while Sending MPU6050 sensor data through BLE (5340DK) .In the nrf connect for mobile I am getting following data,sensor reading is not transferred propoerly In the vscode log it is showing correct reading when transferred though BLE and viewed in app below ouput comes.
MAIN.C
#include <zephyr/kernel.h>
#include <zephyr/device.h>
#include <zephyr/drivers/sensor.h>
#include <zephyr/bluetooth/bluetooth.h>
#include <zephyr/bluetooth/conn.h>
#include <zephyr/bluetooth/gatt.h>
#include <zephyr/sys/byteorder.h>
/* UUIDs for the custom BLE service and characteristics */
#define CUSTOM_SERVICE_UUID BT_UUID_DECLARE_128(BT_UUID_128_ENCODE(0x12345678, 0x1234, 0x5678, 0x1234, 0x123456789abc))
#define ACCEL_CHAR_UUID BT_UUID_DECLARE_128(BT_UUID_128_ENCODE(0x12345678, 0x1234, 0x5678, 0x1234, 0xabcdefabcdef))
#define GYRO_CHAR_UUID BT_UUID_DECLARE_128(BT_UUID_128_ENCODE(0x12345678, 0x1234, 0x5678, 0x1234, 0x123456abcdef))
static struct bt_conn *current_conn;
/* GATT Characteristic values */
static uint8_t accel_data[12]; /* 3 axes, each 4 bytes (int32) */
static uint8_t gyro_data[12];
/* GATT Service Declaration */
BT_GATT_SERVICE_DEFINE(custom_svc,
BT_GATT_PRIMARY_SERVICE(CUSTOM_SERVICE_UUID),
BT_GATT_CHARACTERISTIC(ACCEL_CHAR_UUID,
BT_GATT_CHRC_READ | BT_GATT_CHRC_NOTIFY,
BT_GATT_PERM_READ, NULL, NULL, accel_data),
BT_GATT_CCC(NULL, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE),
BT_GATT_CHARACTERISTIC(GYRO_CHAR_UUID,
BT_GATT_CHRC_READ | BT_GATT_CHRC_NOTIFY,
BT_GATT_PERM_READ, NULL, NULL, gyro_data),
BT_GATT_CCC(NULL, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE)
);
static const struct bt_data ad[] = {
BT_DATA_BYTES(BT_DATA_FLAGS, (BT_LE_AD_GENERAL | BT_LE_AD_NO_BREDR)),
BT_DATA_BYTES(BT_DATA_UUID128_ALL, BT_UUID_128_ENCODE(0x12345678, 0x1234, 0x5678, 0x1234, 0x123456789abc)),
};
void main(void) {
const struct device *mpu6050;
struct sensor_value accel[3], gyro[3];
/* Initialize BLE */
int err = bt_enable(NULL);
if (err) {
printk("Bluetooth init failed (err %d)\n", err);
return;
}
printk("Bluetooth initialized\n");
err = bt_le_adv_start(BT_LE_ADV_CONN_NAME, ad, ARRAY_SIZE(ad), NULL, 0);
if (err) {
printk("Advertising failed (err %d)\n", err);
return;
}
printk("Advertising started\n");
/* Initialize MPU6050 */
mpu6050 = device_get_binding("MPU6050");
if (!mpu6050) {
printk("Error: Could not get MPU6050 device binding\n");
return;
}
printk("MPU6050 initialized\n");
while (1) {
/* Fetch and send accelerometer and gyroscope data */
if (sensor_sample_fetch(mpu6050) < 0) {
printk("Error: Failed to fetch data from MPU6050\n");
k_sleep(K_MSEC(1000));
continue;
}
if (sensor_channel_get(mpu6050, SENSOR_CHAN_ACCEL_XYZ, accel) == 0) {
sys_put_le32(accel[0].val1, &accel_data[0]);
sys_put_le32(accel[1].val1, &accel_data[4]);
sys_put_le32(accel[2].val1, &accel_data[8]);
}
if (sensor_channel_get(mpu6050, SENSOR_CHAN_GYRO_XYZ, gyro) == 0) {
sys_put_le32(gyro[0].val1, &gyro_data[0]);
sys_put_le32(gyro[1].val1, &gyro_data[4]);
sys_put_le32(gyro[2].val1, &gyro_data[8]);
}
/* Notify connected devices */
if (current_conn) {
bt_gatt_notify(current_conn, &custom_svc.attrs[2], accel_data, sizeof(accel_data));
bt_gatt_notify(current_conn, &custom_svc.attrs[5], gyro_data, sizeof(gyro_data));
}
/* Wait before next read */
k_sleep(K_MSEC(1000));
}
}
/* Connection callback */
static void connected(struct bt_conn *conn, uint8_t err) {
if (err) {
printk("Connection failed (err %u)\n", err);
} else {
printk("Connected\n");
current_conn = conn;
}
}
static void disconnected(struct bt_conn *conn, uint8_t reason) {
printk("Disconnected (reason %u)\n", reason);
current_conn = NULL;
}
BT_CONN_CB_DEFINE(conn_callbacks) = {
.connected = connected,
.disconnected = disconnected,
};
PRJ.CONF
# Bluetooth Configuration
CONFIG_BT=y
CONFIG_BT_PERIPHERAL=y
# Enable I2C for sensor communication
CONFIG_I2C=y
CONFIG_I2C_LOG_LEVEL_DBG=y # I2C logging at debug level
# Enable Sensor
CONFIG_SENSOR=y
CONFIG_MPU6050=y
# Enable logging (Log Level: 3 for info, 4 for debug)
CONFIG_LOG=y
CONFIG_LOG_DEFAULT_LEVEL=4 # Set logging level to debug
# Enable the Console for logging output via UART
CONFIG_CONSOLE=y
CONFIG_UART_CONSOLE=y
# Enable memory settings and stack size
CONFIG_MAIN_STACK_SIZE=1024
CONFIG_HEAP_MEM_POOL_SIZE=1024
# Bluetooth Configuration
CONFIG_BT=y
CONFIG_BT_PERIPHERAL=y
# Enable I2C for sensor communication
CONFIG_I2C=y
CONFIG_I2C_LOG_LEVEL_DBG=y # I2C logging at debug level
# Enable Sensor
CONFIG_SENSOR=y
CONFIG_MPU6050=y
# Enable logging (Log Level: 3 for info, 4 for debug)
CONFIG_LOG=y
CONFIG_LOG_DEFAULT_LEVEL=4 # Set logging level to debug
# Enable the Console for logging output via UART
CONFIG_CONSOLE=y
CONFIG_UART_CONSOLE=y
# Enable memory settings and stack size
CONFIG_MAIN_STACK_SIZE=1024
CONFIG_HEAP_MEM_POOL_SIZE=1024
# Bluetooth Configuration
CONFIG_BT=y
CONFIG_BT_PERIPHERAL=y
# Enable I2C for sensor communication
CONFIG_I2C=y
CONFIG_I2C_LOG_LEVEL_DBG=y # I2C logging at debug level
# Enable Sensor
CONFIG_SENSOR=y
CONFIG_MPU6050=y
# Enable logging (Log Level: 3 for info, 4 for debug)
CONFIG_LOG=y
CONFIG_LOG_DEFAULT_LEVEL=4 # Set logging level to debug
# Enable the Console for logging output via UART
CONFIG_CONSOLE=y
CONFIG_UART_CONSOLE=y
# Enable memory settings and stack size
CONFIG_MAIN_STACK_SIZE=1024
CONFIG_HEAP_MEM_POOL_SIZE=1024
LOG MESSAGES IN VSCODE
--- 19 messages dropped ---
[00:12:54.814,086] <dbg> bt_conn: bt_conn_tx_processor: no buf returned
[00:12:54.814,117] <dbg> bt_conn: bt_conn_unref: handle 47 ref 2 -> 1
[00:12:54.814,117] <dbg> bt_hci_core: tx_processor: TX process start
[00:12:54.814,147] <dbg> bt_conn: bt_conn_tx_processor: start
[00:12:54.814,178] <dbg> bt_conn: bt_conn_tx_processor: no connection wants to do stuff
--- 9 messages dropped ---
[00:12:54.844,726] <dbg> bt_conn: tx_notify_process: conn 0x200011c0
[00:12:54.844,757] <dbg> bt_conn: tx_notify_process: tx 0x200018d0 cb 0 user_data 0
[00:12:54.844,757] <dbg> bt_conn: tx_free: 0x200018d0
[00:12:54.844,787] <dbg> bt_conn: tx_notify_process: raise TX IRQ
[00:12:54.844,818] <dbg> bt_hci_core: bt_tx_irq_raise: kick TX
[00:12:54.844,848] <dbg> bt_hci_core: tx_processor: TX process start
[00:12:54.844,848] <dbg> bt_conn: bt_conn_tx_processor: start
[00:12:54.844,879] <dbg> bt_conn: bt_conn_tx_processor: no connection wants to do stuff
[00:12:54.844,909] <dbg> os: k_sched_unlock: scheduler unlocked (0x200008f8:0)
[00:12:54.844,940] <dbg> bt_hci_driver: bt_ipc_rx: RX buf payload:
33 68 83 01 00 |3h...
[00:12:54.892,791] <dbg> bt_hci_driver: bt_ipc_rx: ipc data:
04 13 05 01 2f 00 01 00 |..../...
[00:12:54.892,822] <dbg> bt_hci_driver: bt_ipc_evt_recv: len 5
[00:12:54.892,852] <dbg> bt_hci_driver: bt_ipc_rx: Calling bt_recv(0x200056ec)
[00:12:54.892,852] <dbg> bt_hci_core: bt_recv_unsafe: buf 0x200056ec len 7
[00:12:54.892,883] <dbg> bt_hci_core: hci_num_completed_packets: num_handles 1
[00:12:54.892,913] <dbg> bt_hci_core: hci_num_completed_packets: handle 47 count 1
[00:12:54.892,944] <dbg> bt_conn: bt_conn_ref: handle 47 ref 1 -> 2
[00:12:54.892,974] <dbg> bt_conn: bt_conn_unref: handle 47 ref 2 -> 1
[00:12:54.893,005] <dbg> os: k_sched_unlock: scheduler unlocked (0x200008f8:0)
[00:12:54.893,035] <dbg> bt_conn: tx_notify_process: conn 0x200011c0
[00:12:54.893,066] <dbg> bt_conn: tx_notify_process: tx 0x200018dc cb 0 user_data 0
[00:12:54.893,066] <dbg> bt_conn: tx_free: 0x200018dc
[00:12:54.893,096] <dbg> bt_conn: tx_notify_process: raise TX IRQ
[00:12:54.893,096] <dbg> bt_hci_core: bt_tx_irq_raise: kick TX
[00:12:54.893,157] <dbg> bt_hci_core: tx_processor: TX process start
[00:12:54.893,157] <dbg> bt_conn: bt_conn_tx_processor: start
[00:12:54.893,188] <dbg> bt_conn: bt_conn_tx_processor: no connection wants to do stuff
[00:12:54.893,218] <dbg> bt_hci_driver: bt_ipc_rx: RX buf payload:
94 5b 02 00 60 |.[..`
[00:12:55.818,176] <dbg> bt_hci_core: bt_send: buf 0x200057d0 len 23 type 2
--- 107 messages dropped ---
[00:12:55.818,695] <dbg> bt_hci_core: bt_tx_irq_raise: kick TX
[00:12:55.818,725] <dbg> bt_conn: bt_conn_tx_processor: no buf returned
[00:12:55.818,725] <dbg> bt_conn: bt_conn_unref: handle 47 ref 2 -> 1
[00:12:55.818,756] <dbg> bt_hci_core: tx_processor: TX process start
[00:12:55.818,786] <dbg> bt_conn: bt_conn_tx_processor: start
[00:12:55.818,817] <dbg> bt_conn: bt_conn_tx_processor: no connection wants to do stuff
--- 12 messages dropped ---
[00:12:55.819,793] <dbg> bt_conn: tx_notify_process: raise TX IRQ
[00:12:55.819,824] <dbg> bt_hci_core: bt_tx_irq_raise: kick TX
[00:12:55.819,854] <dbg> bt_hci_core: tx_processor: TX process start
[00:12:55.819,885] <dbg> bt_conn: bt_conn_tx_processor: start
[00:12:55.819,915] <dbg> bt_conn: bt_conn_tx_processor: no connection wants to do stuff
[00:12:55.819,946] <dbg> os: k_sched_unlock: scheduler unlocked (0x200008f8:0)
[00:12:55.819,976] <dbg> bt_hci_driver: bt_ipc_rx: RX buf payload:
ca e8 83 01 58 |....X
[00:12:55.867,828] <dbg> bt_hci_driver: bt_ipc_rx: ipc data:
04 13 05 01 2f 00 01 00 |..../...
[00:12:55.867,828] <dbg> bt_hci_driver: bt_ipc_evt_recv: len 5
[00:12:55.867,858] <dbg> bt_hci_driver: bt_ipc_rx: Calling bt_recv(0x200056ec)
[00:12:55.867,889] <dbg> bt_hci_core: bt_recv_unsafe: buf 0x200056ec len 7
[00:12:55.867,889] <dbg> bt_hci_core: hci_num_completed_packets: num_handles 1
[00:12:55.867,919] <dbg> bt_hci_core: hci_num_completed_packets: handle 47 count 1
[00:12:55.867,950] <dbg> bt_conn: bt_conn_ref: handle 47 ref 1 -> 2
[00:12:55.867,980] <dbg> bt_conn: bt_conn_unref: handle 47 ref 2 -> 1
[00:12:55.868,041] <dbg> bt_conn: tx_notify_process: conn 0x200011c0
[00:12:55.868,041] <dbg> bt_conn: tx_notify_process: tx 0x200018d0 cb 0 user_data 0
[00:12:55.868,072] <dbg> bt_conn: tx_free: 0x200018d0
[00:12:55.868,103] <dbg> bt_conn: tx_notify_process: raise TX IRQ
[00:12:55.868,103] <dbg> bt_hci_core: bt_tx_irq_raise: kick TX
[00:12:55.868,133] <dbg> bt_hci_core: tx_processor: TX process start
[00:12:55.868,164] <dbg> bt_conn: bt_conn_tx_processor: start
[00:12:55.868,164] <dbg> bt_conn: bt_conn_tx_processor: no connection wants to do stuff
[00:12:55.868,225] <dbg> os: k_sched_unlock: scheduler unlocked (0x200008f8:0)
[00:12:55.868,255] <dbg> bt_hci_driver: bt_ipc_rx: RX buf payload:
00 21 00 00 20 |.!..
[00:12:56.822,814] <dbg> bt_hci_core: bt_send: buf 0x200057d0 len 23 type 2
--- 87 messages dropped ---
[00:12:56.822,845] <dbg> bt_hci_driver: bt_ipc_send: buf 0x200057d0 type 2 len 23
[00:12:56.822,875] <dbg> bt_hci_driver: bt_ipc_send: Final HCI buffer:
02 2f 00 13 00 0f 00 04 00 1b 15 00 00 00 00 00 |./...... ........
00 00 00 00 00 00 00 00 |........
--- 19 messages dropped ---
[00:12:56.823,364] <dbg> bt_conn: bt_conn_tx_processor: no buf returned
[00:12:56.823,394] <dbg> bt_conn: bt_conn_unref: handle 47 ref 2 -> 1
[00:12:56.823,425] <dbg> bt_hci_core: tx_processor: TX process start
--- 14 messages dropped ---
[00:12:56.843,566] <dbg> bt_conn: tx_notify_process: raise TX IRQ
[00:12:56.843,566] <dbg> bt_hci_core: bt_tx_irq_raise: kick TX
[00:12:56.843,597] <dbg> bt_hci_core: tx_processor: TX process start
[00:12:56.843,627] <dbg> bt_conn: bt_conn_tx_processor: start
[00:12:56.843,658] <dbg> bt_conn: bt_conn_tx_processor: no connection wants to do stuff
[00:12:56.843,688] <dbg> os: k_sched_unlock: scheduler unlocked (0x200008f8:0)
[00:12:56.843,719] <dbg> bt_hci_driver: bt_ipc_rx: RX buf payload:
00 19 00 00 38 |....8
[00:12:56.891,571] <dbg> bt_hci_driver: bt_ipc_rx: ipc data:
04 13 05 01 2f 00 01 00 |..../...
[00:12:56.891,601] <dbg> bt_hci_driver: bt_ipc_evt_recv: len 5
[00:12:56.891,632] <dbg> bt_hci_driver: bt_ipc_rx: Calling bt_recv(0x200056ec)
[00:12:56.891,662] <dbg> bt_hci_core: bt_recv_unsafe: buf 0x200056ec len 7
[00:12:56.891,693] <dbg> bt_hci_core: hci_num_completed_packets: num_handles 1
[00:12:56.891,693] <dbg> bt_hci_core: hci_num_completed_packets: handle 47 count 1
[00:12:56.891,723] <dbg> bt_conn:
How to rectify this error rectify this and get proper reading App
