Arduino101＆＃39;冻结＆＃39;摇晃时

Question

我看到了Arduino101的一个随机奇怪的行为。如果我不移动电路板一切正常，但当我开始摇动并不断移动电路板时，它会随机卡住。这意味着您在扫描时无法再看到BLE Arduino设备，并且只能再次使用它来重启电路板。面对这个问题，arduino的电源仍然可以。我再说一遍，这似乎与晃动董事会一段时间有关。

这是我的草图，希望你可以帮助我理解可能的原因（可能是关于性能的一些问题或我处理中断的方式）。

#include "CurieIMU.h"
#include "CurieBLE.h"
#include <stdio.h>      /* puts, printf */

bool motion;
int aix, aiy, aiz;    // raw accelerometer values
int gix, giy, giz;    // raw gyro values

BLEPeripheral blePeripheral;
BLEService sensorService("19B10010-E8F2-537E-4F6C-D104768A1214");
BLEUnsignedLongCharacteristic stepCharacteristic("19B10011-E8F2-537E-4F6C-D104768A1214", BLERead);  // stepcount
BLEFloatCharacteristic axCharacteristic("19B10012-E8F2-537E-4F6C-D104768A1214", BLERead | BLENotify); // acc.in x in g
BLEFloatCharacteristic ayCharacteristic("19B10013-E8F2-537E-4F6C-D104768A1214", BLERead | BLENotify); // acc.in y in g
BLEFloatCharacteristic azCharacteristic("19B10014-E8F2-537E-4F6C-D104768A1214", BLERead | BLENotify); // acc.in z in g
BLEFloatCharacteristic gxCharacteristic("19B10015-E8F2-537E-4F6C-D104768A1214", BLERead | BLENotify); // rot.in x in deg/s
BLEFloatCharacteristic gyCharacteristic("19B10016-E8F2-537E-4F6C-D104768A1214", BLERead | BLENotify); // rot.in y in deg/s
BLEFloatCharacteristic gzCharacteristic("19B10017-E8F2-537E-4F6C-D104768A1214", BLERead | BLENotify); // rot.in z in deg/s
BLEIntCharacteristic shockCharacteristic("19B10018-E8F2-537E-4F6C-D104768A1214", BLERead | BLENotify);  // true if shock sensed
BLEIntCharacteristic modeCharacteristic("19B10019-E8F2-537E-4F6C-D104768A1214", BLERead | BLEWrite);  // sensing mode
BLEIntCharacteristic srangeCharacteristic("19B10020-E8F2-537E-4F6C-D104768A1214", BLERead | BLEWrite);  // shock range
BLEIntCharacteristic arangeCharacteristic("19B10021-E8F2-537E-4F6C-D104768A1214", BLERead | BLEWrite);  // acc. range
BLEIntCharacteristic grangeCharacteristic("19B100122-E8F2-537E-4F6C-D104768A1214", BLERead | BLEWrite); // gyro range
BLEIntCharacteristic calibCharacteristic("19B100123-E8F2-537E-4F6C-D104768A1214", BLERead | BLEWrite);  // 1 if calibration is on, otherwise 0


void setup()
{

    CurieIMU.begin();
    blePeripheral.setLocalName("MOOVBIT");
    blePeripheral.setAdvertisedServiceUuid(sensorService.uuid());
    blePeripheral.addAttribute(sensorService);
    blePeripheral.addAttribute(stepCharacteristic);
    blePeripheral.addAttribute(axCharacteristic);
    blePeripheral.addAttribute(ayCharacteristic);
    blePeripheral.addAttribute(azCharacteristic);
    blePeripheral.addAttribute(gxCharacteristic);
    blePeripheral.addAttribute(gyCharacteristic);
    blePeripheral.addAttribute(gzCharacteristic);
    blePeripheral.addAttribute(shockCharacteristic);
    blePeripheral.addAttribute(modeCharacteristic);
    blePeripheral.addAttribute(arangeCharacteristic);
    blePeripheral.addAttribute(srangeCharacteristic);
    blePeripheral.addAttribute(grangeCharacteristic);
    blePeripheral.addAttribute(calibCharacteristic);
    // set initial characteristics values
    stepCharacteristic.setValue(0);
    shockCharacteristic.setValue(0);
    modeCharacteristic.setValue(0);
    arangeCharacteristic.setValue(4);
    srangeCharacteristic.setValue(4);
    grangeCharacteristic.setValue(250);
    calibCharacteristic.setValue(1);
    initPeriph();

    CurieIMU.setAccelerometerRange(arangeCharacteristic.value());
    CurieIMU.setGyroRange(grangeCharacteristic.value());
    CurieIMU.setStepDetectionMode(CURIE_IMU_STEP_MODE_SENSITIVE);
    CurieIMU.setStepCountEnabled(true);

    CurieIMU.setDetectionThreshold(CURIE_IMU_SHOCK, srangeCharacteristic.value() * 500); // 1g = 1000 mg
    CurieIMU.setDetectionDuration(CURIE_IMU_SHOCK, 50); // 50ms or 75ms
    CurieIMU.interrupts(CURIE_IMU_SHOCK);
    CurieIMU.interrupts(CURIE_IMU_MOTION);
    CurieIMU.attachInterrupt(eventCallback);
    motion = false;

}

void loop()
{
    if (motion) {
        if (!axCharacteristic.setValue(convertRawAcceleration(aix)) || !ayCharacteristic.setValue(convertRawAcceleration(aiy)) ||
            !azCharacteristic.setValue(convertRawAcceleration(aiz)) || !gxCharacteristic.setValue(convertRawGyro(gix)) ||
            !gyCharacteristic.setValue(convertRawGyro(giy)) || !gzCharacteristic.setValue(convertRawGyro(giz))) {
            //Serial.println("Erorr BLE");
        }
        stepCharacteristic.setValue(CurieIMU.getStepCount());
        motion = false;
    }
    delay(2000);
    shockCharacteristic.setValue(0);
}

void eventCallback() {
    if (CurieIMU.getInterruptStatus(CURIE_IMU_SHOCK)) {
        if (shockCharacteristic.value() == 0) {
            //Serial.println("Shock sensed");
            shockCharacteristic.setValue(1);
        }
        //CurieIMU.readMotionSensor(aix, aiy, aiz, gix, giy, giz);
        //motion = true;
    }
    else if (CurieIMU.getInterruptStatus(CURIE_IMU_MOTION)) {
        CurieIMU.readMotionSensor(aix, aiy, aiz, gix, giy, giz);
        motion = true;
    }
}