matlab入門

#include "Arduino.h"
#include "Arduino_BHY2.h"

SensorQuaternion   quater(SENSOR_ID_RV);

void setup(){
  Serial.begin(115200);
  while(!Serial);

  BHY2.begin();
  quater.begin();
}

void loop(){
  static auto printTime = millis();

  // Update function should be continuously polled
  BHY2.update();
  delay(500);
  if (millis() - printTime >= 1000) {
    printTime = millis();
    Serial.println(String("Quaternion : x,y,z,w ") + String(quater.x()) + ", " +  String(quater.y()) + ", " + String(quater.z())+ ", "+ String(quater.w()));
  }
}

#include "Arduino.h"
#include "Arduino_BHY2.h"
#include <ArduinoBLE.h>

SensorQuaternion   quater(SENSOR_ID_RV);

// BLE Service
#define BHI260_SERVICE1_UUID   "F000AA30-0451-4000-B000-000000000000"
BLEService Sensor_BHI260_Service1(BHI260_SERVICE1_UUID);

// BLE  Characteristic
#define BHI260_QuaterX_Characteristic_UUID      "F000AA5A-0451-4000-B000-000000000000"
#define BHI260_QuaterY_Characteristic_UUID      "F000AA5B-0451-4000-B000-000000000000"
#define BHI260_QuaterZ_Characteristic_UUID      "F000AA5C-0451-4000-B000-000000000000"
#define BHI260_QuaterW_Characteristic_UUID      "F000AA5D-0451-4000-B000-000000000000"
BLEFloatCharacteristic    BHI260_QuaternionX(BHI260_QuaterX_Characteristic_UUID, BLERead | BLENotify);
BLEFloatCharacteristic    BHI260_QuaternionY(BHI260_QuaterY_Characteristic_UUID, BLERead | BLENotify);
BLEFloatCharacteristic    BHI260_QuaternionZ(BHI260_QuaterZ_Characteristic_UUID, BLERead | BLENotify);
BLEFloatCharacteristic    BHI260_QuaternionW(BHI260_QuaterW_Characteristic_UUID, BLERead | BLENotify);

// BLE  Descriptor
#define BHI260_Quater_Descriptor_UUID       "2901"
BLEDescriptor   BHI260_Quater_Descriptor(BHI260_Quater_Descriptor_UUID, "Quaternion  x,y,z,w  IEEE754 binary32");

#define localNAME  "Nicla_BHI260"
#define DeviceNAME "NiclaBLE"

float previousMillis = 0;  // last time value was checked, in ms

void setup(){
  Serial.begin(115200);
  while(!Serial);

  BHY2.begin();
  quater.begin();

  if (!BLE.begin()) {
    Serial.println("starting BLE failed!");
    while (1);
  }

  BLE.setLocalName(localNAME);
  BLE.setDeviceName(DeviceNAME);

  //// set the service
  BLE.setAdvertisedService(Sensor_BHI260_Service1);

  // add characteristic
  Sensor_BHI260_Service1.addCharacteristic(BHI260_QuaternionX);
  Sensor_BHI260_Service1.addCharacteristic(BHI260_QuaternionY);
  Sensor_BHI260_Service1.addCharacteristic(BHI260_QuaternionZ);
  Sensor_BHI260_Service1.addCharacteristic(BHI260_QuaternionW);
  
  // add descriptor
  BHI260_QuaternionX.addDescriptor(BHI260_Quater_Descriptor);

  // add service
  BLE.addService(Sensor_BHI260_Service1);

  // set initial value for this characteristic ; PASS

  // 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());
    goto brout;
  }
  brout: ;
}

void updateValue() {
  BHY2.update();
  delay(500);
  Serial.println(String("Quaternion : x,y,z,w ") + String(quater.x(),3) + ", " +  String(quater.y(),3) + ", " + String(quater.z(),3)+ ", "+ String(quater.w(),3));
  BHI260_QuaternionX.writeValue(quater.x());
  BHI260_QuaternionY.writeValue(quater.y());
  BHI260_QuaternionZ.writeValue(quater.z());
  BHI260_QuaternionW.writeValue(quater.w());
}