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@@ -1,121 +1,116 @@
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#include <BLEDevice.h>
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#include <BLEUtils.h>
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#include <BLEServer.h>
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-
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-// See the following for generating UUIDs:
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-// https://www.uuidgenerator.net/
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+#include <Wire.h>
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+#include <math.h>
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#define SERVICE_UUID "d86aecf2-d87d-489f-b664-b02de82b2fc0"
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#define CHARACTERISTIC_UUID "d86aecf2-d87d-489f-b664-b02de82b2fc0"
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-#include <Wire.h>
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-
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long accelX, accelY, accelZ;
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float gForceX, gForceY, gForceZ;
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+float accelMag;
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long gyroX, gyroY, gyroZ;
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float rotX, rotY, rotZ;
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+float gyroMag;
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+
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+int16_t tempRaw;
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+float temperature;
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+
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+float pitch, roll;
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BLECharacteristic *pCharacteristic = NULL;
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void setup() {
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Serial.begin(115200);
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- BLEDevice::init("Long name works now");
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+
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+ // BLE setup
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+ BLEDevice::init("MPU6050_BLE");
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BLEServer *pServer = BLEDevice::createServer();
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BLEService *pService = pServer->createService(SERVICE_UUID);
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- pCharacteristic =
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- pService->createCharacteristic(CHARACTERISTIC_UUID, BLECharacteristic::PROPERTY_READ | BLECharacteristic::PROPERTY_WRITE);
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- pCharacteristic->setValue("Hello World says Neil");
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+ pCharacteristic = pService->createCharacteristic(
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+ CHARACTERISTIC_UUID,
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+ BLECharacteristic::PROPERTY_READ |
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+ BLECharacteristic::PROPERTY_WRITE |
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+ BLECharacteristic::PROPERTY_NOTIFY
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+ );
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+
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pService->start();
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- // BLEAdvertising *pAdvertising = pServer->getAdvertising(); // this still is working for backward compatibility
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BLEAdvertising *pAdvertising = BLEDevice::getAdvertising();
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pAdvertising->addServiceUUID(SERVICE_UUID);
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pAdvertising->setScanResponse(true);
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- pAdvertising->setMinPreferred(0x06); // functions that help with iPhone connections issue
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+ pAdvertising->setMinPreferred(0x06);
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pAdvertising->setMinPreferred(0x12);
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BLEDevice::startAdvertising();
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- Serial.println("Characteristic defined! Now you can read it in your phone!");
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+
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+ Serial.println("BLE advertising started");
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Wire.begin();
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setupMPU();
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- Serial.println("HELLO WORLD");
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}
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-void loop(){
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+void loop() {
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recordAccelRegisters();
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recordGyroRegisters();
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+ recordTemp();
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+ computeOrientation();
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+ computeMagnitudes();
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- String data = printData();
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+ String data = formatData();
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Serial.println(data);
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- pCharacteristic->setValue(data);
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-
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- /*
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-
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+ pCharacteristic->setValue(data.c_str());
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+ pCharacteristic->notify();
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- if(client.available()){
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- char text = client.read();
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- request += text;
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-
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- if (text == '\n'){
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- if (request.indexOf("GET /data") != -1){
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-… client.print("<html><body><p>");
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- client.print(dataArray);
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- client.println("</p></body></html>");
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- client.println("Connection: close");
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- client.println(dataArray);
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- }
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-
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- }
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- }
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- //printData();
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- }
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- */
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+ delay(200); // Update rate
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}
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-void setupMPU(){
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- Wire.beginTransmission(0b1101000); //This is the I2C address of the MPU (b1101000/b1101001 for AC0 low/high datasheet sec. 9.2)
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- Wire.write(0x6B); //Accessing the register 6B - Power Management (Sec. 4.28)
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- Wire.write(0b00000000); //Setting SLEEP register to 0. (Required; see Note on p. 9)
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+void setupMPU() {
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+ Wire.beginTransmission(0x68);
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+ Wire.write(0x6B); // Power management
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+ Wire.write(0);
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Wire.endTransmission();
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- Wire.beginTransmission(0b1101000); //I2C address of the MPU
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- Wire.write(0x1B); //Accessing the register 1B - Gyroscope Configuration (Sec. 4.4)
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- Wire.write(0x00000000); //Setting the gyro to full scale +/- 250deg./s
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+
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+ Wire.beginTransmission(0x68);
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+ Wire.write(0x1B); // Gyro config
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+ Wire.write(0);
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Wire.endTransmission();
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- Wire.beginTransmission(0b1101000); //I2C address of the MPU
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- Wire.write(0x1C); //Accessing the register 1C - Acccelerometer Configuration (Sec. 4.5)
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- Wire.write(0b00000000); //Setting the accel to +/- 2g
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+
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+ Wire.beginTransmission(0x68);
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+ Wire.write(0x1C); // Accel config
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+ Wire.write(0);
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Wire.endTransmission();
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}
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void recordAccelRegisters() {
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- Wire.beginTransmission(0b1101000); //I2C address of the MPU
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- Wire.write(0x3B); //Starting register for Accel Readings
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+ Wire.beginTransmission(0x68);
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+ Wire.write(0x3B);
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Wire.endTransmission();
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- Wire.requestFrom(0b1101000,6); //Request Accel Registers (3B - 40)
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- while(Wire.available() < 6);
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- accelX = Wire.read()<<8|Wire.read(); //Store first two bytes into accelX
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- accelY = Wire.read()<<8|Wire.read(); //Store middle two bytes into accelY
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- accelZ = Wire.read()<<8|Wire.read(); //Store last two bytes into accelZ
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+ Wire.requestFrom(0x68, 6);
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+ while (Wire.available() < 6);
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+ accelX = Wire.read() << 8 | Wire.read();
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+ accelY = Wire.read() << 8 | Wire.read();
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+ accelZ = Wire.read() << 8 | Wire.read();
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processAccelData();
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}
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-void processAccelData(){
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+void processAccelData() {
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gForceX = accelX / 16384.0;
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gForceY = accelY / 16384.0;
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gForceZ = accelZ / 16384.0;
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}
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void recordGyroRegisters() {
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- Wire.beginTransmission(0b1101000); //I2C address of the MPU
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- Wire.write(0x43); //Starting register for Gyro Readings
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+ Wire.beginTransmission(0x68);
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+ Wire.write(0x43);
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Wire.endTransmission();
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- Wire.requestFrom(0b1101000,6); //Request Gyro Registers (43 - 48)
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- while(Wire.available() < 6);
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- gyroX = Wire.read()<<8|Wire.read(); //Store first two bytes into accelX
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- gyroY = Wire.read()<<8|Wire.read(); //Store middle two bytes into accelY
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- gyroZ = Wire.read()<<8|Wire.read(); //Store last two bytes into accelZ
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+ Wire.requestFrom(0x68, 6);
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+ while (Wire.available() < 6);
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+ gyroX = Wire.read() << 8 | Wire.read();
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+ gyroY = Wire.read() << 8 | Wire.read();
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+ gyroZ = Wire.read() << 8 | Wire.read();
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processGyroData();
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}
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@@ -125,20 +120,30 @@ void processGyroData() {
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rotZ = gyroZ / 131.0;
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}
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-String printData() {
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- Serial.print("Gyro (deg)");
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- Serial.print(" X=");
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- Serial.print(rotX);
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- Serial.print(" Y=");
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- Serial.print(rotY);
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- Serial.print(" Z=");
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- Serial.print(rotZ);
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- Serial.print(" Accel (g)");
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- Serial.print(" X=");
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- Serial.print(gForceX);
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- Serial.print(" Y=");
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- Serial.print(gForceY);
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- Serial.print(" Z=");
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- Serial.println(gForceZ);
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- return String(rotX) + "," + String(rotY) + "," + String(rotZ) + "," + String(gForceX) + "," + String(gForceY) + "," + String(gForceZ) + ",";
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+void recordTemp() {
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+ Wire.beginTransmission(0x68);
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+ Wire.write(0x41);
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+ Wire.endTransmission();
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+ Wire.requestFrom(0x68, 2);
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+ while (Wire.available() < 2);
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+ tempRaw = Wire.read() << 8 | Wire.read();
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+ temperature = (tempRaw / 340.0) + 36.53;
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+}
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+
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+void computeOrientation() {
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+ pitch = atan2(gForceY, gForceZ) * 180 / PI;
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+ roll = atan2(-gForceX, sqrt(gForceY * gForceY + gForceZ * gForceZ)) * 180 / PI;
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+}
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+
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+void computeMagnitudes() {
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+ accelMag = sqrt(gForceX * gForceX + gForceY * gForceY + gForceZ * gForceZ);
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+ gyroMag = sqrt(rotX * rotX + rotY * rotY + rotZ * rotZ);
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+}
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+
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+String formatData() {
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+ return String(rotX) + "," + String(rotY) + "," + String(rotZ) + "," +
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+ String(gForceX) + "," + String(gForceY) + "," + String(gForceZ) + "," +
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+ String(gyroMag) + "," + String(accelMag) + "," +
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+ String(pitch) + "," + String(roll) + "," +
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+ String(temperature);
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}
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Lucas