サイコン用プログラム BLE通信送信確認

Dependencies:   mbed BLE_API nRF51822

Files at this revision

API Documentation at this revision

Comitter:
mbed_tw_hoehoe
Date:
Tue May 19 11:35:13 2015 +0000
Parent:
13:7b4edf8b8c1b
Child:
15:f0306f9dc7ad
Commit message:
change axis6 values.

Changed in this revision

MPU6050_Mod.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
--- a/MPU6050_Mod.lib	Thu Apr 09 11:39:10 2015 +0000
+++ b/MPU6050_Mod.lib	Tue May 19 11:35:13 2015 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/users/mbed_tw_hoehoe/code/MPU6050_Mod/#8ed0265c2c92
+http://developer.mbed.org/users/mbed_tw_hoehoe/code/MPU6050_Mod/#01634c0bcfd9
--- a/main.cpp	Thu Apr 09 11:39:10 2015 +0000
+++ b/main.cpp	Tue May 19 11:35:13 2015 +0000
@@ -60,18 +60,18 @@
     0xC6, 0xDD, 0xB5, 0xAE, 0x7F, 0xA5
 };
 
-uint8_t accelPayload[sizeof(float)*9] = {0,};
+uint8_t accelPayload[sizeof(float)*10] = {0,};
 
 uint8_t defaultWriteValue = 2;
 uint8_t writePayload[3] = {0, defaultWriteValue, defaultWriteValue,};
 
 
 GattCharacteristic  accelChar (MPU6050_Accel_Characteristic_uuid,
-                                        accelPayload, (sizeof(float) * 9), (sizeof(float) * 9),
+                                        accelPayload, (sizeof(float) * 10), (sizeof(float) * 10),
                                         GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ);
 
 GattCharacteristic  writeChar (MPU6050_Write_Characteristic_uuid,
-                                        writePayload, 3, 3,
+                                        writePayload, 2, 2,
                                         GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
 
 GattCharacteristic *ControllerChars[] = { &accelChar, &writeChar, };
@@ -83,22 +83,30 @@
     float   acData[3];
     float   gyData[3];
     float   tempData = 0.0f;
-    float   t = 0.0f;
-    float   interval = 0.0f;
+    float   at = 0.0f;
+    float   gt = 0.0f;
+    float   tickerInterval = 0.0f;
 
     Timer timer;
     timer.start();
     
     //加速度を取得
     mpu.getAccelero(acData);
-    
+    timer.stop();
+    at = timer.read_ms();
+    timer.reset();
+
     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]));
 
     //ジャイロを取得
+    timer.start();
     mpu.getGyro(gyData);
-
+    timer.stop();
+    gt = timer.read_ms();
+    timer.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]));
@@ -120,14 +128,11 @@
 
     pc.printf("Temp: %.3lf\r\n", *(float*)&accelPayload[sizeof(float)*6]);
     */
+    memcpy(accelPayload+sizeof(float)*7, &at, sizeof(at));
+    memcpy(accelPayload+sizeof(float)*8, &gt, sizeof(gt));
 
-    timer.stop();
-    t = timer.read_ms();
-    memcpy(accelPayload+sizeof(float)*7, &t, sizeof(t));
-    timer.reset();
-
-    interval = (float)Gap::MSEC_TO_GAP_DURATION_UNITS(CONN_INTERVAL);
-    memcpy(accelPayload+sizeof(float)*8, &interval, sizeof(interval));
+    tickerInterval = 0.02f;//(float)Gap::MSEC_TO_GAP_DURATION_UNITS(CONN_INTERVAL);
+    memcpy(accelPayload+sizeof(float)*9, &tickerInterval, sizeof(tickerInterval));
 
     ble.updateCharacteristicValue(accelChar.getValueAttribute().getHandle(), accelPayload, sizeof(accelPayload));    //Mod
     ble.updateCharacteristicValue(writeChar.getValueAttribute().getHandle(), writePayload, sizeof(writePayload));    //Mod