main.cpp

00001 /*
00002 
00003 Copyright (c) 2012-2014 RedBearLab
00004 
00005 Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
00006 and associated documentation files (the "Software"), to deal in the Software without restriction, 
00007 including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 
00008 and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, 
00009 subject to the following conditions:
00010 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
00011 
00012 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
00013 INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 
00014 PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE 
00015 FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
00016 ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
00017 
00018 */
00019 
00020 #include "mbed.h"
00021 #include "ble/BLE.h"
00022 #include "ADXL345_I2C/ADXL345_I2C.h"
00023 
00024 #define TXRX_BUF_LEN                     20
00025 #define LOCAL_NAME                       "4WD"
00026 #define NOTIFY_INTERVAL                  200
00027 #define MEASURE_INTERVAL                 10
00028 
00029 ADXL345_I2C accelerometer(P0_10, P0_8);
00030 BLE             ble;
00031 DigitalOut led(P0_19);
00032 
00033 static const uint8_t uart_base_uuid[] = {0xc8, 0xd6, 0xea, 0x62, 0x40, 0x76, 0x45, 0x61, 0xbf, 0xc8, 0x90, 0xaf, 0x4e, 0xd7, 0x8f, 0x4a};
00034 static const uint8_t uart_tx_uuid[]   = {0xd5, 0x31, 0x16, 0xfc, 0x4b, 0x96, 0x44, 0x46, 0xb8, 0x9f, 0xd9, 0x60, 0x00, 0x1c, 0xea, 0x91};
00035 static const uint8_t uart_rx_uuid[]   = {0xd9, 0x46, 0x28, 0x6e, 0xb6, 0xae, 0x4e, 0x75, 0x8c, 0x8d, 0xcb, 0x18, 0x43, 0x4a, 0x13, 0x98};
00036 static uint8_t uart_base_uuid_rev[]   = {0x4a, 0x8f, 0xd7, 0x4e, 0xaf, 0x90, 0xc8, 0xbf, 0x61, 0x45, 0x76, 0x40, 0x62, 0xea, 0xd6, 0xc8};
00037 
00038 uint8_t txPayload[TXRX_BUF_LEN] = {0,};
00039 uint8_t rxPayload[TXRX_BUF_LEN] = {0,};
00040 
00041 GattCharacteristic  txCharacteristic (uart_tx_uuid, txPayload, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
00042 GattCharacteristic  rxCharacteristic (uart_rx_uuid, rxPayload, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
00043 GattCharacteristic *uartChars[] = {&txCharacteristic, &rxCharacteristic};
00044 GattService         uartService(uart_base_uuid, uartChars, sizeof(uartChars) / sizeof(GattCharacteristic *));
00045 
00046 struct Vector3 {
00047     float x;
00048     float y;
00049     float z;
00050     Vector3():x(0),y(0),z(0){}
00051     void clear(){x=y=z=0;}
00052 };
00053 
00054 struct NotifyData {
00055     float x;
00056     float y;
00057     float z;
00058     float speed;
00059 };
00060 
00061 NotifyData notifyData;
00062 
00063 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t* disconnectionCallback) {
00064     ble.startAdvertising();
00065 }
00066 
00067 void WrittenHandler(const GattWriteCallbackParams *Handler) {
00068 }
00069 
00070 void notifyValues() {
00071     uint8_t buf[20];
00072     memcpy(buf, &notifyData, sizeof(NotifyData));
00073     ble.updateCharacteristicValue(rxCharacteristic.getValueAttribute().getHandle(), buf, sizeof(NotifyData)); 
00074 }
00075 
00076 Vector3 rawValue;
00077 int rawCount = 0;
00078 
00079 void measure() {
00080     int readings[3] = {0, 0, 0};
00081     accelerometer.getOutput(readings);
00082     // 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
00083     for (int i = 0; i < 3; i++) {
00084         if ((readings[i] & 0x8000) != 0) {
00085             readings[i] = -((~(readings[i] & 0x7FFF)) & 0x7FFF);
00086         }
00087     }
00088     
00089     rawValue.x += readings[0];
00090     rawValue.y += readings[1];
00091     rawValue.z += readings[2];
00092     rawCount++;
00093     
00094     if (rawCount >= NOTIFY_INTERVAL/MEASURE_INTERVAL) {
00095         notifyData.x = rawValue.x / 255 / rawCount; // G
00096         notifyData.y = rawValue.y / 255 / rawCount; // G
00097         notifyData.z = rawValue.z / 255 / rawCount; // G
00098         notifyData.speed += (rawValue.x / 255.0 * 9.8 * 3.6 / 2 / MEASURE_INTERVAL) - notifyData.speed; // km/h
00099 
00100         rawValue.clear();
00101         rawCount = 0;
00102     }
00103 }
00104 
00105 int main(void) {
00106     
00107     memset(&notifyData, 0, sizeof(NotifyData));
00108     
00109     Ticker ticker;
00110     ticker.attach_us(notifyValues, NOTIFY_INTERVAL * 1000);
00111     
00112     Ticker ticker2;
00113     ticker2.attach_us(measure, MEASURE_INTERVAL * 1000);
00114 
00115     // Go into standby mode to configure the device.
00116     accelerometer.setPowerControl(0x00);
00117     // Full resolution, +/-16g, 4mg/LSB.
00118     accelerometer.setDataFormatControl(0x0B);     
00119     // 100Hz data rate.(10msec)
00120     accelerometer.setDataRate(ADXL345_100HZ);
00121     // Measurement mode.
00122     accelerometer.setPowerControl(0x08);
00123     
00124     ble.init();
00125     ble.onDisconnection(disconnectionCallback);
00126     ble.onDataWritten(WrittenHandler);
00127     ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
00128     ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
00129     ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
00130                                     (const uint8_t *)LOCAL_NAME, sizeof(LOCAL_NAME) - 1);
00131     ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
00132                                     (const uint8_t *)uart_base_uuid_rev, sizeof(uart_base_uuid));
00133     ble.setDeviceName(LOCAL_NAME);
00134     ble.setAdvertisingInterval(1000/0.625);
00135     ble.addService(uartService);
00136     ble.startAdvertising();
00137     led = 0;
00138 
00139     while(1) {
00140         ble.waitForEvent(); 
00141     }
00142 }