long dao
For VNG botwar
Dependencies: BLE_API KalmanFilter mbed nRF51822
Revision 0:4a92d46bc788, committed 2016-08-02
- Comitter:
- longdh
- Date:
- Tue Aug 02 18:07:41 2016 +0000
- Commit message:
- First commit
Changed in this revision
diff -r 000000000000 -r 4a92d46bc788 BLE_API.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BLE_API.lib Tue Aug 02 18:07:41 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/Bluetooth-Low-Energy/code/BLE_API/#66159681aa21
diff -r 000000000000 -r 4a92d46bc788 KalmanFilter.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/KalmanFilter.lib Tue Aug 02 18:07:41 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/longdh/code/KalmanFilter/#dd8a94919e2e
diff -r 000000000000 -r 4a92d46bc788 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Aug 02 18:07:41 2016 +0000
@@ -0,0 +1,79 @@
+#include "mbed.h"
+#include "ble/BLE.h"
+#include "KamalFilterRSSI.h"
+
+// q = very small, r= small, p=1
+static KamalFilterRSSI kalman(0.00001, 0.1, 1);
+
+// center beacons
+static BLEProtocol::AddressBytes_t vngCenterBeacon = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
+
+// distence to center
+static int vngBeaconPower = 0x56;
+static volatile double distanceToCenter = -1;
+
+static double calculateAccuracy(int txPower, double rssi) {
+ if (rssi == 0) {
+ return -1.0; // if we cannot determine accuracy, return -1.
+ }
+
+ double ratio = rssi*1.0/txPower;
+ if (ratio < 1.0) {
+ return pow(ratio,10);
+ }
+ else {
+ double accuracy = (0.89976)* pow(ratio,7.7095) + 0.111;
+ return accuracy;
+ }
+}
+
+void advertisementCallback(const Gap::AdvertisementCallbackParams_t *params) {
+
+ // if vng_beacons, filter data
+ if (0 == memcmp(params->peerAddr, vngCenterBeacon, sizeof (vngCenterBeacon))) {
+ double filterdRSSI = kalman.kalmanUpdate(params->rssi);
+ distanceToCenter = calculateAccuracy(vngBeaconPower, filterdRSSI);
+ }
+}
+
+/**
+ * This function is called when the ble initialization process has failed
+ */
+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().setScanParams(100 /* scan interval */, 100 /* scan window */);
+ ble.gap().startScan(advertisementCallback);
+}
+
+int main(void)
+{
+
+ BLE &ble = BLE::Instance();
+ ble.init(bleInitComplete);
+
+ while (true) {
+ ble.waitForEvent();
+ }
+}
diff -r 000000000000 -r 4a92d46bc788 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Aug 02 18:07:41 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/f9eeca106725 \ No newline at end of file
diff -r 000000000000 -r 4a92d46bc788 nRF51822.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/nRF51822.lib Tue Aug 02 18:07:41 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/Nordic-Semiconductor/code/nRF51822/#f7faad332abc