Diff: main.cpp

Revision:

0:49972c65a3f8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jan 07 05:55:52 2016 +0000
@@ -0,0 +1,142 @@
+/*
+
+Copyright (c) 2012-2014 RedBearLab
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
+and associated documentation files (the "Software"), to deal in the Software without restriction, 
+including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 
+and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, 
+subject to the following conditions:
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 
+PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE 
+FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+*/
+
+#include "mbed.h"
+#include "ble/BLE.h"
+#include "ADXL345_I2C/ADXL345_I2C.h"
+
+#define TXRX_BUF_LEN                     20
+#define LOCAL_NAME                       "4WD"
+#define NOTIFY_INTERVAL                  200
+#define MEASURE_INTERVAL                 10
+
+ADXL345_I2C accelerometer(P0_10, P0_8);
+BLE             ble;
+DigitalOut led(P0_19);
+
+static const uint8_t uart_base_uuid[] = {0xc8, 0xd6, 0xea, 0x62, 0x40, 0x76, 0x45, 0x61, 0xbf, 0xc8, 0x90, 0xaf, 0x4e, 0xd7, 0x8f, 0x4a};
+static const uint8_t uart_tx_uuid[]   = {0xd5, 0x31, 0x16, 0xfc, 0x4b, 0x96, 0x44, 0x46, 0xb8, 0x9f, 0xd9, 0x60, 0x00, 0x1c, 0xea, 0x91};
+static const uint8_t uart_rx_uuid[]   = {0xd9, 0x46, 0x28, 0x6e, 0xb6, 0xae, 0x4e, 0x75, 0x8c, 0x8d, 0xcb, 0x18, 0x43, 0x4a, 0x13, 0x98};
+static uint8_t uart_base_uuid_rev[]   = {0x4a, 0x8f, 0xd7, 0x4e, 0xaf, 0x90, 0xc8, 0xbf, 0x61, 0x45, 0x76, 0x40, 0x62, 0xea, 0xd6, 0xc8};
+
+uint8_t txPayload[TXRX_BUF_LEN] = {0,};
+uint8_t rxPayload[TXRX_BUF_LEN] = {0,};
+
+GattCharacteristic  txCharacteristic (uart_tx_uuid, txPayload, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
+GattCharacteristic  rxCharacteristic (uart_rx_uuid, rxPayload, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
+GattCharacteristic *uartChars[] = {&txCharacteristic, &rxCharacteristic};
+GattService         uartService(uart_base_uuid, uartChars, sizeof(uartChars) / sizeof(GattCharacteristic *));
+
+struct Vector3 {
+    float x;
+    float y;
+    float z;
+    Vector3():x(0),y(0),z(0){}
+    void clear(){x=y=z=0;}
+};
+
+struct NotifyData {
+    float x;
+    float y;
+    float z;
+    float speed;
+};
+
+NotifyData notifyData;
+
+void disconnectionCallback(const Gap::DisconnectionCallbackParams_t* disconnectionCallback) {
+    ble.startAdvertising();
+}
+
+void WrittenHandler(const GattWriteCallbackParams *Handler) {
+}
+
+void notifyValues() {
+    uint8_t buf[20];
+    memcpy(buf, &notifyData, sizeof(NotifyData));
+    ble.updateCharacteristicValue(rxCharacteristic.getValueAttribute().getHandle(), buf, sizeof(NotifyData)); 
+}
+
+Vector3 rawValue;
+int rawCount = 0;
+
+void measure() {
+    int readings[3] = {0, 0, 0};
+    accelerometer.getOutput(readings);
+    // accelerometerの値は16bitの2の補数表現なので、自力で負数に変換する
+    for (int i = 0; i < 3; i++) {
+        if ((readings[i] & 0x8000) != 0) {
+            readings[i] = -((~(readings[i] & 0x7FFF)) & 0x7FFF);
+        }
+    }
+    
+    rawValue.x += readings[0];
+    rawValue.y += readings[1];
+    rawValue.z += readings[2];
+    rawCount++;
+    
+    if (rawCount >= NOTIFY_INTERVAL/MEASURE_INTERVAL) {
+        notifyData.x = rawValue.x / 255 / rawCount; // G
+        notifyData.y = rawValue.y / 255 / rawCount; // G
+        notifyData.z = rawValue.z / 255 / rawCount; // G
+        notifyData.speed += (rawValue.x / 255.0 * 9.8 * 3.6 / 2 / MEASURE_INTERVAL) - notifyData.speed; // km/h
+
+        rawValue.clear();
+        rawCount = 0;
+    }
+}
+
+int main(void) {
+    
+    memset(&notifyData, 0, sizeof(NotifyData));
+    
+    Ticker ticker;
+    ticker.attach_us(notifyValues, NOTIFY_INTERVAL * 1000);
+    
+    Ticker ticker2;
+    ticker2.attach_us(measure, MEASURE_INTERVAL * 1000);
+
+    // Go into standby mode to configure the device.
+    accelerometer.setPowerControl(0x00);
+    // Full resolution, +/-16g, 4mg/LSB.
+    accelerometer.setDataFormatControl(0x0B);     
+    // 100Hz data rate.(10msec)
+    accelerometer.setDataRate(ADXL345_100HZ);
+    // Measurement mode.
+    accelerometer.setPowerControl(0x08);
+    
+    ble.init();
+    ble.onDisconnection(disconnectionCallback);
+    ble.onDataWritten(WrittenHandler);
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
+    ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
+                                    (const uint8_t *)LOCAL_NAME, sizeof(LOCAL_NAME) - 1);
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
+                                    (const uint8_t *)uart_base_uuid_rev, sizeof(uart_base_uuid));
+    ble.setDeviceName(LOCAL_NAME);
+    ble.setAdvertisingInterval(1000/0.625);
+    ble.addService(uartService);
+    ble.startAdvertising();
+    led = 0;
+
+    while(1) {
+        ble.waitForEvent(); 
+    }
+}