Bizan Nishimura
【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
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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
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: main.cpp
- Revision:
- 5:572c91221792
- Parent:
- 2:dd85fdc18224
- Child:
- 6:1b978b32118c
diff -r ebda47d22091 -r 572c91221792 main.cpp
--- a/main.cpp Wed Aug 20 13:41:01 2014 +0000
+++ b/main.cpp Wed Sep 10 04:11:28 2014 +0000
@@ -1,95 +1,153 @@
#include "mbed.h"
#include "BLEDevice.h"
-#include "RCBController.h"
#define DBG 1
+// BLE device object
BLEDevice ble;
-Serial pc(USBTX, USBRX);
-/* LEDs for indication: */
-DigitalOut ConnectStateLed(LED1);
-PwmOut ControllerStateLed(LED2);
+// 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 };
-/* RCBController Service */
-static const uint16_t RCBController_service_uuid = 0xFFF0;
-static const uint16_t RCBController_Characteristic_uuid = 0xFFF1;
-uint8_t RCBControllerPayload[10] = {0,};
+// 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;
-GattCharacteristic ControllerChar (RCBController_Characteristic_uuid,RCBControllerPayload,10, 10,
+// 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);
-GattCharacteristic *ControllerChars[] = {&ControllerChar};
-GattService RCBControllerService(RCBController_service_uuid, ControllerChars, sizeof(ControllerChars) / sizeof(GattCharacteristic *));
+// BluePropo characteristics set
+GattCharacteristic *chars[] = {&charStick};
+// BluePropo service
+GattService serviceBluePropo(UUID_BLUEPROPO, chars, sizeof(chars) / sizeof(GattCharacteristic *));
+
+// USB COM port for Debug
+Serial pc(USBTX, USBRX);
+
+// pin asign
+DigitalOut tb6612_ain1(P0_28);
+DigitalOut tb6612_ain2(P0_29);
+PwmOut tb6612_pwma(P0_30);
+PwmOut servo_pwm (P0_12);
-RCBController controller;
+// 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));
+}
+
+// BLE onConnection handler
void onConnected(uint16_t h)
{
- ConnectStateLed = 0;
#if DBG
pc.printf("Connected\n\r");
#endif
}
+// BLE onDisconnection handler
void onDisconnected(uint16_t h)
{
ble.startAdvertising();
- ConnectStateLed = 1;
#if DBG
pc.printf("Disconnected\n\r");
#endif
}
-
-// GattEvent
+// BLE onDataWritten handler (Gatt event)
void onDataWritten(uint16_t charHandle)
{
- if (charHandle == ControllerChar.getHandle()) {
+ if (charHandle == charStick.getHandle()) {
uint16_t bytesRead;
- ble.readCharacteristicValue(ControllerChar.getHandle(),RCBControllerPayload, &bytesRead);
- memcpy( &controller.data[0], RCBControllerPayload, sizeof(controller));
+ ble.readCharacteristicValue(charStick.getHandle(),payload, &bytesRead);
+ memcpy( &stickData.bytes[0], payload, sizeof(stickData));
#if DBG
- 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],
- controller.data[5],controller.data[6],controller.data[7],controller.data[8],controller.data[9]);
+ pc.printf("DATA:%02X %02X\n\r",stickData.bytes[0],stickData.bytes[1]);
#endif
- ControllerStateLed = (float)controller.status.LeftAnalogLR / 255.0;
+ float m = (float)stickData.value.fb / 128.0;
+ motor(m);
+ float s = 0.5 + (float)stickData.value.lr /256.0;
+ if(s<0) s=0;
+ servo(s);
}
}
-/**************************************************************************/
-/*!
- @brief Program entry point
-*/
-/**************************************************************************/
+// Program entry point
int main(void)
{
#if DBG
pc.printf("Start\n\r");
#endif
+ // initialize servo & motor
+ servo_pwm.period_ms(20);
+ servo(0.5);
+ motor(0);
+ // initialize BLE
ble.init();
ble.onConnection(onConnected);
ble.onDisconnection(onDisconnected);
ble.onDataWritten(onDataWritten);
-
- /* setup advertising */
+ // setup advertising
ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
- (const uint8_t *)"mbed HRM1017", sizeof("mbed HRM1017") - 1);
+ (const uint8_t *)"MiniSteer HRM1017", sizeof("MiniSteer HRM1017") - 1);
ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
- (const uint8_t *)RCBController_service_uuid, sizeof(RCBController_service_uuid));
-
+ (const uint8_t *)UUID_BLUEPROPO, sizeof(UUID_BLUEPROPO));
ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
ble.startAdvertising();
+ ble.addService(serviceBluePropo);
- ble.addService(RCBControllerService);
-
+ // main loop (wait for BLE event)
while (true) {
ble.waitForEvent();
}
}
-