only moves 1 direction
Dependencies: BLE_API mbed nRF51822
main.cpp@5:d4f2c480044c, 2015-09-03 (annotated)
- Committer:
- amackp
- Date:
- Thu Sep 03 01:06:00 2015 +0000
- Revision:
- 5:d4f2c480044c
- Parent:
- 4:3e3b4ce8905f
moves 1 direction
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
RedBearLab | 1:1c058e553423 | 1 | /* |
RedBearLab | 0:cffe8ac1bdf0 | 2 | |
RedBearLab | 1:1c058e553423 | 3 | Copyright (c) 2012-2014 RedBearLab |
RedBearLab | 1:1c058e553423 | 4 | |
RedBearLab | 1:1c058e553423 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy of this software |
RedBearLab | 1:1c058e553423 | 6 | and associated documentation files (the "Software"), to deal in the Software without restriction, |
RedBearLab | 1:1c058e553423 | 7 | including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, |
RedBearLab | 1:1c058e553423 | 8 | and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, |
RedBearLab | 1:1c058e553423 | 9 | subject to the following conditions: |
RedBearLab | 1:1c058e553423 | 10 | The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. |
RedBearLab | 1:1c058e553423 | 11 | |
RedBearLab | 1:1c058e553423 | 12 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, |
RedBearLab | 1:1c058e553423 | 13 | INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR |
RedBearLab | 1:1c058e553423 | 14 | PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE |
RedBearLab | 1:1c058e553423 | 15 | FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, |
RedBearLab | 1:1c058e553423 | 16 | ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
RedBearLab | 1:1c058e553423 | 17 | |
RedBearLab | 1:1c058e553423 | 18 | */ |
RedBearLab | 1:1c058e553423 | 19 | |
RedBearLab | 1:1c058e553423 | 20 | /* |
RedBearLab | 1:1c058e553423 | 21 | * The application works with the BLEController iOS/Android App. |
RedBearLab | 1:1c058e553423 | 22 | * Type something from the Terminal to send |
RedBearLab | 1:1c058e553423 | 23 | * to the BLEController App or vice verse. |
RedBearLab | 1:1c058e553423 | 24 | * Characteristics received from App will print on Terminal. |
RedBearLab | 1:1c058e553423 | 25 | */ |
RedBearLab | 1:1c058e553423 | 26 | |
RedBearLab | 0:cffe8ac1bdf0 | 27 | #include "mbed.h" |
RedBearLab | 2:4b66b69c7ecb | 28 | #include "ble/BLE.h" |
RedBearLab | 0:cffe8ac1bdf0 | 29 | |
RedBearLab | 0:cffe8ac1bdf0 | 30 | |
RedBearLab | 0:cffe8ac1bdf0 | 31 | #define BLE_UUID_TXRX_SERVICE 0x0000 /**< The UUID of the Nordic UART Service. */ |
RedBearLab | 0:cffe8ac1bdf0 | 32 | #define BLE_UUID_TX_CHARACTERISTIC 0x0002 /**< The UUID of the TX Characteristic. */ |
RedBearLab | 0:cffe8ac1bdf0 | 33 | #define BLE_UUIDS_RX_CHARACTERISTIC 0x0003 /**< The UUID of the RX Characteristic. */ |
RedBearLab | 0:cffe8ac1bdf0 | 34 | |
RedBearLab | 0:cffe8ac1bdf0 | 35 | #define TXRX_BUF_LEN 20 |
RedBearLab | 0:cffe8ac1bdf0 | 36 | |
RedBearLab | 2:4b66b69c7ecb | 37 | BLE ble; |
RedBearLab | 0:cffe8ac1bdf0 | 38 | |
RedBearLab | 0:cffe8ac1bdf0 | 39 | Serial pc(USBTX, USBRX); |
RedBearLab | 0:cffe8ac1bdf0 | 40 | |
RedBearLab | 0:cffe8ac1bdf0 | 41 | |
RedBearLab | 0:cffe8ac1bdf0 | 42 | // The Nordic UART Service |
RedBearLab | 0:cffe8ac1bdf0 | 43 | static const uint8_t uart_base_uuid[] = {0x71, 0x3D, 0, 0, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E}; |
RedBearLab | 0:cffe8ac1bdf0 | 44 | static const uint8_t uart_tx_uuid[] = {0x71, 0x3D, 0, 3, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E}; |
RedBearLab | 0:cffe8ac1bdf0 | 45 | static const uint8_t uart_rx_uuid[] = {0x71, 0x3D, 0, 2, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E}; |
RedBearLab | 0:cffe8ac1bdf0 | 46 | static const uint8_t uart_base_uuid_rev[] = {0x1E, 0x94, 0x8D, 0xF1, 0x48, 0x31, 0x94, 0xBA, 0x75, 0x4C, 0x3E, 0x50, 0, 0, 0x3D, 0x71}; |
RedBearLab | 0:cffe8ac1bdf0 | 47 | |
RedBearLab | 0:cffe8ac1bdf0 | 48 | |
RedBearLab | 0:cffe8ac1bdf0 | 49 | uint8_t txPayload[TXRX_BUF_LEN] = {0,}; |
RedBearLab | 0:cffe8ac1bdf0 | 50 | uint8_t rxPayload[TXRX_BUF_LEN] = {0,}; |
RedBearLab | 0:cffe8ac1bdf0 | 51 | |
RedBearLab | 0:cffe8ac1bdf0 | 52 | static uint8_t rx_buf[TXRX_BUF_LEN]; |
RedBearLab | 0:cffe8ac1bdf0 | 53 | static uint8_t rx_len=0; |
RedBearLab | 0:cffe8ac1bdf0 | 54 | |
RedBearLab | 0:cffe8ac1bdf0 | 55 | |
connorb | 3:cf8bb9a7756d | 56 | // Connor's Code start ------------------------------------------------- |
connorb | 3:cf8bb9a7756d | 57 | DigitalOut myled(P0_19); //onboard LED |
connorb | 3:cf8bb9a7756d | 58 | |
amackp | 4:3e3b4ce8905f | 59 | PwmOut pin3(P0_10); // enable h bridge |
connorb | 3:cf8bb9a7756d | 60 | |
amackp | 4:3e3b4ce8905f | 61 | PwmOut pin1(P0_9); // h bridge 1 Switch these two to change direction |
amackp | 5:d4f2c480044c | 62 | PwmOut pin2(P0_11); // h bridge 2 |
connorb | 3:cf8bb9a7756d | 63 | |
connorb | 3:cf8bb9a7756d | 64 | |
connorb | 3:cf8bb9a7756d | 65 | |
RedBearLab | 0:cffe8ac1bdf0 | 66 | GattCharacteristic txCharacteristic (uart_tx_uuid, txPayload, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE); |
RedBearLab | 0:cffe8ac1bdf0 | 67 | |
RedBearLab | 0:cffe8ac1bdf0 | 68 | GattCharacteristic rxCharacteristic (uart_rx_uuid, rxPayload, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY); |
RedBearLab | 0:cffe8ac1bdf0 | 69 | |
RedBearLab | 0:cffe8ac1bdf0 | 70 | GattCharacteristic *uartChars[] = {&txCharacteristic, &rxCharacteristic}; |
RedBearLab | 0:cffe8ac1bdf0 | 71 | |
RedBearLab | 0:cffe8ac1bdf0 | 72 | GattService uartService(uart_base_uuid, uartChars, sizeof(uartChars) / sizeof(GattCharacteristic *)); |
RedBearLab | 0:cffe8ac1bdf0 | 73 | |
RedBearLab | 0:cffe8ac1bdf0 | 74 | |
RedBearLab | 0:cffe8ac1bdf0 | 75 | |
RedBearLab | 0:cffe8ac1bdf0 | 76 | void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason) |
RedBearLab | 0:cffe8ac1bdf0 | 77 | { |
RedBearLab | 0:cffe8ac1bdf0 | 78 | pc.printf("Disconnected \r\n"); |
RedBearLab | 0:cffe8ac1bdf0 | 79 | pc.printf("Restart advertising \r\n"); |
RedBearLab | 0:cffe8ac1bdf0 | 80 | ble.startAdvertising(); |
RedBearLab | 0:cffe8ac1bdf0 | 81 | } |
connorb | 3:cf8bb9a7756d | 82 | //Connor's methods Start |
connorb | 3:cf8bb9a7756d | 83 | |
connorb | 3:cf8bb9a7756d | 84 | void motor_stop(){ |
connorb | 3:cf8bb9a7756d | 85 | pin3 = 1; |
connorb | 3:cf8bb9a7756d | 86 | pin1 = 0; |
connorb | 3:cf8bb9a7756d | 87 | pin2 = 0; |
connorb | 3:cf8bb9a7756d | 88 | pin3 = 0; |
connorb | 3:cf8bb9a7756d | 89 | wait(.25); |
connorb | 3:cf8bb9a7756d | 90 | } |
connorb | 3:cf8bb9a7756d | 91 | |
connorb | 3:cf8bb9a7756d | 92 | void drive_backward(){ |
amackp | 5:d4f2c480044c | 93 | pin3 = 255; |
amackp | 4:3e3b4ce8905f | 94 | pin1 = 0; |
amackp | 5:d4f2c480044c | 95 | pin2 = 255; |
connorb | 3:cf8bb9a7756d | 96 | } |
connorb | 3:cf8bb9a7756d | 97 | |
connorb | 3:cf8bb9a7756d | 98 | void drive_forward(){ |
connorb | 3:cf8bb9a7756d | 99 | pin3 = 1; |
amackp | 5:d4f2c480044c | 100 | pin1 = 255; |
amackp | 5:d4f2c480044c | 101 | pin2 = 0; |
connorb | 3:cf8bb9a7756d | 102 | } |
connorb | 3:cf8bb9a7756d | 103 | |
connorb | 3:cf8bb9a7756d | 104 | void pulse_forward(){ |
connorb | 3:cf8bb9a7756d | 105 | drive_forward(); |
connorb | 3:cf8bb9a7756d | 106 | wait(.100); |
connorb | 3:cf8bb9a7756d | 107 | motor_stop(); |
connorb | 3:cf8bb9a7756d | 108 | } |
connorb | 3:cf8bb9a7756d | 109 | |
connorb | 3:cf8bb9a7756d | 110 | void pulse_backward(){ |
connorb | 3:cf8bb9a7756d | 111 | drive_backward(); |
connorb | 3:cf8bb9a7756d | 112 | wait(.100); |
connorb | 3:cf8bb9a7756d | 113 | motor_stop(); |
connorb | 3:cf8bb9a7756d | 114 | } |
connorb | 3:cf8bb9a7756d | 115 | |
connorb | 3:cf8bb9a7756d | 116 | void dispense() |
connorb | 3:cf8bb9a7756d | 117 | { |
connorb | 3:cf8bb9a7756d | 118 | drive_forward(); |
connorb | 3:cf8bb9a7756d | 119 | wait(.850); |
connorb | 3:cf8bb9a7756d | 120 | motor_stop(); |
connorb | 3:cf8bb9a7756d | 121 | wait(.250); |
connorb | 3:cf8bb9a7756d | 122 | drive_backward(); |
connorb | 3:cf8bb9a7756d | 123 | wait(.900); |
connorb | 3:cf8bb9a7756d | 124 | motor_stop(); |
amackp | 5:d4f2c480044c | 125 | |
connorb | 3:cf8bb9a7756d | 126 | if (myled == 1) //so you can see if dispense is being called, toggles led on and off |
connorb | 3:cf8bb9a7756d | 127 | { |
connorb | 3:cf8bb9a7756d | 128 | myled = 0; |
connorb | 3:cf8bb9a7756d | 129 | } |
connorb | 3:cf8bb9a7756d | 130 | else if (myled == 0) |
connorb | 3:cf8bb9a7756d | 131 | { |
connorb | 3:cf8bb9a7756d | 132 | myled = 1; |
connorb | 3:cf8bb9a7756d | 133 | } |
connorb | 3:cf8bb9a7756d | 134 | } |
connorb | 3:cf8bb9a7756d | 135 | |
RedBearLab | 0:cffe8ac1bdf0 | 136 | |
RedBearLab | 2:4b66b69c7ecb | 137 | void WrittenHandler(const GattWriteCallbackParams *Handler) |
RedBearLab | 0:cffe8ac1bdf0 | 138 | { |
RedBearLab | 0:cffe8ac1bdf0 | 139 | uint8_t buf[TXRX_BUF_LEN]; |
RedBearLab | 0:cffe8ac1bdf0 | 140 | uint16_t bytesRead, index; |
RedBearLab | 0:cffe8ac1bdf0 | 141 | |
RedBearLab | 2:4b66b69c7ecb | 142 | if (Handler->handle == txCharacteristic.getValueAttribute().getHandle()) |
RedBearLab | 0:cffe8ac1bdf0 | 143 | { |
RedBearLab | 0:cffe8ac1bdf0 | 144 | ble.readCharacteristicValue(txCharacteristic.getValueAttribute().getHandle(), buf, &bytesRead); |
RedBearLab | 0:cffe8ac1bdf0 | 145 | memset(txPayload, 0, TXRX_BUF_LEN); |
RedBearLab | 0:cffe8ac1bdf0 | 146 | memcpy(txPayload, buf, TXRX_BUF_LEN); |
RedBearLab | 0:cffe8ac1bdf0 | 147 | pc.printf("WriteHandler \r\n"); |
RedBearLab | 0:cffe8ac1bdf0 | 148 | pc.printf("Length: "); |
RedBearLab | 0:cffe8ac1bdf0 | 149 | pc.putc(bytesRead); |
RedBearLab | 0:cffe8ac1bdf0 | 150 | pc.printf("\r\n"); |
RedBearLab | 0:cffe8ac1bdf0 | 151 | pc.printf("Data: "); |
RedBearLab | 0:cffe8ac1bdf0 | 152 | for(index=0; index<bytesRead; index++) |
RedBearLab | 0:cffe8ac1bdf0 | 153 | { |
connorb | 3:cf8bb9a7756d | 154 | pc.putc(txPayload[index]); //Connor's Code Listens for A then dispenses |
connorb | 3:cf8bb9a7756d | 155 | if (txPayload[index] == 'A') |
connorb | 3:cf8bb9a7756d | 156 | { |
connorb | 3:cf8bb9a7756d | 157 | dispense(); |
connorb | 3:cf8bb9a7756d | 158 | } |
RedBearLab | 0:cffe8ac1bdf0 | 159 | } |
RedBearLab | 0:cffe8ac1bdf0 | 160 | pc.printf("\r\n"); |
RedBearLab | 0:cffe8ac1bdf0 | 161 | } |
RedBearLab | 0:cffe8ac1bdf0 | 162 | } |
RedBearLab | 0:cffe8ac1bdf0 | 163 | |
connorb | 3:cf8bb9a7756d | 164 | |
connorb | 3:cf8bb9a7756d | 165 | |
RedBearLab | 0:cffe8ac1bdf0 | 166 | void uartCB(void) |
RedBearLab | 0:cffe8ac1bdf0 | 167 | { |
RedBearLab | 0:cffe8ac1bdf0 | 168 | while(pc.readable()) |
RedBearLab | 0:cffe8ac1bdf0 | 169 | { |
RedBearLab | 0:cffe8ac1bdf0 | 170 | rx_buf[rx_len++] = pc.getc(); |
RedBearLab | 0:cffe8ac1bdf0 | 171 | if(rx_len>=20 || rx_buf[rx_len-1]=='\0' || rx_buf[rx_len-1]=='\n') |
RedBearLab | 0:cffe8ac1bdf0 | 172 | { |
RedBearLab | 0:cffe8ac1bdf0 | 173 | ble.updateCharacteristicValue(rxCharacteristic.getValueAttribute().getHandle(), rx_buf, rx_len); |
RedBearLab | 0:cffe8ac1bdf0 | 174 | pc.printf("RecHandler \r\n"); |
RedBearLab | 0:cffe8ac1bdf0 | 175 | pc.printf("Length: "); |
RedBearLab | 0:cffe8ac1bdf0 | 176 | pc.putc(rx_len); |
RedBearLab | 0:cffe8ac1bdf0 | 177 | pc.printf("\r\n"); |
RedBearLab | 0:cffe8ac1bdf0 | 178 | rx_len = 0; |
RedBearLab | 0:cffe8ac1bdf0 | 179 | break; |
RedBearLab | 0:cffe8ac1bdf0 | 180 | } |
RedBearLab | 0:cffe8ac1bdf0 | 181 | } |
RedBearLab | 0:cffe8ac1bdf0 | 182 | } |
RedBearLab | 0:cffe8ac1bdf0 | 183 | |
RedBearLab | 0:cffe8ac1bdf0 | 184 | int main(void) |
RedBearLab | 0:cffe8ac1bdf0 | 185 | { |
connorb | 3:cf8bb9a7756d | 186 | |
RedBearLab | 0:cffe8ac1bdf0 | 187 | ble.init(); |
RedBearLab | 0:cffe8ac1bdf0 | 188 | ble.onDisconnection(disconnectionCallback); |
RedBearLab | 0:cffe8ac1bdf0 | 189 | ble.onDataWritten(WrittenHandler); |
RedBearLab | 0:cffe8ac1bdf0 | 190 | |
RedBearLab | 0:cffe8ac1bdf0 | 191 | pc.baud(9600); |
RedBearLab | 0:cffe8ac1bdf0 | 192 | pc.printf("SimpleChat Init \r\n"); |
RedBearLab | 0:cffe8ac1bdf0 | 193 | |
RedBearLab | 0:cffe8ac1bdf0 | 194 | pc.attach( uartCB , pc.RxIrq); |
RedBearLab | 0:cffe8ac1bdf0 | 195 | // setup advertising |
RedBearLab | 0:cffe8ac1bdf0 | 196 | ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED); |
RedBearLab | 0:cffe8ac1bdf0 | 197 | ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); |
RedBearLab | 0:cffe8ac1bdf0 | 198 | ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, |
RedBearLab | 0:cffe8ac1bdf0 | 199 | (const uint8_t *)"Biscuit", sizeof("Biscuit") - 1); |
RedBearLab | 0:cffe8ac1bdf0 | 200 | ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS, |
RedBearLab | 0:cffe8ac1bdf0 | 201 | (const uint8_t *)uart_base_uuid_rev, sizeof(uart_base_uuid)); |
RedBearLab | 0:cffe8ac1bdf0 | 202 | // 100ms; in multiples of 0.625ms. |
RedBearLab | 0:cffe8ac1bdf0 | 203 | ble.setAdvertisingInterval(160); |
RedBearLab | 0:cffe8ac1bdf0 | 204 | |
RedBearLab | 0:cffe8ac1bdf0 | 205 | ble.addService(uartService); |
RedBearLab | 0:cffe8ac1bdf0 | 206 | |
RedBearLab | 0:cffe8ac1bdf0 | 207 | ble.startAdvertising(); |
RedBearLab | 0:cffe8ac1bdf0 | 208 | pc.printf("Advertising Start \r\n"); |
RedBearLab | 0:cffe8ac1bdf0 | 209 | |
amackp | 4:3e3b4ce8905f | 210 | //while(1) |
amackp | 4:3e3b4ce8905f | 211 | //{ |
amackp | 4:3e3b4ce8905f | 212 | //dispense(); |
connorb | 3:cf8bb9a7756d | 213 | //ble.waitForEvent(); |
amackp | 4:3e3b4ce8905f | 214 | //} |
connorb | 3:cf8bb9a7756d | 215 | |
RedBearLab | 0:cffe8ac1bdf0 | 216 | } |
RedBearLab | 0:cffe8ac1bdf0 | 217 | |
RedBearLab | 0:cffe8ac1bdf0 | 218 | |
RedBearLab | 0:cffe8ac1bdf0 | 219 | |
RedBearLab | 0:cffe8ac1bdf0 | 220 | |
RedBearLab | 0:cffe8ac1bdf0 | 221 | |
RedBearLab | 0:cffe8ac1bdf0 | 222 | |
RedBearLab | 0:cffe8ac1bdf0 | 223 | |
RedBearLab | 0:cffe8ac1bdf0 | 224 | |
RedBearLab | 0:cffe8ac1bdf0 | 225 | |
RedBearLab | 0:cffe8ac1bdf0 | 226 | |
RedBearLab | 0:cffe8ac1bdf0 | 227 | |
RedBearLab | 0:cffe8ac1bdf0 | 228 | |
RedBearLab | 0:cffe8ac1bdf0 | 229 | |
RedBearLab | 0:cffe8ac1bdf0 | 230 | |
RedBearLab | 0:cffe8ac1bdf0 | 231 | |
RedBearLab | 0:cffe8ac1bdf0 | 232 |