File content as of revision 2:44bc61abdf33:

#include "mbed.h"


#include "MPU6050_6Axis_MotionApps20.h"



#include "tiny_ble.h"
//#include "kalman.h"


#include "BLEDevice.h"
#include "MPUService.h"
//#include "UARTService.h"
#include "HeartRateService.h"
#include "DeviceInformationService.h"


/* Starting sampling rate. */

#define LOG(...)    { pc.printf(__VA_ARGS__); }


/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 Jeff Rowberg

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.
===============================================
*/

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
//#include "Wire.h"

// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "MPU6050_6Axis_MotionApps20.h"
#include "mbed_i2c.h"

//#include "MPU6050.h" // not necessary if using MotionApps include file

// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69


/* =========================================================================
   NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
   depends on the MPU-6050's INT pin being connected to the Arduino's
   external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
   digital I/O pin 2.
 * ========================================================================= */

/* =========================================================================
   NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
   when using Serial.write(buf, len). The Teapot output uses this method.
   The solution requires a modification to the Arduino USBAPI.h file, which
   is fortunately simple, but annoying. This will be fixed in the next IDE
   release. For more info, see these links:

   http://arduino.cc/forum/index.php/topic,109987.0.html
   http://code.google.com/p/arduino/issues/detail?id=958
 * ========================================================================= */



// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
// quaternion components in a [w, x, y, z] format (not best for parsing
// on a remote host such as Processing or something though)
//#define OUTPUT_READABLE_QUATERNION

// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
// (in degrees) calculated from the quaternions coming from the FIFO.
// Note that Euler angles suffer from gimbal lock (for more info, see
// http://en.wikipedia.org/wiki/Gimbal_lock)
//#define OUTPUT_READABLE_EULER

// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
#define OUTPUT_READABLE_YAWPITCHROLL

// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
// components with gravity removed. This acceleration reference frame is
// not compensated for orientation, so +X is always +X according to the
// sensor, just without the effects of gravity. If you want acceleration
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
//#define OUTPUT_READABLE_REALACCEL

// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
// components with gravity removed and adjusted for the world frame of
// reference (yaw is relative to initial orientation, since no magnetometer
// is present in this case). Could be quite handy in some cases.
//#define OUTPUT_READABLE_WORLDACCEL

// uncomment "OUTPUT_TEAPOT" if you want output that matches the
// format used for the InvenSense teapot demo
//#define OUTPUT_TEAPOT


// uncomment "OUTPUT_READABLE_ACCEL" if you want output that matches the
// format used for the InvenSense teapot demo
//#define OUTPUT_READABLE_ACCEL

// uncomment "OUTPUT_READABLE_ACCEL" if you want output that matches the
// format used for the InvenSense teapot demo
//#define OUTPUT_READABLE_ACCEL

/*
* ====================================================================================================================================


* =====================================================================================================================================
*/

DigitalOut blue(LED_BLUE);
DigitalOut green(LED_GREEN);
DigitalOut red(LED_RED);

InterruptIn button(BUTTON_PIN);
AnalogIn    battery(BATTERY_PIN);
Serial pc(USBTX, USBRX);
//Serial pc(UART_TX, UART_RX);

/*
* ====================================================================================================================================


* =====================================================================================================================================
*/
const static char     DEVICE_NAME[]        = "CSSE BLE";
static const uint16_t uuid16_list[]        = {GattService::UUID_HEART_RATE_SERVICE,
        GattService::UUID_DEVICE_INFORMATION_SERVICE
                                             };
volatile bool bleIsConnected = false;
BLEDevice  ble;
static volatile bool  triggerSensorPolling = false;
/*
* ====================================================================================================================================


* =====================================================================================================================================
*/


MPU6050 mpu(MPU6050_SDA, MPU6050_SCL);
void check_i2c_bus(void);
void mpuInitialSetup();
void mpuData();
// MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel sensor measurements
VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
float euler[3]= {0};        // [psi, theta, phi]    Euler angle container
float ypr[3]= {0};          // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };

InterruptIn checkpin(p14);

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady()
{
    mpuInterrupt = true;
}

//kalman_data pitch_data;
//kalman_data roll_data;

/*
* ====================================================================================================================================


* =====================================================================================================================================
*/
void connectionCallback(Gap::Handle_t handle, Gap::addr_type_t peerAddrType, const Gap::address_t peerAddr, const Gap::ConnectionParams_t *params)
{
    LOG("Connected!\n");
    bleIsConnected = true;
}

void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)
{
    LOG("Disconnected!\n");
    LOG("Restarting the advertising process\n");
    ble.startAdvertising();
    bleIsConnected = false;
}

void tick(void)
{
    if(dmpReady) {
        green = !green;
    } else {
        red  = !red;
    }
    triggerSensorPolling = true;
}

void detect(void)
{
    LOG("Button pressed\n");
    blue = !blue;
}

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");
}


int main(void)
{
    blue  = 1;
    green = 1;
    red   = 1;

    pc.baud(115200);

    LOG("---- Seeed Tiny BLE ----\n");

    Ticker ticker;
    ticker.attach(tick, 0.5);

    button.fall(detect);

    LOG("Initialising the nRF51822\n");


    /*
    * ====================================================================================================================================


    * =====================================================================================================================================
    */
    ble.init();
    ble.onDisconnection(disconnectionCallback);
    ble.onConnection(connectionCallback);



    /* setup advertising */
    ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED| GapAdvertisingData::LE_GENERAL_DISCOVERABLE);

    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));

    ble.accumulateAdvertisingPayload(GapAdvertisingData::GENERIC_REMOTE_CONTROL);

    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
                                     (uint8_t *)uuid16_list, sizeof(uuid16_list));

    //ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,(const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
                                     (const uint8_t *)MPUServiceUUID, sizeof(MPUServiceUUID));

    ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);

    // UARTService uartService(ble);
    // uartServicePtr = &uartService;

    MPUService mpuServices(ble,ypr);

    /* Setup primary service. */
    uint8_t hrmCounter = 50; // init HRM to 100bps
    HeartRateService hrService(ble, hrmCounter, HeartRateService::LOCATION_FINGER);

    /* Setup auxiliary service. */
    DeviceInformationService deviceInfo(ble, "Seeed", "Tniy BLE", "SN1", "hw-rev1", "fw-rev1", "soft-rev1");


    ble.setAdvertisingInterval(50); /* 100ms; in multiples of 0.625ms. */
    ble.startAdvertising();



    /*
    * ====================================================================================================================================


    * =====================================================================================================================================
    */
    check_i2c_bus();
    mpuInitialSetup();


    while (true) {
        if(dmpReady && (mpuInterrupt || fifoCount >= packetSize)) {
            mpuData();
            pc.printf("ypr\t");
            pc.printf("%i\t", (int16_t)ypr[0]*100) ;
            pc.printf("%i\t", (int16_t)ypr[1]*100);
            pc.printf("%i\t\r\n", (int16_t)ypr[2]*100);
            mpuServices.updateYawPitchRoll(ypr);

        }
        if (triggerSensorPolling) {
            triggerSensorPolling = false;

            // Do blocking calls or whatever is necessary for sensor polling.
            // In our case, we simply update the HRM measurement.
            hrmCounter++;

            //  100 <= HRM bps <=175
            if (hrmCounter == 175) {
                hrmCounter = 50;

            }

            // update bps
            hrService.updateHeartRate(hrmCounter);


        } else {
            ble.waitForEvent();
        }
    }
}

// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================

void mpuInitialSetup()
{
    // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio
    // Pro Mini running at 3.3v, cannot handle this baud rate reliably due to
    // the baud timing being too misaligned with processor ticks. You must use
    // 38400 or slower in these cases, or use some kind of external separate
    // crystal solution for the UART timer.

    // initialize device
    pc.printf("Initializing I2C devices...\r\n");
    mpu.initialize();

    // verify connection
    pc.printf("Testing device connections...\r\n");
    if (mpu.testConnection()) pc.printf("MPU6050 connection successful\r\n");
    else pc.printf("MPU6050 connection failed\r\n");

    // wait for ready
    //Serial.println(F("\nSend any character to begin DMP programming and demo: "));
    //while (Serial.available() && Serial.read()); // empty buffer
    //while (!Serial.available());                 // wait for data
    //while (Serial.available() && Serial.read()); // empty buffer again

    // load and configure the DMP
    pc.printf("Initializing DMP...\r\n");
    devStatus = mpu.dmpInitialize();

    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // turn on the DMP, now that it's ready
        pc.printf("Enabling DMP...\r\n");
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
        pc.printf("Enabling interrupt detection (Arduino external interrupt 0)...\r\n");
        checkpin.rise(&dmpDataReady);

        mpuIntStatus = mpu.getIntStatus();

        // set our DMP Ready flag so the main loop() function knows it's okay to use it
        pc.printf("DMP ready! Waiting for first interrupt...\r\n");
        dmpReady = true;

        // get expected DMP packet size for later comparison
        packetSize = mpu.dmpGetFIFOPacketSize();
        red = 1;
    } else {
        // ERROR!
        // 1 = initial memory load failed
        // 2 = DMP configuration updates failed
        // (if it's going to break, usually the code will be 1)

        pc.printf("DMP Initialization failed (code ");
        pc.printf("%d", devStatus);
        pc.printf(")\r\n");
    }

}

// ================================================================
// ===                      MPU6050 DATA                        ===
// ================================================================

void mpuData()
{
    // reset interrupt flag and get INT_STATUS byte
    mpuInterrupt = false;
    mpuIntStatus = mpu.getIntStatus();

    // get current FIFO count
    fifoCount = mpu.getFIFOCount();

    // check for overflow (this should never happen unless our code is too inefficient)
    if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
        // reset so we can continue cleanly
        mpu.resetFIFO();
        //Serial.println(F("FIFO overflow!"));

        // otherwise, check for DMP data ready interrupt (this should happen frequently)
    } else if (mpuIntStatus & 0x02) {
        // wait for correct available data length, should be a VERY short wait
        while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

        // read a packet from FIFO
        mpu.getFIFOBytes(fifoBuffer, packetSize);

        // track FIFO count here in case there is > 1 packet available
        // (this lets us immediately read more without waiting for an interrupt)
        fifoCount -= packetSize;

#ifdef OUTPUT_READABLE_QUATERNION
        // display quaternion values in easy matrix form: w x y z
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        pc.printf("quat\t");
        pc.printf("%f\t", q.w);
        pc.printf("%f\t", q.x);
        pc.printf("%f\t", q.y);
        pc.printf("%f\t\r\n", q.z);
#endif

#ifdef OUTPUT_READABLE_EULER
        // display Euler angles in degrees
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetEuler(euler, &q);
        pc.printf("euler\t");
        pc.printf("%f\t", euler[0] * 180/M_PI);
        pc.printf("%f\t", euler[1] * 180/M_PI);
        pc.printf("%f\t\r\n", euler[2] * 180/M_PI);
#endif

#ifdef OUTPUT_READABLE_YAWPITCHROLL
        // display Euler angles in degrees
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetGravity(&gravity, &q);
        mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
        ypr[0] =ypr[0] * 180/M_PI;
        ypr[1] =ypr[1] * 180/M_PI;
        ypr[2] =ypr[2] * 180/M_PI;
        /*
        pc.printf("ypr\t");
        pc.printf("%f\t", ypr[0] ;
        pc.printf("%f\t", ypr[1]);
        pc.printf("%f\t\r\n", ypr[2]);
        */
#endif

#ifdef OUTPUT_READABLE_REALACCEL
        // display real acceleration, adjusted to remove gravity
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetAccel(&aa, fifoBuffer);
        mpu.dmpGetGravity(&gravity, &q);
        mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
        pc.printf("areal\t");
        pc.printf("%f\t", aaReal.x);
        pc.printf("%f\t", aaReal.y);
        pc.printf("%f\t\r\n", aaReal.z);
#endif

#ifdef OUTPUT_READABLE_WORLDACCEL
        // display initial world-frame acceleration, adjusted to remove gravity
        // and rotated based on known orientation from quaternion
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetAccel(&aa, fifoBuffer);
        mpu.dmpGetGravity(&gravity, &q);
        mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
        pc.printf("aworld\t");
        pc.printf("%f\t", aaWorld.x);
        pc.printf("%f\t", aaWorld.y);
        pc.printf("%f\t\r\n", aaWorld.z);
#endif

#ifdef OUTPUT_TEAPOT
        // display quaternion values in InvenSense Teapot demo format:
        teapotPacket[2] = fifoBuffer[0];
        teapotPacket[3] = fifoBuffer[1];
        teapotPacket[4] = fifoBuffer[4];
        teapotPacket[5] = fifoBuffer[5];
        teapotPacket[6] = fifoBuffer[8];
        teapotPacket[7] = fifoBuffer[9];
        teapotPacket[8] = fifoBuffer[12];
        teapotPacket[9] = fifoBuffer[13];
        for (int i = 0; i < 14; ++i) {
            pc.putc(teapotPacket[i]);
        }
        teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
#endif

    }
}

void check_i2c_bus(void)
{

    DigitalInOut scl(MPU6050_SCL);
    DigitalInOut sda(MPU6050_SDA);

    scl.input();
    sda.input();
    int scl_level = scl;
    int sda_level = sda;
    if (scl_level == 0 || sda_level == 0) {
        printf("scl: %d, sda: %d, i2c bus is not released\r\n", scl_level, sda_level);

        scl.output();
        for (int i = 0; i < 8; i++) {
            scl = 0;
            wait_us(10);
            scl = 1;
            wait_us(10);
        }
    } else {
        printf("scl: %d, sda: %d, i2c bus is released\r\n", scl_level, sda_level);
    }
    scl.input();
    scl_level = scl;
    sda_level = sda;
    if (scl_level == 0 || sda_level == 0) {
        printf("scl: %d, sda: %d, i2c bus is still not released\r\n", scl_level, sda_level);
    } else {
        printf("scl: %d, sda: %d, i2c bus is released\r\n", scl_level, sda_level);
    }

}