Wallbot_CaaS
Dependencies: MPU6050 mbed PID
Fork of BLE_MPU6050_test6_challenge_sb by
main.cpp@8:0268032d5849, 2018-05-17 (annotated)
- Committer:
- c201075
- Date:
- Thu May 17 04:51:49 2018 +0000
- Revision:
- 8:0268032d5849
- Parent:
- 7:5aa479fe5d0b
- Child:
- 9:0b048a68de4d
ble;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jksoft | 0:8468a4403fea | 1 | #include "mbed.h" |
jksoft | 0:8468a4403fea | 2 | #include "MPU6050.h" |
jksoft | 0:8468a4403fea | 3 | #include "BLEDevice.h" |
jksoft | 0:8468a4403fea | 4 | #include "wallbotble.h" |
c201075 | 6:9fd87d75a24b | 5 | //#include "RCBController.h" |
c201075 | 6:9fd87d75a24b | 6 | //#include "Adafruit_LEDBackpack.h" |
c201075 | 6:9fd87d75a24b | 7 | //#include "Adafruit_GFX.h" |
c201075 | 6:9fd87d75a24b | 8 | //#include "pictLIB.h" |
jksoft | 0:8468a4403fea | 9 | |
jksoft | 0:8468a4403fea | 10 | |
c201075 | 4:6b4563aaee2c | 11 | #define DEBUG |
jksoft | 0:8468a4403fea | 12 | |
jksoft | 0:8468a4403fea | 13 | Serial pc(USBTX, USBRX); |
jksoft | 0:8468a4403fea | 14 | BLEDevice ble; |
jksoft | 0:8468a4403fea | 15 | MPU6050 mpu; |
jksoft | 0:8468a4403fea | 16 | wallbotble wb; |
jksoft | 0:8468a4403fea | 17 | |
c201075 | 7:5aa479fe5d0b | 18 | //------------------------------------------------------------ |
c201075 | 7:5aa479fe5d0b | 19 | //Service & Characteristic Setting |
c201075 | 7:5aa479fe5d0b | 20 | //------------------------------------------------------------ |
c201075 | 7:5aa479fe5d0b | 21 | //Service UUID |
c201075 | 7:5aa479fe5d0b | 22 | static const uint16_t base_uuid = 0xFFF0; |
c201075 | 7:5aa479fe5d0b | 23 | |
c201075 | 7:5aa479fe5d0b | 24 | //Characteristic UUID |
c201075 | 7:5aa479fe5d0b | 25 | static const uint16_t cmd_uuid = 0xFFF1; |
c201075 | 7:5aa479fe5d0b | 26 | static const uint16_t sen_uuid = 0xFFF2; |
c201075 | 7:5aa479fe5d0b | 27 | static const uint16_t mpu_uuid = 0xFFF3; |
c201075 | 7:5aa479fe5d0b | 28 | |
c201075 | 8:0268032d5849 | 29 | //Characteristic buffer ? |
c201075 | 7:5aa479fe5d0b | 30 | uint8_t cmdPayload[8] = {0,}; |
c201075 | 7:5aa479fe5d0b | 31 | uint8_t senPayload[10] = {0,}; |
c201075 | 7:5aa479fe5d0b | 32 | uint8_t mpuPayload[12] = {0,}; |
c201075 | 7:5aa479fe5d0b | 33 | |
c201075 | 7:5aa479fe5d0b | 34 | //Characteristic Property Setting etc |
c201075 | 7:5aa479fe5d0b | 35 | GattCharacteristic cmdChar (cmd_uuid, cmdPayload, sizeof(cmdPayload), sizeof(cmdPayload), GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE); |
c201075 | 7:5aa479fe5d0b | 36 | GattCharacteristic senChar (sen_uuid, senPayload, sizeof(senPayload), sizeof(senPayload), GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY); |
c201075 | 7:5aa479fe5d0b | 37 | GattCharacteristic mpuChar (mpu_uuid, mpuPayload, sizeof(mpuPayload), sizeof(mpuPayload), GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY); |
c201075 | 7:5aa479fe5d0b | 38 | GattCharacteristic *myChars[] = {&cmdChar, &senChar, &mpuChar}; |
c201075 | 7:5aa479fe5d0b | 39 | |
c201075 | 7:5aa479fe5d0b | 40 | //Service Setting |
c201075 | 7:5aa479fe5d0b | 41 | GattService myService(base_uuid, myChars, sizeof(myChars) / sizeof(GattCharacteristic *)); |
c201075 | 7:5aa479fe5d0b | 42 | |
c201075 | 7:5aa479fe5d0b | 43 | //====================================================================== |
c201075 | 7:5aa479fe5d0b | 44 | //onDisconnection |
c201075 | 7:5aa479fe5d0b | 45 | //====================================================================== |
c201075 | 8:0268032d5849 | 46 | void onDisconnected(Gap::Handle_t handle, Gap::DisconnectionReason_t reason) |
c201075 | 7:5aa479fe5d0b | 47 | { |
c201075 | 8:0268032d5849 | 48 | wb.control_enable(false); |
c201075 | 7:5aa479fe5d0b | 49 | wb.stop(); |
c201075 | 7:5aa479fe5d0b | 50 | |
c201075 | 7:5aa479fe5d0b | 51 | ble.startAdvertising(); |
c201075 | 7:5aa479fe5d0b | 52 | wb.set_led2(0); |
c201075 | 7:5aa479fe5d0b | 53 | #if DBG |
c201075 | 7:5aa479fe5d0b | 54 | pc.printf("Disconnected\n\r"); |
c201075 | 7:5aa479fe5d0b | 55 | #endif |
c201075 | 7:5aa479fe5d0b | 56 | } |
c201075 | 7:5aa479fe5d0b | 57 | //====================================================================== |
c201075 | 7:5aa479fe5d0b | 58 | //onConnection |
c201075 | 7:5aa479fe5d0b | 59 | //====================================================================== |
c201075 | 7:5aa479fe5d0b | 60 | void onConnected(Gap::Handle_t handle, Gap::addr_type_t peerAddrType ,const Gap::address_t peerAddr,const Gap::ConnectionParams_t *params) |
c201075 | 7:5aa479fe5d0b | 61 | { |
c201075 | 7:5aa479fe5d0b | 62 | wb.set_led2(1); |
c201075 | 7:5aa479fe5d0b | 63 | |
c201075 | 7:5aa479fe5d0b | 64 | wb.control_enable(true); |
c201075 | 7:5aa479fe5d0b | 65 | wb.SetRPM(0,0); |
c201075 | 7:5aa479fe5d0b | 66 | #if DBG |
c201075 | 7:5aa479fe5d0b | 67 | pc.printf("Connected\n\r"); |
c201075 | 7:5aa479fe5d0b | 68 | #endif |
c201075 | 7:5aa479fe5d0b | 69 | } |
c201075 | 7:5aa479fe5d0b | 70 | |
c201075 | 7:5aa479fe5d0b | 71 | //====================================================================== |
c201075 | 7:5aa479fe5d0b | 72 | //onDataWritten |
c201075 | 7:5aa479fe5d0b | 73 | //====================================================================== |
c201075 | 8:0268032d5849 | 74 | void onDataWritten(const GattCharacteristicWriteCBParams *params) |
c201075 | 7:5aa479fe5d0b | 75 | { |
c201075 | 8:0268032d5849 | 76 | float right_speed; |
c201075 | 8:0268032d5849 | 77 | float left_speed; |
c201075 | 8:0268032d5849 | 78 | |
c201075 | 8:0268032d5849 | 79 | memcpy( &right_speed, params->data , sizeof(right_speed)); |
c201075 | 8:0268032d5849 | 80 | memcpy( &left_speed, params->data + sizeof(right_speed), sizeof(left_speed)); |
c201075 | 8:0268032d5849 | 81 | |
c201075 | 8:0268032d5849 | 82 | wb.SetRPM(left_speed,right_speed); |
c201075 | 8:0268032d5849 | 83 | #ifdef DEBUG |
c201075 | 8:0268032d5849 | 84 | pc.printf("SetRPM %f,%f \n\r",left_speed,right_speed); |
c201075 | 8:0268032d5849 | 85 | #endif |
c201075 | 7:5aa479fe5d0b | 86 | } |
jksoft | 0:8468a4403fea | 87 | |
jksoft | 0:8468a4403fea | 88 | /**************************************************************************/ |
jksoft | 0:8468a4403fea | 89 | /*! |
jksoft | 0:8468a4403fea | 90 | @brief Program entry point |
jksoft | 0:8468a4403fea | 91 | */ |
jksoft | 0:8468a4403fea | 92 | /**************************************************************************/ |
jksoft | 0:8468a4403fea | 93 | int main(void) |
jksoft | 0:8468a4403fea | 94 | { |
jksoft | 0:8468a4403fea | 95 | |
c201075 | 8:0268032d5849 | 96 | int16_t mpu[6];//ax,ay,az,gx,gy,gz |
c201075 | 8:0268032d5849 | 97 | short line; |
c201075 | 8:0268032d5849 | 98 | float rrpm,lrpm; |
c201075 | 4:6b4563aaee2c | 99 | |
c201075 | 8:0268032d5849 | 100 | uint8_t sen_buf[10]; |
c201075 | 8:0268032d5849 | 101 | uint8_t mpu_buf[12]; |
c201075 | 8:0268032d5849 | 102 | |
c201075 | 8:0268032d5849 | 103 | mpu.initialize(); |
jksoft | 0:8468a4403fea | 104 | |
c201075 | 4:6b4563aaee2c | 105 | pc.baud(115200); |
c201075 | 4:6b4563aaee2c | 106 | pc.printf("Start\n\r"); |
jksoft | 0:8468a4403fea | 107 | |
jksoft | 0:8468a4403fea | 108 | |
c201075 | 7:5aa479fe5d0b | 109 | ble.init(); |
c201075 | 4:6b4563aaee2c | 110 | //イベント時のコールバック関数 |
c201075 | 7:5aa479fe5d0b | 111 | ble.onConnection(onConnected); |
c201075 | 7:5aa479fe5d0b | 112 | ble.onDisconnection(onDisconnected); |
c201075 | 7:5aa479fe5d0b | 113 | ble.onDataWritten(onDataWritten); |
c201075 | 4:6b4563aaee2c | 114 | |
jksoft | 0:8468a4403fea | 115 | /* setup advertising */ |
c201075 | 4:6b4563aaee2c | 116 | //クラシックBTはサポートせず、BLEデバイスとして認識してもらう |
c201075 | 7:5aa479fe5d0b | 117 | ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED); |
c201075 | 4:6b4563aaee2c | 118 | //デバイスがセントラルに接続可能であることを設定 |
c201075 | 7:5aa479fe5d0b | 119 | ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); |
c201075 | 4:6b4563aaee2c | 120 | //LOCAL NAMEの設定、BLEでは終端記号は不要なので-1する |
c201075 | 7:5aa479fe5d0b | 121 | ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,(const uint8_t *)"mbed WallbotBLE", sizeof("mbed WallbotBLE") - 1); |
c201075 | 7:5aa479fe5d0b | 122 | |
c201075 | 4:6b4563aaee2c | 123 | //16Bit短縮UUIDの設定 |
c201075 | 8:0268032d5849 | 124 | //HACK:リバースが必要?「mbed BLE APIで128bit UUIDを含むGATT Serviceを2つ以上登録すると Service UUIDがひっくり返る?」 |
c201075 | 7:5aa479fe5d0b | 125 | ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,(const uint8_t *)base_uuid, sizeof(base_uuid)); |
c201075 | 7:5aa479fe5d0b | 126 | |
c201075 | 4:6b4563aaee2c | 127 | //Advertiseパケットの送信周期 |
c201075 | 7:5aa479fe5d0b | 128 | ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */ |
jksoft | 0:8468a4403fea | 129 | |
c201075 | 4:6b4563aaee2c | 130 | //サービスの登録 |
c201075 | 7:5aa479fe5d0b | 131 | ble.addService(myService); |
c201075 | 4:6b4563aaee2c | 132 | |
c201075 | 4:6b4563aaee2c | 133 | //Advertizeの開始 |
c201075 | 7:5aa479fe5d0b | 134 | ble.startAdvertising(); |
jksoft | 0:8468a4403fea | 135 | |
c201075 | 5:eeabd90b6d62 | 136 | pc.printf("auto calibrate start\n\r"); |
c201075 | 5:eeabd90b6d62 | 137 | wb.auto_calibrate(); |
c201075 | 6:9fd87d75a24b | 138 | #ifdef DEBUG |
c201075 | 5:eeabd90b6d62 | 139 | for(int i = 0 ; i < 4 ; i++) |
c201075 | 5:eeabd90b6d62 | 140 | { |
c201075 | 5:eeabd90b6d62 | 141 | pc.printf("(%d,%d) ",wb._calibratedMinimum[i],wb._calibratedMaximum[i]); |
c201075 | 5:eeabd90b6d62 | 142 | } |
c201075 | 5:eeabd90b6d62 | 143 | pc.printf("\n\rauto calibrate end\n\r"); |
c201075 | 6:9fd87d75a24b | 144 | #endif |
jksoft | 0:8468a4403fea | 145 | |
c201075 | 5:eeabd90b6d62 | 146 | #if 0 //エンコーダキャリブレーション用コード |
c201075 | 4:6b4563aaee2c | 147 | BusIn enc(P0_8,P0_10,P0_6,P0_7); |
c201075 | 4:6b4563aaee2c | 148 | enc.mode(PullNone); |
c201075 | 4:6b4563aaee2c | 149 | while(1){ |
c201075 | 4:6b4563aaee2c | 150 | char c = enc.read(); |
c201075 | 4:6b4563aaee2c | 151 | pc.putc(c); |
c201075 | 4:6b4563aaee2c | 152 | wait_ms(10); |
c201075 | 4:6b4563aaee2c | 153 | } |
c201075 | 4:6b4563aaee2c | 154 | #endif |
jksoft | 0:8468a4403fea | 155 | while (true) { |
c201075 | 8:0268032d5849 | 156 | //センサ値の取得 |
c201075 | 8:0268032d5849 | 157 | line = wb.GetLinePosition(); |
c201075 | 8:0268032d5849 | 158 | rrpm = wb.get_right_rpm(); |
c201075 | 8:0268032d5849 | 159 | lrpm = wb.get_left_rpm(); |
c201075 | 8:0268032d5849 | 160 | mpu.getMotion6(&mpu[0], &mpu[1], &mpu[2], &mpu[3], &mpu[4], &mpu[5]); |
c201075 | 8:0268032d5849 | 161 | |
c201075 | 8:0268032d5849 | 162 | //送信の準備 |
c201075 | 8:0268032d5849 | 163 | memcpy(sen_buf ,&line,sizeof(line)); |
c201075 | 8:0268032d5849 | 164 | memcpy(sen_buf+sizeof(line) ,&rrpm,sizeof(rrpm)); |
c201075 | 8:0268032d5849 | 165 | memcpy(sen_buf+sizeof(line)+sizeof(rrpm),&lrpm,sizeof(lrpm)); |
c201075 | 8:0268032d5849 | 166 | |
c201075 | 8:0268032d5849 | 167 | memcpy(mpu_buf,mpu,sizeof(mpu)); |
c201075 | 8:0268032d5849 | 168 | |
c201075 | 8:0268032d5849 | 169 | |
c201075 | 8:0268032d5849 | 170 | ble.updateCharacteristicValue(senChar.getValueAttribute().getHandle(), (uint8_t *)sen_buf, sizeof(sen_buf)); |
c201075 | 8:0268032d5849 | 171 | ble.updateCharacteristicValue(mpuChar.getValueAttribute().getHandle(), (uint8_t *)mpu_buf, sizeof(mpu_buf)); |
c201075 | 8:0268032d5849 | 172 | |
c201075 | 8:0268032d5849 | 173 | // |
c201075 | 4:6b4563aaee2c | 174 | #ifdef DEBUG |
c201075 | 8:0268032d5849 | 175 | pc.printf("Pulse(%d,%d) RPM(%.2f,%.2f) ",wb._left_pulses,wb._right_pulses,rrpm,lrpm); |
c201075 | 8:0268032d5849 | 176 | pc.printf("LinePos:%d ",line); |
c201075 | 6:9fd87d75a24b | 177 | //pc.printf("calib(%d,%d,%d,%d)",wb.sensor_values[0],wb.sensor_values[1],wb.sensor_values[2],wb.sensor_values[3]); |
c201075 | 8:0268032d5849 | 178 | pc.printf("MPU6050(%d;%d;%d;%d;%d;%d)\n\r",mpu[0], mpu[1], mpu[2], mpu[3], mpu[4], mpu[5]); |
c201075 | 5:eeabd90b6d62 | 179 | pc.printf("\n\r"); |
c201075 | 4:6b4563aaee2c | 180 | #endif |
c201075 | 8:0268032d5849 | 181 | wait_ms(10); |
jksoft | 0:8468a4403fea | 182 | } |
jksoft | 0:8468a4403fea | 183 | } |
jksoft | 0:8468a4403fea | 184 |