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

Revision:
5:1c04bd9f8457
Parent:
4:ebda47d22091
--- a/HRM1017/nRF51GattServer.cpp	Wed Aug 20 13:41:01 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,300 +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 "nRF51GattServer.h"
-#include "mbed.h"
-
-#include "common/common.h"
-#include "btle/custom/custom_helper.h"
-
-#include "nRF51Gap.h"
-
-/**************************************************************************/
-/*!
-    @brief  Adds a new service to the GATT table on the peripheral
-
-    @returns    ble_error_t
-
-    @retval     BLE_ERROR_NONE
-                Everything executed properly
-
-    @section EXAMPLE
-
-    @code
-
-    @endcode
-*/
-/**************************************************************************/
-ble_error_t nRF51GattServer::addService(GattService &service)
-{
-    /* ToDo: Make sure we don't overflow the array, etc. */
-    /* ToDo: Make sure this service UUID doesn't already exist (?) */
-    /* ToDo: Basic validation */
-
-    /* Add the service to the nRF51 */
-    ble_uuid_t nordicUUID;
-    nordicUUID = custom_convert_to_nordic_uuid(service.getUUID());
-
-    uint16_t serviceHandle;
-    ASSERT( ERROR_NONE ==
-            sd_ble_gatts_service_add(BLE_GATTS_SRVC_TYPE_PRIMARY,
-                                     &nordicUUID,
-                                     &serviceHandle),
-            BLE_ERROR_PARAM_OUT_OF_RANGE );
-    service.setHandle(serviceHandle);
-
-    /* Add characteristics to the service */
-    for (uint8_t i = 0; i < service.getCharacteristicCount(); i++) {
-        GattCharacteristic *p_char = service.getCharacteristic(i);
-
-        nordicUUID = custom_convert_to_nordic_uuid(p_char->getUUID());
-
-        ASSERT ( ERROR_NONE ==
-                 custom_add_in_characteristic(service.getHandle(),
-                                              &nordicUUID,
-                                              p_char->getProperties(),
-                                              NULL,
-                                              p_char->getInitialLength(),
-                                              p_char->getMaxLength(),
-                                              &nrfCharacteristicHandles[characteristicCount]),
-                 BLE_ERROR_PARAM_OUT_OF_RANGE );
-
-        /* Update the characteristic handle */
-        uint16_t charHandle = characteristicCount;
-        p_characteristics[characteristicCount++] = p_char;
-
-        p_char->setHandle(charHandle);
-        if ((p_char->getValuePtr() != NULL) && (p_char->getInitialLength() > 0)) {
-            updateValue(charHandle, p_char->getValuePtr(), p_char->getInitialLength(), false /* localOnly */);
-        }
-    }
-
-    serviceCount++;
-
-    return BLE_ERROR_NONE;
-}
-
-/**************************************************************************/
-/*!
-    @brief  Reads the value of a characteristic, based on the service
-            and characteristic index fields
-
-    @param[in]  charHandle
-                The handle of the GattCharacteristic to read from
-    @param[in]  buffer
-                Buffer to hold the the characteristic's value
-                (raw byte array in LSB format)
-    @param[in]  len
-                The number of bytes read into the buffer
-
-    @returns    ble_error_t
-
-    @retval     BLE_ERROR_NONE
-                Everything executed properly
-
-    @section EXAMPLE
-
-    @code
-
-    @endcode
-*/
-/**************************************************************************/
-ble_error_t nRF51GattServer::readValue(uint16_t charHandle, uint8_t buffer[], uint16_t *const lengthP)
-{
-    ASSERT( ERROR_NONE ==
-            sd_ble_gatts_value_get(nrfCharacteristicHandles[charHandle].value_handle, 0, lengthP, buffer),
-            BLE_ERROR_PARAM_OUT_OF_RANGE);
-
-    return BLE_ERROR_NONE;
-}
-
-/**************************************************************************/
-/*!
-    @brief  Updates the value of a characteristic, based on the service
-            and characteristic index fields
-
-    @param[in]  charHandle
-                The handle of the GattCharacteristic to write to
-    @param[in]  buffer
-                Data to use when updating the characteristic's value
-                (raw byte array in LSB format)
-    @param[in]  len
-                The number of bytes in buffer
-
-    @returns    ble_error_t
-
-    @retval     BLE_ERROR_NONE
-                Everything executed properly
-
-    @section EXAMPLE
-
-    @code
-
-    @endcode
-*/
-/**************************************************************************/
-ble_error_t nRF51GattServer::updateValue(uint16_t charHandle, uint8_t buffer[], uint16_t len, bool localOnly)
-{
-    uint16_t gapConnectionHandle = nRF51Gap::getInstance().getConnectionHandle();
-
-    if (localOnly) {
-        /* Only update locally regardless of notify/indicate */
-        ASSERT_INT( ERROR_NONE,
-                    sd_ble_gatts_value_set(nrfCharacteristicHandles[charHandle].value_handle, 0, &len, buffer),
-                    BLE_ERROR_PARAM_OUT_OF_RANGE );
-		return BLE_ERROR_NONE;
-    }
-
-    if ((p_characteristics[charHandle]->getProperties() &
-         (GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_INDICATE |
-          GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY)) &&
-        (gapConnectionHandle != BLE_CONN_HANDLE_INVALID)) {
-        /* HVX update for the characteristic value */
-        ble_gatts_hvx_params_t hvx_params;
-
-        hvx_params.handle = nrfCharacteristicHandles[charHandle].value_handle;
-        hvx_params.type   =
-            (p_characteristics[charHandle]->getProperties() &
-             GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY)  ?
-            BLE_GATT_HVX_NOTIFICATION : BLE_GATT_HVX_INDICATION;
-        hvx_params.offset = 0;
-        hvx_params.p_data = buffer;
-        hvx_params.p_len  = &len;
-
-        error_t error = (error_t) sd_ble_gatts_hvx(gapConnectionHandle, &hvx_params);
-
-        /* ERROR_INVALID_STATE, ERROR_BUSY, ERROR_GATTS_SYS_ATTR_MISSING and
-         *ERROR_NO_TX_BUFFERS the ATT table has been updated. */
-        if ((error != ERROR_NONE) && (error != ERROR_INVALID_STATE) &&
-                (error != ERROR_BLE_NO_TX_BUFFERS) && (error != ERROR_BUSY) &&
-                (error != ERROR_BLEGATTS_SYS_ATTR_MISSING)) {
-            ASSERT_INT( ERROR_NONE,
-                        sd_ble_gatts_value_set(nrfCharacteristicHandles[charHandle].value_handle, 0, &len, buffer),
-                        BLE_ERROR_PARAM_OUT_OF_RANGE );
-        }
-    } else {
-        ASSERT_INT( ERROR_NONE,
-                    sd_ble_gatts_value_set(nrfCharacteristicHandles[charHandle].value_handle, 0, &len, buffer),
-                    BLE_ERROR_PARAM_OUT_OF_RANGE );
-    }
-
-    return BLE_ERROR_NONE;
-}
-
-ble_error_t nRF51GattServer::setDeviceName(const uint8_t *deviceName)
-{
-    ble_gap_conn_sec_mode_t sec_mode;
-    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&sec_mode); // no security is needed
-
-    if (sd_ble_gap_device_name_set(&sec_mode, deviceName, strlen((const char *)deviceName)) == NRF_SUCCESS) {
-        return BLE_ERROR_NONE;
-    } else {
-        return BLE_ERROR_PARAM_OUT_OF_RANGE;
-    }
-}
-
-ble_error_t nRF51GattServer::getDeviceName(uint8_t *deviceName, unsigned *lengthP)
-{
-    if (sd_ble_gap_device_name_get(deviceName, (uint16_t *)lengthP) == NRF_SUCCESS) {
-        return BLE_ERROR_NONE;
-    } else {
-        return BLE_ERROR_PARAM_OUT_OF_RANGE;
-    }
-}
-
-ble_error_t nRF51GattServer::setAppearance(uint16_t appearance)
-{
-    if (sd_ble_gap_appearance_set(appearance) == NRF_SUCCESS) {
-        return BLE_ERROR_NONE;
-    } else {
-        return BLE_ERROR_PARAM_OUT_OF_RANGE;
-    }
-}
-
-ble_error_t nRF51GattServer::getAppearance(uint16_t *appearanceP)
-{
-    if (sd_ble_gap_appearance_get(appearanceP)) {
-        return BLE_ERROR_NONE;
-    } else {
-        return BLE_ERROR_PARAM_OUT_OF_RANGE;
-    }
-}
-
-/**************************************************************************/
-/*!
-    @brief  Callback handler for events getting pushed up from the SD
-*/
-/**************************************************************************/
-void nRF51GattServer::hwCallback(ble_evt_t *p_ble_evt)
-{
-    uint16_t                      handle_value;
-    GattServerEvents::gattEvent_t event;
-
-    switch (p_ble_evt->header.evt_id) {
-        case BLE_GATTS_EVT_WRITE:
-            /* There are 2 use case here: Values being updated & CCCD (indicate/notify) enabled */
-
-            /* 1.) Handle CCCD changes */
-            handle_value = p_ble_evt->evt.gatts_evt.params.write.handle;
-            for (uint8_t i = 0; i<characteristicCount; i++) {
-                if ((p_characteristics[i]->getProperties() & (GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_INDICATE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY)) &&
-                    (nrfCharacteristicHandles[i].cccd_handle == handle_value)) {
-                    uint16_t cccd_value =
-                        (p_ble_evt->evt.gatts_evt.params.write.data[1] << 8) |
-                        p_ble_evt->evt.gatts_evt.params.write.data[0]; /* Little Endian but M0 may be mis-aligned */
-
-                    if (((p_characteristics[i]->getProperties() & GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_INDICATE) && (cccd_value & BLE_GATT_HVX_INDICATION)) ||
-                        ((p_characteristics[i]->getProperties() & GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY) && (cccd_value & BLE_GATT_HVX_NOTIFICATION))) {
-                        event = GattServerEvents::GATT_EVENT_UPDATES_ENABLED;
-                    } else {
-                        event = GattServerEvents::GATT_EVENT_UPDATES_DISABLED;
-                    }
-
-                    handleEvent(event, i);
-                    return;
-                }
-            }
-
-            /* 2.) Changes to the characteristic value will be handled with other events below */
-            event = GattServerEvents::GATT_EVENT_DATA_WRITTEN;
-            break;
-
-        case BLE_EVT_TX_COMPLETE:
-            handleEvent(GattServerEvents::GATT_EVENT_DATA_SENT);
-            return;
-
-        case BLE_GATTS_EVT_HVC:
-            /* Indication confirmation received */
-            event        = GattServerEvents::GATT_EVENT_CONFIRMATION_RECEIVED;
-            handle_value = p_ble_evt->evt.gatts_evt.params.hvc.handle;
-            break;
-
-        case BLE_GATTS_EVT_SYS_ATTR_MISSING:
-            sd_ble_gatts_sys_attr_set(p_ble_evt->evt.gatts_evt.conn_handle, NULL, 0);
-            return;
-
-        default:
-            return;
-    }
-
-    /* Find index (charHandle) in the pool */
-    for (uint8_t i = 0; i<characteristicCount; i++) {
-        if (nrfCharacteristicHandles[i].value_handle == handle_value) {
-            handleEvent(event, i);
-            break;
-        }
-    }
-}