Diff: main.cpp

Revision:

9:aca7ff8a1945

Parent:

8:35390100e16f

Child:

10:f226b7907cf2

--- a/main.cpp	Sat Feb 07 05:58:51 2015 +0000
+++ b/main.cpp	Mon Mar 02 13:28:18 2015 +0000
@@ -15,12 +15,19 @@
 #endif // #if NEED_CONSOLE_OUTPUT //
 */
 
+//#define MIN_CONN_INTERVAL 250  /**< Minimum connection interval (250 ms) */
+//#define MAX_CONN_INTERVAL 350  /**< Maximum connection interval (350 ms). */
+#define CONN_INTERVAL 250  /**< Minimum connection interval (250 ms) */
+#define CONN_SUP_TIMEOUT  6000 /**< Connection supervisory timeout (6 seconds). */
+#define SLAVE_LATENCY     4
+
+
 BLEDevice   ble;
 
 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[] = {
@@ -32,7 +39,10 @@
 //};
 
 const uint8_t MPU6050_service_uuid[] = {
-    0x31,0x27,0x00,0xE2,0xE7,0x98,0x4D,0x5C,0x8D,0xCF,0x49,0x90,0x83,0x32,0xDF,0x9F
+    0x31,0x27,0x00,0xE2,0xE7,0x98,
+    0x4D,0x5C,
+    0x8D,0xCF,
+    0x49,0x90,0x83,0x32,0xDF,0x9F
 };
 
 const uint8_t MPU6050_Accel_Characteristic_uuid[] = {
@@ -50,12 +60,14 @@
     0xC6, 0xDD, 0xB5, 0xAE, 0x7F, 0xA5
 };
 
-uint8_t accelPayload[sizeof(float)*8] = {0,};
-uint8_t writePayload[3] = {0,};
+uint8_t accelPayload[sizeof(float)*9] = {0,};
+
+uint8_t defaultWriteValue = 2;
+uint8_t writePayload[3] = {0, defaultWriteValue, defaultWriteValue,};
 
 
 GattCharacteristic  accelChar (MPU6050_Accel_Characteristic_uuid,
-                                        accelPayload, (sizeof(float) * 8), (sizeof(float) * 8),
+                                        accelPayload, (sizeof(float) * 9), (sizeof(float) * 9),
                                         GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
 
 GattCharacteristic  writeChar (MPU6050_Write_Characteristic_uuid,
@@ -65,7 +77,7 @@
 GattCharacteristic *ControllerChars[] = { &accelChar, &writeChar, };
 GattService         MPU6050Service(MPU6050_service_uuid, ControllerChars, sizeof(ControllerChars) / sizeof(GattCharacteristic *));
 
-Timer timer;
+
 
 void updateValue(void){
 
@@ -73,7 +85,9 @@
     float   gyData[3];
     float   tempData = 0.0f;
     float   t = 0.0f;
-    
+    float   interval = 0.0f;
+
+    Timer timer;
     timer.start();
     
     //加速度を取得
@@ -112,7 +126,12 @@
     t = timer.read_ms();
     memcpy(accelPayload+sizeof(float)*7, &t, sizeof(t));
     timer.reset();
+
+    interval = (float)CONN_INTERVAL;
+    memcpy(accelPayload+sizeof(float)*8, &interval, sizeof(interval));
+
     ble.updateCharacteristicValue(accelChar.getValueAttribute().getHandle(), accelPayload, sizeof(accelPayload));    //Mod
+    ble.updateCharacteristicValue(writeChar.getValueAttribute().getHandle(), writePayload, sizeof(writePayload));    //Mod
 }
 
 void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)    // Mod
@@ -135,15 +154,10 @@
     /*  CFG_GAP_CONNECTION_MIN_INTERVAL_MS / CFG_GAP_CONNECTION_MAX_INTERVAL_MSを  */
     /*  直接編集すること                                                             */
     /******************************************************************************/
-    
-    #define MIN_CONN_INTERVAL 250  /**< Minimum connection interval (250 ms) */
-    #define MAX_CONN_INTERVAL 350  /**< Maximum connection interval (350 ms). */
-    #define CONN_SUP_TIMEOUT  6000 /**< Connection supervisory timeout (6 seconds). */
-    #define SLAVE_LATENCY     4
 
         Gap::ConnectionParams_t gap_conn_params;
-        gap_conn_params.minConnectionInterval        = Gap::MSEC_TO_GAP_DURATION_UNITS(MIN_CONN_INTERVAL);
-        gap_conn_params.maxConnectionInterval        = Gap::MSEC_TO_GAP_DURATION_UNITS(MAX_CONN_INTERVAL);
+        gap_conn_params.minConnectionInterval        = Gap::MSEC_TO_GAP_DURATION_UNITS(CONN_INTERVAL);
+        gap_conn_params.maxConnectionInterval        = Gap::MSEC_TO_GAP_DURATION_UNITS(CONN_INTERVAL);
         gap_conn_params.connectionSupervisionTimeout = Gap::MSEC_TO_GAP_DURATION_UNITS(CONN_SUP_TIMEOUT);
         gap_conn_params.slaveLatency                 = SLAVE_LATENCY;
         ble.updateConnectionParams(handle, &gap_conn_params);
@@ -217,14 +231,15 @@
     ble.startAdvertising();
 }
 
-//void periodicCallback(void)
-//{
+void periodicCallback(void)
+{
     //oneSecondLed = !oneSecondLed; /* Do blinky on LED1 while we're waiting for BLE events */
 
     /* 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();
+}
 
 /**************************************************************************/
 /*!
@@ -248,9 +263,10 @@
         #define MPU6050_GYRO_RANGE_1000     2
         #define MPU6050_GYRO_RANGE_2000     3
     */
+
     mpu.initialize();
-    mpu.setAcceleroRange(2); //
-    mpu.setGyroRange(2);
+    mpu.setAcceleroRange(defaultWriteValue); //
+    mpu.setGyroRange(defaultWriteValue);
     
     if( mpu.testConnection() ){
         //pc.printf("mpu test:OK\n\r");
@@ -258,8 +274,8 @@
         //pc.printf("mpu test:NG\n\r");
     }
     
-    //Ticker ticker;
-    //ticker.attach(periodicCallback, 0.25f); //1sec
+    Ticker ticker;
+    ticker.attach(periodicCallback, 0.25f); //1sec
     
     ble.init();
     ble.onDisconnection(disconnectionCallback);
@@ -286,9 +302,9 @@
     while(true) {
         //if (triggerSensorPolling && ble.getGapState().connected) {
             //triggerSensorPolling = false;
-            updateValue();
+            //updateValue();
         //} else {
-        //    ble.waitForEvent();
+            ble.waitForEvent();
         //}
     }
 }