hiroya taura / Mbed 2 deprecated BLE_MPU6050_Nano2

サイコン用プログラム BLE通信送信確認

Dependencies:   mbed BLE_API nRF51822

main.cpp@8:35390100e16f, 2015-02-07 (annotated)

Committer:
mbed_tw_hoehoe
Date:
Sat Feb 07 05:58:51 2015 +0000
Revision:
8:35390100e16f
Parent:
7:e18346358299
Child:
9:aca7ff8a1945
set default acceleration parameter.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_tw_hoehoe 0:2fa085b36ad8 1 #include "mbed.h"
mbed_tw_hoehoe 0:2fa085b36ad8 2 #include "BLEDevice.h"
mbed_tw_hoehoe 0:2fa085b36ad8 3 #include "MPU6050.h"
mbed_tw_hoehoe 0:2fa085b36ad8 4
mbed_tw_hoehoe 0:2fa085b36ad8 5 /*
mbed_tw_hoehoe 0:2fa085b36ad8 6 #define DBG 1
mbed_tw_hoehoe 0:2fa085b36ad8 7 #define NEED_CONSOLE_OUTPUT 1 // Set this if you need debug messages on the console;
mbed_tw_hoehoe 0:2fa085b36ad8 8 // it will have an impact on code-size and power consumption.
mbed_tw_hoehoe 0:2fa085b36ad8 9
mbed_tw_hoehoe 0:2fa085b36ad8 10 #if NEED_CONSOLE_OUTPUT
mbed_tw_hoehoe 0:2fa085b36ad8 11 Serial pc(USBTX, USBRX);
mbed_tw_hoehoe 0:2fa085b36ad8 12 #define DEBUG(...) { pc.printf(__VA_ARGS__); }
mbed_tw_hoehoe 0:2fa085b36ad8 13 #else
mbed_tw_hoehoe 0:2fa085b36ad8 14 #define DEBUG(...) // nothing //
mbed_tw_hoehoe 0:2fa085b36ad8 15 #endif // #if NEED_CONSOLE_OUTPUT //
mbed_tw_hoehoe 0:2fa085b36ad8 16 */
mbed_tw_hoehoe 0:2fa085b36ad8 17
mbed_tw_hoehoe 0:2fa085b36ad8 18 BLEDevice ble;
mbed_tw_hoehoe 0:2fa085b36ad8 19
mbed_tw_hoehoe 0:2fa085b36ad8 20 MPU6050 mpu(I2C_SDA0, I2C_SCL0);
mbed_tw_hoehoe 0:2fa085b36ad8 21
mbed_tw_hoehoe 0:2fa085b36ad8 22 static const char DEVICENAME[] = "BLE-Nano";
mbed_tw_hoehoe 0:2fa085b36ad8 23 static volatile bool triggerSensorPolling = false;
mbed_tw_hoehoe 0:2fa085b36ad8 24
mbed_tw_hoehoe 0:2fa085b36ad8 25 //9FDF3283-9049-CF8D-5C4D-98E7E2002731
mbed_tw_hoehoe 4:3a25f1bdffc7 26 //const uint8_t MPU6050_adv_service_uuid[] = {
mbed_tw_hoehoe 4:3a25f1bdffc7 27 // 0x9F,0xDF,0x32,0x83,
mbed_tw_hoehoe 4:3a25f1bdffc7 28 // 0x90,0x49,
mbed_tw_hoehoe 4:3a25f1bdffc7 29 // 0xCF,0x8D,
mbed_tw_hoehoe 4:3a25f1bdffc7 30 // 0x5C,0x4D,
mbed_tw_hoehoe 4:3a25f1bdffc7 31 // 0x98,0xE7,0xE2,0x00,0x27,0x31
mbed_tw_hoehoe 4:3a25f1bdffc7 32 //};
mbed_tw_hoehoe 0:2fa085b36ad8 33
mbed_tw_hoehoe 0:2fa085b36ad8 34 const uint8_t MPU6050_service_uuid[] = {
mbed_tw_hoehoe 0:2fa085b36ad8 35 0x31,0x27,0x00,0xE2,0xE7,0x98,0x4D,0x5C,0x8D,0xCF,0x49,0x90,0x83,0x32,0xDF,0x9F
mbed_tw_hoehoe 0:2fa085b36ad8 36 };
mbed_tw_hoehoe 0:2fa085b36ad8 37
mbed_tw_hoehoe 0:2fa085b36ad8 38 const uint8_t MPU6050_Accel_Characteristic_uuid[] = {
mbed_tw_hoehoe 0:2fa085b36ad8 39 0xFF,0xA2,0x8C,0xDE,0x65,0x25,
mbed_tw_hoehoe 0:2fa085b36ad8 40 0x44,0x89,
mbed_tw_hoehoe 0:2fa085b36ad8 41 0x80,0x1C,
mbed_tw_hoehoe 0:2fa085b36ad8 42 0x1C,0x06,0x0C,0xAC,0x97,0x67
mbed_tw_hoehoe 0:2fa085b36ad8 43 };
mbed_tw_hoehoe 0:2fa085b36ad8 44
mbed_tw_hoehoe 5:807096fdd895 45 static const uint8_t MPU6050_Write_Characteristic_uuid[] =
mbed_tw_hoehoe 5:807096fdd895 46 {
mbed_tw_hoehoe 5:807096fdd895 47 0x65, 0x60, 0xBE, 0x95,0xD9, 0x31,
mbed_tw_hoehoe 5:807096fdd895 48 0x4F, 0x64,
mbed_tw_hoehoe 5:807096fdd895 49 0x95, 0x75,
mbed_tw_hoehoe 5:807096fdd895 50 0xC6, 0xDD, 0xB5, 0xAE, 0x7F, 0xA5
mbed_tw_hoehoe 5:807096fdd895 51 };
mbed_tw_hoehoe 5:807096fdd895 52
mbed_tw_hoehoe 6:e640afab8288 53 uint8_t accelPayload[sizeof(float)*8] = {0,};
mbed_tw_hoehoe 6:e640afab8288 54 uint8_t writePayload[3] = {0,};
mbed_tw_hoehoe 5:807096fdd895 55
mbed_tw_hoehoe 0:2fa085b36ad8 56
mbed_tw_hoehoe 0:2fa085b36ad8 57 GattCharacteristic accelChar (MPU6050_Accel_Characteristic_uuid,
mbed_tw_hoehoe 6:e640afab8288 58 accelPayload, (sizeof(float) * 8), (sizeof(float) * 8),
mbed_tw_hoehoe 0:2fa085b36ad8 59 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
mbed_tw_hoehoe 0:2fa085b36ad8 60
mbed_tw_hoehoe 5:807096fdd895 61 GattCharacteristic writeChar (MPU6050_Write_Characteristic_uuid,
mbed_tw_hoehoe 5:807096fdd895 62 writePayload, 3, 3,
mbed_tw_hoehoe 7:e18346358299 63 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
mbed_tw_hoehoe 5:807096fdd895 64
mbed_tw_hoehoe 5:807096fdd895 65 GattCharacteristic *ControllerChars[] = { &accelChar, &writeChar, };
mbed_tw_hoehoe 4:3a25f1bdffc7 66 GattService MPU6050Service(MPU6050_service_uuid, ControllerChars, sizeof(ControllerChars) / sizeof(GattCharacteristic *));
mbed_tw_hoehoe 0:2fa085b36ad8 67
mbed_tw_hoehoe 6:e640afab8288 68 Timer timer;
mbed_tw_hoehoe 6:e640afab8288 69
mbed_tw_hoehoe 0:2fa085b36ad8 70 void updateValue(void){
mbed_tw_hoehoe 0:2fa085b36ad8 71
mbed_tw_hoehoe 0:2fa085b36ad8 72 float acData[3];
mbed_tw_hoehoe 0:2fa085b36ad8 73 float gyData[3];
mbed_tw_hoehoe 6:e640afab8288 74 float tempData = 0.0f;
mbed_tw_hoehoe 6:e640afab8288 75 float t = 0.0f;
mbed_tw_hoehoe 6:e640afab8288 76
mbed_tw_hoehoe 6:e640afab8288 77 timer.start();
mbed_tw_hoehoe 0:2fa085b36ad8 78
mbed_tw_hoehoe 3:ca2cdabf5977 79 //加速度を取得
mbed_tw_hoehoe 3:ca2cdabf5977 80 mpu.getAccelero(acData);
mbed_tw_hoehoe 0:2fa085b36ad8 81
mbed_tw_hoehoe 0:2fa085b36ad8 82 memcpy(accelPayload+sizeof(float)*0, &acData[0], sizeof(acData[0]));
mbed_tw_hoehoe 0:2fa085b36ad8 83 memcpy(accelPayload+sizeof(float)*1, &acData[1], sizeof(acData[1]));
mbed_tw_hoehoe 0:2fa085b36ad8 84 memcpy(accelPayload+sizeof(float)*2, &acData[2], sizeof(acData[2]));
mbed_tw_hoehoe 0:2fa085b36ad8 85
mbed_tw_hoehoe 3:ca2cdabf5977 86 //ジャイロを取得
mbed_tw_hoehoe 3:ca2cdabf5977 87 mpu.getGyro(gyData);
mbed_tw_hoehoe 0:2fa085b36ad8 88
mbed_tw_hoehoe 4:3a25f1bdffc7 89 memcpy(accelPayload+sizeof(float)*3, &gyData[0], sizeof(gyData[0]));
mbed_tw_hoehoe 4:3a25f1bdffc7 90 memcpy(accelPayload+sizeof(float)*4, &gyData[1], sizeof(gyData[1]));
mbed_tw_hoehoe 4:3a25f1bdffc7 91 memcpy(accelPayload+sizeof(float)*5, &gyData[2], sizeof(gyData[2]));
mbed_tw_hoehoe 0:2fa085b36ad8 92
mbed_tw_hoehoe 0:2fa085b36ad8 93 //温度を取得
mbed_tw_hoehoe 0:2fa085b36ad8 94 tempData = mpu.getTemp();
mbed_tw_hoehoe 0:2fa085b36ad8 95
mbed_tw_hoehoe 4:3a25f1bdffc7 96 memcpy(accelPayload+sizeof(float)*6, &tempData, sizeof(tempData));
mbed_tw_hoehoe 0:2fa085b36ad8 97 /*
mbed_tw_hoehoe 0:2fa085b36ad8 98 pc.printf("Accel: %.3lf,%.3lf,%.3lf\r\n",
mbed_tw_hoehoe 0:2fa085b36ad8 99 *(float*)&accelPayload[sizeof(float)*0],
mbed_tw_hoehoe 0:2fa085b36ad8 100 *(float*)&accelPayload[sizeof(float)*1],
mbed_tw_hoehoe 0:2fa085b36ad8 101 *(float*)&accelPayload[sizeof(float)*2]);
mbed_tw_hoehoe 0:2fa085b36ad8 102
mbed_tw_hoehoe 0:2fa085b36ad8 103 pc.printf("Gyro: %.3lf,%.3lf,%.3lf\r\n",
mbed_tw_hoehoe 0:2fa085b36ad8 104 *(float*)&gyroPayload[sizeof(float)*0],
mbed_tw_hoehoe 0:2fa085b36ad8 105 *(float*)&gyroPayload[sizeof(float)*1],
mbed_tw_hoehoe 0:2fa085b36ad8 106 *(float*)&gyroPayload[sizeof(float)*2]);
mbed_tw_hoehoe 0:2fa085b36ad8 107
mbed_tw_hoehoe 0:2fa085b36ad8 108 pc.printf("Temp: %.3lf\r\n", *(float*)&tempPayload[sizeof(float)*0]);
mbed_tw_hoehoe 0:2fa085b36ad8 109 pc.printf("Battery: %d\r\n", batt);
mbed_tw_hoehoe 0:2fa085b36ad8 110 */
mbed_tw_hoehoe 6:e640afab8288 111 timer.stop();
mbed_tw_hoehoe 6:e640afab8288 112 t = timer.read_ms();
mbed_tw_hoehoe 6:e640afab8288 113 memcpy(accelPayload+sizeof(float)*7, &t, sizeof(t));
mbed_tw_hoehoe 6:e640afab8288 114 timer.reset();
mbed_tw_hoehoe 0:2fa085b36ad8 115 ble.updateCharacteristicValue(accelChar.getValueAttribute().getHandle(), accelPayload, sizeof(accelPayload)); //Mod
mbed_tw_hoehoe 0:2fa085b36ad8 116 }
mbed_tw_hoehoe 7:e18346358299 117
mbed_tw_hoehoe 7:e18346358299 118 void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason) // Mod
mbed_tw_hoehoe 7:e18346358299 119 {
mbed_tw_hoehoe 7:e18346358299 120
mbed_tw_hoehoe 7:e18346358299 121 //DEBUG("Disconnected handle %u, reason %u\n", handle, reason);
mbed_tw_hoehoe 7:e18346358299 122 //DEBUG("Restarting the advertising process\n\r");
mbed_tw_hoehoe 7:e18346358299 123
mbed_tw_hoehoe 7:e18346358299 124 ble.startAdvertising();
mbed_tw_hoehoe 7:e18346358299 125 }
mbed_tw_hoehoe 7:e18346358299 126
mbed_tw_hoehoe 7:e18346358299 127 void onConnectionCallback(Gap::Handle_t handle, Gap::addr_type_t peerAddrType, const Gap::address_t peerAddr, const Gap::ConnectionParams_t *params) //Mod
mbed_tw_hoehoe 7:e18346358299 128 {
mbed_tw_hoehoe 7:e18346358299 129
mbed_tw_hoehoe 7:e18346358299 130 //DEBUG("connected. Got handle %u\r\n", handle);
mbed_tw_hoehoe 7:e18346358299 131
mbed_tw_hoehoe 7:e18346358299 132 /*******************************************************************************/
mbed_tw_hoehoe 7:e18346358299 133 /* CentralがMacOS X の時 connection intervalを設定する場合は */
mbed_tw_hoehoe 7:e18346358299 134 /* nRF51822 -> projectconfig.h -> GAP -> */
mbed_tw_hoehoe 7:e18346358299 135 /* CFG_GAP_CONNECTION_MIN_INTERVAL_MS / CFG_GAP_CONNECTION_MAX_INTERVAL_MSを */
mbed_tw_hoehoe 7:e18346358299 136 /* 直接編集すること */
mbed_tw_hoehoe 7:e18346358299 137 /******************************************************************************/
mbed_tw_hoehoe 7:e18346358299 138
mbed_tw_hoehoe 7:e18346358299 139 #define MIN_CONN_INTERVAL 250 /**< Minimum connection interval (250 ms) */
mbed_tw_hoehoe 7:e18346358299 140 #define MAX_CONN_INTERVAL 350 /**< Maximum connection interval (350 ms). */
mbed_tw_hoehoe 7:e18346358299 141 #define CONN_SUP_TIMEOUT 6000 /**< Connection supervisory timeout (6 seconds). */
mbed_tw_hoehoe 7:e18346358299 142 #define SLAVE_LATENCY 4
mbed_tw_hoehoe 7:e18346358299 143
mbed_tw_hoehoe 7:e18346358299 144 Gap::ConnectionParams_t gap_conn_params;
mbed_tw_hoehoe 7:e18346358299 145 gap_conn_params.minConnectionInterval = Gap::MSEC_TO_GAP_DURATION_UNITS(MIN_CONN_INTERVAL);
mbed_tw_hoehoe 7:e18346358299 146 gap_conn_params.maxConnectionInterval = Gap::MSEC_TO_GAP_DURATION_UNITS(MAX_CONN_INTERVAL);
mbed_tw_hoehoe 7:e18346358299 147 gap_conn_params.connectionSupervisionTimeout = Gap::MSEC_TO_GAP_DURATION_UNITS(CONN_SUP_TIMEOUT);
mbed_tw_hoehoe 7:e18346358299 148 gap_conn_params.slaveLatency = SLAVE_LATENCY;
mbed_tw_hoehoe 7:e18346358299 149 ble.updateConnectionParams(handle, &gap_conn_params);
mbed_tw_hoehoe 7:e18346358299 150 //if (ble.updateConnectionParams(handle, &gap_conn_params) != BLE_ERROR_NONE) {
mbed_tw_hoehoe 7:e18346358299 151 // DEBUG("failed to update connection paramter\r\n");
mbed_tw_hoehoe 7:e18346358299 152 //}
mbed_tw_hoehoe 7:e18346358299 153 }
mbed_tw_hoehoe 7:e18346358299 154
mbed_tw_hoehoe 7:e18346358299 155 void onDataWritten(const GattCharacteristicWriteCBParams *params){
mbed_tw_hoehoe 7:e18346358299 156
mbed_tw_hoehoe 7:e18346358299 157 if (params->charHandle == writeChar.getValueAttribute().getHandle()) {
mbed_tw_hoehoe 7:e18346358299 158 uint16_t len = params->len;
mbed_tw_hoehoe 7:e18346358299 159
mbed_tw_hoehoe 7:e18346358299 160 if (len == 3) {
mbed_tw_hoehoe 7:e18346358299 161 uint8_t controller[3] = {0};
mbed_tw_hoehoe 7:e18346358299 162
mbed_tw_hoehoe 7:e18346358299 163 ble.readCharacteristicValue(writeChar.getValueAttribute().getHandle(), writePayload, &len);
mbed_tw_hoehoe 7:e18346358299 164
mbed_tw_hoehoe 7:e18346358299 165 memcpy(controller+sizeof(uint8_t)*0, &writePayload[0], sizeof(writePayload[0]));
mbed_tw_hoehoe 7:e18346358299 166 memcpy(controller+sizeof(uint8_t)*1, &writePayload[1], sizeof(writePayload[1]));
mbed_tw_hoehoe 7:e18346358299 167 memcpy(controller+sizeof(uint8_t)*2, &writePayload[2], sizeof(writePayload[2]));
mbed_tw_hoehoe 7:e18346358299 168
mbed_tw_hoehoe 7:e18346358299 169 if(controller[0] == 1){
mbed_tw_hoehoe 7:e18346358299 170 mpu.initialize();
mbed_tw_hoehoe 7:e18346358299 171 }
mbed_tw_hoehoe 7:e18346358299 172
mbed_tw_hoehoe 7:e18346358299 173 switch(controller[1]){
mbed_tw_hoehoe 7:e18346358299 174 case 0:
mbed_tw_hoehoe 7:e18346358299 175 mpu.setAcceleroRange(0);
mbed_tw_hoehoe 7:e18346358299 176 break;
mbed_tw_hoehoe 7:e18346358299 177 case 1:
mbed_tw_hoehoe 7:e18346358299 178 mpu.setAcceleroRange(1);
mbed_tw_hoehoe 7:e18346358299 179 break;
mbed_tw_hoehoe 7:e18346358299 180 case 2:
mbed_tw_hoehoe 7:e18346358299 181 mpu.setAcceleroRange(2);
mbed_tw_hoehoe 7:e18346358299 182 break;
mbed_tw_hoehoe 7:e18346358299 183 default:
mbed_tw_hoehoe 7:e18346358299 184 break;
mbed_tw_hoehoe 7:e18346358299 185 }
mbed_tw_hoehoe 7:e18346358299 186
mbed_tw_hoehoe 7:e18346358299 187 switch(controller[2]){
mbed_tw_hoehoe 7:e18346358299 188 case 0:
mbed_tw_hoehoe 7:e18346358299 189 mpu.setGyroRange(0);
mbed_tw_hoehoe 7:e18346358299 190 break;
mbed_tw_hoehoe 7:e18346358299 191 case 1:
mbed_tw_hoehoe 7:e18346358299 192 mpu.setGyroRange(1);
mbed_tw_hoehoe 7:e18346358299 193 break;
mbed_tw_hoehoe 7:e18346358299 194 case 2:
mbed_tw_hoehoe 7:e18346358299 195 mpu.setGyroRange(2);
mbed_tw_hoehoe 7:e18346358299 196 break;
mbed_tw_hoehoe 7:e18346358299 197 case 3:
mbed_tw_hoehoe 7:e18346358299 198 mpu.setGyroRange(3);
mbed_tw_hoehoe 7:e18346358299 199 break;
mbed_tw_hoehoe 7:e18346358299 200 default:
mbed_tw_hoehoe 7:e18346358299 201 break;
mbed_tw_hoehoe 7:e18346358299 202 }
mbed_tw_hoehoe 7:e18346358299 203 if( mpu.testConnection() ){
mbed_tw_hoehoe 7:e18346358299 204 //pc.printf("mpu test:OK\n\r");
mbed_tw_hoehoe 7:e18346358299 205 }else{
mbed_tw_hoehoe 7:e18346358299 206 //pc.printf("mpu test:NG\n\r");
mbed_tw_hoehoe 7:e18346358299 207 }
mbed_tw_hoehoe 7:e18346358299 208 }
mbed_tw_hoehoe 7:e18346358299 209 }
mbed_tw_hoehoe 7:e18346358299 210 }
mbed_tw_hoehoe 7:e18346358299 211
mbed_tw_hoehoe 7:e18346358299 212 void timeoutCallback(void)
mbed_tw_hoehoe 7:e18346358299 213 {
mbed_tw_hoehoe 7:e18346358299 214 //DEBUG("TimeOut\n\r");
mbed_tw_hoehoe 7:e18346358299 215 //DEBUG("Restarting the advertising process\n\r");
mbed_tw_hoehoe 7:e18346358299 216
mbed_tw_hoehoe 7:e18346358299 217 ble.startAdvertising();
mbed_tw_hoehoe 7:e18346358299 218 }
mbed_tw_hoehoe 7:e18346358299 219
mbed_tw_hoehoe 7:e18346358299 220 //void periodicCallback(void)
mbed_tw_hoehoe 7:e18346358299 221 //{
mbed_tw_hoehoe 7:e18346358299 222 //oneSecondLed = !oneSecondLed; /* Do blinky on LED1 while we're waiting for BLE events */
mbed_tw_hoehoe 7:e18346358299 223
mbed_tw_hoehoe 7:e18346358299 224 /* Note that the periodicCallback() executes in interrupt context, so it is safer to do
mbed_tw_hoehoe 7:e18346358299 225 * heavy-weight sensor polling from the main thread. */
mbed_tw_hoehoe 7:e18346358299 226 //triggerSensorPolling = true;
mbed_tw_hoehoe 7:e18346358299 227 //}
mbed_tw_hoehoe 7:e18346358299 228
mbed_tw_hoehoe 7:e18346358299 229 /**************************************************************************/
mbed_tw_hoehoe 7:e18346358299 230 /*!
mbed_tw_hoehoe 7:e18346358299 231 @brief Program entry point
mbed_tw_hoehoe 7:e18346358299 232 */
mbed_tw_hoehoe 7:e18346358299 233 /**************************************************************************/
mbed_tw_hoehoe 7:e18346358299 234 int main(void)
mbed_tw_hoehoe 7:e18346358299 235 {
mbed_tw_hoehoe 7:e18346358299 236
mbed_tw_hoehoe 7:e18346358299 237 //#if DBG
mbed_tw_hoehoe 7:e18346358299 238 // pc.printf("Start\n\r");
mbed_tw_hoehoe 7:e18346358299 239 //#endif
mbed_tw_hoehoe 8:35390100e16f 240 /*
mbed_tw_hoehoe 8:35390100e16f 241 #define MPU6050_ACCELERO_RANGE_2G 0
mbed_tw_hoehoe 8:35390100e16f 242 #define MPU6050_ACCELERO_RANGE_4G 1
mbed_tw_hoehoe 8:35390100e16f 243 #define MPU6050_ACCELERO_RANGE_8G 2
mbed_tw_hoehoe 8:35390100e16f 244 #define MPU6050_ACCELERO_RANGE_16G 3
mbed_tw_hoehoe 8:35390100e16f 245
mbed_tw_hoehoe 8:35390100e16f 246 #define MPU6050_GYRO_RANGE_250 0
mbed_tw_hoehoe 8:35390100e16f 247 #define MPU6050_GYRO_RANGE_500 1
mbed_tw_hoehoe 8:35390100e16f 248 #define MPU6050_GYRO_RANGE_1000 2
mbed_tw_hoehoe 8:35390100e16f 249 #define MPU6050_GYRO_RANGE_2000 3
mbed_tw_hoehoe 8:35390100e16f 250 */
mbed_tw_hoehoe 7:e18346358299 251 mpu.initialize();
mbed_tw_hoehoe 8:35390100e16f 252 mpu.setAcceleroRange(2); //
mbed_tw_hoehoe 8:35390100e16f 253 mpu.setGyroRange(2);
mbed_tw_hoehoe 7:e18346358299 254
mbed_tw_hoehoe 7:e18346358299 255 if( mpu.testConnection() ){
mbed_tw_hoehoe 7:e18346358299 256 //pc.printf("mpu test:OK\n\r");
mbed_tw_hoehoe 7:e18346358299 257 }else{
mbed_tw_hoehoe 7:e18346358299 258 //pc.printf("mpu test:NG\n\r");
mbed_tw_hoehoe 7:e18346358299 259 }
mbed_tw_hoehoe 7:e18346358299 260
mbed_tw_hoehoe 7:e18346358299 261 //Ticker ticker;
mbed_tw_hoehoe 7:e18346358299 262 //ticker.attach(periodicCallback, 0.25f); //1sec
mbed_tw_hoehoe 7:e18346358299 263
mbed_tw_hoehoe 7:e18346358299 264 ble.init();
mbed_tw_hoehoe 7:e18346358299 265 ble.onDisconnection(disconnectionCallback);
mbed_tw_hoehoe 7:e18346358299 266 ble.onConnection(onConnectionCallback);
mbed_tw_hoehoe 7:e18346358299 267 ble.onDataWritten(onDataWritten);
mbed_tw_hoehoe 7:e18346358299 268 ble.onTimeout(timeoutCallback);
mbed_tw_hoehoe 7:e18346358299 269
mbed_tw_hoehoe 7:e18346358299 270 /* setup device name */
mbed_tw_hoehoe 7:e18346358299 271 ble.setDeviceName((const uint8_t *)DEVICENAME);
mbed_tw_hoehoe 7:e18346358299 272
mbed_tw_hoehoe 7:e18346358299 273 /* setup advertising */
mbed_tw_hoehoe 7:e18346358299 274 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
mbed_tw_hoehoe 7:e18346358299 275 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
mbed_tw_hoehoe 7:e18346358299 276 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (const uint8_t *)DEVICENAME, sizeof(DEVICENAME));
mbed_tw_hoehoe 7:e18346358299 277 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
mbed_tw_hoehoe 7:e18346358299 278 (const uint8_t *)MPU6050_service_uuid, sizeof(MPU6050_service_uuid));
mbed_tw_hoehoe 7:e18346358299 279 //(const uint8_t *)MPU6050_adv_service_uuid, sizeof(MPU6050_adv_service_uuid));
mbed_tw_hoehoe 7:e18346358299 280
mbed_tw_hoehoe 7:e18346358299 281 ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
mbed_tw_hoehoe 7:e18346358299 282 ble.startAdvertising();
mbed_tw_hoehoe 7:e18346358299 283
mbed_tw_hoehoe 7:e18346358299 284 ble.addService(MPU6050Service);
mbed_tw_hoehoe 7:e18346358299 285
mbed_tw_hoehoe 7:e18346358299 286 while(true) {
mbed_tw_hoehoe 7:e18346358299 287 //if (triggerSensorPolling && ble.getGapState().connected) {
mbed_tw_hoehoe 7:e18346358299 288 //triggerSensorPolling = false;
mbed_tw_hoehoe 7:e18346358299 289 updateValue();
mbed_tw_hoehoe 7:e18346358299 290 //} else {
mbed_tw_hoehoe 7:e18346358299 291 // ble.waitForEvent();
mbed_tw_hoehoe 7:e18346358299 292 //}
mbed_tw_hoehoe 7:e18346358299 293 }
mbed_tw_hoehoe 7:e18346358299 294 }
mbed_tw_hoehoe 7:e18346358299 295