Nicla Sense MEプラスArduino IDEでBLEペリフェラル＜その2 - Qiita

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@jamjam(吉田 伸三)Nicla Sense MEプラスArduino IDEでBLEペリフェラル＜その2＞
  • Arduino
  • BLE
  • Nicla
Posted at 2021-10-14

　前回のセンサのデータをBLEで飛ばします。

読みだすデータ

  • 温度　temp
  • 湿度　hum
  • 気圧　baro
  • 加速度　accel
  • ジャイロ　gyro
  • 磁気　magnet
  • オイラー角　euler
  • クオータニオン　quater
  • ガス　gas

プログラム

# include "Nicla_System.h" # include <ArduinoBLE.h> # include "Arduino.h" # include "Arduino_BHY2.h" Sensor temp(SENSOR_ID_TEMP); Sensor hum(SENSOR_ID_HUM); Sensor baro(SENSOR_ID_BARO); SensorXYZ accel(SENSOR_ID_ACC); SensorXYZ gyro(SENSOR_ID_GYRO); SensorXYZ magnet(SENSOR_ID_MAG); SensorOrientation euler(SENSOR_ID_ORI); SensorQuaternion quater(SENSOR_ID_RV); Sensor gas(SENSOR_ID_GAS); // BLE Service # define BHI260_SERVICE_UUID "F000AA30-0451-4000-B000-000000000000" BLEService Sensor_BHI260_Service(BHI260_SERVICE_UUID); // BLE Characteristic # define BHI260_Temp_Characteristic_UUID "F000AA31-0451-4000-B000-000000000000" # define BHI260_Hum_Characteristic_UUID "F000AA32-0451-4000-B000-000000000000" # define BHI260_Baro_Characteristic_UUID "F000AA33-0451-4000-B000-000000000000" # define BHI260_Acceleration_Characteristic_UUID "F000AA34-0451-4000-B000-000000000000" # define BHI260_Gyroscope_Characteristic_UUID "F000AA35-0451-4000-B000-000000000000" # define BHI260_Magnet_Characteristic_UUID "F000AA36-0451-4000-B000-000000000000" # define BHI260_Euler_Characteristic_UUID "F000AA37-0451-4000-B000-000000000000" # define BHI260_Quater_Characteristic_UUID "F000AA38-0451-4000-B000-000000000000" # define BHI260_Gas_Characteristic_UUID "F000AA39-0451-4000-B000-000000000000" BLEStringCharacteristic BHI260_Temperature(BHI260_Temp_Characteristic_UUID, BLERead | BLENotify, 24); BLEStringCharacteristic BHI260_Humidity(BHI260_Hum_Characteristic_UUID, BLERead | BLENotify, 24); BLEStringCharacteristic BHI260_Barometer(BHI260_Baro_Characteristic_UUID, BLERead | BLENotify, 24); BLEStringCharacteristic BHI260_Acceleration(BHI260_Acceleration_Characteristic_UUID, BLERead | BLENotify, 24); BLEStringCharacteristic BHI260_Gyroscope(BHI260_Gyroscope_Characteristic_UUID, BLERead | BLENotify, 24); BLEStringCharacteristic BHI260_Magnetometer(BHI260_Magnet_Characteristic_UUID, BLERead | BLENotify, 24); BLEStringCharacteristic BHI260_Euler(BHI260_Euler_Characteristic_UUID, BLERead | BLENotify, 24); BLEStringCharacteristic BHI260_Quaternion(BHI260_Quater_Characteristic_UUID, BLERead | BLENotify, 24); BLEStringCharacteristic BHI260_Gas(BHI260_Gas_Characteristic_UUID, BLERead | BLENotify, 24); // BLE Descriptor # define BHI260_Temp_Descriptor_UUID "2901" # define BHI260_Hum_Descriptor_UUID "2901" # define BHI260_Baro_Descriptor_UUID "2901" # define BHI260_Acceleration_Descriptor_UUID "2901" # define BHI260_Gyroscope_Descriptor_UUID "2901" # define BHI260_Magnet_Descriptor_UUID "2901" # define BHI260_Euler_Descriptor_UUID "2901" # define BHI260_Quater_Descriptor_UUID "2901" # define BHI260_Gas_Descriptor_UUID "2901" BLEDescriptor BHI260_Temp_Descriptor(BHI260_Temp_Descriptor_UUID, "Temperature ; `C"); BLEDescriptor BHI260_Hum_Descriptor(BHI260_Hum_Descriptor_UUID, "Humidity ; %"); BLEDescriptor BHI260_Baro_Descriptor(BHI260_Baro_Descriptor_UUID, "Barometer ; hPa"); BLEDescriptor BHI260_Acceleration_Descriptor(BHI260_Acceleration_Descriptor_UUID, "Acceleration x,y,z"); BLEDescriptor BHI260_Gyroscope_Descriptor(BHI260_Gyroscope_Descriptor_UUID, "Gyroscope x,y,z"); BLEDescriptor BHI260_Magnet_Descriptor(BHI260_Magnet_Descriptor_UUID, "Magnetometer x,y,z"); BLEDescriptor BHI260_Euler_Descriptor(BHI260_Euler_Descriptor_UUID, "Euler head,pitch,roll"); BLEDescriptor BHI260_Quater_Descriptor(BHI260_Quater_Descriptor_UUID, "Quaternion x,y,z,w"); BLEDescriptor BHI260_Gas_Descriptor(BHI260_Gas_Descriptor_UUID, "Gas"); # define localNAME "Nicla_BHI260" # define DeviceNAME "NiclaBLE" float oldValue = 0; // last value float previousMillis = 0; // last time value was checked, in ms void setup(){ Serial.begin(9600); while(!Serial); Serial.println("BHI260 test"); BHY2.begin(); accel.begin(); gyro.begin(); temp.begin(); gas.begin(); euler.begin(); hum.begin(); baro.begin(); quater.begin(); magnet.begin(); if (!BLE.begin()) { Serial.println("starting BLE failed!"); while (1); } BLE.setLocalName(localNAME); BLE.setDeviceName(DeviceNAME); // set the service BLE.setAdvertisedService(Sensor_BHI260_Service); // add characteristic Sensor_BHI260_Service.addCharacteristic(BHI260_Temperature); Sensor_BHI260_Service.addCharacteristic(BHI260_Humidity); Sensor_BHI260_Service.addCharacteristic(BHI260_Barometer); Sensor_BHI260_Service.addCharacteristic(BHI260_Acceleration); Sensor_BHI260_Service.addCharacteristic(BHI260_Gyroscope); Sensor_BHI260_Service.addCharacteristic(BHI260_Magnetometer); Sensor_BHI260_Service.addCharacteristic(BHI260_Euler); Sensor_BHI260_Service.addCharacteristic(BHI260_Quaternion); Sensor_BHI260_Service.addCharacteristic(BHI260_Gas); // add descriptor BHI260_Temperature.addDescriptor(BHI260_Temp_Descriptor); BHI260_Humidity.addDescriptor(BHI260_Hum_Descriptor); BHI260_Barometer.addDescriptor(BHI260_Baro_Descriptor); BHI260_Acceleration.addDescriptor(BHI260_Acceleration_Descriptor); BHI260_Gyroscope.addDescriptor(BHI260_Gyroscope_Descriptor); BHI260_Magnetometer.addDescriptor(BHI260_Magnet_Descriptor); BHI260_Euler.addDescriptor(BHI260_Euler_Descriptor); BHI260_Quaternion.addDescriptor(BHI260_Quater_Descriptor); BHI260_Gas.addDescriptor(BHI260_Gas_Descriptor); // add service BLE.addService(Sensor_BHI260_Service); // set initial value for this characteristic BHI260_Temperature.writeValue("1"); BHI260_Humidity.writeValue("2"); BHI260_Barometer.writeValue("3"); BHI260_Acceleration.writeValue("4"); BHI260_Gyroscope.writeValue("5"); BHI260_Magnetometer.writeValue("6"); BHI260_Euler.writeValue("7"); BHI260_Quaternion.writeValue("8"); BHI260_Gas.writeValue("9"); // start advertising BLE.advertise(); Serial.println("\nBluetooth device active, waiting for connections..."); } void loop(){ // wait for a BLE central BLEDevice central = BLE.central(); // if a central is connected to the peripheral: if (central) { delay(100); Serial.print("\nConnected to central: "); // print the central's BT address: Serial.println(central.address()); // check data every 200ms // while the central is connected: while (central.connected()) { long currentMillis = millis(); // if 200ms have passed, check value: if (currentMillis - previousMillis >= 200) { previousMillis = currentMillis; updateValue(); delay(1000); } } // when the central disconnects Serial.print("Disconnected from central: "); Serial.println(central.address()); } } void updateValue() { BHY2.update(); delay(500); // if value has changed if (( accel.x() + gyro.y()) != oldValue) { Serial.println(""); Serial.println(String("Temperature: ") + String(temp.value(), 1)); Serial.println(String("Humidity: ") + String(hum.value(), 1)); Serial.println(String("Barometer : ") + String(baro.value(), 1)); Serial.println(String("Acceleration :x,y,z ") + String(accel.x()) + ", " + String(accel.y()) + ", " + String(accel.z())); Serial.println(String("Gyroscope :x,y,z ") + String(gyro.x()) + ", " + String(gyro.y()) + ", " + String(gyro.z())); Serial.println(String("Magnetometer :x,y,z ") + String(magnet.x()) + ", " + String(magnet.y()) + ", " + String(magnet.z())); Serial.println(String("Orientation(Euler):head,pitch,roll ") + String(euler.heading(), 3)+", "+ String(euler.pitch(), 3)+", "+ String(euler.roll(), 3)); Serial.println(String("Quaternion :x,y,z,w ") + String(quater.x()) + ", " + String(quater.y()) + ", " + String(quater.z())+ ", "+ String(quater.w())); Serial.println(String("gas ohm? : ") + String(gas.value(), 1)); String valueof_BHI260_Temperature = String(temp.value()); String valueof_BHI260_Humidity = String(hum.value()); String valueof_BHI260_Barometer = String(baro.value()); String valueof_BHI260_Acceleration = String(accel.x()) + "," + String(accel.y()) + "," + String(accel.z()); String valueof_BHI260_Gyroscope = String(gyro.x()) + "," + String(gyro.y()) + "," + String(gyro.z()); String valueof_BHI260_Magnetometer = String(magnet.x()) + "," + String(magnet.y()) + "," + String(magnet.z()); String valueof_BHI260_Euler = String(euler.heading())+","+ String(euler.pitch())+","+ String(euler.roll()); String valueof_BHI260_Quaternion = String(quater.x()) + "," + String(quater.y()) + "," + String(quater.z()) + "," + String(quater.w()); String valueof_BHI260_Gas = String(gas.value()); // update characteristic BHI260_Temperature.writeValue(valueof_BHI260_Temperature); BHI260_Humidity.writeValue(valueof_BHI260_Humidity); BHI260_Barometer.writeValue(valueof_BHI260_Barometer); BHI260_Acceleration.writeValue(valueof_BHI260_Acceleration); BHI260_Gyroscope.writeValue(valueof_BHI260_Gyroscope); BHI260_Magnetometer.writeValue(valueof_BHI260_Magnetometer); BHI260_Euler.writeValue(valueof_BHI260_Euler); BHI260_Quaternion.writeValue(valueof_BHI260_Quaternion); BHI260_Gas.writeValue(valueof_BHI260_Gas); oldValue = accel.x() + gyro.y(); // save the level for next comparison } }

問題点

　Windows10で動いているオンセミのRSL10 Bluetooth Low Enaergy Exploerを使って接続します。 　センサの値はテキストで送っています。 2021-10-14 (7).png

  • オイラー角　euler
  • クオータニオン　quater

　文字数が足りなく、データが切れています。24文字の指定をしています。本来32文字送れるという記述をどこかで読んだのですが、現時点でも、修正されていません。 　そこで、二つのセンサ・データを分割するようにしました。キャラが二つ増えます。実際に動かすと、でたらめな値を送り出します。ライブラリに問題があるのか、CPUのメモリがオーバフローしているのか原因はわかりません。

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Tag » Arduino Ble Writevalue