Bizan Nishimura / Mbed 2 deprecated MiniSteer_BLE

【これは旧バージョンです】 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@2:dd85fdc18224, 2014-08-20 (annotated)

Committer:
jksoft
Date:
Wed Aug 20 13:30:11 2014 +0000
Revision:
2:dd85fdc18224
Parent:
1:48f6e08a3ac2
Child:
5:572c91221792
???

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 0:8c643bfe55b7 4
jksoft 1:48f6e08a3ac2 5 #define DBG 1
jksoft 0:8c643bfe55b7 6
jksoft 1:48f6e08a3ac2 7 BLEDevice ble;
jksoft 0:8c643bfe55b7 8 Serial pc(USBTX, USBRX);
jksoft 0:8c643bfe55b7 9 /* LEDs for indication: */
jksoft 0:8c643bfe55b7 10 DigitalOut ConnectStateLed(LED1);
jksoft 0:8c643bfe55b7 11 PwmOut ControllerStateLed(LED2);
jksoft 0:8c643bfe55b7 12
jksoft 0:8c643bfe55b7 13
jksoft 0:8c643bfe55b7 14 /* RCBController Service */
jksoft 0:8c643bfe55b7 15 static const uint16_t RCBController_service_uuid = 0xFFF0;
jksoft 0:8c643bfe55b7 16 static const uint16_t RCBController_Characteristic_uuid = 0xFFF1;
jksoft 1:48f6e08a3ac2 17 uint8_t RCBControllerPayload[10] = {0,};
jksoft 1:48f6e08a3ac2 18
jksoft 1:48f6e08a3ac2 19 GattCharacteristic ControllerChar (RCBController_Characteristic_uuid,RCBControllerPayload,10, 10,
jksoft 0:8c643bfe55b7 20 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE |
jksoft 0:8c643bfe55b7 21 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
jksoft 1:48f6e08a3ac2 22 GattCharacteristic *ControllerChars[] = {&ControllerChar};
jksoft 1:48f6e08a3ac2 23 GattService RCBControllerService(RCBController_service_uuid, ControllerChars, sizeof(ControllerChars) / sizeof(GattCharacteristic *));
jksoft 0:8c643bfe55b7 24
jksoft 0:8c643bfe55b7 25 RCBController controller;
jksoft 0:8c643bfe55b7 26
jksoft 1:48f6e08a3ac2 27 void onConnected(uint16_t h)
jksoft 0:8c643bfe55b7 28 {
jksoft 1:48f6e08a3ac2 29 ConnectStateLed = 0;
jksoft 0:8c643bfe55b7 30 #if DBG
jksoft 1:48f6e08a3ac2 31 pc.printf("Connected\n\r");
jksoft 0:8c643bfe55b7 32 #endif
jksoft 1:48f6e08a3ac2 33 }
jksoft 0:8c643bfe55b7 34
jksoft 1:48f6e08a3ac2 35 void onDisconnected(uint16_t h)
jksoft 1:48f6e08a3ac2 36 {
jksoft 1:48f6e08a3ac2 37 ble.startAdvertising();
jksoft 1:48f6e08a3ac2 38 ConnectStateLed = 1;
jksoft 0:8c643bfe55b7 39 #if DBG
jksoft 1:48f6e08a3ac2 40 pc.printf("Disconnected\n\r");
jksoft 0:8c643bfe55b7 41 #endif
jksoft 1:48f6e08a3ac2 42 }
jksoft 1:48f6e08a3ac2 43
jksoft 0:8c643bfe55b7 44
jksoft 0:8c643bfe55b7 45 // GattEvent
jksoft 1:48f6e08a3ac2 46 void onDataWritten(uint16_t charHandle)
jksoft 0:8c643bfe55b7 47 {
jksoft 1:48f6e08a3ac2 48 if (charHandle == ControllerChar.getHandle()) {
jksoft 1:48f6e08a3ac2 49 uint16_t bytesRead;
jksoft 1:48f6e08a3ac2 50 ble.readCharacteristicValue(ControllerChar.getHandle(),RCBControllerPayload, &bytesRead);
jksoft 1:48f6e08a3ac2 51 memcpy( &controller.data[0], RCBControllerPayload, sizeof(controller));
jksoft 0:8c643bfe55b7 52 #if DBG
jksoft 1:48f6e08a3ac2 53
jksoft 1:48f6e08a3ac2 54 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 55 controller.data[5],controller.data[6],controller.data[7],controller.data[8],controller.data[9]);
jksoft 0:8c643bfe55b7 56 #endif
jksoft 1:48f6e08a3ac2 57 ControllerStateLed = (float)controller.status.LeftAnalogLR / 255.0;
jksoft 1:48f6e08a3ac2 58 }
jksoft 0:8c643bfe55b7 59
jksoft 1:48f6e08a3ac2 60 }
jksoft 0:8c643bfe55b7 61
jksoft 0:8c643bfe55b7 62 /**************************************************************************/
jksoft 0:8c643bfe55b7 63 /*!
jksoft 0:8c643bfe55b7 64 @brief Program entry point
jksoft 0:8c643bfe55b7 65 */
jksoft 0:8c643bfe55b7 66 /**************************************************************************/
jksoft 0:8c643bfe55b7 67 int main(void)
jksoft 0:8c643bfe55b7 68 {
jksoft 0:8c643bfe55b7 69 #if DBG
jksoft 0:8c643bfe55b7 70 pc.printf("Start\n\r");
jksoft 0:8c643bfe55b7 71 #endif
jksoft 1:48f6e08a3ac2 72
jksoft 2:dd85fdc18224 73 ble.init();
jksoft 1:48f6e08a3ac2 74 ble.onConnection(onConnected);
jksoft 1:48f6e08a3ac2 75 ble.onDisconnection(onDisconnected);
jksoft 1:48f6e08a3ac2 76 ble.onDataWritten(onDataWritten);
jksoft 1:48f6e08a3ac2 77
jksoft 1:48f6e08a3ac2 78 /* setup advertising */
jksoft 1:48f6e08a3ac2 79 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
jksoft 1:48f6e08a3ac2 80 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
jksoft 1:48f6e08a3ac2 81 ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
jksoft 1:48f6e08a3ac2 82 (const uint8_t *)"mbed HRM1017", sizeof("mbed HRM1017") - 1);
jksoft 1:48f6e08a3ac2 83 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
jksoft 1:48f6e08a3ac2 84 (const uint8_t *)RCBController_service_uuid, sizeof(RCBController_service_uuid));
jksoft 0:8c643bfe55b7 85
jksoft 1:48f6e08a3ac2 86 ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
jksoft 1:48f6e08a3ac2 87 ble.startAdvertising();
jksoft 0:8c643bfe55b7 88
jksoft 1:48f6e08a3ac2 89 ble.addService(RCBControllerService);
jksoft 0:8c643bfe55b7 90
jksoft 1:48f6e08a3ac2 91 while (true) {
jksoft 1:48f6e08a3ac2 92 ble.waitForEvent();
jksoft 0:8c643bfe55b7 93 }
jksoft 0:8c643bfe55b7 94 }
jksoft 0:8c643bfe55b7 95