hiroya taura
サイコン用プログラム BLE通信送信確認
Dependencies: mbed BLE_API nRF51822
Diff: main.cpp
- Revision:
- 22:500a89982568
- Parent:
- 21:600cf473d9e7
--- a/main.cpp Sat Jun 27 13:26:34 2015 +0000
+++ b/main.cpp Wed Jan 09 12:59:49 2019 +0000
@@ -1,63 +1,56 @@
#include "mbed.h"
#include "BLE.h"
-#include "MPU6050.h"
-
-/*
-#define DBG 1
-#define NEED_CONSOLE_OUTPUT 1 // Set this if you need debug messages on the console;
- // it will have an impact on code-size and power consumption.
+#include "Cadence.h"
-#if NEED_CONSOLE_OUTPUT
-Serial pc(USBTX, USBRX);
-#define DEBUG(...) { pc.printf(__VA_ARGS__); }
-#else
-#define DEBUG(...) // nothing //
-#endif // #if NEED_CONSOLE_OUTPUT //
-*/
-
-//#define MIN_CONN_INTERVAL 250 /**< Minimum connection interval */
-//#define MAX_CONN_INTERVAL 350 /**< Maximum connection interval */
#define CONN_INTERVAL 25 /**< connection interval 250ms; in multiples of 0.125ms. (durationInMillis * 1000) / UNIT_0_625_MS; */
#define CONN_SUP_TIMEOUT 8000 /**< Connection supervisory timeout (6 seconds); in multiples of 0.125ms. */
#define SLAVE_LATENCY 0
#define TICKER_INTERVAL 2.0f
+#define CADENCE_SUM_NUM 2
+
+#define CADENCE_LOOP_TIME 5
BLE ble;
+Serial pc(USBTX,USBRX);
-MPU6050 mpu(I2C_SDA0, I2C_SCL0);
+InterruptIn CadencePin(p30);
+
+Ticker CadenceTicker;
+Timer cadence_t;
+char cadence_ave = 0;
+char cadence_max = 0;
+char cadence_sum[CADENCE_SUM_NUM] = {0};
+bool cadence_flag = true;
+volatile int cadence_num = 0;
+
+void cadence_countUp();
+void call_calcCadence();
+void CadenceInit();
static const char DEVICENAME[] = "BLE-Nano";
static volatile bool triggerSensorPolling = false;
-//const uint8_t MPU6050_adv_service_uuid[] = {
-// 0x9F,0xDF,0x32,0x83,
-// 0x90,0x49,
-// 0xCF,0x8D,
-// 0x5C,0x4D,
-// 0x98,0xE7,0xE2,0x00,0x27,0x31
-//};
-
const uint8_t MPU6050_service_uuid[] = {
- 0x45,0x35,0x56,0x80,0x0F,0xD8,0x5F,0xB5,0x51,0x48,0x30,0x27,0x06,0x9B,0x3F,0xD9
+ 0x90,0x0f,0xc9,0xd8,0xe5,0x98,0x11,0xe8,0x9f,0x32,0xf2,0x80,0x1f,0x1b,0x9f,0xd1
};
const uint8_t MPU6050_Accel_Characteristic_uuid[] = {
- 0x45,0x35,0x56,0x81,0x0F,0xD8,0x5F,0xB5,0x51,0x48,0x30,0x27,0x06,0x9B,0x3F,0xD9
+ 0x90,0x0f,0xd3,0x7e,0xe5,0x98,0x11,0xe8,0x9f,0x32,0xf2,0x80,0x1f,0x1b,0x9f,0xd1
};
const uint8_t MPU6050_Write_Characteristic_uuid[] =
{
- 0x45,0x35,0x56,0x83,0x0F,0xD8,0x5F,0xB5,0x51,0x48,0x30,0x27,0x06,0x9B,0x3F,0xD9
+ 0x90,0x0f,0xd5,0x04,0xe5,0x98,0x11,0xe8,0x9f,0x32,0xf2,0x80,0x1f,0x1b,0x9f,0xd1
};
-uint8_t accelPayload[sizeof(float)*10] = {0,};
+uint8_t accelPayload[sizeof(char)*10] = {0,};
-uint8_t defaultWriteValue = 3;
+uint8_t defaultWriteValue = 10;
uint8_t writePayload[2] = {defaultWriteValue, defaultWriteValue,};
GattCharacteristic accelChar (MPU6050_Accel_Characteristic_uuid,
- accelPayload, (sizeof(float) * 10), (sizeof(float) * 10),
+ accelPayload, (sizeof(char) * 10), (sizeof(char) * 10),
GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
GattCharacteristic writeChar (MPU6050_Write_Characteristic_uuid,
@@ -70,59 +63,38 @@
void updateValue(void){
- float acData[3];
- float gyData[3];
- float tempData = 0.0f;
- float at = 0.0f;
- float gt = 0.0f;
- float tickerInterval = 0.0f;
+ char acData[3];
+ char gyData[3];
+ char tempData = 0;
+ char at = 7;
+ char gt = 8;
+ char tickerInterval = 9;
- //加速度を取得
- Timer acTimer;
- acTimer.start();
- mpu.getAccelero(acData);
- acTimer.stop();
- at = acTimer.read_ms();
- acTimer.reset();
+ acData[0] = 0;
+ acData[1] = 100;
+ acData[2] = 2000;
+
+ memcpy(accelPayload+sizeof(char)*0, &acData[0], sizeof(acData[0]));
+ memcpy(accelPayload+sizeof(char)*1, &acData[1], sizeof(acData[1]));
+ memcpy(accelPayload+sizeof(char)*2, &acData[2], sizeof(acData[2]));
- memcpy(accelPayload+sizeof(float)*0, &acData[0], sizeof(acData[0]));
- memcpy(accelPayload+sizeof(float)*1, &acData[1], sizeof(acData[1]));
- memcpy(accelPayload+sizeof(float)*2, &acData[2], sizeof(acData[2]));
+ gyData[0] = 3;
+ gyData[1] = 4;
+ gyData[2] = 5;
- //ジャイロを取得
- Timer gyTimer;
- gyTimer.start();
- mpu.getGyro(gyData);
- gyTimer.stop();
- gt = gyTimer.read_ms();
- gyTimer.reset();
-
- memcpy(accelPayload+sizeof(float)*3, &gyData[0], sizeof(gyData[0]));
- memcpy(accelPayload+sizeof(float)*4, &gyData[1], sizeof(gyData[1]));
- memcpy(accelPayload+sizeof(float)*5, &gyData[2], sizeof(gyData[2]));
+ memcpy(accelPayload+sizeof(char)*3, &gyData[0], sizeof(gyData[0]));
+ memcpy(accelPayload+sizeof(char)*4, &gyData[1], sizeof(gyData[1]));
+ memcpy(accelPayload+sizeof(char)*5, &gyData[2], sizeof(gyData[2]));
//温度を取得
- tempData = mpu.getTemp();
-
- memcpy(accelPayload+sizeof(float)*6, &tempData, sizeof(tempData));
- /*
- pc.printf("Accel: %.3lf,%.3lf,%.3lf\r\n",
- *(float*)&accelPayload[sizeof(float)*0],
- *(float*)&accelPayload[sizeof(float)*1],
- *(float*)&accelPayload[sizeof(float)*2]);
+ //tempData = mpu.getTemp();
+ tempData = cadence_ave;
+ memcpy(accelPayload+sizeof(char)*6, &tempData, sizeof(tempData));
+
+ memcpy(accelPayload+sizeof(char)*7, &at, sizeof(at));
+ memcpy(accelPayload+sizeof(char)*8, >, sizeof(gt));
- pc.printf("Gyro: %.3lf,%.3lf,%.3lf\r\n",
- *(float*)&accelPayload[sizeof(float)*3],
- *(float*)&accelPayload[sizeof(float)*4],
- *(float*)&accelPayload[sizeof(float)*5]);
-
- pc.printf("Temp: %.3lf\r\n", *(float*)&accelPayload[sizeof(float)*6]);
- */
- memcpy(accelPayload+sizeof(float)*7, &at, sizeof(at));
- memcpy(accelPayload+sizeof(float)*8, >, sizeof(gt));
-
- tickerInterval = TICKER_INTERVAL;
- memcpy(accelPayload+sizeof(float)*9, &tickerInterval, sizeof(tickerInterval));
+ memcpy(accelPayload+sizeof(char)*9, &tickerInterval, sizeof(tickerInterval));
ble.updateCharacteristicValue(accelChar.getValueAttribute().getHandle(), accelPayload, sizeof(accelPayload)); //Mod
ble.updateCharacteristicValue(writeChar.getValueAttribute().getHandle(), writePayload, sizeof(writePayload)); //Mod
@@ -160,63 +132,6 @@
}
}
-//void writtenCallback(const GattCharacteristicWriteCBParams *params){
-void writtenCallback(const GattWriteCallbackParams *params){
- char acceleroRange = 0xFF;
- char gyroRange = 0xFF;
-
- if (params->handle == writeChar.getValueAttribute().getHandle()) {
- uint16_t len = params->len;
-
- if (len == 2) {
- uint8_t controller[2] = {0};
-
- ble.readCharacteristicValue(writeChar.getValueAttribute().getHandle(), writePayload, &len);
- memcpy(controller, writePayload, sizeof(controller));
-
- //pc.printf("write: %u, %u, %u\r\n", controller[0],controller[1],controller[2]);
-
- switch(controller[0]){
- case 1:
- acceleroRange = MPU6050_ACCELERO_RANGE_2G;
- break;
- case 2:
- acceleroRange = MPU6050_ACCELERO_RANGE_4G;
- break;
- case 3:
- acceleroRange = MPU6050_ACCELERO_RANGE_8G;
- break;
- case 4:
- acceleroRange = MPU6050_ACCELERO_RANGE_16G;
-
- break;
- default:
- break;
- }
-
- switch(controller[1]){
- case 1:
- gyroRange = MPU6050_GYRO_RANGE_250;
- break;
- case 2:
- gyroRange = MPU6050_GYRO_RANGE_500;
- break;
- case 3:
- gyroRange = MPU6050_GYRO_RANGE_1000;
- break;
- case 4:
- gyroRange = MPU6050_GYRO_RANGE_2000;
- break;
- default:
- break;
- }
- mpu.mpu_set_accel_fsr(acceleroRange);
- mpu.mpu_set_gyro_fsr(gyroRange);
-
- }
- }
-}
-
void timeoutCallback(const Gap::TimeoutSource_t source)
{
//DEBUG("TimeOut\n\r");
@@ -234,6 +149,28 @@
triggerSensorPolling = true;
}
+
+void cadence_countUp(){
+ if(cadence_flag){
+ cadence_flag = false;
+ pc.printf("count_up!\n\r");
+ cadence_num++;
+ wait(0.15);
+ cadence_flag = true;
+ }
+
+}
+
+void call_calcCadence(){
+ cadence.calcCadence(cadence_num);
+ cadence_num = 0;
+}
+
+void CadenceInit(){
+ CadencePin.rise(cadence_countUp);
+ CadenceTicker.attach(&call_calcCadence, CADENCE_LOOP_TIME);
+}
+
/**************************************************************************/
/*!
@brief Program entry point
@@ -241,32 +178,8 @@
/**************************************************************************/
int main(void)
{
+ CadenceInit();
- //#if DBG
- // pc.printf("Start\n\r");
- //#endif
- /*
- #define MPU6050_ACCELERO_RANGE_2G 1
- #define MPU6050_ACCELERO_RANGE_4G 2
- #define MPU6050_ACCELERO_RANGE_8G 3
- #define MPU6050_ACCELERO_RANGE_16G 4
-
- #define MPU6050_GYRO_RANGE_250 1
- #define MPU6050_GYRO_RANGE_500 2
- #define MPU6050_GYRO_RANGE_1000 3
- #define MPU6050_GYRO_RANGE_2000 4
- */
-
- mpu.initialize();
- mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_8G);
- mpu.setGyroRange(MPU6050_GYRO_RANGE_1000);
-
- if( mpu.testConnection() ){
- //pc.printf("mpu test:OK\n\r");
- }else{
- //pc.printf("mpu test:NG\n\r");
- }
-
float ticker_ms = (TICKER_INTERVAL / 100.0f);
Ticker ticker;
ticker.attach(periodicCallback, ticker_ms);//0.02f //.2f-sec
@@ -274,7 +187,7 @@
ble.init();
ble.onDisconnection(disconnectionCallback);
ble.onConnection(connectionCallback);
- ble.onDataWritten(writtenCallback);
+ // ble.onDataWritten(writtenCallback);
ble.onTimeout(timeoutCallback);
/* setup device name */