Diff: main.cpp

Revision:

4:89f37a17eba6

Parent:

3:24e365bd1b97

--- a/main.cpp	Thu Nov 05 06:58:30 2015 +0000
+++ b/main.cpp	Mon Jun 12 04:10:04 2017 +0000
@@ -1,298 +1,140 @@
-
 #include "mbed.h"
-#include "mbed_i2c.h"
-#include "inv_mpu.h"
-#include "inv_mpu_dmp_motion_driver.h"
 #include "nrf51.h"
 #include "nrf51_bitfields.h"
 
-#include "BLE.h"
+#include "ble/BLE.h"
+#include "JoystickService.h"
 #include "DFUService.h"
 #include "UARTService.h"
 
+#include "examples_common.h"
 
 #define LOG(...)    { pc.printf(__VA_ARGS__); }
 
 #define LED_GREEN   p21
 #define LED_RED     p22
 #define LED_BLUE    p23
-#define BUTTON_PIN  p17
-#define BATTERY_PIN p1
 
-#define MPU6050_SDA p12
-#define MPU6050_SCL p13
+#define LED_OFF 1
+#define LED_ON  0
 
 #define UART_TX     p9
 #define UART_RX     p11
 #define UART_CTS    p8
 #define UART_RTS    p10
 
-/* Starting sampling rate. */
-#define DEFAULT_MPU_HZ  (100)
+#define DATA_TX p3
+#define DATA_RX p6
 
 DigitalOut blue(LED_BLUE);
 DigitalOut green(LED_GREEN);
 DigitalOut red(LED_RED);
 
-InterruptIn button(BUTTON_PIN);
-AnalogIn    battery(BATTERY_PIN);
 Serial pc(UART_TX, UART_RX);
+Serial data(DATA_TX, DATA_RX);
 
-InterruptIn motion_probe(p14);
-
-int read_none_count = 0;
-
-BLEDevice  ble;
-UARTService *uartServicePtr;
+BLE  ble;
+JoystickService *joystickServicePtr;
+static const char DEVICE_NAME[] = "BunnyJoystick";
+static const char SHORT_DEVICE_NAME[] = "joystick0";
 
 volatile bool bleIsConnected = false;
 volatile uint8_t tick_event = 0;
-volatile uint8_t motion_event = 0;
-static signed char board_orientation[9] = {
-    1, 0, 0,
-    0, 1, 0,
-    0, 0, 1
-};
 
-
-void check_i2c_bus(void);
-unsigned short inv_orientation_matrix_to_scalar( const signed char *mtx);
-
-
-void connectionCallback(const Gap::ConnectionCallbackParams_t *params)
-{
-    LOG("Connected!\n");
-    bleIsConnected = true;
-}
-
-void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *cbParams)
-{
-    LOG("Disconnected!\n");
-    LOG("Restarting the advertising process\n");
-    ble.startAdvertising();
+static void onDisconnect(const Gap::DisconnectionCallbackParams_t *params) {
+    LOG("disconnected\r\n");
     bleIsConnected = false;
+    red = LED_OFF;
+    blue = LED_OFF;
+    green = LED_ON;
+    ble.gap().startAdvertising(); // restart advertising
 }
 
-void tick(void)
-{
-    static uint32_t count = 0;
-    
-    LOG("%d\r\n", count++);
-    green = !green;
-}
 
-void detect(void)
-{
-    LOG("Button pressed\n");  
-    blue = !blue;
+static void onConnect(const Gap::ConnectionCallbackParams_t *params) {
+    LOG("connected\r\n");
+    bleIsConnected = true;
+    red = LED_OFF;
+    blue = LED_ON;
+    green = LED_OFF;
 }
 
-void motion_interrupt_handle(void)
-{
-    motion_event = 1;
-}
-
-void tap_cb(unsigned char direction, unsigned char count)
-{
-    LOG("Tap motion detected\n");
-}
-
-void android_orient_cb(unsigned char orientation)
-{
-    LOG("Oriention changed\n");
+static void waiting() {
+    if (!joystickServicePtr->isConnected()) {
+        green = !green;
+    } else {
+        blue = !blue;
+    }
 }
 
 
-int main(void)
-{
-    blue  = 1;
-    green = 1;
-    red   = 1;
-
-    pc.baud(115200);
-    
-    wait(1);
-    
-    LOG("---- Seeed Tiny BLE ----\n");
-    
-    mbed_i2c_clear(MPU6050_SDA, MPU6050_SCL);
-    mbed_i2c_init(MPU6050_SDA, MPU6050_SCL);
-    
-
-    if (mpu_init(0)) {
-        LOG("failed to initialize mpu6050\r\n");
-    }
-    
-    /* Get/set hardware configuration. Start gyro. */
-    /* Wake up all sensors. */
-    mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL);
-    /* Push both gyro and accel data into the FIFO. */
-    mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL);
-    mpu_set_sample_rate(DEFAULT_MPU_HZ);
-    
-    /* Read back configuration in case it was set improperly. */
-    unsigned char accel_fsr;
-    unsigned short gyro_rate, gyro_fsr;
-    mpu_get_sample_rate(&gyro_rate);
-    mpu_get_gyro_fsr(&gyro_fsr);
-    mpu_get_accel_fsr(&accel_fsr);
-    
-    dmp_load_motion_driver_firmware();
-    dmp_set_orientation(
-        inv_orientation_matrix_to_scalar(board_orientation));
-    dmp_register_tap_cb(tap_cb);
-    dmp_register_android_orient_cb(android_orient_cb);
+int main() {
+    blue = LED_OFF;
+    green = LED_OFF;
+    red = LED_OFF;
     
-    uint16_t dmp_features = DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP |
-                       DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |
-                       DMP_FEATURE_GYRO_CAL;
-    dmp_enable_feature(dmp_features);
-    dmp_set_fifo_rate(DEFAULT_MPU_HZ);
-    mpu_set_dmp_state(1);
-    
-    dmp_set_interrupt_mode(DMP_INT_GESTURE);
-    dmp_set_tap_thresh(TAP_XYZ, 50);
-    
-    
-    motion_probe.fall(motion_interrupt_handle);
+    data.baud(115200);
+
+    wait(4);
+    LOG("Bunny Joystick started.\n");
 
+    LOG("initialising ticker\r\n");
+    Ticker heartbeat;
+    heartbeat.attach(waiting, 1);
 
-    
-    Ticker ticker;
-    ticker.attach(tick, 3);
+    LOG("initialising ble\r\n");
+    ble.init();
 
-    button.fall(detect);
+    ble.gap().onDisconnection(onDisconnect);
+    ble.gap().onConnection(onConnect);
+
+    initializeSecurity(ble);
 
-    LOG("Initialising the nRF51822\n");
-    ble.init();
-    ble.gap().onDisconnection(disconnectionCallback);
-    ble.gap().onConnection(connectionCallback);
+    LOG("adding hid service\r\n");
+    JoystickService joystickService(ble);
+    joystickServicePtr = &joystickService;
 
+    LOG("adding dev info and battery service\r\n");
+    initializeHOGP(ble);
 
-    /* setup advertising */
-    ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
-    ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
-    ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
-                                     (const uint8_t *)"smurfs", sizeof("smurfs"));
-    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
-                                     (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
-    DFUService dfu(ble);                                 
-    UARTService uartService(ble);
-    uartServicePtr = &uartService;
-    //uartService.retargetStdout();
+    LOG("setting up gap\r\n");
+    ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::JOYSTICK);
+    ble.gap().accumulateAdvertisingPayload(
+        GapAdvertisingData::COMPLETE_LOCAL_NAME,
+        (const uint8_t *)DEVICE_NAME,
+        sizeof(DEVICE_NAME));
+    ble.gap().accumulateAdvertisingPayload(
+        GapAdvertisingData::SHORTENED_LOCAL_NAME,
+        (const uint8_t *)SHORT_DEVICE_NAME,
+        sizeof(SHORT_DEVICE_NAME));
+    ble.gap().setDeviceName((const uint8_t *)DEVICE_NAME);
 
-    ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
+    LOG("advertising\r\n");
     ble.gap().startAdvertising();
     
+    int xraw, yraw, zraw;
+
     while (true) {
-        if (motion_event) {
-            
-            unsigned long sensor_timestamp;
-            short gyro[3], accel[3], sensors;
-            long quat[4];
-            unsigned char more = 1;
-            
-            while (more) {
-                /* This function gets new data from the FIFO when the DMP is in
-                 * use. The FIFO can contain any combination of gyro, accel,
-                 * quaternion, and gesture data. The sensors parameter tells the
-                 * caller which data fields were actually populated with new data.
-                 * For example, if sensors == (INV_XYZ_GYRO | INV_WXYZ_QUAT), then
-                 * the FIFO isn't being filled with accel data.
-                 * The driver parses the gesture data to determine if a gesture
-                 * event has occurred; on an event, the application will be notified
-                 * via a callback (assuming that a callback function was properly
-                 * registered). The more parameter is non-zero if there are
-                 * leftover packets in the FIFO.
-                 */
-                dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors,
-                              &more);
-                
-                
-                /* Gyro and accel data are written to the FIFO by the DMP in chip
-                 * frame and hardware units. This behavior is convenient because it
-                 * keeps the gyro and accel outputs of dmp_read_fifo and
-                 * mpu_read_fifo consistent.
-                 */
-                if (sensors & INV_XYZ_GYRO) {
-                    // LOG("GYRO: %d, %d, %d\n", gyro[0], gyro[1], gyro[2]);
-                }
-                if (sensors & INV_XYZ_ACCEL) {
-                    //LOG("ACC: %d, %d, %d\n", accel[0], accel[1], accel[2]);
-                }
-                
-                /* Unlike gyro and accel, quaternions are written to the FIFO in
-                 * the body frame, q30. The orientation is set by the scalar passed
-                 * to dmp_set_orientation during initialization.
-                 */
-                if (sensors & INV_WXYZ_QUAT) {
-                    // LOG("QUAT: %ld, %ld, %ld, %ld\n", quat[0], quat[1], quat[2], quat[3]);
-                }
-                
-                if (sensors) {
-                    read_none_count = 0;
-                } else {
-                    read_none_count++;
-                    if (read_none_count > 3) {
-                        read_none_count = 0;
-                        
-                        LOG("I2C may be stuck @ %d\r\n", sensor_timestamp);
-                        mbed_i2c_clear(MPU6050_SDA, MPU6050_SCL);
-                    }
+        if (data.readable()) {
+            char buffer[256] = {0};
+            char c;
+            int i = 0;
+            while(data.readable() && i < 256) {
+                buffer[i++] = c = data.getc();
+                if (c == '\n') {
+                    buffer[i] = 0;
+                    break;
                 }
             }
+            LOG("Received data from FTHR:\n");
+            LOG(buffer);
+            sscanf(buffer, "%d,%d,%d", &xraw, &yraw, &zraw);
+            LOG("%d,%d,%d", xraw, yraw, zraw);
+            joystickServicePtr->setSpeed(xraw, yraw, zraw);
             
-            motion_event = 0;
-        } else {
-            ble.waitForEvent();
+            wait(0.5);
         }
+
+        ble.waitForEvent();
     }
 }
-
-/* These next two functions converts the orientation matrix (see
- * gyro_orientation) to a scalar representation for use by the DMP.
- * NOTE: These functions are borrowed from Invensense's MPL.
- */
-static inline unsigned short inv_row_2_scale(const signed char *row)
-{
-    unsigned short b;
-
-    if (row[0] > 0)
-        b = 0;
-    else if (row[0] < 0)
-        b = 4;
-    else if (row[1] > 0)
-        b = 1;
-    else if (row[1] < 0)
-        b = 5;
-    else if (row[2] > 0)
-        b = 2;
-    else if (row[2] < 0)
-        b = 6;
-    else
-        b = 7;      // error
-    return b;
-}
-
-unsigned short inv_orientation_matrix_to_scalar(
-    const signed char *mtx)
-{
-    unsigned short scalar;
-
-    /*
-       XYZ  010_001_000 Identity Matrix
-       XZY  001_010_000
-       YXZ  010_000_001
-       YZX  000_010_001
-       ZXY  001_000_010
-       ZYX  000_001_010
-     */
-
-    scalar = inv_row_2_scale(mtx);
-    scalar |= inv_row_2_scale(mtx + 3) << 3;
-    scalar |= inv_row_2_scale(mtx + 6) << 6;
-
-
-    return scalar;
-}
-