#include #include #include // See the following for generating UUIDs: // https://www.uuidgenerator.net/ #define SERVICE_UUID "d86aecf2-d87d-489f-b664-b02de82b2fc0" #define CHARACTERISTIC_UUID "d86aecf2-d87d-489f-b664-b02de82b2fc0" #include long accelX, accelY, accelZ; float gForceX, gForceY, gForceZ; long gyroX, gyroY, gyroZ; float rotX, rotY, rotZ; BLECharacteristic *pCharacteristic = NULL; void setup() { Serial.begin(115200); BLEDevice::init("Long name works now"); BLEServer *pServer = BLEDevice::createServer(); BLEService *pService = pServer->createService(SERVICE_UUID); pCharacteristic = pService->createCharacteristic(CHARACTERISTIC_UUID, BLECharacteristic::PROPERTY_READ | BLECharacteristic::PROPERTY_WRITE); pCharacteristic->setValue("Hello World says Neil"); pService->start(); // BLEAdvertising *pAdvertising = pServer->getAdvertising(); // this still is working for backward compatibility BLEAdvertising *pAdvertising = BLEDevice::getAdvertising(); pAdvertising->addServiceUUID(SERVICE_UUID); pAdvertising->setScanResponse(true); pAdvertising->setMinPreferred(0x06); // functions that help with iPhone connections issue pAdvertising->setMinPreferred(0x12); BLEDevice::startAdvertising(); Serial.println("Characteristic defined! Now you can read it in your phone!"); Wire.begin(); setupMPU(); Serial.println("HELLO WORLD"); } void loop(){ recordAccelRegisters(); recordGyroRegisters(); String data = printData(); Serial.println(data); pCharacteristic->setValue(data); /* if(client.available()){ char text = client.read(); request += text; if (text == '\n'){ if (request.indexOf("GET /data") != -1){ … client.print("

"); client.print(dataArray); client.println("

"); client.println("Connection: close"); client.println(dataArray); } } } //printData(); } */ } void setupMPU(){ Wire.beginTransmission(0b1101000); //This is the I2C address of the MPU (b1101000/b1101001 for AC0 low/high datasheet sec. 9.2) Wire.write(0x6B); //Accessing the register 6B - Power Management (Sec. 4.28) Wire.write(0b00000000); //Setting SLEEP register to 0. (Required; see Note on p. 9) Wire.endTransmission(); Wire.beginTransmission(0b1101000); //I2C address of the MPU Wire.write(0x1B); //Accessing the register 1B - Gyroscope Configuration (Sec. 4.4) Wire.write(0x00000000); //Setting the gyro to full scale +/- 250deg./s Wire.endTransmission(); Wire.beginTransmission(0b1101000); //I2C address of the MPU Wire.write(0x1C); //Accessing the register 1C - Acccelerometer Configuration (Sec. 4.5) Wire.write(0b00000000); //Setting the accel to +/- 2g Wire.endTransmission(); } void recordAccelRegisters() { Wire.beginTransmission(0b1101000); //I2C address of the MPU Wire.write(0x3B); //Starting register for Accel Readings Wire.endTransmission(); Wire.requestFrom(0b1101000,6); //Request Accel Registers (3B - 40) while(Wire.available() < 6); accelX = Wire.read()<<8|Wire.read(); //Store first two bytes into accelX accelY = Wire.read()<<8|Wire.read(); //Store middle two bytes into accelY accelZ = Wire.read()<<8|Wire.read(); //Store last two bytes into accelZ processAccelData(); } void processAccelData(){ gForceX = accelX / 16384.0; gForceY = accelY / 16384.0; gForceZ = accelZ / 16384.0; } void recordGyroRegisters() { Wire.beginTransmission(0b1101000); //I2C address of the MPU Wire.write(0x43); //Starting register for Gyro Readings Wire.endTransmission(); Wire.requestFrom(0b1101000,6); //Request Gyro Registers (43 - 48) while(Wire.available() < 6); gyroX = Wire.read()<<8|Wire.read(); //Store first two bytes into accelX gyroY = Wire.read()<<8|Wire.read(); //Store middle two bytes into accelY gyroZ = Wire.read()<<8|Wire.read(); //Store last two bytes into accelZ processGyroData(); } void processGyroData() { rotX = gyroX / 131.0; rotY = gyroY / 131.0; rotZ = gyroZ / 131.0; } String printData() { Serial.print("Gyro (deg)"); Serial.print(" X="); Serial.print(rotX); Serial.print(" Y="); Serial.print(rotY); Serial.print(" Z="); Serial.print(rotZ); Serial.print(" Accel (g)"); Serial.print(" X="); Serial.print(gForceX); Serial.print(" Y="); Serial.print(gForceY); Serial.print(" Z="); Serial.println(gForceZ); return String(rotX) + "," + String(rotY) + "," + String(rotZ) + "," + String(gForceX) + "," + String(gForceY) + "," + String(gForceZ) + ","; }