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Dependencies:   MPU6050 mbed PID

Fork of BLE_MPU6050_test6_challenge_sb by Junichi Katsu

Files at this revision

API Documentation at this revision

Revision 19:5f1e153ef63e, committed 2018-05-24

Comitter:
c201075
Date:
Thu May 24 04:20:45 2018 +0000
Parent:
18:8bab3e5c4ea2
Child:
20:b0e1fa37856d
Commit message:
Not use serial in interrupt handler!!

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Thu May 24 03:32:29 2018 +0000
+++ b/main.cpp	Thu May 24 04:20:45 2018 +0000
@@ -30,6 +30,7 @@
 uint8_t senPayload[10] = {0,};
 uint8_t mpuPayload[12] = {0,};
  
+
 //Characteristic Property Setting etc
 GattCharacteristic  cmdChar (cmd_uuid, cmdPayload, sizeof(cmdPayload), sizeof(cmdPayload), GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE);
 GattCharacteristic  senChar (sen_uuid, senPayload, sizeof(senPayload), sizeof(senPayload), GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
@@ -50,7 +51,8 @@
     ble.startAdvertising();
     wb.set_led2(0);
 #ifdef DEBUG
-    pc.printf("Disconnected\n\r");
+	//割り込みハンドラの中でシリアル通信しないこと。
+    //pc.printf("Disconnected\n\r");
 #endif
 }
 //======================================================================
@@ -63,24 +65,25 @@
 	wb.control_enable(true);
 	wb.SetRPM(0,0);
 #ifdef DEBUG
-    pc.printf("Connected\n\r");
+	//割り込みハンドラの中でシリアル通信しないこと。
+    //pc.printf("Connected\n\r");
 #endif
 }
 
 //======================================================================
 //onDataWritten
 //======================================================================
+
 void onDataWritten(const GattCharacteristicWriteCBParams *params)
 {   
-    float right_cmd;
-    float left_cmd;
-
+	float right_cmd = 0;
+	float left_cmd = 0;
     memcpy( &right_cmd, params->data , sizeof(right_cmd));
     memcpy( &left_cmd, params->data + sizeof(right_cmd), sizeof(left_cmd));
-    
-	wb.SetRPM(left_cmd,right_cmd);
+	wb.SetRPM(right_cmd,left_cmd);
 #ifdef DEBUG
-	pc.printf("SetRPM %f,%f \n\r",left_cmd,right_cmd);
+    //割り込みハンドラの中でシリアル通信しないこと。
+    //printf("SetRPM:%f,%f",left_cmd,right_cmd)
 #endif
 }
 /**************************************************************************/