Junichi Katsu / Mbed 2 deprecated BLE_WALLBOT_BLE

試作テストバージョン

Dependencies:   BLE_API TB6612FNG mbed

Fork of BLE_RCBController2 by Junichi Katsu

main.cpp@4:ca2ee032bc5a, 2014-08-29 (annotated)

Committer:
jksoft
Date:
Fri Aug 29 04:40:46 2014 +0000
Revision:
4:ca2ee032bc5a
Parent:
2:dd85fdc18224 
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:8c643bfe55b7 1 #include "mbed.h"
jksoft 1:48f6e08a3ac2 2 #include "BLEDevice.h"
jksoft 0:8c643bfe55b7 3 #include "RCBController.h"
jksoft 4:ca2ee032bc5a 4 #include "TB6612.h"
jksoft 0:8c643bfe55b7 5
jksoft 1:48f6e08a3ac2 6 #define DBG 1
jksoft 0:8c643bfe55b7 7
jksoft 1:48f6e08a3ac2 8 BLEDevice ble;
jksoft 0:8c643bfe55b7 9 Serial pc(USBTX, USBRX);
jksoft 0:8c643bfe55b7 10 /* LEDs for indication: */
jksoft 4:ca2ee032bc5a 11 DigitalOut ConnectStateLed(P0_18);
jksoft 4:ca2ee032bc5a 12 DigitalOut outlow(P0_20);
jksoft 4:ca2ee032bc5a 13 //PwmOut ControllerStateLed(LED2);
jksoft 0:8c643bfe55b7 14
jksoft 4:ca2ee032bc5a 15 TB6612 left(P0_29,P0_24,P0_23);
jksoft 4:ca2ee032bc5a 16 TB6612 right(P0_28,P0_30,P0_0);
jksoft 0:8c643bfe55b7 17
jksoft 0:8c643bfe55b7 18 /* RCBController Service */
jksoft 0:8c643bfe55b7 19 static const uint16_t RCBController_service_uuid = 0xFFF0;
jksoft 0:8c643bfe55b7 20 static const uint16_t RCBController_Characteristic_uuid = 0xFFF1;
jksoft 1:48f6e08a3ac2 21 uint8_t RCBControllerPayload[10] = {0,};
jksoft 1:48f6e08a3ac2 22
jksoft 1:48f6e08a3ac2 23 GattCharacteristic ControllerChar (RCBController_Characteristic_uuid,RCBControllerPayload,10, 10,
jksoft 0:8c643bfe55b7 24 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE |
jksoft 0:8c643bfe55b7 25 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
jksoft 1:48f6e08a3ac2 26 GattCharacteristic *ControllerChars[] = {&ControllerChar};
jksoft 1:48f6e08a3ac2 27 GattService RCBControllerService(RCBController_service_uuid, ControllerChars, sizeof(ControllerChars) / sizeof(GattCharacteristic *));
jksoft 0:8c643bfe55b7 28
jksoft 0:8c643bfe55b7 29 RCBController controller;
jksoft 0:8c643bfe55b7 30
jksoft 1:48f6e08a3ac2 31 void onConnected(uint16_t h)
jksoft 0:8c643bfe55b7 32 {
jksoft 1:48f6e08a3ac2 33 ConnectStateLed = 0;
jksoft 0:8c643bfe55b7 34 #if DBG
jksoft 1:48f6e08a3ac2 35 pc.printf("Connected\n\r");
jksoft 0:8c643bfe55b7 36 #endif
jksoft 1:48f6e08a3ac2 37 }
jksoft 0:8c643bfe55b7 38
jksoft 1:48f6e08a3ac2 39 void onDisconnected(uint16_t h)
jksoft 1:48f6e08a3ac2 40 {
jksoft 1:48f6e08a3ac2 41 ble.startAdvertising();
jksoft 1:48f6e08a3ac2 42 ConnectStateLed = 1;
jksoft 0:8c643bfe55b7 43 #if DBG
jksoft 1:48f6e08a3ac2 44 pc.printf("Disconnected\n\r");
jksoft 0:8c643bfe55b7 45 #endif
jksoft 1:48f6e08a3ac2 46 }
jksoft 1:48f6e08a3ac2 47
jksoft 0:8c643bfe55b7 48
jksoft 0:8c643bfe55b7 49 // GattEvent
jksoft 1:48f6e08a3ac2 50 void onDataWritten(uint16_t charHandle)
jksoft 0:8c643bfe55b7 51 {
jksoft 1:48f6e08a3ac2 52 if (charHandle == ControllerChar.getHandle()) {
jksoft 1:48f6e08a3ac2 53 uint16_t bytesRead;
jksoft 1:48f6e08a3ac2 54 ble.readCharacteristicValue(ControllerChar.getHandle(),RCBControllerPayload, &bytesRead);
jksoft 1:48f6e08a3ac2 55 memcpy( &controller.data[0], RCBControllerPayload, sizeof(controller));
jksoft 0:8c643bfe55b7 56 #if DBG
jksoft 1:48f6e08a3ac2 57
jksoft 1:48f6e08a3ac2 58 pc.printf("DATA:%02X %02X %d %d %d %d %d %d %d %02X\n\r",controller.data[0],controller.data[1],controller.data[2],controller.data[3],controller.data[4],
jksoft 0:8c643bfe55b7 59 controller.data[5],controller.data[6],controller.data[7],controller.data[8],controller.data[9]);
jksoft 0:8c643bfe55b7 60 #endif
jksoft 4:ca2ee032bc5a 61 left = ((float)((int)controller.status.LeftAnalogUD -128) / 128.0);
jksoft 4:ca2ee032bc5a 62 right = ((float)((int)controller.status.RightAnalogUD -128) / 128.0);
jksoft 4:ca2ee032bc5a 63 //ControllerStateLed = (float)controller.status.LeftAnalogLR / 255.0;
jksoft 1:48f6e08a3ac2 64 }
jksoft 0:8c643bfe55b7 65
jksoft 1:48f6e08a3ac2 66 }
jksoft 0:8c643bfe55b7 67
jksoft 0:8c643bfe55b7 68 /**************************************************************************/
jksoft 0:8c643bfe55b7 69 /*!
jksoft 0:8c643bfe55b7 70 @brief Program entry point
jksoft 0:8c643bfe55b7 71 */
jksoft 0:8c643bfe55b7 72 /**************************************************************************/
jksoft 0:8c643bfe55b7 73 int main(void)
jksoft 0:8c643bfe55b7 74 {
jksoft 4:ca2ee032bc5a 75 pc.baud(921600);
jksoft 4:ca2ee032bc5a 76
jksoft 4:ca2ee032bc5a 77
jksoft 4:ca2ee032bc5a 78 ConnectStateLed = 1;
jksoft 0:8c643bfe55b7 79 #if DBG
jksoft 0:8c643bfe55b7 80 pc.printf("Start\n\r");
jksoft 0:8c643bfe55b7 81 #endif
jksoft 4:ca2ee032bc5a 82 outlow = 0;
jksoft 1:48f6e08a3ac2 83
jksoft 2:dd85fdc18224 84 ble.init();
jksoft 1:48f6e08a3ac2 85 ble.onConnection(onConnected);
jksoft 1:48f6e08a3ac2 86 ble.onDisconnection(onDisconnected);
jksoft 1:48f6e08a3ac2 87 ble.onDataWritten(onDataWritten);
jksoft 1:48f6e08a3ac2 88
jksoft 1:48f6e08a3ac2 89 /* setup advertising */
jksoft 1:48f6e08a3ac2 90 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
jksoft 1:48f6e08a3ac2 91 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
jksoft 1:48f6e08a3ac2 92 ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
jksoft 4:ca2ee032bc5a 93 (const uint8_t *)"mbed WallbotBLE", sizeof("mbed WallbotBLE") - 1);
jksoft 1:48f6e08a3ac2 94 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
jksoft 1:48f6e08a3ac2 95 (const uint8_t *)RCBController_service_uuid, sizeof(RCBController_service_uuid));
jksoft 0:8c643bfe55b7 96
jksoft 1:48f6e08a3ac2 97 ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
jksoft 1:48f6e08a3ac2 98 ble.startAdvertising();
jksoft 0:8c643bfe55b7 99
jksoft 1:48f6e08a3ac2 100 ble.addService(RCBControllerService);
jksoft 4:ca2ee032bc5a 101
jksoft 0:8c643bfe55b7 102
jksoft 1:48f6e08a3ac2 103 while (true) {
jksoft 1:48f6e08a3ac2 104 ble.waitForEvent();
jksoft 0:8c643bfe55b7 105 }
jksoft 0:8c643bfe55b7 106 }
jksoft 0:8c643bfe55b7 107