
pancotinho 22:2c6161c96a76 93 // _imuz_char("44444444-444e-444e-e444-e4e444ee44ee", 0),
pancotinho 22:2c6161c96a76 94 _led_char("55555555-555f-555f-f555-f5f555ff55ff", 0),
pancotinho 20:86417f956e22 95 _My_service(
mbed_official 14:de95c96e3305 96 /* uuid */ "51311102-030e-485f-b122-f8f381aa84ed",
pancotinho 20:86417f956e22 97 /* characteristics */ _My_characteristics,
pancotinho 20:86417f956e22 98 /* numCharacteristics */ sizeof(_My_characteristics) /
pancotinho 20:86417f956e22 99 sizeof(_My_characteristics[0])
mbed_official 14:de95c96e3305 100 ),
mbed_official 14:de95c96e3305 101 _server(NULL),
pancotinho 20:86417f956e22 102 _event_queue(NULL),
pancotinho 20:86417f956e22 103 _alive_led(P1_13, 1),
pancotinho 20:86417f956e22 104 _actuated_led(P1_14,0)
pancotinho 20:86417f956e22 105
mbed_official 14:de95c96e3305 106 {
mbed_official 14:de95c96e3305 107 // update internal pointers (value, descriptors and characteristics array)
pancotinho 22:2c6161c96a76 108 _My_characteristics[4] = &_led_char;
pancotinho 22:2c6161c96a76 109 // _My_characteristics[4] = &_imuz_char;
pancotinho 22:2c6161c96a76 110 _My_characteristics[3] = &_imuy_char;
pancotinho 22:2c6161c96a76 111 _My_characteristics[2] = &_imux_char;
pancotinho 22:2c6161c96a76 112 _My_characteristics[1] = &_amb_char;
pancotinho 22:2c6161c96a76 113 _My_characteristics[0] = &_lux_char;
mbed_official 14:de95c96e3305 114
mbed_official 14:de95c96e3305 115 // setup authorization handlers
pancotinho 22:2c6161c96a76 116 _amb_char.setWriteAuthorizationCallback(this, &Self::authorize_client_write);
pancotinho 22:2c6161c96a76 117 _imux_char.setWriteAuthorizationCallback(this, &Self::authorize_client_write);
pancotinho 22:2c6161c96a76 118 _imuy_char.setWriteAuthorizationCallback(this, &Self::authorize_client_write);
pancotinho 22:2c6161c96a76 119 // _imuz_char.setWriteAuthorizationCallback(this, &Self::authorize_client_write);
pancotinho 22:2c6161c96a76 120 _lux_char.setWriteAuthorizationCallback(this, &Self::authorize_client_write);
pancotinho 20:86417f956e22 121 _led_char.setWriteAuthorizationCallback(this, &Self::authorize_client_write);
mbed_official 14:de95c96e3305 122 }
mbed_official 14:de95c96e3305 123
mbed_official 14:de95c96e3305 124
mbed_official 14:de95c96e3305 125
mbed_official 14:de95c96e3305 126 void start(BLE &ble_interface, events::EventQueue &event_queue)
mbed_official 14:de95c96e3305 127 {
mbed_official 14:de95c96e3305 128 if (_event_queue) {
mbed_official 14:de95c96e3305 129 return;
mbed_official 14:de95c96e3305 130 }
mbed_official 14:de95c96e3305 131
mbed_official 14:de95c96e3305 132 _server = &ble_interface.gattServer();
mbed_official 14:de95c96e3305 133 _event_queue = &event_queue;
mbed_official 14:de95c96e3305 134
pancotinho 20:86417f956e22 135
mbed_official 14:de95c96e3305 136 // register the service
mbed_official 14:de95c96e3305 137 printf("Adding demo service\r\n");
pancotinho 20:86417f956e22 138 ble_error_t err = _server->addService(_My_service);
mbed_official 14:de95c96e3305 139
mbed_official 14:de95c96e3305 140 if (err) {
mbed_official 14:de95c96e3305 141 printf("Error %u during demo service registration.\r\n", err);
mbed_official 14:de95c96e3305 142 return;
mbed_official 14:de95c96e3305 143 }
mbed_official 14:de95c96e3305 144
mbed_official 14:de95c96e3305 145 // read write handler
mbed_official 14:de95c96e3305 146 _server->onDataSent(as_cb(&Self::when_data_sent));
mbed_official 14:de95c96e3305 147 _server->onDataWritten(as_cb(&Self::when_data_written));
mbed_official 14:de95c96e3305 148 _server->onDataRead(as_cb(&Self::when_data_read));
mbed_official 14:de95c96e3305 149
mbed_official 14:de95c96e3305 150 // updates subscribtion handlers
mbed_official 14:de95c96e3305 151 _server->onUpdatesEnabled(as_cb(&Self::when_update_enabled));
mbed_official 14:de95c96e3305 152 _server->onUpdatesDisabled(as_cb(&Self::when_update_disabled));
mbed_official 14:de95c96e3305 153 _server->onConfirmationReceived(as_cb(&Self::when_confirmation_received));
mbed_official 14:de95c96e3305 154
mbed_official 14:de95c96e3305 155 // print the handles
pancotinho 20:86417f956e22 156 printf("My service registered\r\n");
pancotinho 20:86417f956e22 157 printf("service handle: %u\r\n", _My_service.getHandle());
pancotinho 22:2c6161c96a76 158 printf("\tamb characteristic value handle %u\r\n", _amb_char.getValueHandle());
pancotinho 22:2c6161c96a76 159 printf("\timu characteristic value handle %u\r\n", _imux_char.getValueHandle());
pancotinho 22:2c6161c96a76 160 printf("\timu characteristic value handle %u\r\n", _imuy_char.getValueHandle());
pancotinho 22:2c6161c96a76 161 // printf("\timu characteristic value handle %u\r\n", _imuz_char.getValueHandle());
pancotinho 22:2c6161c96a76 162 printf("\tlux characteristic value handle %u\r\n", _lux_char.getValueHandle());
pancotinho 22:2c6161c96a76 163 printf("\tled characteristic value handle %u\r\n", _led_char.getValueHandle());
mbed_official 14:de95c96e3305 164
pancotinho 22:2c6161c96a76 165 _event_queue->call_every(1741 /* ms */, callback(this, &Self::update_char));
pancotinho 22:2c6161c96a76 166 _event_queue->call_every(1621 /* ms */, callback(this, &Self::read_sensors));
pancotinho 22:2c6161c96a76 167 _event_queue->call_every(503 /* ms */, callback(this, &Self::blink));
pancotinho 20:86417f956e22 168
mbed_official 14:de95c96e3305 169 }
mbed_official 14:de95c96e3305 170
mbed_official 14:de95c96e3305 171 private:
mbed_official 14:de95c96e3305 172
mbed_official 14:de95c96e3305 173 /**
mbed_official 14:de95c96e3305 174 * Handler called when a notification or an indication has been sent.
mbed_official 14:de95c96e3305 175 */
mbed_official 14:de95c96e3305 176 void when_data_sent(unsigned count)
mbed_official 14:de95c96e3305 177 {
mbed_official 14:de95c96e3305 178 printf("sent %u updates\r\n", count);
mbed_official 14:de95c96e3305 179 }
mbed_official 14:de95c96e3305 180
mbed_official 14:de95c96e3305 181 /**
mbed_official 14:de95c96e3305 182 * Handler called after an attribute has been written.
mbed_official 14:de95c96e3305 183 */
mbed_official 14:de95c96e3305 184 void when_data_written(const GattWriteCallbackParams *e)
mbed_official 14:de95c96e3305 185 {
mbed_official 14:de95c96e3305 186 printf("data written:\r\n");
mbed_official 14:de95c96e3305 187 printf("\tconnection handle: %u\r\n", e->connHandle);
mbed_official 14:de95c96e3305 188 printf("\tattribute handle: %u", e->handle);
pancotinho 22:2c6161c96a76 189 if (e->handle == _amb_char.getValueHandle()) {
pancotinho 22:2c6161c96a76 190 printf(" (amb characteristic)\r\n");
pancotinho 22:2c6161c96a76 191 } else if (e->handle == _led_char.getValueHandle()) {
pancotinho 20:86417f956e22 192 printf(" (led characteristic)\r\n");
pancotinho 20:86417f956e22 193 _actuated_led = *(e->data);
pancotinho 22:2c6161c96a76 194 } else if (e->handle == _lux_char.getValueHandle()) {
pancotinho 22:2c6161c96a76 195 printf(" (lux characteristic)\r\n");
pancotinho 22:2c6161c96a76 196 } else if (e->handle == _imux_char.getValueHandle()) {
pancotinho 22:2c6161c96a76 197 printf(" (imu_x characteristic)\r\n");
pancotinho 22:2c6161c96a76 198 } else if (e->handle == _imuy_char.getValueHandle()) {
pancotinho 22:2c6161c96a76 199 printf(" (imu_y characteristic)\r\n");
pancotinho 22:2c6161c96a76 200 // } else if (e->handle == _imuz_char.getValueHandle()) {
pancotinho 22:2c6161c96a76 201 // printf(" (imu_z characteristic)\r\n");
mbed_official 14:de95c96e3305 202 } else {
mbed_official 14:de95c96e3305 203 printf("\r\n");
mbed_official 14:de95c96e3305 204 }
mbed_official 14:de95c96e3305 205 printf("\twrite operation: %u\r\n", e->writeOp);
mbed_official 14:de95c96e3305 206 printf("\toffset: %u\r\n", e->offset);
mbed_official 14:de95c96e3305 207 printf("\tlength: %u\r\n", e->len);
mbed_official 14:de95c96e3305 208 printf("\t data: ");
mbed_official 14:de95c96e3305 209
mbed_official 14:de95c96e3305 210 for (size_t i = 0; i < e->len; ++i) {
mbed_official 14:de95c96e3305 211 printf("%02X", e->data[i]);
mbed_official 14:de95c96e3305 212 }
mbed_official 14:de95c96e3305 213
mbed_official 14:de95c96e3305 214 printf("\r\n");
mbed_official 14:de95c96e3305 215 }
mbed_official 14:de95c96e3305 216
mbed_official 14:de95c96e3305 217 /**
mbed_official 14:de95c96e3305 218 * Handler called after an attribute has been read.
mbed_official 14:de95c96e3305 219 */
mbed_official 14:de95c96e3305 220 void when_data_read(const GattReadCallbackParams *e)
mbed_official 14:de95c96e3305 221 {
mbed_official 14:de95c96e3305 222 printf("data read:\r\n");
mbed_official 14:de95c96e3305 223 printf("\tconnection handle: %u\r\n", e->connHandle);
mbed_official 14:de95c96e3305 224 printf("\tattribute handle: %u", e->handle);
pancotinho 22:2c6161c96a76 225 if (e->handle == _amb_char.getValueHandle()) {
pancotinho 22:2c6161c96a76 226 printf(" (amb characteristic)\r\n");
pancotinho 22:2c6161c96a76 227 } else if (e->handle == _led_char.getValueHandle()) {
pancotinho 20:86417f956e22 228 printf(" (led characteristic)\r\n");
pancotinho 22:2c6161c96a76 229 } else if (e->handle == _lux_char.getValueHandle()) {
pancotinho 22:2c6161c96a76 230 printf(" (lux characteristic)\r\n");
pancotinho 22:2c6161c96a76 231 } else if (e->handle == _imux_char.getValueHandle()) {
pancotinho 22:2c6161c96a76 232 printf(" (imu_x characteristic)\r\n");
pancotinho 22:2c6161c96a76 233 } else if (e->handle == _imuy_char.getValueHandle()) {
pancotinho 22:2c6161c96a76 234 printf(" (imu_y characteristic)\r\n");
pancotinho 22:2c6161c96a76 235 // } else if (e->handle == _imuz_char.getValueHandle()) {
pancotinho 22:2c6161c96a76 236 // printf(" (imu_z characteristic)\r\n");
mbed_official 14:de95c96e3305 237 } else {
mbed_official 14:de95c96e3305 238 printf("\r\n");
mbed_official 14:de95c96e3305 239 }
mbed_official 14:de95c96e3305 240 }
mbed_official 14:de95c96e3305 241
mbed_official 14:de95c96e3305 242 /**
mbed_official 14:de95c96e3305 243 * Handler called after a client has subscribed to notification or indication.
mbed_official 14:de95c96e3305 244 *
mbed_official 14:de95c96e3305 245 * @param handle Handle of the characteristic value affected by the change.
mbed_official 14:de95c96e3305 246 */
mbed_official 14:de95c96e3305 247 void when_update_enabled(GattAttribute::Handle_t handle)
mbed_official 14:de95c96e3305 248 {
mbed_official 14:de95c96e3305 249 printf("update enabled on handle %d\r\n", handle);
mbed_official 14:de95c96e3305 250 }
mbed_official 14:de95c96e3305 251
mbed_official 14:de95c96e3305 252 /**
mbed_official 14:de95c96e3305 253 * Handler called after a client has cancelled his subscription from
mbed_official 14:de95c96e3305 254 * notification or indication.
mbed_official 14:de95c96e3305 255 *
mbed_official 14:de95c96e3305 256 * @param handle Handle of the characteristic value affected by the change.
mbed_official 14:de95c96e3305 257 */
mbed_official 14:de95c96e3305 258 void when_update_disabled(GattAttribute::Handle_t handle)
mbed_official 14:de95c96e3305 259 {
mbed_official 14:de95c96e3305 260 printf("update disabled on handle %d\r\n", handle);
mbed_official 14:de95c96e3305 261 }
mbed_official 14:de95c96e3305 262
mbed_official 14:de95c96e3305 263 /**
mbed_official 14:de95c96e3305 264 * Handler called when an indication confirmation has been received.
mbed_official 14:de95c96e3305 265 *
mbed_official 14:de95c96e3305 266 * @param handle Handle of the characteristic value that has emitted the
mbed_official 14:de95c96e3305 267 * indication.
mbed_official 14:de95c96e3305 268 */
mbed_official 14:de95c96e3305 269 void when_confirmation_received(GattAttribute::Handle_t handle)
mbed_official 14:de95c96e3305 270 {
mbed_official 14:de95c96e3305 271 printf("confirmation received on handle %d\r\n", handle);
mbed_official 14:de95c96e3305 272 }
mbed_official 14:de95c96e3305 273
mbed_official 14:de95c96e3305 274 /**
mbed_official 14:de95c96e3305 275 * Handler called when a write request is received.
mbed_official 14:de95c96e3305 276 *
mbed_official 14:de95c96e3305 277 * This handler verify that the value submitted by the client is valid before
mbed_official 14:de95c96e3305 278 * authorizing the operation.
mbed_official 14:de95c96e3305 279 */
mbed_official 14:de95c96e3305 280 void authorize_client_write(GattWriteAuthCallbackParams *e)
mbed_official 14:de95c96e3305 281 {
mbed_official 14:de95c96e3305 282 printf("characteristic %u write authorization\r\n", e->handle);
mbed_official 14:de95c96e3305 283
mbed_official 14:de95c96e3305 284 if (e->offset != 0) {
mbed_official 14:de95c96e3305 285 printf("Error invalid offset\r\n");
mbed_official 14:de95c96e3305 286 e->authorizationReply = AUTH_CALLBACK_REPLY_ATTERR_INVALID_OFFSET;
mbed_official 14:de95c96e3305 287 return;
mbed_official 14:de95c96e3305 288 }
mbed_official 14:de95c96e3305 289
mbed_official 14:de95c96e3305 290 if (e->len != 1) {
mbed_official 14:de95c96e3305 291 printf("Error invalid len\r\n");
mbed_official 14:de95c96e3305 292 e->authorizationReply = AUTH_CALLBACK_REPLY_ATTERR_INVALID_ATT_VAL_LENGTH;
mbed_official 14:de95c96e3305 293 return;
mbed_official 14:de95c96e3305 294 }
mbed_official 14:de95c96e3305 295
mbed_official 14:de95c96e3305 296
mbed_official 14:de95c96e3305 297 e->authorizationReply = AUTH_CALLBACK_REPLY_SUCCESS;
mbed_official 14:de95c96e3305 298 }
mbed_official 14:de95c96e3305 299
mbed_official 14:de95c96e3305 300 /**
pancotinho 22:2c6161c96a76 301 * Increment the lux luxer.
mbed_official 14:de95c96e3305 302 */
pancotinho 22:2c6161c96a76 303
pancotinho 22:2c6161c96a76 304 void read_sensors (void)
mbed_official 14:de95c96e3305 305 {
pancotinho 22:2c6161c96a76 306 int32_t float_to_32;
pancotinho 22:2c6161c96a76 307
pancotinho 22:2c6161c96a76 308
pancotinho 22:2c6161c96a76 309
pancotinho 22:2c6161c96a76 310 if (sensor_light.open() && sens==0) {
pancotinho 22:2c6161c96a76 311 float_to_32=0;
pancotinho 22:2c6161c96a76 312 sensor_get = sensor_light.get_light_level();
pancotinho 22:2c6161c96a76 313 float_to_32 = sensor_get/10;
pancotinho 22:2c6161c96a76 314 //float_to_32 = __rev( float_to_32 );
pancotinho 22:2c6161c96a76 315 float_to_32 = (float_to_32 < 0 ? 0 : float_to_32);
pancotinho 22:2c6161c96a76 316 lux = (float_to_32 > 255 ? 255 : float_to_32);
pancotinho 22:2c6161c96a76 317 sens=1;
pancotinho 22:2c6161c96a76 318 printf("Lux = %f\n", sensor_get);
pancotinho 22:2c6161c96a76 319
pancotinho 22:2c6161c96a76 320 }
pancotinho 22:2c6161c96a76 321 if (sens==1) {
pancotinho 22:2c6161c96a76 322 float_to_32=0;
pancotinho 22:2c6161c96a76 323 sensor_amb.initialize();
pancotinho 22:2c6161c96a76 324 sensor_get = sensor_amb.getTemperature();
pancotinho 22:2c6161c96a76 325 float_to_32 = sensor_get*10 -103 ;
pancotinho 22:2c6161c96a76 326 float_to_32 = (float_to_32 < 0 ? 0 : float_to_32);
pancotinho 22:2c6161c96a76 327 amb = (float_to_32 > 255 ? 255 : float_to_32);
pancotinho 22:2c6161c96a76 328 sens=2;
pancotinho 22:2c6161c96a76 329 printf("Amb = %f\n", sensor_get);
pancotinho 22:2c6161c96a76 330 }
pancotinho 22:2c6161c96a76 331 if (sens==2) {
pancotinho 22:2c6161c96a76 332
pancotinho 22:2c6161c96a76 333 i2c.frequency(20000);
pancotinho 22:2c6161c96a76 334
pancotinho 22:2c6161c96a76 335 /*Le os Registradores do Acelerometro*/
pancotinho 22:2c6161c96a76 336 i2c_reg_buffer[0] = 0x12;
pancotinho 22:2c6161c96a76 337 i2c.write(BMI160_ADDR, i2c_reg_buffer, 1, true);
pancotinho 22:2c6161c96a76 338 i2c.read(BMI160_ADDR, (char *)&acc_sample_buffer, sizeof(acc_sample_buffer), false);
pancotinho 22:2c6161c96a76 339
pancotinho 22:2c6161c96a76 340 /*Le os Registradores do Giroscopio*/
pancotinho 22:2c6161c96a76 341 i2c_reg_buffer[0] = 0x0C;
pancotinho 22:2c6161c96a76 342 i2c.write(BMI160_ADDR, i2c_reg_buffer, 1, true);
pancotinho 22:2c6161c96a76 343 i2c.read(BMI160_ADDR, (char *)&gyr_sample_buffer, sizeof(gyr_sample_buffer), false);
pancotinho 22:2c6161c96a76 344
pancotinho 22:2c6161c96a76 345 /*Ajusta dados brutos Acelerometro em unidades de g */
pancotinho 22:2c6161c96a76 346 acc_result_buffer[0] = (acc_sample_buffer[0]/16384.0);
pancotinho 22:2c6161c96a76 347 acc_result_buffer[1] = (acc_sample_buffer[1]/16384.0);
pancotinho 22:2c6161c96a76 348 acc_result_buffer[2] = (acc_sample_buffer[2]/16384.0);
pancotinho 22:2c6161c96a76 349
pancotinho 22:2c6161c96a76 350 /*Ajusta dados Brutos do Giroscopio em unidades de deg/s */
pancotinho 22:2c6161c96a76 351 gyr_result_buffer[0] = (gyr_sample_buffer[0]/131.2);
pancotinho 22:2c6161c96a76 352 gyr_result_buffer[1] = (gyr_sample_buffer[1]/131.2);
pancotinho 22:2c6161c96a76 353
pancotinho 22:2c6161c96a76 354 /*Calcula os Angulos de Inclinacao com valor do Acelerometro*/
pancotinho 22:2c6161c96a76 355 accel_ang_x=atan(acc_result_buffer[0]/sqrt(pow(acc_result_buffer[1],2) + pow(acc_result_buffer[2],2)))*RAD_DEG;
pancotinho 22:2c6161c96a76 356 accel_ang_y=atan(acc_result_buffer[1]/sqrt(pow(acc_result_buffer[0],2) + pow(acc_result_buffer[2],2)))*RAD_DEG;
pancotinho 22:2c6161c96a76 357
pancotinho 22:2c6161c96a76 358 /*Calcula os Angulos de Rotacao com valor do Giroscopio e aplica filtro complementar realizando a fusao*/
pancotinho 22:2c6161c96a76 359 tiltx = (0.98*(tiltx_prev+(gyr_result_buffer[0]*0.001)))+(0.02*(accel_ang_x));
pancotinho 22:2c6161c96a76 360 tilty = (0.98*(tilty_prev+(gyr_result_buffer[1]*0.001)))+(0.02*(accel_ang_y));
pancotinho 22:2c6161c96a76 361
pancotinho 20:86417f956e22 362
pancotinho 22:2c6161c96a76 363 float_to_32 = tiltx * 100 + 127;
pancotinho 22:2c6161c96a76 364 float_to_32 = (float_to_32 < 0 ? 0 : float_to_32);
pancotinho 22:2c6161c96a76 365 imux = (float_to_32 > 255 ? 255 : float_to_32);
pancotinho 22:2c6161c96a76 366
pancotinho 22:2c6161c96a76 367 float_to_32 = 0;
pancotinho 22:2c6161c96a76 368
pancotinho 22:2c6161c96a76 369 float_to_32 = tilty * 100 + 127;
pancotinho 22:2c6161c96a76 370 float_to_32 = (float_to_32 < 0 ? 0 : float_to_32);
pancotinho 22:2c6161c96a76 371 imuy = (float_to_32 > 255 ? 255 : float_to_32);
pancotinho 22:2c6161c96a76 372 //imuz = acc_result_buffer[2];
pancotinho 22:2c6161c96a76 373
pancotinho 22:2c6161c96a76 374
pancotinho 22:2c6161c96a76 375
pancotinho 22:2c6161c96a76 376
pancotinho 22:2c6161c96a76 377
pancotinho 22:2c6161c96a76 378
pancotinho 22:2c6161c96a76 379 /*Imprime os dados ACC pre-formatados*/
pancotinho 22:2c6161c96a76 380 printf("%.3f,%.3f\n\r",tiltx, tilty);
pancotinho 22:2c6161c96a76 381
pancotinho 22:2c6161c96a76 382 sens=0;
pancotinho 22:2c6161c96a76 383
pancotinho 22:2c6161c96a76 384 // update_char();
pancotinho 22:2c6161c96a76 385
pancotinho 22:2c6161c96a76 386 }
pancotinho 22:2c6161c96a76 387
pancotinho 22:2c6161c96a76 388 //update_char();
pancotinho 22:2c6161c96a76 389
pancotinho 22:2c6161c96a76 390 }
pancotinho 22:2c6161c96a76 391
pancotinho 22:2c6161c96a76 392
pancotinho 22:2c6161c96a76 393 void update_char(void)
pancotinho 22:2c6161c96a76 394 {
pancotinho 22:2c6161c96a76 395 if (msg==0) {ble_error_t err = _lux_char.set(*_server, lux);
pancotinho 22:2c6161c96a76 396 printf ("lux sensor value: %d\n", lux);
mbed_official 14:de95c96e3305 397 if (err) {
pancotinho 22:2c6161c96a76 398 printf("write of the lux value returned error %u\r\n", err);
pancotinho 22:2c6161c96a76 399 return;
pancotinho 22:2c6161c96a76 400 }
pancotinho 22:2c6161c96a76 401 wait(0.1);
pancotinho 22:2c6161c96a76 402 msg=1; }
pancotinho 22:2c6161c96a76 403
pancotinho 22:2c6161c96a76 404 if (msg==1) {ble_error_t err = _amb_char.set(*_server, amb);
pancotinho 22:2c6161c96a76 405 printf ("amb sensor value: %d\n", amb);
pancotinho 22:2c6161c96a76 406 if (err) {
pancotinho 22:2c6161c96a76 407 printf("write of the amb value returned error %u\r\n", err);
pancotinho 20:86417f956e22 408 return;
pancotinho 20:86417f956e22 409 }
pancotinho 22:2c6161c96a76 410 wait(0.1);
pancotinho 22:2c6161c96a76 411 msg=2;}
pancotinho 22:2c6161c96a76 412
pancotinho 22:2c6161c96a76 413 if (msg==2) {ble_error_t err = _imux_char.set(*_server, imux);
pancotinho 22:2c6161c96a76 414 printf ("imu_x sensor value: %d\n", imux);
pancotinho 22:2c6161c96a76 415 if (err) {
pancotinho 22:2c6161c96a76 416 printf("write of the imu_x value returned error %u\r\n", err);
pancotinho 22:2c6161c96a76 417 return;
pancotinho 20:86417f956e22 418 }
pancotinho 22:2c6161c96a76 419 wait(0.1);
pancotinho 22:2c6161c96a76 420 msg=3;}
pancotinho 22:2c6161c96a76 421
pancotinho 22:2c6161c96a76 422 if (msg==3) {ble_error_t err = _imuy_char.set(*_server, imuy);
pancotinho 22:2c6161c96a76 423 printf ("imu_y sensor value: %d\n", imuy);
pancotinho 20:86417f956e22 424 if (err) {
pancotinho 22:2c6161c96a76 425 printf("write of the imu_y value returned error %u\r\n", err);
mbed_official 14:de95c96e3305 426 return;
pancotinho 22:2c6161c96a76 427 }
pancotinho 22:2c6161c96a76 428 wait(0.1);
pancotinho 22:2c6161c96a76 429 msg=0;}
pancotinho 22:2c6161c96a76 430
pancotinho 22:2c6161c96a76 431 // err = _imuz_char.set(*_server, imuz);
pancotinho 22:2c6161c96a76 432 // printf ("imu_z sensor value: %d\n", imuz);
pancotinho 22:2c6161c96a76 433 // if (err) {
pancotinho 22:2c6161c96a76 434 // printf("write of the imu_z value returned error %u\r\n", err);
pancotinho 22:2c6161c96a76 435 // return;
pancotinho 22:2c6161c96a76 436 // }
pancotinho 22:2c6161c96a76 437
pancotinho 22:2c6161c96a76 438
pancotinho 20:86417f956e22 439 }
pancotinho 22:2c6161c96a76 440
pancotinho 20:86417f956e22 441
pancotinho 20:86417f956e22 442 void blink() {
pancotinho 20:86417f956e22 443 _alive_led = !_alive_led;
mbed_official 14:de95c96e3305 444 }
mbed_official 14:de95c96e3305 445
mbed_official 14:de95c96e3305 446 /**
pancotinho 20:86417f956e22 447 * Change led status.
mbed_official 14:de95c96e3305 448 */
pancotinho 20:86417f956e22 449 void change_led(void)
mbed_official 14:de95c96e3305 450 {
pancotinho 20:86417f956e22 451 uint8_t led = 0;
pancotinho 20:86417f956e22 452 ble_error_t err = _led_char.get(*_server, led);
mbed_official 14:de95c96e3305 453 if (err) {
pancotinho 20:86417f956e22 454 printf("read of the led value returned error %u\r\n", err);
mbed_official 14:de95c96e3305 455 return;
mbed_official 14:de95c96e3305 456 }
mbed_official 14:de95c96e3305 457 }
mbed_official 14:de95c96e3305 458
pancotinho 20:86417f956e22 459
mbed_official 14:de95c96e3305 460
mbed_official 14:de95c96e3305 461 private:
mbed_official 14:de95c96e3305 462 /**
mbed_official 14:de95c96e3305 463 * Helper that construct an event handler from a member function of this
mbed_official 14:de95c96e3305 464 * instance.
mbed_official 14:de95c96e3305 465 */
mbed_official 14:de95c96e3305 466 template<typename Arg>
mbed_official 14:de95c96e3305 467 FunctionPointerWithContext<Arg> as_cb(void (Self::*member)(Arg))
mbed_official 14:de95c96e3305 468 {
mbed_official 14:de95c96e3305 469 return makeFunctionPointer(this, member);
mbed_official 14:de95c96e3305 470 }
mbed_official 14:de95c96e3305 471
mbed_official 14:de95c96e3305 472 /**
mbed_official 14:de95c96e3305 473 * Read, Write, Notify, Indicate Characteristic declaration helper.
mbed_official 14:de95c96e3305 474 *
mbed_official 14:de95c96e3305 475 * @tparam T type of data held by the characteristic.
mbed_official 14:de95c96e3305 476 */
mbed_official 14:de95c96e3305 477 template<typename T>
mbed_official 14:de95c96e3305 478 class ReadWriteNotifyIndicateCharacteristic : public GattCharacteristic {
mbed_official 14:de95c96e3305 479 public:
mbed_official 14:de95c96e3305 480 /**
mbed_official 14:de95c96e3305 481 * Construct a characteristic that can be read or written and emit
mbed_official 14:de95c96e3305 482 * notification or indication.
mbed_official 14:de95c96e3305 483 *
mbed_official 14:de95c96e3305 484 * @param[in] uuid The UUID of the characteristic.
mbed_official 14:de95c96e3305 485 * @param[in] initial_value Initial value contained by the characteristic.
mbed_official 14:de95c96e3305 486 */
mbed_official 14:de95c96e3305 487 ReadWriteNotifyIndicateCharacteristic(const UUID & uuid, const T& initial_value) :
mbed_official 14:de95c96e3305 488 GattCharacteristic(
mbed_official 14:de95c96e3305 489 /* UUID */ uuid,
pancotinho 22:2c6161c96a76 490 /* Initial value */ (uint8_t *) &_value,
mbed_official 14:de95c96e3305 491 /* Value size */ sizeof(_value),
mbed_official 14:de95c96e3305 492 /* Value capacity */ sizeof(_value),
mbed_official 14:de95c96e3305 493 /* Properties */ GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ |
mbed_official 14:de95c96e3305 494 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE |
mbed_official 14:de95c96e3305 495 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY |
mbed_official 14:de95c96e3305 496 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_INDICATE,
mbed_official 14:de95c96e3305 497 /* Descriptors */ NULL,
mbed_official 14:de95c96e3305 498 /* Num descriptors */ 0,
mbed_official 14:de95c96e3305 499 /* variable len */ false
mbed_official 14:de95c96e3305 500 ),
mbed_official 14:de95c96e3305 501 _value(initial_value) {
mbed_official 14:de95c96e3305 502 }
mbed_official 14:de95c96e3305 503
mbed_official 14:de95c96e3305 504 /**
pancotinho 20:86417f956e22 505 * Get the value of this characteristic.
mbed_official 14:de95c96e3305 506 *
mbed_official 14:de95c96e3305 507 * @param[in] server GattServer instance that contain the characteristic
mbed_official 14:de95c96e3305 508 * value.
mbed_official 14:de95c96e3305 509 * @param[in] dst Variable that will receive the characteristic value.
mbed_official 14:de95c96e3305 510 *
mbed_official 14:de95c96e3305 511 * @return BLE_ERROR_NONE in case of success or an appropriate error code.
mbed_official 14:de95c96e3305 512 */
mbed_official 14:de95c96e3305 513 ble_error_t get(GattServer &server, T& dst) const
mbed_official 14:de95c96e3305 514 {
mbed_official 14:de95c96e3305 515 uint16_t value_length = sizeof(dst);
pancotinho 22:2c6161c96a76 516 return server.read(getValueHandle(), (uint8_t *) &dst, &value_length);
mbed_official 14:de95c96e3305 517 }
mbed_official 14:de95c96e3305 518
mbed_official 14:de95c96e3305 519 /**
mbed_official 14:de95c96e3305 520 * Assign a new value to this characteristic.
mbed_official 14:de95c96e3305 521 *
mbed_official 14:de95c96e3305 522 * @param[in] server GattServer instance that will receive the new value.
mbed_official 14:de95c96e3305 523 * @param[in] value The new value to set.
mbed_official 14:de95c96e3305 524 * @param[in] local_only Flag that determine if the change should be kept
mbed_official 14:de95c96e3305 525 * locally or forwarded to subscribed clients.
mbed_official 14:de95c96e3305 526 */
pancotinho 20:86417f956e22 527 ble_error_t set(
pancotinho 22:2c6161c96a76 528 GattServer &server, const uint8_t &value, bool local_only = false
mbed_official 14:de95c96e3305 529 ) const {
pancotinho 22:2c6161c96a76 530 return server.write(getValueHandle(), (uint8_t *) &value, sizeof(value), local_only);
pancotinho 22:2c6161c96a76 531 }
pancotinho 22:2c6161c96a76 532
pancotinho 22:2c6161c96a76 533 private:
pancotinho 22:2c6161c96a76 534 uint32_t _value;
pancotinho 22:2c6161c96a76 535 };
pancotinho 22:2c6161c96a76 536
pancotinho 22:2c6161c96a76 537 template<typename T>
pancotinho 22:2c6161c96a76 538 class ReadWriteCharacteristic : public GattCharacteristic {
pancotinho 22:2c6161c96a76 539 public:
pancotinho 22:2c6161c96a76 540 /**
pancotinho 22:2c6161c96a76 541 * Construct a characteristic that can be read or written and emit
pancotinho 22:2c6161c96a76 542 * notification or indication.
pancotinho 22:2c6161c96a76 543 *
pancotinho 22:2c6161c96a76 544 * @param[in] uuid The UUID of the characteristic.
pancotinho 22:2c6161c96a76 545 * @param[in] initial_value Initial value contained by the characteristic.
pancotinho 22:2c6161c96a76 546 */
pancotinho 22:2c6161c96a76 547 ReadWriteCharacteristic(const UUID & uuid, const T& initial_value) :
pancotinho 22:2c6161c96a76 548 GattCharacteristic(
pancotinho 22:2c6161c96a76 549 /* UUID */ uuid,
pancotinho 22:2c6161c96a76 550 /* Initial value */ (uint8_t *) &_value,
pancotinho 22:2c6161c96a76 551 /* Value size */ sizeof(_value),
pancotinho 22:2c6161c96a76 552 /* Value capacity */ sizeof(_value),
pancotinho 22:2c6161c96a76 553 /* Properties */ GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ |
pancotinho 22:2c6161c96a76 554 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE ,
pancotinho 22:2c6161c96a76 555 /* Descriptors */ NULL,
pancotinho 22:2c6161c96a76 556 /* Num descriptors */ 0,
pancotinho 22:2c6161c96a76 557 /* variable len */ false
pancotinho 22:2c6161c96a76 558 ),
pancotinho 22:2c6161c96a76 559 _value(initial_value) {
pancotinho 22:2c6161c96a76 560 }
pancotinho 22:2c6161c96a76 561
pancotinho 22:2c6161c96a76 562 /**
pancotinho 22:2c6161c96a76 563 * Get the value of this characteristic.
pancotinho 22:2c6161c96a76 564 *
pancotinho 22:2c6161c96a76 565 * @param[in] server GattServer instance that contain the characteristic
pancotinho 22:2c6161c96a76 566 * value.
pancotinho 22:2c6161c96a76 567 * @param[in] dst Variable that will receive the characteristic value.
pancotinho 22:2c6161c96a76 568 *
pancotinho 22:2c6161c96a76 569 * @return BLE_ERROR_NONE in case of success or an appropriate error code.
pancotinho 22:2c6161c96a76 570 */
pancotinho 22:2c6161c96a76 571 ble_error_t get(GattServer &server, T& dst) const
pancotinho 22:2c6161c96a76 572 {
pancotinho 22:2c6161c96a76 573 uint16_t value_length = sizeof(dst);
pancotinho 22:2c6161c96a76 574 return server.read(getValueHandle(), (uint8_t *) &dst, &value_length);
pancotinho 22:2c6161c96a76 575 }
pancotinho 22:2c6161c96a76 576
pancotinho 22:2c6161c96a76 577 /**
pancotinho 22:2c6161c96a76 578 * Assign a new value to this characteristic.
pancotinho 22:2c6161c96a76 579 *
pancotinho 22:2c6161c96a76 580 * @param[in] server GattServer instance that will receive the new value.
pancotinho 22:2c6161c96a76 581 * @param[in] value The new value to set.
pancotinho 22:2c6161c96a76 582 * @param[in] local_only Flag that determine if the change should be kept
pancotinho 22:2c6161c96a76 583 * locally or forwarded to subscribed clients.
pancotinho 22:2c6161c96a76 584 */
pancotinho 22:2c6161c96a76 585 ble_error_t set(
pancotinho 22:2c6161c96a76 586 GattServer &server, const uint8_t &value, bool local_only = false
pancotinho 22:2c6161c96a76 587 ) const {
pancotinho 22:2c6161c96a76 588 return server.write(getValueHandle(), (uint8_t *) &value, sizeof(value), local_only);
mbed_official 14:de95c96e3305 589 }
mbed_official 14:de95c96e3305 590
mbed_official 14:de95c96e3305 591 private:
mbed_official 14:de95c96e3305 592 uint8_t _value;
mbed_official 14:de95c96e3305 593 };
mbed_official 14:de95c96e3305 594
pancotinho 22:2c6161c96a76 595 ReadWriteNotifyIndicateCharacteristic<uint32_t> _amb_char;
pancotinho 22:2c6161c96a76 596 ReadWriteCharacteristic<uint8_t> _led_char;
pancotinho 22:2c6161c96a76 597 ReadWriteNotifyIndicateCharacteristic<uint32_t> _lux_char;
pancotinho 22:2c6161c96a76 598 ReadWriteNotifyIndicateCharacteristic<uint32_t> _imux_char;
pancotinho 22:2c6161c96a76 599 ReadWriteNotifyIndicateCharacteristic<uint32_t> _imuy_char;
pancotinho 22:2c6161c96a76 600 // ReadWriteNotifyIndicateCharacteristic<uint32_t> _imuz_char;
pancotinho 20:86417f956e22 601 // list of the characteristics of the My service
pancotinho 22:2c6161c96a76 602 GattCharacteristic* _My_characteristics[5];
mbed_official 14:de95c96e3305 603
mbed_official 14:de95c96e3305 604 // demo service
pancotinho 20:86417f956e22 605 GattService _My_service;
mbed_official 14:de95c96e3305 606
mbed_official 14:de95c96e3305 607 GattServer* _server;
mbed_official 14:de95c96e3305 608 events::EventQueue *_event_queue;
pancotinho 20:86417f956e22 609
pancotinho 20:86417f956e22 610 DigitalOut _alive_led;
pancotinho 20:86417f956e22 611 DigitalOut _actuated_led;
mbed_official 14:de95c96e3305 612 };
mbed_official 14:de95c96e3305 613
mbed_official 14:de95c96e3305 614 int main() {
pancotinho 22:2c6161c96a76 615
pancotinho 22:2c6161c96a76 616
pancotinho 22:2c6161c96a76 617 printf("ambient sensor initialized");
pancotinho 22:2c6161c96a76 618 wait(1) ;
mbed_official 14:de95c96e3305 619 BLE &ble_interface = BLE::Instance();
mbed_official 14:de95c96e3305 620 events::EventQueue event_queue;
pancotinho 20:86417f956e22 621 MyService demo_service;
mbed_official 14:de95c96e3305 622 BLEProcess ble_process(event_queue, ble_interface);
pancotinho 20:86417f956e22 623
pancotinho 22:2c6161c96a76 624 i2c.frequency(20000);
pancotinho 22:2c6161c96a76 625
pancotinho 22:2c6161c96a76 626 /*Reset BMI160*/
pancotinho 22:2c6161c96a76 627 i2c_reg_buffer[0] = 0x7E;
pancotinho 22:2c6161c96a76 628 i2c_reg_buffer[1] = 0xB6;
pancotinho 22:2c6161c96a76 629 i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
pancotinho 22:2c6161c96a76 630 wait_ms(200);
pancotinho 22:2c6161c96a76 631 printf("BMI160 Resetado\n\r");
pancotinho 22:2c6161c96a76 632
pancotinho 22:2c6161c96a76 633 /*Habilita o Acelerometro*/
pancotinho 22:2c6161c96a76 634 i2c_reg_buffer[0] = 0x7E;
pancotinho 22:2c6161c96a76 635 i2c_reg_buffer[1] = 0x11; //PMU Normal
pancotinho 22:2c6161c96a76 636 i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
pancotinho 22:2c6161c96a76 637 printf("Acc Habilitado\n\r");
pancotinho 22:2c6161c96a76 638
pancotinho 22:2c6161c96a76 639 /*Habilita o Giroscopio*/
pancotinho 22:2c6161c96a76 640 i2c_reg_buffer[0] = 0x7E;
pancotinho 22:2c6161c96a76 641 i2c_reg_buffer[1] = 0x15; //PMU Normal
pancotinho 22:2c6161c96a76 642 i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
pancotinho 22:2c6161c96a76 643 printf("Gyr Habilitado\n\r");
pancotinho 22:2c6161c96a76 644
pancotinho 22:2c6161c96a76 645 /*Config o Data Rate ACC em 1600Hz*/
pancotinho 22:2c6161c96a76 646 i2c_reg_buffer[0] = 0x40;
pancotinho 22:2c6161c96a76 647 i2c_reg_buffer[1] = 0x2C;
pancotinho 22:2c6161c96a76 648 i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
pancotinho 22:2c6161c96a76 649 printf("Data Rate ACC Selecionado a 1600Hz\n\r");
pancotinho 22:2c6161c96a76 650
pancotinho 22:2c6161c96a76 651 /*Config o Data Rate GYR em 1600Hz*/
pancotinho 22:2c6161c96a76 652 i2c_reg_buffer[0] = 0x42;
pancotinho 22:2c6161c96a76 653 i2c_reg_buffer[1] = 0x2C;
pancotinho 22:2c6161c96a76 654 i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
pancotinho 22:2c6161c96a76 655 printf("Data Rate GYR Selecionado a 1600Hz\n\r");
pancotinho 22:2c6161c96a76 656
pancotinho 22:2c6161c96a76 657 /*Config o Range GYR em 250º/s*/
pancotinho 22:2c6161c96a76 658 i2c_reg_buffer[0] = 0x43;
pancotinho 22:2c6161c96a76 659 i2c_reg_buffer[1] = 0x03;
pancotinho 22:2c6161c96a76 660 i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
pancotinho 22:2c6161c96a76 661 printf("Range GYR Selecionado a 250deg/s\n\r");
pancotinho 22:2c6161c96a76 662
pancotinho 22:2c6161c96a76 663 wait(0.1);
pancotinho 22:2c6161c96a76 664
pancotinho 22:2c6161c96a76 665 printf("BMI160 Configurado\n\r");
mbed_official 14:de95c96e3305 666
pancotinho 20:86417f956e22 667 ble_process.on_init(callback(&demo_service, &MyService::start));
pancotinho 20:86417f956e22 668
mbed_official 14:de95c96e3305 669
mbed_official 14:de95c96e3305 670 // bind the event queue to the ble interface, initialize the interface
mbed_official 14:de95c96e3305 671 // and start advertising
mbed_official 14:de95c96e3305 672 ble_process.start();
mbed_official 14:de95c96e3305 673
mbed_official 14:de95c96e3305 674 // Process the event queue.
mbed_official 14:de95c96e3305 675 event_queue.dispatch_forever();
mbed_official 14:de95c96e3305 676
mbed_official 14:de95c96e3305 677 return 0;
mbed_official 14:de95c96e3305 678 }