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。
HRM1017/nRF51Gap.cpp
- Committer:
- jksoft
- Date:
- 2014-08-20
- Revision:
- 4:ebda47d22091
- Parent:
- nRF51822/nRF51Gap.cpp@ 1:48f6e08a3ac2
File content as of revision 4:ebda47d22091:
/* 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 "nRF51Gap.h" #include "mbed.h" #include "common/common.h" #include "ble_advdata.h" #include "ble_hci.h" /**************************************************************************/ /*! @brief Sets the advertising parameters and payload for the device @param[in] params Basic advertising details, including the advertising delay, timeout and how the device should be advertised @params[in] advData The primary advertising data payload @params[in] scanResponse The optional Scan Response payload if the advertising type is set to \ref GapAdvertisingParams::ADV_SCANNABLE_UNDIRECTED in \ref GapAdveritinngParams @returns \ref ble_error_t @retval BLE_ERROR_NONE Everything executed properly @retval BLE_ERROR_BUFFER_OVERFLOW The proposed action would cause a buffer overflow. All advertising payloads must be <= 31 bytes, for example. @retval BLE_ERROR_NOT_IMPLEMENTED A feature was requested that is not yet supported in the nRF51 firmware or hardware. @retval BLE_ERROR_PARAM_OUT_OF_RANGE One of the proposed values is outside the valid range. @section EXAMPLE @code @endcode */ /**************************************************************************/ ble_error_t nRF51Gap::setAdvertisingData(const GapAdvertisingData &advData, const GapAdvertisingData &scanResponse) { /* Make sure we don't exceed the advertising payload length */ if (advData.getPayloadLen() > GAP_ADVERTISING_DATA_MAX_PAYLOAD) { return BLE_ERROR_BUFFER_OVERFLOW; } /* Make sure we have a payload! */ if (advData.getPayloadLen() == 0) { return BLE_ERROR_PARAM_OUT_OF_RANGE; } /* Check the scan response payload limits */ //if ((params.getAdvertisingType() == GapAdvertisingParams::ADV_SCANNABLE_UNDIRECTED)) //{ // /* Check if we're within the upper limit */ // if (advData.getPayloadLen() > GAP_ADVERTISING_DATA_MAX_PAYLOAD) // { // return BLE_ERROR_BUFFER_OVERFLOW; // } // /* Make sure we have a payload! */ // if (advData.getPayloadLen() == 0) // { // return BLE_ERROR_PARAM_OUT_OF_RANGE; // } //} /* Send advertising data! */ ASSERT(ERROR_NONE == sd_ble_gap_adv_data_set(advData.getPayload(), advData.getPayloadLen(), scanResponse.getPayload(), scanResponse.getPayloadLen()), BLE_ERROR_PARAM_OUT_OF_RANGE); /* Make sure the GAP Service appearance value is aligned with the *appearance from GapAdvertisingData */ ASSERT(ERROR_NONE == sd_ble_gap_appearance_set(advData.getAppearance()), BLE_ERROR_PARAM_OUT_OF_RANGE); /* ToDo: Perform some checks on the payload, for example the Scan Response can't */ /* contains a flags AD type, etc. */ return BLE_ERROR_NONE; } /**************************************************************************/ /*! @brief Starts the BLE HW, initialising any services that were added before this function was called. @note All services must be added before calling this function! @returns ble_error_t @retval BLE_ERROR_NONE Everything executed properly @section EXAMPLE @code @endcode */ /**************************************************************************/ ble_error_t nRF51Gap::startAdvertising(const GapAdvertisingParams ¶ms) { /* Make sure we support the advertising type */ if (params.getAdvertisingType() == GapAdvertisingParams::ADV_CONNECTABLE_DIRECTED) { /* ToDo: This requires a propery security implementation, etc. */ return BLE_ERROR_NOT_IMPLEMENTED; } /* Check interval range */ if (params.getAdvertisingType() == GapAdvertisingParams::ADV_NON_CONNECTABLE_UNDIRECTED) { /* Min delay is slightly longer for unconnectable devices */ if ((params.getInterval() < GAP_ADV_PARAMS_INTERVAL_MIN_NONCON) || (params.getInterval() > GAP_ADV_PARAMS_INTERVAL_MAX)) { return BLE_ERROR_PARAM_OUT_OF_RANGE; } } else { if ((params.getInterval() < GAP_ADV_PARAMS_INTERVAL_MIN) || (params.getInterval() > GAP_ADV_PARAMS_INTERVAL_MAX)) { return BLE_ERROR_PARAM_OUT_OF_RANGE; } } /* Check timeout is zero for Connectable Directed */ if ((params.getAdvertisingType() == GapAdvertisingParams::ADV_CONNECTABLE_DIRECTED) && (params.getTimeout() != 0)) { /* Timeout must be 0 with this type, although we'll never get here */ /* since this isn't implemented yet anyway */ return BLE_ERROR_PARAM_OUT_OF_RANGE; } /* Check timeout for other advertising types */ if ((params.getAdvertisingType() != GapAdvertisingParams::ADV_CONNECTABLE_DIRECTED) && (params.getTimeout() > GAP_ADV_PARAMS_TIMEOUT_MAX)) { return BLE_ERROR_PARAM_OUT_OF_RANGE; } /* Start Advertising */ ble_gap_adv_params_t adv_para = {0}; adv_para.type = params.getAdvertisingType(); adv_para.p_peer_addr = NULL; // Undirected advertisement adv_para.fp = BLE_GAP_ADV_FP_ANY; adv_para.p_whitelist = NULL; adv_para.interval = params.getInterval(); // advertising interval (in units of 0.625 ms) adv_para.timeout = params.getTimeout(); ASSERT(ERROR_NONE == sd_ble_gap_adv_start(&adv_para), BLE_ERROR_PARAM_OUT_OF_RANGE); state.advertising = 1; return BLE_ERROR_NONE; } /**************************************************************************/ /*! @brief Stops the BLE HW and disconnects from any devices @returns ble_error_t @retval BLE_ERROR_NONE Everything executed properly @section EXAMPLE @code @endcode */ /**************************************************************************/ ble_error_t nRF51Gap::stopAdvertising(void) { /* Stop Advertising */ ASSERT(ERROR_NONE == sd_ble_gap_adv_stop(), BLE_ERROR_PARAM_OUT_OF_RANGE); state.advertising = 0; return BLE_ERROR_NONE; } /**************************************************************************/ /*! @brief Disconnects if we are connected to a central device @returns ble_error_t @retval BLE_ERROR_NONE Everything executed properly @section EXAMPLE @code @endcode */ /**************************************************************************/ ble_error_t nRF51Gap::disconnect(void) { state.advertising = 0; state.connected = 0; /* Disconnect if we are connected to a central device */ ASSERT_INT(ERROR_NONE, sd_ble_gap_disconnect(m_connectionHandle, BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION), BLE_ERROR_PARAM_OUT_OF_RANGE); return BLE_ERROR_NONE; } ble_error_t nRF51Gap::getPreferredConnectionParams(ConnectionParams_t *params) { ASSERT_INT(NRF_SUCCESS, sd_ble_gap_ppcp_get(reinterpret_cast<ble_gap_conn_params_t *>(params)), BLE_ERROR_PARAM_OUT_OF_RANGE); return BLE_ERROR_NONE; } ble_error_t nRF51Gap::setPreferredConnectionParams(const ConnectionParams_t *params) { ASSERT_INT(NRF_SUCCESS, sd_ble_gap_ppcp_set(reinterpret_cast<const ble_gap_conn_params_t *>(params)), BLE_ERROR_PARAM_OUT_OF_RANGE); return BLE_ERROR_NONE; } ble_error_t nRF51Gap::updateConnectionParams(Handle_t handle, const ConnectionParams_t *newParams) { uint32_t rc; rc = sd_ble_gap_conn_param_update(handle, reinterpret_cast<ble_gap_conn_params_t *>(const_cast<ConnectionParams_t*>(newParams))); if (rc == NRF_SUCCESS) { return BLE_ERROR_NONE; } else { return BLE_ERROR_PARAM_OUT_OF_RANGE; } } /**************************************************************************/ /*! @brief Sets the 16-bit connection handle */ /**************************************************************************/ void nRF51Gap::setConnectionHandle(uint16_t con_handle) { m_connectionHandle = con_handle; } /**************************************************************************/ /*! @brief Gets the 16-bit connection handle */ /**************************************************************************/ uint16_t nRF51Gap::getConnectionHandle(void) { return m_connectionHandle; } /**************************************************************************/ /*! @brief Sets the BLE device address @returns ble_error_t @section EXAMPLE @code uint8_t device_address[6] = { 0xca, 0xfe, 0xf0, 0xf0, 0xf0, 0xf0 }; nrf.getGap().setAddress(Gap::ADDR_TYPE_RANDOM_STATIC, device_address); @endcode */ /**************************************************************************/ ble_error_t nRF51Gap::setAddress(addr_type_t type, const uint8_t address[6]) { if (type > ADDR_TYPE_RANDOM_PRIVATE_NON_RESOLVABLE) { return BLE_ERROR_PARAM_OUT_OF_RANGE; } ble_gap_addr_t dev_addr; dev_addr.addr_type = type; memcpy(dev_addr.addr, address, 6); ASSERT_INT(ERROR_NONE, sd_ble_gap_address_set(BLE_GAP_ADDR_CYCLE_MODE_NONE, &dev_addr), BLE_ERROR_PARAM_OUT_OF_RANGE); return BLE_ERROR_NONE; }