robo 8080 / Mbed 2 deprecated BLE_RCBController2_Servo

iOSのBLEコントローラアプリ「RCBController」とmbed HRM1017を接続し、RCサーボモータを操作するテストプログラムです。

Dependencies:   BLE_API Servo mbed nRF51822

Fork of BLE_RCBController2 by Junichi Katsu

• ライブラリ類はUpdateしないでください。コンパイルエラーになります。

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。

/media/uploads/robo8080/img_1560.jpg

main.cpp

Committer:
robo8080
Date:
2014-09-19
Revision:
5:d6d898857b2a
Parent:
2:dd85fdc18224

File content as of revision 5:d6d898857b2a:

#include "mbed.h"
#include "BLEDevice.h"
#include "RCBController.h"
#include "Servo.h"

#define DBG 0

BLEDevice  ble;
Serial  pc(USBTX, USBRX);
/* LEDs for indication: */
DigitalOut  ConnectStateLed(LED1);
PwmOut  ControllerStateLed(LED2);

Servo servo1(P0_28), servo2(P0_29);

/* RCBController Service */
static const uint16_t RCBController_service_uuid = 0xFFF0;
static const uint16_t RCBController_Characteristic_uuid = 0xFFF1;
uint8_t RCBControllerPayload[10] = {0,};

GattCharacteristic  ControllerChar (RCBController_Characteristic_uuid,RCBControllerPayload,10, 10,
								GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | 
								GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
GattCharacteristic *ControllerChars[] = {&ControllerChar};
GattService         RCBControllerService(RCBController_service_uuid, ControllerChars, sizeof(ControllerChars) / sizeof(GattCharacteristic *));

RCBController controller;

void onConnected(Gap::Handle_t handle, const Gap::ConnectionParams_t *params)
{
    ConnectStateLed = 0;
#if DBG
	pc.printf("Connected\n\r");
#endif
}

void onDisconnected(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)
{
    ble.startAdvertising();
	ConnectStateLed = 1;
#if DBG
	pc.printf("Disconnected\n\r");
#endif
}


// GattEvent
void onDataWritten(uint16_t charHandle, const GattCharacteristicWriteCBParams *params)
{
	if (charHandle == ControllerChar.getValueAttribute().getHandle()) {
		uint16_t bytesRead;
	 	ble.readCharacteristicValue(ControllerChar.getValueAttribute().getHandle(),RCBControllerPayload, &bytesRead);
        memcpy( &controller.data[0], RCBControllerPayload, sizeof(controller));
#if DBG

		pc.printf("DATA:%02X %02X %d %d %d %d %d %d %d %02X\n\r",controller.data[0],controller.data[1],controller.data[2],controller.data[3],controller.data[4],
															   controller.data[5],controller.data[6],controller.data[7],controller.data[8],controller.data[9]);
#endif
		ControllerStateLed = (float)controller.status.LeftAnalogLR / 255.0;		
		servo1 = (float)controller.status.LeftAnalogUD / 255.0;
		servo2 = (float)controller.status.LeftAnalogLR / 255.0;
	}
		 
}

/**************************************************************************/
/*!
    @brief  Program entry point
*/
/**************************************************************************/
int main(void)
{
#if DBG
		pc.printf("Start\n\r");
#endif
	ConnectStateLed = 1;
    servo1.calibrate(0.001,180.0);
    servo2.calibrate(0.001,180.0);
    servo1 = 0.5;
    servo2 = 0.5;
	
    ble.init(); 
    ble.onConnection(onConnected);
    ble.onDisconnection(onDisconnected);
    ble.onDataWritten(onDataWritten);
	
    /* setup advertising */
    ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
    ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
    ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
                                    (const uint8_t *)"mbed HRM1017", sizeof("mbed HRM1017") - 1);
    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
                                    (const uint8_t *)RCBController_service_uuid, sizeof(RCBController_service_uuid));

    ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
    ble.startAdvertising();

    ble.addService(RCBControllerService);

    while (true) {
        ble.waitForEvent();
    }
}