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: nRF51822/btle/btle.cpp
- Revision:
- 1:48f6e08a3ac2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/nRF51822/btle/btle.cpp Wed Aug 20 13:24:20 2014 +0000 @@ -0,0 +1,231 @@ +/* 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(); +}