Diff: main.cpp

Revision:

11:5a3dcafaffbb

Parent:

10:f226b7907cf2

Child:

12:6ef51c5442dd

--- a/main.cpp	Sat Mar 14 15:22:51 2015 +0000
+++ b/main.cpp	Sun Mar 15 12:13:13 2015 +0000
@@ -24,11 +24,10 @@
 
 BLEDevice   ble;
 
-//MPU6050 mpu(p4, p5);
 MPU6050 mpu(I2C_SDA0, I2C_SCL0);
 
 static const char DEVICENAME[] = "BLE-Nano";
-//static volatile bool  triggerSensorPolling = false;
+static volatile bool  triggerSensorPolling = false;
 
 //9FDF3283-9049-CF8D-5C4D-98E7E2002731
 //const uint8_t MPU6050_adv_service_uuid[] = {
@@ -113,13 +112,13 @@
                         *(float*)&accelPayload[sizeof(float)*0],
                         *(float*)&accelPayload[sizeof(float)*1],
                         *(float*)&accelPayload[sizeof(float)*2]);
-    
+
     pc.printf("Gyro: %.3lf,%.3lf,%.3lf\r\n",
-                        *(float*)&gyroPayload[sizeof(float)*0],
-                        *(float*)&gyroPayload[sizeof(float)*1],
-                        *(float*)&gyroPayload[sizeof(float)*2]);
-        
-    pc.printf("Temp: %.3lf\r\n", *(float*)&tempPayload[sizeof(float)*0]);
+                        *(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]);
     */
 
     timer.stop();
@@ -167,7 +166,6 @@
 }
 
 void onDataWrittenCallback(const GattCharacteristicWriteCBParams *params){
-
     char acceleroRange = 0xFF;
     char gyroRange = 0xFF;
     
@@ -205,19 +203,20 @@
                     gyroRange = MPU6050_GYRO_RANGE_250;
                     break;
                 case 1:
-                    gyroRange = MPU6050_GYRO_RANGE_250; 
+                    gyroRange = MPU6050_GYRO_RANGE_500; 
                     break;
                 case 2:
-                    gyroRange = MPU6050_GYRO_RANGE_250;
+                    gyroRange = MPU6050_GYRO_RANGE_1000;
                     break;
                 case 3:
-                    gyroRange = MPU6050_GYRO_RANGE_250;
+                    gyroRange = MPU6050_GYRO_RANGE_2000;
                     break;
                 default:
                     break;
             }
-            mpu.setAcceleroRange(acceleroRange);
-            mpu.setGyroRange(gyroRange);
+            mpu.mpu_set_accel_fsr(acceleroRange);
+            mpu.mpu_set_gyro_fsr(gyroRange);
+            
         }
     }
 }
@@ -236,8 +235,7 @@
 
     /* Note that the periodicCallback() executes in interrupt context, so it is safer to do
      * heavy-weight sensor polling from the main thread. */
-    //triggerSensorPolling = true;
-    updateValue();
+    triggerSensorPolling = true;
 }
 
 /**************************************************************************/
@@ -274,7 +272,7 @@
     }
 
     Ticker ticker;
-    ticker.attach(periodicCallback, 0.25f); //1sec
+    ticker.attach(periodicCallback, 0.2f); //.2f-sec
     
     ble.init();
     ble.onDisconnection(disconnectionCallback);
@@ -299,12 +297,12 @@
     ble.addService(MPU6050Service);
 
     while(true) {
-        //if (triggerSensorPolling && ble.getGapState().connected) {
-            //triggerSensorPolling = false;
-            //updateValue();
-        //} else {
+        if (triggerSensorPolling && ble.getGapState().connected) {
+            triggerSensorPolling = false;
+            updateValue();
+        } else {
             ble.waitForEvent();
-        //}
+        }
     }
 }