ST / Mbed 2 deprecated Nucleo_Zumo_BLE_IDB04A1

Basic demo that shows how to control a Zumo shield using ST X-NUCLEO-IDB04A1 BlueTooth Low energy shield.

Dependencies:   BLE_API X_NUCLEO_IDB0XA1 ZumoShield mbed

ST BLE shield: https://developer.mbed.org/components/X-NUCLEO-IDB04A1/

/media/uploads/bcostm/nucleo-ble-shield.jpg

Zumo shield: https://www.pololu.com/category/169/zumo-robot-for-arduino

/media/uploads/bcostm/zumo.jpg

Android Application: TBD

main.cpp@1:f9ed96482986, 2015-10-12 (annotated)

Committer:
bcostm
Date:
Mon Oct 12 11:35:56 2015 +0000
Revision:
1:f9ed96482986
Parent:
0:901651f381c9 
Initial version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bcostm 0:901651f381c9 1 #include "mbed.h"
bcostm 0:901651f381c9 2 #include "BLE.h"
bcostm 0:901651f381c9 3 #include "SampleService.h"
bcostm 0:901651f381c9 4 #include "DeviceInformationService.h"
bcostm 0:901651f381c9 5 #include "x_nucleo_idb0xa1_targets.h"
bcostm 0:901651f381c9 6 #include "ZumoShield.h"
bcostm 0:901651f381c9 7
bcostm 0:901651f381c9 8 // See also the file X_NUCLEO_IDB0XA1/x_nucleo_idb0xa1_targets.h to configure
bcostm 0:901651f381c9 9 // the correct SPI clock (D3 or D13 pin).
bcostm 0:901651f381c9 10
bcostm 0:901651f381c9 11 // Configuration for NUCLEO_F401RE/F030R8/F070RB/F072RB/F091RC/F303RE/F334R8/F411RE/F446RE/L152RE/L476RG
bcostm 0:901651f381c9 12 #define PWM1 D9
bcostm 0:901651f381c9 13 #define PWM2 D10
bcostm 0:901651f381c9 14 // Configuration for NUCLEO_F103RB
bcostm 0:901651f381c9 15 //#define PWM1 D9
bcostm 0:901651f381c9 16 //#define PWM2 D2
bcostm 0:901651f381c9 17 // Configuration for NUCLEO_F302R8
bcostm 0:901651f381c9 18 //#define PWM1 D2
bcostm 0:901651f381c9 19 //#define PWM2 D10
bcostm 0:901651f381c9 20 // Configuration for NUCLEO_L053R8
bcostm 0:901651f381c9 21 //#define PWM1 D9
bcostm 0:901651f381c9 22 //#define PWM2 PA_15 // on Morpho connector
bcostm 0:901651f381c9 23
bcostm 0:901651f381c9 24 #define PC_DEBUG(args...) printf(args)
bcostm 0:901651f381c9 25
bcostm 0:901651f381c9 26 // Bluetooth Low Energy (BLE) device
bcostm 0:901651f381c9 27 BLE ble;
bcostm 0:901651f381c9 28 // BLE Primary Service
bcostm 0:901651f381c9 29 SampleService *sampleService;
bcostm 0:901651f381c9 30
bcostm 0:901651f381c9 31 ZumoShield zumo(
bcostm 0:901651f381c9 32 // Function Nucleo board Zumo shield
bcostm 0:901651f381c9 33 /* Motor 1 PWM */ PWM1, // D9 !!! WARNING !!! see configuration above
bcostm 0:901651f381c9 34 /* Motor 1 DIR */ D6, // D7 !!! WARNING !!!
bcostm 0:901651f381c9 35 /* Motor 2 PWM */ PWM2, // D10 !!! WARNING !!! see configuration above
bcostm 0:901651f381c9 36 /* Motor 2 DIR */ D8 // D8
bcostm 0:901651f381c9 37 );
bcostm 0:901651f381c9 38
bcostm 0:901651f381c9 39 // Hardware device selection
bcostm 0:901651f381c9 40 BusIn device_id(D15, D14);
bcostm 0:901651f381c9 41
bcostm 0:901651f381c9 42 // Parameters for Bluetooth Low Energy
bcostm 0:901651f381c9 43 uint8_t DEVICE_NAME[] = "Zumo_car_X"; // X is defined below with value of device_id
bcostm 0:901651f381c9 44 Gap::Address_t BLE_address_BE; // defined below with value of device_id
bcostm 0:901651f381c9 45
bcostm 0:901651f381c9 46 static const uint16_t uuid16_list[] = {SampleServiceShortUUID, GattService::UUID_DEVICE_INFORMATION_SERVICE};
bcostm 0:901651f381c9 47
bcostm 0:901651f381c9 48 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
bcostm 0:901651f381c9 49 {
bcostm 0:901651f381c9 50 ble.startAdvertising(); // restart advertising
bcostm 0:901651f381c9 51 }
bcostm 0:901651f381c9 52
bcostm 0:901651f381c9 53 void remoteControlCallback(const uint8_t* data, uint16_t len)
bcostm 0:901651f381c9 54 {
bcostm 0:901651f381c9 55 float speed = 0;
bcostm 0:901651f381c9 56
bcostm 0:901651f381c9 57 // Check if this is a remote control command (3-byte len and starting with a null byte)
bcostm 0:901651f381c9 58 if ( (data[0]) || (len != 3) ) return;
bcostm 0:901651f381c9 59
bcostm 0:901651f381c9 60 // data is a 3-byte sequence
bcostm 0:901651f381c9 61 // first byte is always null
bcostm 0:901651f381c9 62 // second byte is vertical slider position (speed)
bcostm 0:901651f381c9 63 // third byte is horizontal slider position (direction)
bcostm 0:901651f381c9 64 int s = data[1]; // speed (0-100)
bcostm 0:901651f381c9 65 int d = data[2]; // direction (0-100)
bcostm 0:901651f381c9 66
bcostm 0:901651f381c9 67 PC_DEBUG(">>> Speed=%d, Direction=%d\r\n", s, d);
bcostm 0:901651f381c9 68
bcostm 0:901651f381c9 69 if ((s == 50) && (d == 50)) {
bcostm 0:901651f381c9 70 zumo.stopAll();
bcostm 0:901651f381c9 71 return;
bcostm 0:901651f381c9 72 }
bcostm 0:901651f381c9 73
bcostm 0:901651f381c9 74 if (s > 50) {
bcostm 0:901651f381c9 75 speed = float(s)/100;
bcostm 0:901651f381c9 76 if (d == 50) {
bcostm 0:901651f381c9 77 zumo.forward(speed);
bcostm 0:901651f381c9 78 return;
bcostm 0:901651f381c9 79 }
bcostm 0:901651f381c9 80 } else if (s < 50) {
bcostm 0:901651f381c9 81 speed = (100-float(s))/100;
bcostm 0:901651f381c9 82 if (d == 50) {
bcostm 0:901651f381c9 83 zumo.backward(speed);
bcostm 0:901651f381c9 84 return;
bcostm 0:901651f381c9 85 }
bcostm 0:901651f381c9 86 }
bcostm 0:901651f381c9 87
bcostm 0:901651f381c9 88 if (d > 50) {
bcostm 0:901651f381c9 89 if (s > 50) {
bcostm 0:901651f381c9 90 zumo.turn_right(speed);
bcostm 0:901651f381c9 91 } else if (s < 50) {
bcostm 0:901651f381c9 92 zumo.turn_left(-speed);
bcostm 0:901651f381c9 93 } else { // s == 50
bcostm 0:901651f381c9 94 speed = float(d)/100;
bcostm 0:901651f381c9 95 zumo.right(speed);
bcostm 0:901651f381c9 96 }
bcostm 0:901651f381c9 97 } else if (d < 50) {
bcostm 0:901651f381c9 98 if (s > 50) {
bcostm 0:901651f381c9 99 zumo.turn_left(speed);
bcostm 0:901651f381c9 100 } else if (s < 50) {
bcostm 0:901651f381c9 101 zumo.turn_right(-speed);
bcostm 0:901651f381c9 102 } else { // s == 50
bcostm 0:901651f381c9 103 speed = (100-float(d))/100;
bcostm 0:901651f381c9 104 zumo.left(speed);
bcostm 0:901651f381c9 105 }
bcostm 0:901651f381c9 106 }
bcostm 0:901651f381c9 107
bcostm 0:901651f381c9 108 }
bcostm 0:901651f381c9 109
bcostm 0:901651f381c9 110 // Setup Bluetooth Low Energy device
bcostm 0:901651f381c9 111 void setup_BLE(void)
bcostm 0:901651f381c9 112 {
bcostm 0:901651f381c9 113 // Set BLE device name and address
bcostm 0:901651f381c9 114 BLE_address_BE[0] = 0xca;
bcostm 0:901651f381c9 115 BLE_address_BE[1] = 0xcc;
bcostm 0:901651f381c9 116 BLE_address_BE[2] = 0x61;
bcostm 0:901651f381c9 117 BLE_address_BE[3] = 0xab;
bcostm 0:901651f381c9 118 BLE_address_BE[4] = 0xef;
bcostm 0:901651f381c9 119 BLE_address_BE[5] = device_id;
bcostm 0:901651f381c9 120 DEVICE_NAME[9] = '0' + device_id;
bcostm 0:901651f381c9 121
bcostm 0:901651f381c9 122 // Set BT Address
bcostm 0:901651f381c9 123 ble.setAddress(Gap::ADDR_TYPE_PUBLIC, BLE_address_BE);
bcostm 0:901651f381c9 124
bcostm 0:901651f381c9 125 // Init the BLE dev
bcostm 0:901651f381c9 126 ble.init();
bcostm 0:901651f381c9 127 ble.onDisconnection(disconnectionCallback);
bcostm 0:901651f381c9 128
bcostm 0:901651f381c9 129 /* Setup primary service. */
bcostm 0:901651f381c9 130 sampleService = new SampleService(ble, remoteControlCallback);
bcostm 0:901651f381c9 131
bcostm 0:901651f381c9 132 /* Setup auxiliary service. */
bcostm 0:901651f381c9 133 DeviceInformationService deviceInfo(ble, "STM", "Model1", "SN1", "hw-rev1", "fw-rev1", "soft-rev1");
bcostm 0:901651f381c9 134
bcostm 0:901651f381c9 135 /* Setup advertising. */
bcostm 0:901651f381c9 136 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
bcostm 0:901651f381c9 137 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS, (uint8_t *)uuid16_list, sizeof(uuid16_list));
bcostm 0:901651f381c9 138 ble.accumulateAdvertisingPayload(GapAdvertisingData::UNKNOWN);
bcostm 0:901651f381c9 139 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
bcostm 0:901651f381c9 140 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
bcostm 0:901651f381c9 141 ble.setAdvertisingInterval(1000);
bcostm 0:901651f381c9 142 ble.startAdvertising();
bcostm 0:901651f381c9 143 }
bcostm 0:901651f381c9 144
bcostm 0:901651f381c9 145 int main()
bcostm 0:901651f381c9 146 {
bcostm 0:901651f381c9 147 PC_DEBUG(">>> Bluetooth Low Energy setup...\r\n");
bcostm 0:901651f381c9 148 setup_BLE();
bcostm 0:901651f381c9 149 PC_DEBUG(">>> Setup done\r\n");
bcostm 0:901651f381c9 150
bcostm 0:901651f381c9 151 // Check motors
bcostm 0:901651f381c9 152 zumo.right(1.0);
bcostm 0:901651f381c9 153 wait(0.5);
bcostm 0:901651f381c9 154 zumo.left(1.0);
bcostm 0:901651f381c9 155 wait(0.5);
bcostm 0:901651f381c9 156 zumo.stopAll();
bcostm 0:901651f381c9 157
bcostm 0:901651f381c9 158 while (1) {
bcostm 0:901651f381c9 159 ble.waitForEvent(); // low power wait for event. Must be called in the loop or BLE won't work
bcostm 0:901651f381c9 160 }
bcostm 0:901651f381c9 161 }