robo 8080 / Mbed 2 deprecated BLE_RCBController2_Motor

RCBControllerでモータを制御します。うおーるぼっとも動かせました。

Dependencies:   BLE_API TB6612FNG2 mbed nRF51822

Fork of BLE_RCBController2 by Junichi Katsu

うまく接続できない時は、iPhone/iPadのBluetoothをOFF－＞ONしてキャッシュをクリアしてみてください。

ライブラリ類をUpdateするとコンパイル出来なくなります。インポートした物をそのまま使って下さい。

RCBControllerでうおーるぼっとを操縦する例 /media/uploads/robo8080/img_1671.jpg

Components / Wallbot
This robot has switch, line sensors and motors. It controls by mbed.

RCBControllerでの操縦は次の4種類あります。 それぞれうおーるぼっとの動きが異なりますので試してみてください。

  • 左十字ボタン
  • 左のみアナログ
  • 右のみアナログ
  • 両方アナログ

うおーるぼっと(LPC1768のソケット)とHRM1017の接続はこれです。

LPC1768 ー HRM1017

p11 ーーー P0_0

p12 ーーー P0_1

p13 ーーー P0_28

p14 ーーー P0_29

p21 ーーー P0_30

p22 ーーー P0_25

GND ーーー GND

/media/uploads/robo8080/img_1711.jpg

/media/uploads/robo8080/img_1703.jpg

HRM1017の電源はうおーるぼっとのUSBコネクタからとります。 /media/uploads/robo8080/img_1674.jpg

HRM1017/nordic/nrf-sdk/ble/ble_conn_params.h@4:ebda47d22091, 2014-08-20 (annotated)

Committer:
jksoft
Date:
Wed Aug 20 13:41:01 2014 +0000
Revision:
4:ebda47d22091
Parent:
nRF51822/nordic/nrf-sdk/ble/ble_conn_params.h@1:48f6e08a3ac2 
?????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 1:48f6e08a3ac2 1 /* Copyright (c) 2012 Nordic Semiconductor. All Rights Reserved.
jksoft 1:48f6e08a3ac2 2 *
jksoft 1:48f6e08a3ac2 3 * The information contained herein is property of Nordic Semiconductor ASA.
jksoft 1:48f6e08a3ac2 4 * Terms and conditions of usage are described in detail in NORDIC
jksoft 1:48f6e08a3ac2 5 * SEMICONDUCTOR STANDARD SOFTWARE LICENSE AGREEMENT.
jksoft 1:48f6e08a3ac2 6 *
jksoft 1:48f6e08a3ac2 7 * Licensees are granted free, non-transferable use of the information. NO
jksoft 1:48f6e08a3ac2 8 * WARRANTY of ANY KIND is provided. This heading must NOT be removed from
jksoft 1:48f6e08a3ac2 9 * the file.
jksoft 1:48f6e08a3ac2 10 *
jksoft 1:48f6e08a3ac2 11 */
jksoft 1:48f6e08a3ac2 12
jksoft 1:48f6e08a3ac2 13 /** @file
jksoft 1:48f6e08a3ac2 14 *
jksoft 1:48f6e08a3ac2 15 * @defgroup ble_sdk_lib_conn_params Connection Parameters Negotiation
jksoft 1:48f6e08a3ac2 16 * @{
jksoft 1:48f6e08a3ac2 17 * @ingroup ble_sdk_lib
jksoft 1:48f6e08a3ac2 18 * @brief Module for initiating and executing a connection parameters negotiation procedure.
jksoft 1:48f6e08a3ac2 19 */
jksoft 1:48f6e08a3ac2 20
jksoft 1:48f6e08a3ac2 21 #ifndef BLE_CONN_PARAMS_H__
jksoft 1:48f6e08a3ac2 22 #define BLE_CONN_PARAMS_H__
jksoft 1:48f6e08a3ac2 23
jksoft 1:48f6e08a3ac2 24 #include <stdint.h>
jksoft 1:48f6e08a3ac2 25 #include "ble.h"
jksoft 1:48f6e08a3ac2 26 #include "ble_srv_common.h"
jksoft 1:48f6e08a3ac2 27
jksoft 1:48f6e08a3ac2 28 #ifdef __cplusplus
jksoft 1:48f6e08a3ac2 29 extern "C" {
jksoft 1:48f6e08a3ac2 30 #endif // #ifdef __cplusplus
jksoft 1:48f6e08a3ac2 31
jksoft 1:48f6e08a3ac2 32 /**@brief Connection Parameters Module event type. */
jksoft 1:48f6e08a3ac2 33 typedef enum
jksoft 1:48f6e08a3ac2 34 {
jksoft 1:48f6e08a3ac2 35 BLE_CONN_PARAMS_EVT_FAILED , /**< Negotiation procedure failed. */
jksoft 1:48f6e08a3ac2 36 BLE_CONN_PARAMS_EVT_SUCCEEDED /**< Negotiation procedure succeeded. */
jksoft 1:48f6e08a3ac2 37 } ble_conn_params_evt_type_t;
jksoft 1:48f6e08a3ac2 38
jksoft 1:48f6e08a3ac2 39 /**@brief Connection Parameters Module event. */
jksoft 1:48f6e08a3ac2 40 typedef struct
jksoft 1:48f6e08a3ac2 41 {
jksoft 1:48f6e08a3ac2 42 ble_conn_params_evt_type_t evt_type; /**< Type of event. */
jksoft 1:48f6e08a3ac2 43 } ble_conn_params_evt_t;
jksoft 1:48f6e08a3ac2 44
jksoft 1:48f6e08a3ac2 45 /**@brief Connection Parameters Module event handler type. */
jksoft 1:48f6e08a3ac2 46 typedef void (*ble_conn_params_evt_handler_t) (ble_conn_params_evt_t * p_evt);
jksoft 1:48f6e08a3ac2 47
jksoft 1:48f6e08a3ac2 48 /**@brief Connection Parameters Module init structure. This contains all options and data needed for
jksoft 1:48f6e08a3ac2 49 * initialization of the connection parameters negotiation module. */
jksoft 1:48f6e08a3ac2 50 typedef struct
jksoft 1:48f6e08a3ac2 51 {
jksoft 1:48f6e08a3ac2 52 ble_gap_conn_params_t * p_conn_params; /**< Pointer to the connection parameters desired by the application. When calling ble_conn_params_init, if this parameter is set to NULL, the connection parameters will be fetched from host. */
jksoft 1:48f6e08a3ac2 53 uint32_t first_conn_params_update_delay; /**< Time from initiating event (connect or start of notification) to first time sd_ble_gap_conn_param_update is called (in number of timer ticks). */
jksoft 1:48f6e08a3ac2 54 uint32_t next_conn_params_update_delay; /**< Time between each call to sd_ble_gap_conn_param_update after the first (in number of timer ticks). Recommended value 30 seconds as per BLUETOOTH SPECIFICATION Version 4.0. */
jksoft 1:48f6e08a3ac2 55 uint8_t max_conn_params_update_count; /**< Number of attempts before giving up the negotiation. */
jksoft 1:48f6e08a3ac2 56 uint16_t start_on_notify_cccd_handle; /**< If procedure is to be started when notification is started, set this to the handle of the corresponding CCCD. Set to BLE_GATT_HANDLE_INVALID if procedure is to be started on connect event. */
jksoft 1:48f6e08a3ac2 57 bool disconnect_on_fail; /**< Set to TRUE if a failed connection parameters update shall cause an automatic disconnection, set to FALSE otherwise. */
jksoft 1:48f6e08a3ac2 58 ble_conn_params_evt_handler_t evt_handler; /**< Event handler to be called for handling events in the Connection Parameters. */
jksoft 1:48f6e08a3ac2 59 ble_srv_error_handler_t error_handler; /**< Function to be called in case of an error. */
jksoft 1:48f6e08a3ac2 60 } ble_conn_params_init_t;
jksoft 1:48f6e08a3ac2 61
jksoft 1:48f6e08a3ac2 62
jksoft 1:48f6e08a3ac2 63 /**@brief Function for initializing the Connection Parameters module.
jksoft 1:48f6e08a3ac2 64 *
jksoft 1:48f6e08a3ac2 65 * @note If the negotiation procedure should be triggered when notification/indication of
jksoft 1:48f6e08a3ac2 66 * any characteristic is enabled by the peer, then this function must be called after
jksoft 1:48f6e08a3ac2 67 * having initialized the services.
jksoft 1:48f6e08a3ac2 68 *
jksoft 1:48f6e08a3ac2 69 * @param[in] p_init This contains information needed to initialize this module.
jksoft 1:48f6e08a3ac2 70 *
jksoft 1:48f6e08a3ac2 71 * @return NRF_SUCCESS on successful initialization, otherwise an error code.
jksoft 1:48f6e08a3ac2 72 */
jksoft 1:48f6e08a3ac2 73 uint32_t ble_conn_params_init(const ble_conn_params_init_t * p_init);
jksoft 1:48f6e08a3ac2 74
jksoft 1:48f6e08a3ac2 75 /**@brief Function for stopping the Connection Parameters module.
jksoft 1:48f6e08a3ac2 76 *
jksoft 1:48f6e08a3ac2 77 * @details This function is intended to be used by the application to clean up the connection
jksoft 1:48f6e08a3ac2 78 * parameters update module. This will stop the connection parameters update timer if
jksoft 1:48f6e08a3ac2 79 * running, thereby preventing any impending connection parameters update procedure. This
jksoft 1:48f6e08a3ac2 80 * function must be called by the application when it needs to clean itself up (for
jksoft 1:48f6e08a3ac2 81 * example, before disabling the bluetooth SoftDevice) so that an unwanted timer expiry
jksoft 1:48f6e08a3ac2 82 * event can be avoided.
jksoft 1:48f6e08a3ac2 83 *
jksoft 1:48f6e08a3ac2 84 * @return NRF_SUCCESS on successful initialization, otherwise an error code.
jksoft 1:48f6e08a3ac2 85 */
jksoft 1:48f6e08a3ac2 86 uint32_t ble_conn_params_stop(void);
jksoft 1:48f6e08a3ac2 87
jksoft 1:48f6e08a3ac2 88 /**@brief Function for changing the current connection parameters to a new set.
jksoft 1:48f6e08a3ac2 89 *
jksoft 1:48f6e08a3ac2 90 * @details Use this function to change the connection parameters to a new set of parameter
jksoft 1:48f6e08a3ac2 91 * (ie different from the ones given at init of the module).
jksoft 1:48f6e08a3ac2 92 * This function is usefull for scenario where most of the time the application
jksoft 1:48f6e08a3ac2 93 * needs a relatively big connection interval, and just sometimes, for a temporary
jksoft 1:48f6e08a3ac2 94 * period requires shorter connection interval, for example to transfer a higher
jksoft 1:48f6e08a3ac2 95 * amount of data.
jksoft 1:48f6e08a3ac2 96 * If the given parameters does not match the current connection's parameters
jksoft 1:48f6e08a3ac2 97 * this function initiates a new negotiation.
jksoft 1:48f6e08a3ac2 98 *
jksoft 1:48f6e08a3ac2 99 * @param[in] new_params This contains the new connections parameters to setup.
jksoft 1:48f6e08a3ac2 100 *
jksoft 1:48f6e08a3ac2 101 * @return NRF_SUCCESS on successful initialization, otherwise an error code.
jksoft 1:48f6e08a3ac2 102 */
jksoft 1:48f6e08a3ac2 103 uint32_t ble_conn_params_change_conn_params(ble_gap_conn_params_t *new_params);
jksoft 1:48f6e08a3ac2 104
jksoft 1:48f6e08a3ac2 105 /**@brief Function for handling the Application's BLE Stack events.
jksoft 1:48f6e08a3ac2 106 *
jksoft 1:48f6e08a3ac2 107 * @details Handles all events from the BLE stack that are of interest to this module.
jksoft 1:48f6e08a3ac2 108 *
jksoft 1:48f6e08a3ac2 109 * @param[in] p_ble_evt The event received from the BLE stack.
jksoft 1:48f6e08a3ac2 110 */
jksoft 1:48f6e08a3ac2 111 void ble_conn_params_on_ble_evt(ble_evt_t * p_ble_evt);
jksoft 1:48f6e08a3ac2 112
jksoft 1:48f6e08a3ac2 113 #endif // BLE_CONN_PARAMS_H__
jksoft 1:48f6e08a3ac2 114
jksoft 1:48f6e08a3ac2 115 /** @} */
jksoft 1:48f6e08a3ac2 116
jksoft 1:48f6e08a3ac2 117 #ifdef __cplusplus
jksoft 1:48f6e08a3ac2 118 }
jksoft 1:48f6e08a3ac2 119 #endif // #ifdef __cplusplus