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
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
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
HRM1017の電源はうおーるぼっとのUSBコネクタからとります。
Diff: HRM1017/btle/btle.cpp
- Revision:
- 5:1c04bd9f8457
- Parent:
- 4:ebda47d22091
--- a/HRM1017/btle/btle.cpp Wed Aug 20 13:41:01 2014 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,231 +0,0 @@ -/* mbed Microcontroller Library - * Copyright (c) 2006-2013 ARM Limited - * - * 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 "common/common.h" -#include "nordic_common.h" - -#include "app_timer.h" -#include "btle.h" - -#include "ble_stack_handler_types.h" -#include "ble_radio_notification.h" -#include "ble_flash.h" -#if NEED_BOND_MANAGER -#include "ble_bondmngr.h" -#endif -#include "ble_conn_params.h" - -#include "btle_gap.h" -#include "btle_advertising.h" -#include "custom/custom_helper.h" - -#include "softdevice_handler.h" -#include "pstorage.h" - -#include "GapEvents.h" -#include "nRF51Gap.h" -#include "nRF51GattServer.h" - -#if NEED_BOND_MANAGER /* disabled by default */ -static void service_error_callback(uint32_t nrf_error); -#endif -extern "C" void assert_nrf_callback(uint16_t line_num, const uint8_t *p_file_name); -void app_error_handler(uint32_t error_code, - uint32_t line_num, - const uint8_t *p_file_name); - -#if NEED_BOND_MANAGER /* disabled by default */ -static error_t bond_manager_init(void); -#endif - -static void btle_handler(ble_evt_t *p_ble_evt); - -static void sys_evt_dispatch(uint32_t sys_evt) -{ -#if NEED_PSTORAGE /* disabled by default */ - pstorage_sys_event_handler(sys_evt); -#endif -} - -error_t btle_init(void) -{ - APP_TIMER_INIT(0, 8, 5, false); -// SOFTDEVICE_HANDLER_INIT(NRF_CLOCK_LFCLKSRC_XTAL_20_PPM, false); - SOFTDEVICE_HANDLER_INIT(NRF_CLOCK_LFCLKSRC_RC_250_PPM_4000MS_CALIBRATION, false); - - ASSERT_STATUS( softdevice_ble_evt_handler_set(btle_handler)); - ASSERT_STATUS( softdevice_sys_evt_handler_set(sys_evt_dispatch)); - -#if NEED_BOND_MANAGER /* disabled by default */ - bond_manager_init(); -#endif - btle_gap_init(); - - return ERROR_NONE; -} - -static void btle_handler(ble_evt_t *p_ble_evt) -{ - /* Library service handlers */ -#if NEED_BOND_MANAGER /* disabled by default */ - ble_bondmngr_on_ble_evt(p_ble_evt); -#endif - ble_conn_params_on_ble_evt(p_ble_evt); - - /* Custom event handler */ - switch (p_ble_evt->header.evt_id) { - case BLE_GAP_EVT_CONNECTED: { - Gap::Handle_t handle = p_ble_evt->evt.gap_evt.conn_handle; - nRF51Gap::getInstance().setConnectionHandle(handle); - nRF51Gap::getInstance().processHandleSpecificEvent(GapEvents::GAP_EVENT_CONNECTED, handle); - break; - } - - case BLE_GAP_EVT_DISCONNECTED: { - Gap::Handle_t handle = p_ble_evt->evt.gap_evt.conn_handle; - // Since we are not in a connection and have not started advertising, - // store bonds - nRF51Gap::getInstance().setConnectionHandle (BLE_CONN_HANDLE_INVALID); -#if NEED_BOND_MANAGER /* disabled by default */ - ASSERT_STATUS_RET_VOID ( ble_bondmngr_bonded_centrals_store()); -#endif - nRF51Gap::getInstance().processHandleSpecificEvent(GapEvents::GAP_EVENT_DISCONNECTED, handle); - break; - } - - case BLE_GAP_EVT_SEC_PARAMS_REQUEST: { - ble_gap_sec_params_t sec_params = {0}; - - sec_params.timeout = 30; /*< Timeout for Pairing Request or - * Security Request (in seconds). */ - sec_params.bond = 1; /**< Perform bonding. */ - sec_params.mitm = CFG_BLE_SEC_PARAM_MITM; - sec_params.io_caps = CFG_BLE_SEC_PARAM_IO_CAPABILITIES; - sec_params.oob = CFG_BLE_SEC_PARAM_OOB; - sec_params.min_key_size = CFG_BLE_SEC_PARAM_MIN_KEY_SIZE; - sec_params.max_key_size = CFG_BLE_SEC_PARAM_MAX_KEY_SIZE; - - ASSERT_STATUS_RET_VOID( - sd_ble_gap_sec_params_reply(nRF51Gap::getInstance(). - getConnectionHandle(), - BLE_GAP_SEC_STATUS_SUCCESS, - &sec_params)); - } - break; - - case BLE_GAP_EVT_TIMEOUT: - if (p_ble_evt->evt.gap_evt.params.timeout.src == BLE_GAP_TIMEOUT_SRC_ADVERTISEMENT) { - nRF51Gap::getInstance().processEvent(GapEvents::GAP_EVENT_TIMEOUT); - } - break; - - case BLE_GATTC_EVT_TIMEOUT: - case BLE_GATTS_EVT_TIMEOUT: - // Disconnect on GATT Server and Client timeout events. - // ASSERT_STATUS_RET_VOID (sd_ble_gap_disconnect(m_conn_handle, - // BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION)); - break; - - default: - break; - } - - nRF51GattServer::getInstance().hwCallback(p_ble_evt); -} - -#if NEED_BOND_MANAGER /* disabled by default */ -/**************************************************************************/ -/*! - @brief Initialises the bond manager - - @note Bond data will be cleared on reset if the bond delete - button is pressed during initialisation (the button is - defined as CFG_BLE_BOND_DELETE_BUTTON_NUM). - - @returns -*/ -/**************************************************************************/ -static error_t bond_manager_init(void) -{ - ble_bondmngr_init_t bond_para = {0}; - - ASSERT_STATUS ( pstorage_init()); - - bond_para.flash_page_num_bond = CFG_BLE_BOND_FLASH_PAGE_BOND; - bond_para.flash_page_num_sys_attr = CFG_BLE_BOND_FLASH_PAGE_SYS_ATTR; - //bond_para.bonds_delete = boardButtonCheck(CFG_BLE_BOND_DELETE_BUTTON_NUM) ; - bond_para.evt_handler = NULL; - bond_para.error_handler = service_error_callback; - - ASSERT_STATUS( ble_bondmngr_init( &bond_para )); - - /* Init radio active/inactive notification to flash (to only perform flashing when the radio is inactive) */ - // ASSERT_STATUS( ble_radio_notification_init(NRF_APP_PRIORITY_HIGH, - // NRF_RADIO_NOTIFICATION_DISTANCE_4560US, - // ble_flash_on_radio_active_evt) ); - - return ERROR_NONE; -} -#endif // #if NEED_BOND_MANAGER - -#if NEED_BOND_MANAGER /* disabled by default */ -/**************************************************************************/ -/*! - @brief - @param[in] nrf_error - @returns -*/ -/**************************************************************************/ -static void service_error_callback(uint32_t nrf_error) -{ - ASSERT_STATUS_RET_VOID( nrf_error ); -} -#endif // #if NEED_BOND_MANAGER - -/**************************************************************************/ -/*! - @brief Callback when an error occurs inside the SoftDevice - - @param[in] line_num - @param[in] p-file_name - - @returns -*/ -/**************************************************************************/ -void assert_nrf_callback(uint16_t line_num, const uint8_t *p_file_name) -{ - ASSERT(false, (void) 0); -} - -/**************************************************************************/ -/*! - @brief Handler for general errors above the SoftDevice layer. - Typically we can' recover from this so we do a reset. - - @param[in] error_code - @param[in] line_num - @param[in] p-file_name - - @returns -*/ -/**************************************************************************/ -void app_error_handler(uint32_t error_code, - uint32_t line_num, - const uint8_t *p_file_name) -{ - ASSERT_STATUS_RET_VOID( error_code ); - NVIC_SystemReset(); -}