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
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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
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。
HRM1017/btle/btle.cpp
- Committer:
- jksoft
- Date:
- 2014-08-20
- Revision:
- 4:ebda47d22091
- Parent:
- nRF51822/btle/btle.cpp@ 1:48f6e08a3ac2
File content as of revision 4:ebda47d22091:
/* mbed Microcontroller Library * Copyright (c) 2006-2013 ARM Limited * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ #include "common/common.h" #include "nordic_common.h" #include "app_timer.h" #include "btle.h" #include "ble_stack_handler_types.h" #include "ble_radio_notification.h" #include "ble_flash.h" #if NEED_BOND_MANAGER #include "ble_bondmngr.h" #endif #include "ble_conn_params.h" #include "btle_gap.h" #include "btle_advertising.h" #include "custom/custom_helper.h" #include "softdevice_handler.h" #include "pstorage.h" #include "GapEvents.h" #include "nRF51Gap.h" #include "nRF51GattServer.h" #if NEED_BOND_MANAGER /* disabled by default */ static void service_error_callback(uint32_t nrf_error); #endif extern "C" void assert_nrf_callback(uint16_t line_num, const uint8_t *p_file_name); void app_error_handler(uint32_t error_code, uint32_t line_num, const uint8_t *p_file_name); #if NEED_BOND_MANAGER /* disabled by default */ static error_t bond_manager_init(void); #endif static void btle_handler(ble_evt_t *p_ble_evt); static void sys_evt_dispatch(uint32_t sys_evt) { #if NEED_PSTORAGE /* disabled by default */ pstorage_sys_event_handler(sys_evt); #endif } error_t btle_init(void) { APP_TIMER_INIT(0, 8, 5, false); // SOFTDEVICE_HANDLER_INIT(NRF_CLOCK_LFCLKSRC_XTAL_20_PPM, false); SOFTDEVICE_HANDLER_INIT(NRF_CLOCK_LFCLKSRC_RC_250_PPM_4000MS_CALIBRATION, false); ASSERT_STATUS( softdevice_ble_evt_handler_set(btle_handler)); ASSERT_STATUS( softdevice_sys_evt_handler_set(sys_evt_dispatch)); #if NEED_BOND_MANAGER /* disabled by default */ bond_manager_init(); #endif btle_gap_init(); return ERROR_NONE; } static void btle_handler(ble_evt_t *p_ble_evt) { /* Library service handlers */ #if NEED_BOND_MANAGER /* disabled by default */ ble_bondmngr_on_ble_evt(p_ble_evt); #endif ble_conn_params_on_ble_evt(p_ble_evt); /* Custom event handler */ switch (p_ble_evt->header.evt_id) { case BLE_GAP_EVT_CONNECTED: { Gap::Handle_t handle = p_ble_evt->evt.gap_evt.conn_handle; nRF51Gap::getInstance().setConnectionHandle(handle); nRF51Gap::getInstance().processHandleSpecificEvent(GapEvents::GAP_EVENT_CONNECTED, handle); break; } case BLE_GAP_EVT_DISCONNECTED: { Gap::Handle_t handle = p_ble_evt->evt.gap_evt.conn_handle; // Since we are not in a connection and have not started advertising, // store bonds nRF51Gap::getInstance().setConnectionHandle (BLE_CONN_HANDLE_INVALID); #if NEED_BOND_MANAGER /* disabled by default */ ASSERT_STATUS_RET_VOID ( ble_bondmngr_bonded_centrals_store()); #endif nRF51Gap::getInstance().processHandleSpecificEvent(GapEvents::GAP_EVENT_DISCONNECTED, handle); break; } case BLE_GAP_EVT_SEC_PARAMS_REQUEST: { ble_gap_sec_params_t sec_params = {0}; sec_params.timeout = 30; /*< Timeout for Pairing Request or * Security Request (in seconds). */ sec_params.bond = 1; /**< Perform bonding. */ sec_params.mitm = CFG_BLE_SEC_PARAM_MITM; sec_params.io_caps = CFG_BLE_SEC_PARAM_IO_CAPABILITIES; sec_params.oob = CFG_BLE_SEC_PARAM_OOB; sec_params.min_key_size = CFG_BLE_SEC_PARAM_MIN_KEY_SIZE; sec_params.max_key_size = CFG_BLE_SEC_PARAM_MAX_KEY_SIZE; ASSERT_STATUS_RET_VOID( sd_ble_gap_sec_params_reply(nRF51Gap::getInstance(). getConnectionHandle(), BLE_GAP_SEC_STATUS_SUCCESS, &sec_params)); } break; case BLE_GAP_EVT_TIMEOUT: if (p_ble_evt->evt.gap_evt.params.timeout.src == BLE_GAP_TIMEOUT_SRC_ADVERTISEMENT) { nRF51Gap::getInstance().processEvent(GapEvents::GAP_EVENT_TIMEOUT); } break; case BLE_GATTC_EVT_TIMEOUT: case BLE_GATTS_EVT_TIMEOUT: // Disconnect on GATT Server and Client timeout events. // ASSERT_STATUS_RET_VOID (sd_ble_gap_disconnect(m_conn_handle, // BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION)); break; default: break; } nRF51GattServer::getInstance().hwCallback(p_ble_evt); } #if NEED_BOND_MANAGER /* disabled by default */ /**************************************************************************/ /*! @brief Initialises the bond manager @note Bond data will be cleared on reset if the bond delete button is pressed during initialisation (the button is defined as CFG_BLE_BOND_DELETE_BUTTON_NUM). @returns */ /**************************************************************************/ static error_t bond_manager_init(void) { ble_bondmngr_init_t bond_para = {0}; ASSERT_STATUS ( pstorage_init()); bond_para.flash_page_num_bond = CFG_BLE_BOND_FLASH_PAGE_BOND; bond_para.flash_page_num_sys_attr = CFG_BLE_BOND_FLASH_PAGE_SYS_ATTR; //bond_para.bonds_delete = boardButtonCheck(CFG_BLE_BOND_DELETE_BUTTON_NUM) ; bond_para.evt_handler = NULL; bond_para.error_handler = service_error_callback; ASSERT_STATUS( ble_bondmngr_init( &bond_para )); /* Init radio active/inactive notification to flash (to only perform flashing when the radio is inactive) */ // ASSERT_STATUS( ble_radio_notification_init(NRF_APP_PRIORITY_HIGH, // NRF_RADIO_NOTIFICATION_DISTANCE_4560US, // ble_flash_on_radio_active_evt) ); return ERROR_NONE; } #endif // #if NEED_BOND_MANAGER #if NEED_BOND_MANAGER /* disabled by default */ /**************************************************************************/ /*! @brief @param[in] nrf_error @returns */ /**************************************************************************/ static void service_error_callback(uint32_t nrf_error) { ASSERT_STATUS_RET_VOID( nrf_error ); } #endif // #if NEED_BOND_MANAGER /**************************************************************************/ /*! @brief Callback when an error occurs inside the SoftDevice @param[in] line_num @param[in] p-file_name @returns */ /**************************************************************************/ void assert_nrf_callback(uint16_t line_num, const uint8_t *p_file_name) { ASSERT(false, (void) 0); } /**************************************************************************/ /*! @brief Handler for general errors above the SoftDevice layer. Typically we can' recover from this so we do a reset. @param[in] error_code @param[in] line_num @param[in] p-file_name @returns */ /**************************************************************************/ void app_error_handler(uint32_t error_code, uint32_t line_num, const uint8_t *p_file_name) { ASSERT_STATUS_RET_VOID( error_code ); NVIC_SystemReset(); }