main.cpp

00001 #include "mbed.h"
00002 #include "BLEDevice.h"
00003 #include "RCBController.h"
00004 
00005 #define DBG 1
00006 
00007 BLEDevice  ble;
00008 Serial  pc(USBTX, USBRX);
00009 /* LEDs for indication: */
00010 DigitalOut  ConnectStateLed(LED1);
00011 PwmOut  servo1(LED2);
00012 
00013 
00014 /* RCBController Service */
00015 static const uint16_t RCBController_service_uuid = 0xFFF0;
00016 static const uint16_t RCBController_Characteristic_uuid = 0xFFF1;
00017 uint8_t RCBControllerPayload[10] = {0,};
00018 
00019 GattCharacteristic  ControllerChar (RCBController_Characteristic_uuid,RCBControllerPayload,10, 10,
00020                                 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | 
00021                                 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
00022 GattCharacteristic *ControllerChars[] = {&ControllerChar};
00023 GattService         RCBControllerService(RCBController_service_uuid, ControllerChars, sizeof(ControllerChars) / sizeof(GattCharacteristic *));
00024 
00025 RCBController controller;
00026 
00027 void onConnected(uint16_t h)
00028 {
00029     ConnectStateLed = 0;
00030 #if DBG
00031     pc.printf("Connected\n\r");
00032 #endif
00033 }
00034 
00035 void onDisconnected(uint16_t h)
00036 {
00037     ble.startAdvertising();
00038     ConnectStateLed = 1;
00039 #if DBG
00040     pc.printf("Disconnected\n\r");
00041 #endif
00042 }
00043 const int deg0msec = 600; // msec.
00044 const int deg180msec = 2200; // msec.
00045 
00046 //In float degree -90 to +90
00047 void SetServoDegree(float degree)
00048 {
00049     float range = (float)(deg180msec - deg0msec) / 180;
00050     float pwitdh = (float)((degree+90)*range)+(float)deg0msec;
00051     servo1.pulsewidth(pwitdh/1000000);
00052 }
00053 
00054 // GattEvent
00055 void onDataWritten(uint16_t charHandle)
00056 {
00057     if (charHandle == ControllerChar.getHandle()) {
00058         uint16_t bytesRead;
00059         ble.readCharacteristicValue(ControllerChar.getHandle(),RCBControllerPayload, &bytesRead);
00060         memcpy( &controller.data[0], RCBControllerPayload, sizeof(controller));
00061 #if DBG
00062 
00063         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],
00064                                                                controller.data[5],controller.data[6],controller.data[7],controller.data[8],controller.data[9]);
00065 #endif
00066 
00067         if (controller.data[0] == 1){
00068             SetServoDegree(-45);
00069         }
00070         else if (controller.data[1] == 0x40){
00071             SetServoDegree(45);
00072         }
00073         else if (controller.data[1] == 0 && controller.data[0] == 0){
00074             SetServoDegree(0);
00075         }
00076     }
00077 }
00078 
00079 /**************************************************************************/
00080 /*!
00081     @brief  Program entry point
00082 */
00083 /**************************************************************************/
00084 int main(void)
00085 {
00086 #if DBG
00087         ConnectStateLed = 1;
00088         pc.baud(115200);  
00089         pc.printf("Start\n\r");
00090 #endif
00091     
00092     ble.init(); 
00093     ble.onConnection(onConnected);
00094     ble.onDisconnection(onDisconnected);
00095     ble.onDataWritten(onDataWritten);
00096     
00097     /* setup advertising */
00098     ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
00099     ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
00100     ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
00101                                     (const uint8_t *)"mbed HRM1017", sizeof("mbed HRM1017") - 1);
00102     ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
00103                                     (const uint8_t *)RCBController_service_uuid, sizeof(RCBController_service_uuid));
00104 
00105     ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
00106     ble.startAdvertising();
00107 
00108     ble.addService(RCBControllerService);
00109     servo1.period_ms(20);
00110     SetServoDegree(0);
00111 
00112     while (true) {
00113         ble.waitForEvent();
00114     }
00115 }
00116