Suad Suljic / Mbed OS a

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Dependencies:   SDFileSystem circular_buffer MPU6050 SoftSerial

source/main.cpp@1:2cc1c9a45be7, 2017-02-01 (annotated)

Committer:
OsmanKameric
Date:
Wed Feb 01 11:10:16 2017 +0000
Revision:
1:2cc1c9a45be7
Parent:
0:a4de55cab4e2
Child:
3:b2087af18efe
first commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
OsmanKameric 0:a4de55cab4e2 1 #include <events/mbed_events.h>
OsmanKameric 0:a4de55cab4e2 2 #include <mbed.h>
OsmanKameric 0:a4de55cab4e2 3 #include "ble/BLE.h"
OsmanKameric 0:a4de55cab4e2 4 #include "ble/Gap.h"
OsmanKameric 0:a4de55cab4e2 5 #include "ble/services/BatteryService.h"
OsmanKameric 0:a4de55cab4e2 6 #include "MPU6050.h"
OsmanKameric 0:a4de55cab4e2 7 #include "MPUService.h"
OsmanKameric 1:2cc1c9a45be7 8 #include <string>
OsmanKameric 1:2cc1c9a45be7 9 #include <stdio.h>
OsmanKameric 1:2cc1c9a45be7 10 Serial pc(p30, p31);
OsmanKameric 0:a4de55cab4e2 11 MPU6050 mpu6050;
OsmanKameric 1:2cc1c9a45be7 12
OsmanKameric 1:2cc1c9a45be7 13 InterruptIn pin(p10);
OsmanKameric 1:2cc1c9a45be7 14
OsmanKameric 1:2cc1c9a45be7 15
OsmanKameric 1:2cc1c9a45be7 16 DigitalOut led(LED1, 1);
OsmanKameric 1:2cc1c9a45be7 17 DigitalOut led2(LED2, 1);
OsmanKameric 1:2cc1c9a45be7 18 uint16_t customServiceUUID = 0xA000;
OsmanKameric 1:2cc1c9a45be7 19 uint16_t readCharUUID = 0xA001;
OsmanKameric 1:2cc1c9a45be7 20 uint16_t writeCharUUID = 0xA002;
OsmanKameric 1:2cc1c9a45be7 21 DigitalOut alivenessLED(LED1, 0);
OsmanKameric 0:a4de55cab4e2 22 const static char DEVICE_NAME[] = "MPU";
OsmanKameric 1:2cc1c9a45be7 23 static const uint16_t uuid16_list[] = {0x0A0A};
OsmanKameric 1:2cc1c9a45be7 24 static int counter;
OsmanKameric 1:2cc1c9a45be7 25 /* Set Up custom Characteristics */
OsmanKameric 1:2cc1c9a45be7 26 static float readValue[3] = {0};
OsmanKameric 1:2cc1c9a45be7 27 ReadOnlyArrayGattCharacteristic<float, sizeof(readValue)> readChar(readCharUUID, readValue, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
OsmanKameric 1:2cc1c9a45be7 28
OsmanKameric 1:2cc1c9a45be7 29 //static float writeValue[2] = {3,4};
OsmanKameric 1:2cc1c9a45be7 30 //WriteOnlyArrayGattCharacteristic<float, sizeof(writeValue)> writeChar(writeCharUUID, writeValue);
OsmanKameric 1:2cc1c9a45be7 31
OsmanKameric 1:2cc1c9a45be7 32 /* Set up custom service */
OsmanKameric 1:2cc1c9a45be7 33 GattCharacteristic *characteristics[] = {&readChar/*, &writeChar*/};
OsmanKameric 1:2cc1c9a45be7 34 GattService customService(customServiceUUID, characteristics, sizeof(characteristics) / sizeof(GattCharacteristic *));
OsmanKameric 1:2cc1c9a45be7 35
OsmanKameric 1:2cc1c9a45be7 36
OsmanKameric 1:2cc1c9a45be7 37
OsmanKameric 0:a4de55cab4e2 38 static EventQueue eventQueue(/* event count */ 10 * /* event size */ 32);
OsmanKameric 0:a4de55cab4e2 39 //InterruptIn button(BUTTON1);
OsmanKameric 1:2cc1c9a45be7 40 void updateReadValue() {
OsmanKameric 1:2cc1c9a45be7 41 alivenessLED = !alivenessLED;
OsmanKameric 1:2cc1c9a45be7 42
OsmanKameric 1:2cc1c9a45be7 43 //mpu6050.readAccelData(accelData);
OsmanKameric 1:2cc1c9a45be7 44 //mpu6050.getAres();
OsmanKameric 1:2cc1c9a45be7 45 //ax = accelData[0] * aRes - accelBias[0];
OsmanKameric 1:2cc1c9a45be7 46 //ay = accelData[1] * aRes - accelBias[1];
OsmanKameric 1:2cc1c9a45be7 47 //az = accelData[2] * aRes - accelBias[2];
OsmanKameric 1:2cc1c9a45be7 48 float newValue[3] = {ax,ay,az};
OsmanKameric 1:2cc1c9a45be7 49 //mpu6050.readGyroData(gyroData);
OsmanKameric 1:2cc1c9a45be7 50 //mpu6050.getGres();
OsmanKameric 1:2cc1c9a45be7 51
OsmanKameric 1:2cc1c9a45be7 52 //gx = gyroData[0] * gRes; // - gyroBias[0];
OsmanKameric 1:2cc1c9a45be7 53 //gy = gyroData[1] * gRes; // - gyroBias[1];
OsmanKameric 1:2cc1c9a45be7 54 //gz = gyroData[2] * gRes; // - gyroBias[2];
OsmanKameric 1:2cc1c9a45be7 55 //float newValue[3] = {gx,gy,gz};*/
OsmanKameric 1:2cc1c9a45be7 56 //counter++;
OsmanKameric 1:2cc1c9a45be7 57 //pc.printf("| Before | ax=%.3f | ay=%.3f | az=%.3f \r\n",gx,gy,gz);
OsmanKameric 1:2cc1c9a45be7 58 //pc.printf("| Acce | ax=%.3f | ay=%.3f | az=%.3f | Gyro | gx=%.3f | gy=%.3f | gz=%.3f\r\n",ax,ay,az,gx,gy,gz);
OsmanKameric 1:2cc1c9a45be7 59 //len_send = strlen((const char *)newValue);
OsmanKameric 1:2cc1c9a45be7 60 BLE::Instance(BLE::DEFAULT_INSTANCE).gattServer().write(readChar.getValueHandle(), (uint8_t*)newValue, 12);
OsmanKameric 1:2cc1c9a45be7 61 }
OsmanKameric 1:2cc1c9a45be7 62 void periodicCallback(void)
OsmanKameric 1:2cc1c9a45be7 63 {
OsmanKameric 1:2cc1c9a45be7 64 if (BLE::Instance().getGapState().connected) {
OsmanKameric 1:2cc1c9a45be7 65 eventQueue.call(updateReadValue);
OsmanKameric 1:2cc1c9a45be7 66 }
OsmanKameric 1:2cc1c9a45be7 67 }
OsmanKameric 0:a4de55cab4e2 68
OsmanKameric 0:a4de55cab4e2 69 void scheduleBleEventsProcessing(BLE::OnEventsToProcessCallbackContext* context)
OsmanKameric 0:a4de55cab4e2 70 {
OsmanKameric 0:a4de55cab4e2 71 BLE& ble = BLE::Instance();
OsmanKameric 0:a4de55cab4e2 72 eventQueue.call(Callback<void()>(&ble, &BLE::processEvents));
OsmanKameric 0:a4de55cab4e2 73 }
OsmanKameric 0:a4de55cab4e2 74
OsmanKameric 0:a4de55cab4e2 75 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
OsmanKameric 0:a4de55cab4e2 76 {
OsmanKameric 0:a4de55cab4e2 77 (void) params;
OsmanKameric 0:a4de55cab4e2 78 BLE::Instance().gap().startAdvertising();
OsmanKameric 0:a4de55cab4e2 79 }
OsmanKameric 0:a4de55cab4e2 80 void onBleInitError(BLE &ble, ble_error_t error)
OsmanKameric 0:a4de55cab4e2 81 {
OsmanKameric 0:a4de55cab4e2 82 /* Initialization error handling should go here */
OsmanKameric 0:a4de55cab4e2 83 }
OsmanKameric 1:2cc1c9a45be7 84
OsmanKameric 1:2cc1c9a45be7 85
OsmanKameric 0:a4de55cab4e2 86 void bleInitComplete(BLE::InitializationCompleteCallbackContext* params)
OsmanKameric 0:a4de55cab4e2 87 {
OsmanKameric 0:a4de55cab4e2 88 BLE& ble = params->ble;
OsmanKameric 0:a4de55cab4e2 89 ble_error_t error = params->error;
OsmanKameric 0:a4de55cab4e2 90
OsmanKameric 0:a4de55cab4e2 91 if (error != BLE_ERROR_NONE) {
OsmanKameric 0:a4de55cab4e2 92 /* In case of error, forward the error handling to onBleInitError */
OsmanKameric 0:a4de55cab4e2 93 onBleInitError(ble, error);
OsmanKameric 0:a4de55cab4e2 94 return;
OsmanKameric 0:a4de55cab4e2 95 }
OsmanKameric 0:a4de55cab4e2 96
OsmanKameric 0:a4de55cab4e2 97 /* Ensure that it is the default instance of BLE */
OsmanKameric 0:a4de55cab4e2 98 if (ble.getInstanceID() != BLE::DEFAULT_INSTANCE) {
OsmanKameric 0:a4de55cab4e2 99 return;
OsmanKameric 0:a4de55cab4e2 100 }
OsmanKameric 0:a4de55cab4e2 101 ble.gap().onDisconnection(disconnectionCallback);
OsmanKameric 0:a4de55cab4e2 102
OsmanKameric 0:a4de55cab4e2 103 /* setup advertising */
OsmanKameric 0:a4de55cab4e2 104 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
OsmanKameric 0:a4de55cab4e2 105 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS, (uint8_t*)uuid16_list, sizeof(uuid16_list));
OsmanKameric 0:a4de55cab4e2 106 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t*)DEVICE_NAME, sizeof(DEVICE_NAME));
OsmanKameric 0:a4de55cab4e2 107 ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
OsmanKameric 1:2cc1c9a45be7 108
OsmanKameric 1:2cc1c9a45be7 109 ble.gap().startAdvertising();
OsmanKameric 1:2cc1c9a45be7 110 ble.addService(customService);
OsmanKameric 0:a4de55cab4e2 111 ble.gap().setAdvertisingInterval(1000); /* 1000ms. */
OsmanKameric 0:a4de55cab4e2 112
OsmanKameric 0:a4de55cab4e2 113
OsmanKameric 0:a4de55cab4e2 114 }
OsmanKameric 1:2cc1c9a45be7 115 void flip() {
OsmanKameric 1:2cc1c9a45be7 116 pc.printf("Desio se interupt");
OsmanKameric 1:2cc1c9a45be7 117 }
OsmanKameric 1:2cc1c9a45be7 118 bool XnegMD, XposMD, YnegMD, YposMD, ZnegMD, ZposMD;
OsmanKameric 0:a4de55cab4e2 119 int main()
OsmanKameric 1:2cc1c9a45be7 120 {
OsmanKameric 1:2cc1c9a45be7 121 //mpu6050.whoAmI();
OsmanKameric 1:2cc1c9a45be7 122 //mpu6050.calibrate(accelBias, gyroBias);
OsmanKameric 1:2cc1c9a45be7 123 //mpu6050.init();
OsmanKameric 1:2cc1c9a45be7 124
OsmanKameric 1:2cc1c9a45be7 125
OsmanKameric 1:2cc1c9a45be7 126 //setMotionDetectionThreshold
OsmanKameric 1:2cc1c9a45be7 127 //char myChar = mpu6050.readByte(MPU6050_ADDRESS, 0x1F);
OsmanKameric 1:2cc1c9a45be7 128 //pc.printf("Prije postavljanja\n");
OsmanKameric 1:2cc1c9a45be7 129 //pc.printf("MotionDetectionThreshold iznosi: %x\n",myChar);
OsmanKameric 1:2cc1c9a45be7 130 //pc.printf("Poslije postavljanja\n");
OsmanKameric 1:2cc1c9a45be7 131 //mpu6050.writeByte(MPU6050_ADDRESS, 0x1F,0x02);
OsmanKameric 1:2cc1c9a45be7 132 //myChar = mpu6050.readByte(MPU6050_ADDRESS, 0x1F);
OsmanKameric 1:2cc1c9a45be7 133 //pc.printf("MotionDetectionThreshold iznosi: %x\n",myChar);
OsmanKameric 1:2cc1c9a45be7 134
OsmanKameric 1:2cc1c9a45be7 135
OsmanKameric 1:2cc1c9a45be7 136 //setMotionDetectionDuration
OsmanKameric 1:2cc1c9a45be7 137 //myChar = mpu6050.readByte(MPU6050_ADDRESS, 0x20);
OsmanKameric 1:2cc1c9a45be7 138 //pc.printf("Prije postavljanja\n");
OsmanKameric 1:2cc1c9a45be7 139 //pc.printf("MotionDetectionDuration iznosi: %x\n",myChar);
OsmanKameric 1:2cc1c9a45be7 140 //pc.printf("Poslije postavljanja\n");
OsmanKameric 1:2cc1c9a45be7 141 //mpu6050.writeByte(MPU6050_ADDRESS, 0x20,0x28);
OsmanKameric 1:2cc1c9a45be7 142 //myChar = mpu6050.readByte(MPU6050_ADDRESS, 0x20);
OsmanKameric 1:2cc1c9a45be7 143 //pc.printf("MotionDetectionDuration iznosi: %x\n",myChar);
OsmanKameric 1:2cc1c9a45be7 144
OsmanKameric 1:2cc1c9a45be7 145 // XnegMD = mpu6050.getXNegMotionDetected();
OsmanKameric 1:2cc1c9a45be7 146 //mpu6050.whoAmI();
OsmanKameric 1:2cc1c9a45be7 147 //uint8_t *data;
OsmanKameric 1:2cc1c9a45be7 148 //char byte = mpu6050.readByte(MPU6050_ADDRESS, 0x61);
OsmanKameric 1:2cc1c9a45be7 149 //*data = byte & (1 << 7);
OsmanKameric 1:2cc1c9a45be7 150 //pc.printf("Byte iznosi: %x\n",byte);
OsmanKameric 1:2cc1c9a45be7 151 //int i = data[0];
OsmanKameric 1:2cc1c9a45be7 152 //pc.printf("7 bit iznosi: %d\n", i);
OsmanKameric 1:2cc1c9a45be7 153
OsmanKameric 1:2cc1c9a45be7 154 //XposMD = mpu6050.getXPosMotionDetected();
OsmanKameric 1:2cc1c9a45be7 155
OsmanKameric 1:2cc1c9a45be7 156
OsmanKameric 1:2cc1c9a45be7 157 //pin.fall(&flip);
OsmanKameric 0:a4de55cab4e2 158 eventQueue.call_every(500, periodicCallback);
OsmanKameric 0:a4de55cab4e2 159 BLE& ble = BLE::Instance();
OsmanKameric 0:a4de55cab4e2 160 ble.onEventsToProcess(scheduleBleEventsProcessing);
OsmanKameric 0:a4de55cab4e2 161 ble.init(bleInitComplete);
OsmanKameric 0:a4de55cab4e2 162 eventQueue.dispatch_forever();
OsmanKameric 0:a4de55cab4e2 163 return 0;
OsmanKameric 0:a4de55cab4e2 164 }