Stian Jensen
yo
Dependencies: MPU6050 Puck mbed
Fork of
cube-puck
by 
Nordic Pucks
Revision 0:449ee9595cf6, committed 2014-07-03
- Comitter:
- aleksanb
- Date:
- Thu Jul 03 11:25:12 2014 +0000
- Child:
- 1:41b5460e2ee2
- Commit message:
- Initial commit.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BLE_API.lib Thu Jul 03 11:25:12 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/Bluetooth-Low-Energy/code/BLE_API/#6f4c8e545d38
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.lib Thu Jul 03 11:25:12 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/garfieldsg/code/MPU6050/#8162a54451b5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/gatt_service.cpp Thu Jul 03 11:25:12 2014 +0000
@@ -0,0 +1,22 @@
+#include "BLEDevice.h"
+
+uint8_t uuid_array_service[16] = {'b', 'f', 't', 'j', ' ', 'c', 'u', 'b', 'e', ' ', ' ', ' ', ' ', ' ', ' ', ' ' };
+uint8_t uuid_array_direction[16] = {'b', 'f', 't', 'j', ' ', 'c', 'u', 'b', 'e', ' ', 'd', 'i', 'r', 'c', 't', 'n' };
+
+const UUID uuid_service = UUID(uuid_array_service);
+const UUID uuid_direction = UUID(uuid_array_direction);
+
+uint8_t direction_data[1] = {6};
+
+GattCharacteristic directionCharacteristic(
+ uuid_direction,
+ direction_data,
+ sizeof(direction_data),
+ sizeof(direction_data),
+ GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
+
+GattCharacteristic *characteristics[] = {&directionCharacteristic};
+GattService cube_service(uuid_service,
+ characteristics,
+ sizeof(characteristics) / sizeof(GattCharacteristic *));
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Jul 03 11:25:12 2014 +0000
@@ -0,0 +1,182 @@
+#include "mbed.h"
+#include "BLEDevice.h"
+#include "nRF51822n.h"
+#include "MPU6050.h"
+#include <math.h>
+
+#define DEBUG 1
+
+enum Direction {
+ UP,
+ DOWN,
+ LEFT,
+ RIGHT,
+ FRONT,
+ BACK,
+ UNDEFINED
+};
+
+Serial pc(USBTX, USBRX);
+
+BLEDevice ble;
+
+const static int16_t ACCELERATION_EXITATION_THRESHOLD = 15000;
+const static uint8_t beaconPayload[] = {
+ 0x00, 0x4C, // Company identifier code (0x004C == Apple)
+ 0x02, // ID
+ 0x15, // length of the remaining payload
+ 0xE2, 0x0A, 0x39, 0xF4, 0x73, 0xF5, 0x4B, 0xC4, // UUID
+ 0xA1, 0x2F, 0x17, 0xD1, 0xAD, 0x07, 0xA9, 0x61,
+ 0x13, 0x37, // the major value to differenciate a location
+ 0xFA, 0xCE, // the minor value to differenciate a location
+ 0xC8 // 2's complement of the Tx power (-56dB)
+};
+
+extern GattService cube_service;
+extern GattCharacteristic directionCharacteristic;
+extern uint8_t direction_data[1];
+
+MPU6050 mpu;
+
+int16_t ax, ay, az;
+int16_t gx, gy, gz;
+
+Direction direction = UNDEFINED;
+
+void log_direction(void)
+{
+ switch(direction)
+ {
+ case UP:
+ pc.printf("Direction UP\n");
+ break;
+
+ case DOWN:
+ pc.printf("Direction DOWN\n");
+ break;
+
+ case LEFT:
+ pc.printf("Direction LEFT\n");
+ break;
+
+ case RIGHT:
+ pc.printf("Direction RIGHT\n");
+ break;
+
+ case BACK:
+ pc.printf("Direction BACK\n");
+ break;
+
+ case FRONT:
+ pc.printf("Direction FRONT\n");
+ break;
+
+ default:
+ pc.printf("Direction UNSET\n");
+ break;
+ }
+}
+
+int16_t inline direction_if_exited(int16_t acceleration) {
+ if (acceleration > ACCELERATION_EXITATION_THRESHOLD) {
+ return 1;
+ } else if (acceleration < -ACCELERATION_EXITATION_THRESHOLD) {
+ return -1;
+ } else {
+ return 0;
+ }
+}
+
+void update_cube_direction(void)
+{
+ mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+
+ int16_t x = direction_if_exited(ax);
+ int16_t y = direction_if_exited(ay);
+ int16_t z = direction_if_exited(az);
+
+ int16_t sum = abs(x) + abs(y) + abs(z);
+ if (sum == 0 || sum != 1) {
+ return;
+ }
+
+ if (z == 1) {
+ direction = UP;
+ } else if (z == -1) {
+ direction = DOWN;
+ } else if (y == 1) {
+ direction = LEFT;
+ } else if (y == -1) {
+ direction = RIGHT;
+ } else if (x == 1) {
+ direction = BACK;
+ } else if (x == -1) {
+ direction = FRONT;
+ }
+
+#if DEBUG
+ log_direction();
+#endif
+}
+
+void update_direction_characteristic(void)
+{
+ direction_data[0] = direction;
+ ble.updateCharacteristicValue(directionCharacteristic.getHandle(),
+ direction_data,
+ sizeof(direction_data));
+#if DEBUG
+ pc.printf("Updated gatt characteristic\n");
+#endif
+}
+
+void disconnectionCallback(void)
+{
+ pc.printf("Disconnected!\n");
+ pc.printf("Restarting the advertising process\n");
+ ble.startAdvertising();
+}
+
+void setup_ble(void)
+{
+ ble.init();
+ ble.onDisconnection(disconnectionCallback);
+
+ ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
+ ble.accumulateAdvertisingPayload(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA,
+ beaconPayload, sizeof(beaconPayload));
+
+ ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
+ ble.setAdvertisingInterval(160);
+
+ ble.startAdvertising();
+
+ ble.addService(cube_service);
+
+ pc.printf("BLE set up and running\n");
+}
+
+int main()
+{
+ setup_ble();
+ pc.printf("MPU6050 test startup:\n");
+
+ mpu.initialize();
+ pc.printf("TestConnection\n");
+
+ if (mpu.testConnection())
+ {
+ pc.printf("MPU success\n");
+ }
+ else
+ {
+ pc.printf("MPU error\n");
+ }
+
+ while(1)
+ {
+ ble.waitForEvent();
+ update_cube_direction();
+ update_direction_characteristic();
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Jul 03 11:25:12 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/024bf7f99721 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/nRF51822.lib Thu Jul 03 11:25:12 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/Nordic-Semiconductor/code/nRF51822/#7174913c9d67