Bizan Nishimura / Mbed 2 deprecated MiniSteer2

AndroidのBLEラジコンプロポアプリ「BLEPropo」と接続し、RCサーボとDCモータを制御するプログラムです。 mbed HRM1017で動作を確認しています。 BLEPropo → https://github.com/lipoyang/BLEPropo

Dependencies:   BLE_API mbed

Fork of BLE_RCBController2 by Junichi Katsu

BLEを使ったAndroid用ラジコンプロポアプリ「BLEPropo」に対応するmbed HRM1017用ファームウェアです。
BLEPropoは、GitHubにて公開中。
https://github.com/lipoyang/BLEPropo
/media/uploads/lipoyang/blepropo_ui.png
ラジコンは、mbed HRM1017とRCサーボやDCモータを組み合わせて作ります。
/media/uploads/lipoyang/ble_wiring.png

main.cpp@5:85c6be3d9008, 2015-01-30 (annotated)

Committer:
lipoyang
Date:
Fri Jan 30 02:41:31 2015 +0000
Revision:
5:85c6be3d9008
Parent:
2:dd85fdc18224
Child:
7:505a9a98b776
fork

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lipoyang 5:85c6be3d9008 1 /*
lipoyang 5:85c6be3d9008 2 * This repo was forked from jksoft/BLE_RCBController2.
lipoyang 5:85c6be3d9008 3 * The copyrights of the original repo belongs to Junichi Katsu.
lipoyang 5:85c6be3d9008 4 */
lipoyang 5:85c6be3d9008 5
lipoyang 5:85c6be3d9008 6 /*
lipoyang 5:85c6be3d9008 7 * Copyright (C) 2014 Bizan Nishimura (@lipoyang)
lipoyang 5:85c6be3d9008 8 *
lipoyang 5:85c6be3d9008 9 * Licensed under the Apache License, Version 2.0 (the "License");
lipoyang 5:85c6be3d9008 10 * you may not use this file except in compliance with the License.
lipoyang 5:85c6be3d9008 11 * You may obtain a copy of the License at
lipoyang 5:85c6be3d9008 12 *
lipoyang 5:85c6be3d9008 13 * http://www.apache.org/licenses/LICENSE-2.0
lipoyang 5:85c6be3d9008 14 *
lipoyang 5:85c6be3d9008 15 * Unless required by applicable law or agreed to in writing, software
lipoyang 5:85c6be3d9008 16 * distributed under the License is distributed on an "AS IS" BASIS,
lipoyang 5:85c6be3d9008 17 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
lipoyang 5:85c6be3d9008 18 * See the License for the specific language governing permissions and
lipoyang 5:85c6be3d9008 19 * limitations under the License.
lipoyang 5:85c6be3d9008 20 */
lipoyang 5:85c6be3d9008 21
lipoyang 5:85c6be3d9008 22 /*
lipoyang 5:85c6be3d9008 23 * Library Dependencies:
lipoyang 5:85c6be3d9008 24 * - BLE_API (revision 111)
lipoyang 5:85c6be3d9008 25 * - HRM1017
lipoyang 5:85c6be3d9008 26 * - HRM1017/projectconfig.h
lipoyang 5:85c6be3d9008 27 * connection interval constants are modified. (No need?)
lipoyang 5:85c6be3d9008 28 * CFG_GAP_CONNECTION_MIN_INTERVAL_MS 30
lipoyang 5:85c6be3d9008 29 * CFG_GAP_CONNECTION_MAX_INTERVAL_MS 50
lipoyang 5:85c6be3d9008 30 */
lipoyang 5:85c6be3d9008 31
jksoft 0:8c643bfe55b7 32 #include "mbed.h"
jksoft 1:48f6e08a3ac2 33 #include "BLEDevice.h"
jksoft 0:8c643bfe55b7 34
jksoft 1:48f6e08a3ac2 35 #define DBG 1
jksoft 0:8c643bfe55b7 36
lipoyang 5:85c6be3d9008 37 // BLE device object
jksoft 1:48f6e08a3ac2 38 BLEDevice ble;
lipoyang 5:85c6be3d9008 39
lipoyang 5:85c6be3d9008 40 // BluePropo service UUID
lipoyang 5:85c6be3d9008 41 //static const uint16_t UUID_BLUEPROPO = 0xFFF0;
lipoyang 5:85c6be3d9008 42 static const uint8_t UUID_BLUEPROPO[] =
lipoyang 5:85c6be3d9008 43 { 0xc4, 0x9d, 0xfd, 0x1b, 0x86, 0x04, 0x41, 0xd2, 0x89, 0x43, 0x13, 0x6f, 0x21, 0x4d, 0xd0, 0xbf };
jksoft 0:8c643bfe55b7 44
lipoyang 5:85c6be3d9008 45 // BluePropo::Stick characteristic UUID
lipoyang 5:85c6be3d9008 46 //static const uint16_t UUID_BLUEPROPO_STICK = 0xFFF1;
lipoyang 5:85c6be3d9008 47 static const uint8_t UUID_BLUEPROPO_STICK[] =
lipoyang 5:85c6be3d9008 48 { 0x74, 0x25, 0xfb, 0xa0, 0x72, 0x15, 0x41, 0x36, 0xaa, 0x3f, 0x07, 0x2a, 0xa0, 0x7d, 0x93, 0x54 };
lipoyang 5:85c6be3d9008 49
lipoyang 5:85c6be3d9008 50 // Device Name (for display)
lipoyang 5:85c6be3d9008 51 #define DEVICE_NAME "MiniSteer HRM1017"
jksoft 0:8c643bfe55b7 52
lipoyang 5:85c6be3d9008 53 // BluePropo::Stick data structure
lipoyang 5:85c6be3d9008 54 union StickData
lipoyang 5:85c6be3d9008 55 {
lipoyang 5:85c6be3d9008 56 struct {
lipoyang 5:85c6be3d9008 57 // F(-128)<- 0 ->B(+127)
lipoyang 5:85c6be3d9008 58 signed char fb;
lipoyang 5:85c6be3d9008 59 // L(-128)<- 0 ->R(+127)
lipoyang 5:85c6be3d9008 60 signed char lr;
lipoyang 5:85c6be3d9008 61 }value;
lipoyang 5:85c6be3d9008 62 unsigned char bytes[2];
lipoyang 5:85c6be3d9008 63 };
lipoyang 5:85c6be3d9008 64 StickData stickData;
jksoft 1:48f6e08a3ac2 65
lipoyang 5:85c6be3d9008 66 // buffer for BluePropo payload
lipoyang 5:85c6be3d9008 67 uint8_t payload[10] = {0,};
lipoyang 5:85c6be3d9008 68
lipoyang 5:85c6be3d9008 69 // BluePropo::Stick characteristic
lipoyang 5:85c6be3d9008 70 GattCharacteristic charStick (UUID_BLUEPROPO_STICK, payload, 2, 2,
jksoft 0:8c643bfe55b7 71 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE |
jksoft 0:8c643bfe55b7 72 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
lipoyang 5:85c6be3d9008 73 // BluePropo characteristics set
lipoyang 5:85c6be3d9008 74 GattCharacteristic *chars[] = {&charStick};
lipoyang 5:85c6be3d9008 75 // BluePropo service
lipoyang 5:85c6be3d9008 76 GattService serviceBluePropo(UUID_BLUEPROPO, chars, sizeof(chars) / sizeof(GattCharacteristic *));
lipoyang 5:85c6be3d9008 77
lipoyang 5:85c6be3d9008 78 // USB COM port for Debug
lipoyang 5:85c6be3d9008 79 Serial pc(USBTX, USBRX);
lipoyang 5:85c6be3d9008 80
lipoyang 5:85c6be3d9008 81 // pin asign
lipoyang 5:85c6be3d9008 82 DigitalOut tb6612_ain1(P0_28);
lipoyang 5:85c6be3d9008 83 DigitalOut tb6612_ain2(P0_29);
lipoyang 5:85c6be3d9008 84 PwmOut tb6612_pwma(P0_30);
lipoyang 5:85c6be3d9008 85 PwmOut servo_pwm (P0_12);
jksoft 0:8c643bfe55b7 86
lipoyang 5:85c6be3d9008 87 // DC motor driver (TB6612)
lipoyang 5:85c6be3d9008 88 void motor (float speed)
lipoyang 5:85c6be3d9008 89 {
lipoyang 5:85c6be3d9008 90 if (speed > 0) {
lipoyang 5:85c6be3d9008 91 // CW
lipoyang 5:85c6be3d9008 92 tb6612_pwma = speed;
lipoyang 5:85c6be3d9008 93 tb6612_ain1 = 1;
lipoyang 5:85c6be3d9008 94 tb6612_ain2 = 0;
lipoyang 5:85c6be3d9008 95 } else
lipoyang 5:85c6be3d9008 96 if (speed < 0) {
lipoyang 5:85c6be3d9008 97 // CCW
lipoyang 5:85c6be3d9008 98 tb6612_pwma = - speed;
lipoyang 5:85c6be3d9008 99 tb6612_ain1 = 0;
lipoyang 5:85c6be3d9008 100 tb6612_ain2 = 1;
lipoyang 5:85c6be3d9008 101 } else {
lipoyang 5:85c6be3d9008 102 // stop
lipoyang 5:85c6be3d9008 103 tb6612_pwma = 1;
lipoyang 5:85c6be3d9008 104 tb6612_ain1 = 0;
lipoyang 5:85c6be3d9008 105 tb6612_ain2 = 0;
lipoyang 5:85c6be3d9008 106 // // break
lipoyang 5:85c6be3d9008 107 // tb6612_pwma = 1;
lipoyang 5:85c6be3d9008 108 // tb6612_ain1 = 1;
lipoyang 5:85c6be3d9008 109 // tb6612_ain2 = 1;
lipoyang 5:85c6be3d9008 110 }
lipoyang 5:85c6be3d9008 111 }
jksoft 0:8c643bfe55b7 112
lipoyang 5:85c6be3d9008 113 // RC servo
lipoyang 5:85c6be3d9008 114 void servo (float deg)
lipoyang 5:85c6be3d9008 115 {
lipoyang 5:85c6be3d9008 116 servo_pwm.pulsewidth_us(1500 + (int)(500.0 * deg));
lipoyang 5:85c6be3d9008 117 }
lipoyang 5:85c6be3d9008 118
lipoyang 5:85c6be3d9008 119 // BLE onConnection handler
jksoft 1:48f6e08a3ac2 120 void onConnected(uint16_t h)
jksoft 0:8c643bfe55b7 121 {
jksoft 0:8c643bfe55b7 122 #if DBG
jksoft 1:48f6e08a3ac2 123 pc.printf("Connected\n\r");
jksoft 0:8c643bfe55b7 124 #endif
jksoft 1:48f6e08a3ac2 125 }
jksoft 0:8c643bfe55b7 126
lipoyang 5:85c6be3d9008 127 // BLE onDisconnection handler
jksoft 1:48f6e08a3ac2 128 void onDisconnected(uint16_t h)
jksoft 1:48f6e08a3ac2 129 {
jksoft 1:48f6e08a3ac2 130 ble.startAdvertising();
jksoft 0:8c643bfe55b7 131 #if DBG
jksoft 1:48f6e08a3ac2 132 pc.printf("Disconnected\n\r");
jksoft 0:8c643bfe55b7 133 #endif
jksoft 1:48f6e08a3ac2 134 }
jksoft 1:48f6e08a3ac2 135
lipoyang 5:85c6be3d9008 136 // BLE onDataWritten handler (Gatt event)
jksoft 1:48f6e08a3ac2 137 void onDataWritten(uint16_t charHandle)
jksoft 0:8c643bfe55b7 138 {
lipoyang 5:85c6be3d9008 139 if (charHandle == charStick.getHandle()) {
jksoft 1:48f6e08a3ac2 140 uint16_t bytesRead;
lipoyang 5:85c6be3d9008 141 ble.readCharacteristicValue(charStick.getHandle(),payload, &bytesRead);
lipoyang 5:85c6be3d9008 142 memcpy( &stickData.bytes[0], payload, sizeof(stickData));
jksoft 0:8c643bfe55b7 143 #if DBG
jksoft 1:48f6e08a3ac2 144
lipoyang 5:85c6be3d9008 145 pc.printf("DATA:%02X %02X\n\r",stickData.bytes[0],stickData.bytes[1]);
jksoft 0:8c643bfe55b7 146 #endif
lipoyang 5:85c6be3d9008 147 float m = (float)stickData.value.fb / 128.0;
lipoyang 5:85c6be3d9008 148 motor(m);
lipoyang 5:85c6be3d9008 149 float s = (float)stickData.value.lr / 128.0;
lipoyang 5:85c6be3d9008 150 servo(s);
jksoft 1:48f6e08a3ac2 151 }
jksoft 1:48f6e08a3ac2 152 }
jksoft 0:8c643bfe55b7 153
lipoyang 5:85c6be3d9008 154 // Program entry point
jksoft 0:8c643bfe55b7 155 int main(void)
jksoft 0:8c643bfe55b7 156 {
jksoft 0:8c643bfe55b7 157 #if DBG
jksoft 0:8c643bfe55b7 158 pc.printf("Start\n\r");
jksoft 0:8c643bfe55b7 159 #endif
lipoyang 5:85c6be3d9008 160 // initialize servo & motor
lipoyang 5:85c6be3d9008 161 servo_pwm.period_ms(20);
lipoyang 5:85c6be3d9008 162 servo(0.5);
lipoyang 5:85c6be3d9008 163 motor(0);
jksoft 1:48f6e08a3ac2 164
lipoyang 5:85c6be3d9008 165 // initialize BLE
jksoft 2:dd85fdc18224 166 ble.init();
jksoft 1:48f6e08a3ac2 167 ble.onConnection(onConnected);
jksoft 1:48f6e08a3ac2 168 ble.onDisconnection(onDisconnected);
jksoft 1:48f6e08a3ac2 169 ble.onDataWritten(onDataWritten);
lipoyang 5:85c6be3d9008 170 // setup advertising
jksoft 1:48f6e08a3ac2 171 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
jksoft 1:48f6e08a3ac2 172 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
jksoft 1:48f6e08a3ac2 173 ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
lipoyang 5:85c6be3d9008 174 (const uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME) - 1);
jksoft 1:48f6e08a3ac2 175 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
lipoyang 5:85c6be3d9008 176 (const uint8_t *)UUID_BLUEPROPO, sizeof(UUID_BLUEPROPO));
jksoft 1:48f6e08a3ac2 177 ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
jksoft 1:48f6e08a3ac2 178 ble.startAdvertising();
lipoyang 5:85c6be3d9008 179 ble.addService(serviceBluePropo);
jksoft 0:8c643bfe55b7 180
lipoyang 5:85c6be3d9008 181 // main loop (wait for BLE event)
jksoft 1:48f6e08a3ac2 182 while (true) {
jksoft 1:48f6e08a3ac2 183 ble.waitForEvent();
jksoft 0:8c643bfe55b7 184 }
jksoft 0:8c643bfe55b7 185 }