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。
Diff: nRF51822/nRF51Gap.cpp
- Revision:
- 1:48f6e08a3ac2
diff -r 8c643bfe55b7 -r 48f6e08a3ac2 nRF51822/nRF51Gap.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/nRF51822/nRF51Gap.cpp Wed Aug 20 13:24:20 2014 +0000 @@ -0,0 +1,316 @@ +/* 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 "nRF51Gap.h" +#include "mbed.h" + +#include "common/common.h" +#include "ble_advdata.h" +#include "ble_hci.h" + +/**************************************************************************/ +/*! + @brief Sets the advertising parameters and payload for the device + + @param[in] params + Basic advertising details, including the advertising + delay, timeout and how the device should be advertised + @params[in] advData + The primary advertising data payload + @params[in] scanResponse + The optional Scan Response payload if the advertising + type is set to \ref GapAdvertisingParams::ADV_SCANNABLE_UNDIRECTED + in \ref GapAdveritinngParams + + @returns \ref ble_error_t + + @retval BLE_ERROR_NONE + Everything executed properly + + @retval BLE_ERROR_BUFFER_OVERFLOW + The proposed action would cause a buffer overflow. All + advertising payloads must be <= 31 bytes, for example. + + @retval BLE_ERROR_NOT_IMPLEMENTED + A feature was requested that is not yet supported in the + nRF51 firmware or hardware. + + @retval BLE_ERROR_PARAM_OUT_OF_RANGE + One of the proposed values is outside the valid range. + + @section EXAMPLE + + @code + + @endcode +*/ +/**************************************************************************/ +ble_error_t nRF51Gap::setAdvertisingData(const GapAdvertisingData &advData, const GapAdvertisingData &scanResponse) +{ + /* Make sure we don't exceed the advertising payload length */ + if (advData.getPayloadLen() > GAP_ADVERTISING_DATA_MAX_PAYLOAD) { + return BLE_ERROR_BUFFER_OVERFLOW; + } + + /* Make sure we have a payload! */ + if (advData.getPayloadLen() == 0) { + return BLE_ERROR_PARAM_OUT_OF_RANGE; + } + + /* Check the scan response payload limits */ + //if ((params.getAdvertisingType() == GapAdvertisingParams::ADV_SCANNABLE_UNDIRECTED)) + //{ + // /* Check if we're within the upper limit */ + // if (advData.getPayloadLen() > GAP_ADVERTISING_DATA_MAX_PAYLOAD) + // { + // return BLE_ERROR_BUFFER_OVERFLOW; + // } + // /* Make sure we have a payload! */ + // if (advData.getPayloadLen() == 0) + // { + // return BLE_ERROR_PARAM_OUT_OF_RANGE; + // } + //} + + /* Send advertising data! */ + ASSERT(ERROR_NONE == + sd_ble_gap_adv_data_set(advData.getPayload(), + advData.getPayloadLen(), + scanResponse.getPayload(), + scanResponse.getPayloadLen()), + BLE_ERROR_PARAM_OUT_OF_RANGE); + + /* Make sure the GAP Service appearance value is aligned with the + *appearance from GapAdvertisingData */ + ASSERT(ERROR_NONE == sd_ble_gap_appearance_set(advData.getAppearance()), + BLE_ERROR_PARAM_OUT_OF_RANGE); + + /* ToDo: Perform some checks on the payload, for example the Scan Response can't */ + /* contains a flags AD type, etc. */ + + return BLE_ERROR_NONE; +} + +/**************************************************************************/ +/*! + @brief Starts the BLE HW, initialising any services that were + added before this function was called. + + @note All services must be added before calling this function! + + @returns ble_error_t + + @retval BLE_ERROR_NONE + Everything executed properly + + @section EXAMPLE + + @code + + @endcode +*/ +/**************************************************************************/ +ble_error_t nRF51Gap::startAdvertising(const GapAdvertisingParams ¶ms) +{ + /* Make sure we support the advertising type */ + if (params.getAdvertisingType() == GapAdvertisingParams::ADV_CONNECTABLE_DIRECTED) { + /* ToDo: This requires a propery security implementation, etc. */ + return BLE_ERROR_NOT_IMPLEMENTED; + } + + /* Check interval range */ + if (params.getAdvertisingType() == GapAdvertisingParams::ADV_NON_CONNECTABLE_UNDIRECTED) { + /* Min delay is slightly longer for unconnectable devices */ + if ((params.getInterval() < GAP_ADV_PARAMS_INTERVAL_MIN_NONCON) || + (params.getInterval() > GAP_ADV_PARAMS_INTERVAL_MAX)) { + return BLE_ERROR_PARAM_OUT_OF_RANGE; + } + } else { + if ((params.getInterval() < GAP_ADV_PARAMS_INTERVAL_MIN) || + (params.getInterval() > GAP_ADV_PARAMS_INTERVAL_MAX)) { + return BLE_ERROR_PARAM_OUT_OF_RANGE; + } + } + + /* Check timeout is zero for Connectable Directed */ + if ((params.getAdvertisingType() == GapAdvertisingParams::ADV_CONNECTABLE_DIRECTED) && (params.getTimeout() != 0)) { + /* Timeout must be 0 with this type, although we'll never get here */ + /* since this isn't implemented yet anyway */ + return BLE_ERROR_PARAM_OUT_OF_RANGE; + } + + /* Check timeout for other advertising types */ + if ((params.getAdvertisingType() != GapAdvertisingParams::ADV_CONNECTABLE_DIRECTED) && + (params.getTimeout() > GAP_ADV_PARAMS_TIMEOUT_MAX)) { + return BLE_ERROR_PARAM_OUT_OF_RANGE; + } + + /* Start Advertising */ + ble_gap_adv_params_t adv_para = {0}; + + adv_para.type = params.getAdvertisingType(); + adv_para.p_peer_addr = NULL; // Undirected advertisement + adv_para.fp = BLE_GAP_ADV_FP_ANY; + adv_para.p_whitelist = NULL; + adv_para.interval = params.getInterval(); // advertising interval (in units of 0.625 ms) + adv_para.timeout = params.getTimeout(); + + ASSERT(ERROR_NONE == sd_ble_gap_adv_start(&adv_para), + BLE_ERROR_PARAM_OUT_OF_RANGE); + + state.advertising = 1; + + return BLE_ERROR_NONE; +} + +/**************************************************************************/ +/*! + @brief Stops the BLE HW and disconnects from any devices + + @returns ble_error_t + + @retval BLE_ERROR_NONE + Everything executed properly + + @section EXAMPLE + + @code + + @endcode +*/ +/**************************************************************************/ +ble_error_t nRF51Gap::stopAdvertising(void) +{ + /* Stop Advertising */ + ASSERT(ERROR_NONE == sd_ble_gap_adv_stop(), BLE_ERROR_PARAM_OUT_OF_RANGE); + + state.advertising = 0; + + return BLE_ERROR_NONE; +} + +/**************************************************************************/ +/*! + @brief Disconnects if we are connected to a central device + + @returns ble_error_t + + @retval BLE_ERROR_NONE + Everything executed properly + + @section EXAMPLE + + @code + + @endcode +*/ +/**************************************************************************/ +ble_error_t nRF51Gap::disconnect(void) +{ + state.advertising = 0; + state.connected = 0; + + /* Disconnect if we are connected to a central device */ + ASSERT_INT(ERROR_NONE, + sd_ble_gap_disconnect(m_connectionHandle, BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION), BLE_ERROR_PARAM_OUT_OF_RANGE); + + return BLE_ERROR_NONE; +} + +ble_error_t nRF51Gap::getPreferredConnectionParams(ConnectionParams_t *params) +{ + ASSERT_INT(NRF_SUCCESS, + sd_ble_gap_ppcp_get(reinterpret_cast<ble_gap_conn_params_t *>(params)), + BLE_ERROR_PARAM_OUT_OF_RANGE); + + return BLE_ERROR_NONE; +} + +ble_error_t nRF51Gap::setPreferredConnectionParams(const ConnectionParams_t *params) +{ + ASSERT_INT(NRF_SUCCESS, + sd_ble_gap_ppcp_set(reinterpret_cast<const ble_gap_conn_params_t *>(params)), + BLE_ERROR_PARAM_OUT_OF_RANGE); + + return BLE_ERROR_NONE; +} + +ble_error_t nRF51Gap::updateConnectionParams(Handle_t handle, const ConnectionParams_t *newParams) +{ + uint32_t rc; + + rc = sd_ble_gap_conn_param_update(handle, + reinterpret_cast<ble_gap_conn_params_t *>(const_cast<ConnectionParams_t*>(newParams))); + if (rc == NRF_SUCCESS) { + return BLE_ERROR_NONE; + } else { + return BLE_ERROR_PARAM_OUT_OF_RANGE; + } +} + +/**************************************************************************/ +/*! + @brief Sets the 16-bit connection handle +*/ +/**************************************************************************/ +void nRF51Gap::setConnectionHandle(uint16_t con_handle) +{ + m_connectionHandle = con_handle; +} + +/**************************************************************************/ +/*! + @brief Gets the 16-bit connection handle +*/ +/**************************************************************************/ +uint16_t nRF51Gap::getConnectionHandle(void) +{ + return m_connectionHandle; +} + +/**************************************************************************/ +/*! + @brief Sets the BLE device address + + @returns ble_error_t + + @section EXAMPLE + + @code + + uint8_t device_address[6] = { 0xca, 0xfe, 0xf0, 0xf0, 0xf0, 0xf0 }; + nrf.getGap().setAddress(Gap::ADDR_TYPE_RANDOM_STATIC, device_address); + + @endcode +*/ +/**************************************************************************/ +ble_error_t nRF51Gap::setAddress(addr_type_t type, const uint8_t address[6]) +{ + if (type > ADDR_TYPE_RANDOM_PRIVATE_NON_RESOLVABLE) { + return BLE_ERROR_PARAM_OUT_OF_RANGE; + } + + ble_gap_addr_t dev_addr; + dev_addr.addr_type = type; + memcpy(dev_addr.addr, address, 6); + + ASSERT_INT(ERROR_NONE, + sd_ble_gap_address_set(BLE_GAP_ADDR_CYCLE_MODE_NONE, &dev_addr), + BLE_ERROR_PARAM_OUT_OF_RANGE); + + + return BLE_ERROR_NONE; +}