sensortoy/www/js/device/CC2650/cc2650_accelerometer.js

/**
 *
 * User: Martin Donnelly
 * Date: 2016-05-20
 * Time: 10:13
 *
 */
/* global CAPABILITY, inheritsFrom */
/* global ble  */
/* jshint browser: true , devel: true*/

var CC2650_ACCEL = function(deviceId) {
  'use strict';
  this.name = 'Accelerometer';
  this.deviceID = deviceId;
  this.capabilityID = 'F000AA80-0451-4000-B000-000000000000';
  this.serviceDef = {
      service: 'F000AA80-0451-4000-B000-000000000000',
      data: 'F000AA81-0451-4000-B000-000000000000', // Read/notify 3 bytes X : Y : Z
      notification: 'F0002902-0451-4000-B000-000000000000',
      configuration: 'F000AA82-0451-4000-B000-000000000000', // Read/write 1 byte
      period: 'F000AA83-0451-4000-B000-000000000000' // Read/write 1 byte Period = [Input*10]ms
    };
  this.frames = {};

  this.$id = {};
  this.$result = {};


  this.sensorMpu9250GyroConvert = function(data) {
        return data / (65536 / 500);
      };

  this.sensorMpu9250AccConvert = function(data) {
      // Change  /2 to match accel range...i.e. 16 g would be /16
      return data / (32768 / 2);
    };

  this.onAccelerometerData = function(data) {
          console.log(data);
          var message;
          var a = new Int16Array(data);

          //0 gyro x
          //1 gyro y
          //2 gyro z
          //3 accel x
          //4 accel y
          //5 accel z
          //6 mag x
          //7 mag y
          //8 mag z

          // TODO get a template to line this up
          // TODO round or format numbers for better display
          message = 'Gyro <br/>' +
                    'X: ' + this.sensorMpu9250GyroConvert(a[0]).toFixed(5) + '<br/>' +
                    'Y: ' + this.sensorMpu9250GyroConvert(a[1]) + '<br/>' +
                    'Z: ' + this.sensorMpu9250GyroConvert(a[2]) + '<br/>' +
                    'Accel <br/>' +
                    'X: ' + this.sensorMpu9250AccConvert(a[3]) + '<br/>' +
                    'Y: ' + this.sensorMpu9250AccConvert(a[4]) + '<br/>' +
                    'Z: ' + this.sensorMpu9250AccConvert(a[5]) + '<br/>' +
                    'Mag <br/>' +
                    'X: ' + a[3] + '<br/>' +
                    'Y: ' + a[4] + '<br/>' +
                    'Z: ' + a[5] + '<br/>' ;

          this.state = message;

    this.$result[this.frames.gyroID + '-x'].text(this.sensorMpu9250GyroConvert(a[0]).toFixed(5));
    this.$result[this.frames.gyroID + '-y'].text(this.sensorMpu9250GyroConvert(a[1]).toFixed(5));
    this.$result[this.frames.gyroID + '-z'].text(this.sensorMpu9250GyroConvert(a[2]).toFixed(5));

    this.$result[this.frames.accelID + '-x'].text(this.sensorMpu9250AccConvert(a[3]).toFixed(5));
    this.$result[this.frames.accelID + '-y'].text(this.sensorMpu9250AccConvert(a[4]).toFixed(5));
    this.$result[this.frames.accelID + '-z'].text(this.sensorMpu9250AccConvert(a[5]).toFixed(5));

    this.$result[this.frames.magID + '-x'].text(a[3]);
    this.$result[this.frames.magID + '-y'].text(a[4]);
    this.$result[this.frames.magID + '-z'].text(a[5]);

          console.log(this.state);
        };

  this.startService = function() {
    'use strict';
    if (this.deviceID !== null) {

      console.log('Starting CC2650 Accelerometer Service on ', this.deviceID);
      console.log(this.serviceDef);
      //Ble.startNotification(this.deviceID, , this.onButtonData.bind(this), this.onError);

      ble.startNotification(this.deviceID, this.serviceDef.service, this.serviceDef.data, this.onAccelerometerData.bind(this), this.onError);



      // Turn accelerometer on
      var configData = new Uint16Array(1);
      // Turn on gyro, accel, and mag, 2G range, Disable wake on motion
      configData[0] = 0x007F;
      ble.write(this.deviceID, this.serviceDef.service, this.serviceDef.configuration, configData.buffer,
          function() { console.log('Started accelerometer.'); }, this.onError);

      var periodData = new Uint8Array(1);
      periodData[0] = 0x0A;
      // Ble.write(deviceId, accelerometer.service, accelerometer.period, periodData.buffer,
      //     function() { console.log("Configured accelerometer period."); },app.onError);

      this.setInternalID();
      this.insertFrame('gyro');
      this.insertFrame('accel');
      this.insertFrame('mag');
    }

  };



  this.insertFrame = function(mode) {

      var frame;
      var title;
      var modeID = mode + 'ID';
      this.frames[modeID] = this.frameID + '-' + mode;

      var titles = {gyro: 'Gyroscope', accel: 'Accelerometer', mag: 'Magnetometer'};

      console.log('FrameID: ' , this.frames[modeID]);

      title = [titles[mode], ' - ', this.deviceID].join(' ');

      frame = $('<div />', {
        class: 'mui-panel', id: this.frames[modeID]
      });

      $('<div />', { class: 'mui-row'}).append($('<div />', { class: 'mui-col-xs-12 mui--text-title mui-ellipsis-2', text: title})).appendTo(frame);

      $('#frames').append(frame);
      this.$id[modeID] = $('#' + this.frames[modeID]);

      // Call the parent displayForm first...

      var row = $('<div />', {class: 'mui-row'});

      $('<div />', { class: 'mui-col-xs-3 mui--text-accent', text: 'X'}).appendTo(row);
      $('<div />', { class: 'mui-col-xs-3 mui--text-accent', text: 'Y'}).appendTo(row);
      $('<div />', { class: 'mui-col-xs-3 mui--text-accent', text: 'Z'}).appendTo(row);

      this.$id[modeID].append(row);


      row = $('<div />', {class: 'mui-row'});

      $('<div />', { class: 'mui-col-xs-3 mui--text-white', text: '--', id: this.frames[modeID] + '-x' }).appendTo(row);
      $('<div />', { class: 'mui-col-xs-3 mui--text-white', text: '--', id: this.frames[modeID] + '-y'}).appendTo(row);
      $('<div />', { class: 'mui-col-xs-3 mui--text-white', text: '--', id: this.frames[modeID] + '-z'}).appendTo(row);

      this.$id[modeID].append(row);

      this.$result[this.frames[modeID] + '-x'] = $('#' + this.frames[modeID] + '-x');
      this.$result[this.frames[modeID] + '-y'] = $('#' + this.frames[modeID] + '-y');
      this.$result[this.frames[modeID] + '-z'] = $('#' + this.frames[modeID] + '-z');
    };

};


inheritsFrom(CC2650_ACCEL, CAPABILITY);