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:
- 0:8c643bfe55b7
- Child:
- 1:48f6e08a3ac2
diff -r 000000000000 -r 8c643bfe55b7 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Jul 10 14:21:52 2014 +0000
@@ -0,0 +1,112 @@
+#include "mbed.h"
+#include "nRF51822n.h"
+#include "RCBController.h"
+
+#define DBG 0
+
+nRF51822n nrf;
+Serial pc(USBTX, USBRX);
+/* LEDs for indication: */
+DigitalOut ConnectStateLed(LED1);
+PwmOut ControllerStateLed(LED2);
+
+
+/* RCBController Service */
+static const uint16_t RCBController_service_uuid = 0xFFF0;
+static const uint16_t RCBController_Characteristic_uuid = 0xFFF1;
+GattService RCBControllerService (RCBController_service_uuid);
+GattCharacteristic Controller (RCBController_Characteristic_uuid,10, 10,
+ GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE |
+ GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
+
+/* Advertising data and parameters */
+GapAdvertisingData advData;
+GapAdvertisingData scanResponse;
+GapAdvertisingParams advParams ( GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED );
+
+uint16_t uuid16_list[] = { RCBController_service_uuid };
+
+RCBController controller;
+
+// GapEvent
+class GapEventHandler : public GapEvents
+{
+
+ virtual void onConnected(void)
+ {
+ ConnectStateLed = 0;
+#if DBG
+ pc.printf("Connected\n\r");
+#endif
+ }
+
+ virtual void onDisconnected(void)
+ {
+ nrf.getGap().startAdvertising(advParams);
+ ConnectStateLed = 1;
+#if DBG
+ pc.printf("Disconnected\n\r");
+#endif
+ }
+};
+
+// GattEvent
+class GattServerEventHandler : public GattServerEvents
+{
+ virtual void onDataWritten(uint16_t charHandle)
+ {
+ if (charHandle == Controller.handle) {
+ nrf.getGattServer().readValue(Controller.handle, &controller.data[0], sizeof(controller));
+#if DBG
+ pc.printf("DATA:%d %d %d %d %d %d %d %d %d %d\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]);
+#endif
+ ControllerStateLed = (float)controller.status.LeftAnalogLR / 255.0;;
+
+ }
+
+ }
+};
+
+/**************************************************************************/
+/*!
+ @brief Program entry point
+*/
+/**************************************************************************/
+int main(void)
+{
+#if DBG
+ pc.printf("Start\n\r");
+#endif
+ /* Setup an event handler for GAP events i.e. Client/Server connection events. */
+ nrf.getGap().setEventHandler(new GapEventHandler());
+
+ /* Initialise the nRF51822 */
+ nrf.init();
+
+ nrf.getGattServer().setEventHandler(new GattServerEventHandler());
+
+ /* Make sure we get a clean start */
+ nrf.reset();
+
+ /* Add BLE-Only flag and complete service list to the advertising data */
+ advData.addFlags(GapAdvertisingData::BREDR_NOT_SUPPORTED);
+ advData.addData(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
+ (uint8_t*)uuid16_list, sizeof(uuid16_list));
+ nrf.getGap().setAdvertisingData(advData, scanResponse);
+
+ /* RCBController Service */
+ RCBControllerService.addCharacteristic(Controller);
+ nrf.getGattServer().addService(RCBControllerService);
+
+ /* Start advertising (make sure you've added all your data first) */
+ nrf.getGap().startAdvertising(advParams);
+ ConnectStateLed = 1;
+ ControllerStateLed = 1;
+
+ for (;;)
+ {
+ wait(1);
+ }
+}
+