Diff: main.cpp

Revision:

0:c5082e68ff72

Child:

1:3f38c4bad274

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jan 29 23:30:56 2015 +0000
@@ -0,0 +1,315 @@
+/*
+ * Copyright (C) 2015 Bizan Nishimura (@lipoyang)
+ *
+ * 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 "mbed.h"
+#include "BLEDevice.h"
+//#include "Servo.h"
+
+
+//#define BLE_UUID_TXRX_SERVICE            0x0000 /**< The UUID of the Nordic UART Service. */
+//#define BLE_UUID_TX_CHARACTERISTIC       0x0002 /**< The UUID of the TX Characteristic. */
+//#define BLE_UUIDS_RX_CHARACTERISTIC      0x0003 /**< The UUID of the RX Characteristic. */
+
+//#define TXRX_BUF_LEN                     20
+
+//#define DIGITAL_OUT_PIN                  P0_9       //TXD
+//#define DIGITAL_IN_PIN                   P0_10      //CTS
+//#define PWM_PIN                          P0_11      //RXD
+//#define SERVO_PIN                        P0_8       //RTS
+//#define ANALOG_IN_PIN                    P0_4       //P04
+
+BLEDevice  ble;
+
+// BluePropo service UUID
+//static const uint16_t UUID_BLUEPROPO = 0xFFF0;
+static const uint8_t UUID_BLUEPROPO[] = 
+{ 0xc4, 0x9d, 0xfd, 0x1b, 0x86, 0x04, 0x41, 0xd2, 0x89, 0x43, 0x13, 0x6f, 0x21, 0x4d, 0xd0, 0xbf };
+
+// BluePropo::Stick characteristic UUID
+//static const uint16_t UUID_BLUEPROPO_STICK = 0xFFF1;
+static const uint8_t UUID_BLUEPROPO_STICK[] =
+{ 0x74, 0x25, 0xfb, 0xa0, 0x72, 0x15, 0x41, 0x36, 0xaa, 0x3f, 0x07, 0x2a, 0xa0, 0x7d, 0x93, 0x54 };
+
+// Device Name (for display)
+#define DEVICE_NAME "MiniSteer BLE Nano"
+
+// BluePropo::Stick data structure
+union StickData
+{
+    struct  {
+        // F(-128)<- 0 ->B(+127)
+        signed char fb;
+        // L(-128)<- 0 ->R(+127)
+        signed char lr;
+    }value;
+    unsigned char bytes[2];
+};
+StickData stickData;
+
+// buffer for BluePropo payload
+uint8_t payload[10] = {0,};
+
+// BluePropo::Stick characteristic
+GattCharacteristic  charStick (UUID_BLUEPROPO_STICK, payload, 2, 2,
+                                GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | 
+                                GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
+// BluePropo characteristics set
+GattCharacteristic *chars[] = {&charStick};
+// BluePropo service
+GattService         serviceBluePropo(UUID_BLUEPROPO, chars, sizeof(chars) / sizeof(GattCharacteristic *));
+
+
+//DigitalOut      LED_SET(DIGITAL_OUT_PIN);
+//DigitalIn       BUTTON(DIGITAL_IN_PIN);
+//PwmOut          PWM(PWM_PIN);
+//AnalogIn        ANALOG(ANALOG_IN_PIN);
+//Servo           MYSERVO(SERVO_PIN);
+
+//Serial pc(USBTX, USBRX);
+
+//static uint8_t analog_enabled = 0;
+//static uint8_t old_state = 0;
+
+// The Nordic UART Service
+//static const uint8_t uart_base_uuid[] = {0x71, 0x3D, 0, 0, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E};
+//static const uint8_t uart_tx_uuid[]   = {0x71, 0x3D, 0, 3, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E};
+//static const uint8_t uart_rx_uuid[]   = {0x71, 0x3D, 0, 2, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E};
+//static const uint8_t uart_base_uuid_rev[] = {0x1E, 0x94, 0x8D, 0xF1, 0x48, 0x31, 0x94, 0xBA, 0x75, 0x4C, 0x3E, 0x50, 0, 0, 0x3D, 0x71};
+
+
+
+//uint8_t txPayload[TXRX_BUF_LEN] = {0,};
+//uint8_t rxPayload[TXRX_BUF_LEN] = {0,};
+
+//static uint8_t rx_buf[TXRX_BUF_LEN];
+//static uint8_t rx_len=0;
+
+/*
+GattCharacteristic  txCharacteristic (uart_tx_uuid, txPayload, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
+                                      
+GattCharacteristic  rxCharacteristic (uart_rx_uuid, rxPayload, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
+                                      
+GattCharacteristic *uartChars[] = {&txCharacteristic, &rxCharacteristic};
+
+GattService         uartService(uart_base_uuid, uartChars, sizeof(uartChars) / sizeof(GattCharacteristic *));
+*/
+
+// pin asign
+DigitalOut tb6612_ain1(P0_10); // AIN1:  P0_10 (D2)
+DigitalOut tb6612_ain2(P0_9);  // AIN2:  P0_9  (D1)
+PwmOut     tb6612_pwma(P0_11); // PWMA:  P0_11 (D0)
+PwmOut     servo_pwm  (P0_8);  // SERVO: P0_8  (D3)
+
+// SENS-L: P0_4 (A3)
+// SENS-R: P0_5 (A4)
+
+// DC motor driver (TB6612)
+void motor (float speed)
+{
+    if (speed > 0) {
+        // CW
+        tb6612_pwma = speed;
+        tb6612_ain1 = 1;
+        tb6612_ain2 = 0;
+    } else
+    if (speed < 0) {
+        // CCW
+        tb6612_pwma = - speed;
+        tb6612_ain1 = 0;
+        tb6612_ain2 = 1;
+    } else {
+        // stop
+        tb6612_pwma = 1;
+        tb6612_ain1 = 0;
+        tb6612_ain2 = 0;
+//        // break
+//        tb6612_pwma = 1;
+//        tb6612_ain1 = 1;
+//        tb6612_ain2 = 1;
+    }
+}
+
+// RC servo
+void servo (float deg)
+{
+    servo_pwm.pulsewidth_us(1500 + (int)(500.0 * deg));
+}
+
+void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)
+{
+    //pc.printf("Disconnected \r\n");
+    //pc.printf("Restart advertising \r\n");
+    ble.startAdvertising();
+}
+
+void WrittenHandler(const GattCharacteristicWriteCBParams *Handler)
+{   
+//    uint8_t buf[TXRX_BUF_LEN];
+//    uint16_t bytesRead;
+    
+    if (Handler->charHandle == charStick.getValueAttribute().getHandle()) 
+    {
+        uint16_t bytesRead;
+        ble.readCharacteristicValue(charStick.getValueAttribute().getHandle(), payload, &bytesRead);
+        memcpy( &stickData.bytes[0], payload, sizeof(stickData));
+#if DBG
+
+        pc.printf("DATA:%02X %02X\n\r",stickData.bytes[0],stickData.bytes[1]);
+#endif
+        float m = (float)stickData.value.fb / 128.0;
+        motor(m);
+        float s = (float)stickData.value.lr / 128.0;
+        servo(s);
+
+/*
+        ble.readCharacteristicValue(txCharacteristic.getValueAttribute().getHandle(), buf, &bytesRead);
+        memset(txPayload, 0, TXRX_BUF_LEN);
+        memcpy(txPayload, buf, TXRX_BUF_LEN);       
+        
+        //for(index=0; index<bytesRead; index++)
+            //pc.putc(buf[index]);
+            
+        if(buf[0] == 0x01)
+        {
+            if(buf[1] == 0x01)
+                LED_SET = 1;
+            else
+                LED_SET = 0;    
+        }
+        else if(buf[0] == 0xA0)
+        {
+            if(buf[1] == 0x01)
+                analog_enabled = 1;
+            else
+                analog_enabled = 0;
+        }
+        else if(buf[0] == 0x02)
+        {
+            float value = (float)buf[1]/255;
+            PWM = value;
+        }
+        else if(buf[0] == 0x03)
+        {
+            MYSERVO.write(buf[1]);
+        }
+        else if(buf[0] == 0x04)
+        {
+            analog_enabled = 0;
+            PWM = 0;
+            MYSERVO.write(0);
+            LED_SET = 0;
+            old_state = 0;    
+        }
+*/
+    }
+}
+/*
+void uartCB(void)
+{   
+    while(pc.readable())    
+    {
+        rx_buf[rx_len++] = pc.getc();    
+        if(rx_len>=20 || rx_buf[rx_len-1]=='\0' || rx_buf[rx_len-1]=='\n')
+        {
+            ble.updateCharacteristicValue(rxCharacteristic.getValueAttribute().getHandle(), rx_buf, rx_len); 
+            pc.printf("RecHandler \r\n");
+            pc.printf("Length: ");
+            pc.putc(rx_len);
+            pc.printf("\r\n");
+            rx_len = 0;
+            break;
+        }
+    }
+}
+*/
+void m_status_check_handle(void)
+{
+/*
+    uint8_t buf[3];
+    if (analog_enabled)  // if analog reading enabled
+    {
+        // Read and send out
+        float s = ANALOG;
+        uint16_t value = s*1024; 
+        buf[0] = (0x0B);
+        buf[1] = (value >> 8);
+        buf[2] = (value);
+        ble.updateCharacteristicValue(rxCharacteristic.getValueAttribute().getHandle(), buf, 3); 
+    }
+    
+    // If digital in changes, report the state
+    if (BUTTON != old_state)
+    {
+        old_state = BUTTON;
+        
+        if (BUTTON == 1)
+        {
+            buf[0] = (0x0A);
+            buf[1] = (0x01);
+            buf[2] = (0x00);    
+            ble.updateCharacteristicValue(rxCharacteristic.getValueAttribute().getHandle(), buf, 3); 
+        }
+        else
+        {
+            buf[0] = (0x0A);
+            buf[1] = (0x00);
+            buf[2] = (0x00);
+           ble.updateCharacteristicValue(rxCharacteristic.getValueAttribute().getHandle(), buf, 3); 
+        }
+    }
+*/
+}
+
+
+int main(void)
+{
+    // initialize servo & motor
+    servo_pwm.period_ms(20);
+    servo(0.5);
+    motor(0);
+    
+    Ticker ticker;
+    ticker.attach_us(m_status_check_handle, 200000);
+    
+    // initialize BLE
+    ble.init();
+    ble.onDisconnection(disconnectionCallback);
+    ble.onDataWritten(WrittenHandler);  
+    
+    //pc.baud(9600);
+    //pc.printf("SimpleChat Init \r\n");
+    //pc.attach( uartCB , pc.RxIrq);
+    
+    // setup advertising 
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
+    ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
+                                    (const uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME) - 1);
+//    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
+//                                    (const uint8_t *)uart_base_uuid_rev, sizeof(uart_base_uuid));
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
+                                    (const uint8_t *)UUID_BLUEPROPO, sizeof(UUID_BLUEPROPO));
+    ble.setAdvertisingInterval(160); // 100ms; in multiples of 0.625ms. 
+    ble.addService(serviceBluePropo);
+    ble.startAdvertising(); 
+    //pc.printf("Advertising Start \r\n");
+    
+    // main loop (wait for BLE event)
+    while(true)
+    {
+        ble.waitForEvent(); 
+    }
+}