vo dung / Mbed 2 deprecated botbattle

demo

Dependencies:   BLE_API mbed nRF51822 X_NUCLEO_IDB0XA1

main.cpp@3:aceb81e0eab5, 2017-08-05 (annotated)

Committer:
tridung141196
Date:
Sat Aug 05 09:24:38 2017 +0000
Revision:
3:aceb81e0eab5
Parent:
2:cf9e91db9fb0 
add skill QWER

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tridung141196 3:aceb81e0eab5 1 /* mbed Microcontroller Library
tridung141196 0:223260474c81 2 * Copyright (c) 2006-2013 ARM Limited
tridung141196 0:223260474c81 3 *
tridung141196 0:223260474c81 4 * Licensed under the Apache License, Version 2.0 (the "License");
tridung141196 0:223260474c81 5 * you may not use this file except in compliance with the License.
tridung141196 0:223260474c81 6 * You may obtain a copy of the License at
tridung141196 0:223260474c81 7 *
tridung141196 0:223260474c81 8 * http://www.apache.org/licenses/LICENSE-2.0
tridung141196 0:223260474c81 9 *
tridung141196 0:223260474c81 10 * Unless required by applicable law or agreed to in writing, software
tridung141196 0:223260474c81 11 * distributed under the License is distributed on an "AS IS" BASIS,
tridung141196 0:223260474c81 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
tridung141196 0:223260474c81 13 * See the License for the specific language governing permissions and
tridung141196 0:223260474c81 14 * limitations under the License.
tridung141196 0:223260474c81 15 */
tridung141196 0:223260474c81 16
tridung141196 0:223260474c81 17 #include "mbed.h"
tridung141196 0:223260474c81 18 #include "ble/BLE.h"
tridung141196 0:223260474c81 19 #include "ble/services/UARTService.h"
tridung141196 0:223260474c81 20
tridung141196 0:223260474c81 21
tridung141196 2:cf9e91db9fb0 22 DigitalOut led1(p7);
tridung141196 3:aceb81e0eab5 23 DigitalOut motorleft_A(p28); //Motor left
tridung141196 3:aceb81e0eab5 24 DigitalOut motorleft_B(p25); //
tridung141196 3:aceb81e0eab5 25 DigitalOut motorright_A(p24); //Motor right
tridung141196 3:aceb81e0eab5 26 DigitalOut motorright_B(p23); //
tridung141196 3:aceb81e0eab5 27 DigitalOut Relay_3A(p22); //Motor skill Q (may bao)
tridung141196 3:aceb81e0eab5 28 DigitalOut Relay_3B(p21); //
tridung141196 3:aceb81e0eab5 29 //DigitalOut Relay_4A(p9); //
tridung141196 3:aceb81e0eab5 30 //DigitalOut Relay_4B(p16); //
tridung141196 3:aceb81e0eab5 31 DigitalOut kichdien(p17); //relay ac inverter 12DC -220AC
tridung141196 3:aceb81e0eab5 32 //DigitalOut Relay_2(p18); //
tridung141196 3:aceb81e0eab5 33 //DigitalOut Relay_3(p19); //
tridung141196 3:aceb81e0eab5 34 //DigitalOut Relay_4(p20); //
tridung141196 0:223260474c81 35
tridung141196 0:223260474c81 36 Serial pc(p10, p11);
tridung141196 0:223260474c81 37 BLEDevice ble;
tridung141196 0:223260474c81 38 UARTService *uartServicePtr;
tridung141196 0:223260474c81 39
tridung141196 0:223260474c81 40 //// Other
tridung141196 0:223260474c81 41 #define ON 0
tridung141196 0:223260474c81 42 #define OFF 1
tridung141196 0:223260474c81 43 uint8_t g_cmd;
tridung141196 0:223260474c81 44 ////////////////////////////////////////////////////////////////////
tridung141196 0:223260474c81 45 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
tridung141196 0:223260474c81 46 {
tridung141196 3:aceb81e0eab5 47 ble.startAdvertising(); //gửi gói tin quảng bá
tridung141196 2:cf9e91db9fb0 48 pc.printf("\n\r# disconnected\n\r");
tridung141196 3:aceb81e0eab5 49 led1 = 0; //led off when disconnected
tridung141196 1:cd80403c0bc1 50 }
tridung141196 2:cf9e91db9fb0 51
tridung141196 1:cd80403c0bc1 52 void connectionCallback( const Gap::ConnectionCallbackParams_t *params ) {
tridung141196 2:cf9e91db9fb0 53 pc.printf("\n\r# connected\n\r");
tridung141196 3:aceb81e0eab5 54 led1 = 1; //led on when connected
tridung141196 0:223260474c81 55 }
tridung141196 0:223260474c81 56 void onDataWritten(const GattWriteCallbackParams *params)
tridung141196 0:223260474c81 57 {
tridung141196 0:223260474c81 58 if ((uartServicePtr != NULL) && (params->handle == uartServicePtr->getTXCharacteristicHandle())) {
tridung141196 0:223260474c81 59 uint16_t bytesRead = params->len;
tridung141196 0:223260474c81 60 g_cmd = params->data[0];
tridung141196 3:aceb81e0eab5 61 ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), params->data, bytesRead); //update status to server
tridung141196 0:223260474c81 62 }
tridung141196 0:223260474c81 63 }
tridung141196 0:223260474c81 64
tridung141196 0:223260474c81 65 /////////////////////////////////////////////////////////////////////
tridung141196 0:223260474c81 66 void periodicCallback(void)
tridung141196 0:223260474c81 67 {
tridung141196 2:cf9e91db9fb0 68 // led1 = !led1;
tridung141196 0:223260474c81 69 }
tridung141196 0:223260474c81 70 //////////////////////////////////////////////////////////////////////
tridung141196 3:aceb81e0eab5 71 void down(void) //su dung motor 1 & 2
tridung141196 0:223260474c81 72 {
tridung141196 3:aceb81e0eab5 73 motorleft_A = 0; //motor left go down
tridung141196 3:aceb81e0eab5 74 motorleft_B = 1; //
tridung141196 3:aceb81e0eab5 75 motorright_A = 0; //motor right do down
tridung141196 3:aceb81e0eab5 76 motorright_B = 1; //
tridung141196 3:aceb81e0eab5 77 pc.printf("\n\r# go down\n\r");
tridung141196 0:223260474c81 78 }
tridung141196 3:aceb81e0eab5 79 void up(void) //su dung motor 1 & 2
tridung141196 0:223260474c81 80 {
tridung141196 3:aceb81e0eab5 81 motorleft_A = 1; //motor left go up
tridung141196 3:aceb81e0eab5 82 motorleft_B = 0; //
tridung141196 3:aceb81e0eab5 83 motorright_A = 1; //motor right go up
tridung141196 3:aceb81e0eab5 84 motorright_B = 0; //
tridung141196 3:aceb81e0eab5 85 pc.printf("\n\r# go up\n\r");
tridung141196 0:223260474c81 86 }
tridung141196 0:223260474c81 87 void left(void) //su dung motor 1 & 2
tridung141196 0:223260474c81 88 {
tridung141196 3:aceb81e0eab5 89 motorleft_A = 0; //Motor left go down
tridung141196 3:aceb81e0eab5 90 motorleft_B = 1; //
tridung141196 3:aceb81e0eab5 91 motorright_A = 1; //Motor right go up
tridung141196 3:aceb81e0eab5 92 motorright_B = 0; //
tridung141196 0:223260474c81 93 pc.printf("\n\r# turn left\n\r");
tridung141196 0:223260474c81 94 }
tridung141196 0:223260474c81 95 void right(void) //su dung motor 1 & 2
tridung141196 0:223260474c81 96 {
tridung141196 3:aceb81e0eab5 97 motorleft_A = 1; //Motor left go up
tridung141196 3:aceb81e0eab5 98 motorleft_B = 0; //
tridung141196 3:aceb81e0eab5 99 motorright_A = 0; //Motor right go down
tridung141196 3:aceb81e0eab5 100 motorright_B = 1; //
tridung141196 0:223260474c81 101 pc.printf("\n\r# turn right\n\r");
tridung141196 0:223260474c81 102 }
tridung141196 0:223260474c81 103 void stop(void) //su dung motor 1 & 2
tridung141196 0:223260474c81 104 {
tridung141196 3:aceb81e0eab5 105 motorleft_A = 1;
tridung141196 3:aceb81e0eab5 106 motorleft_B = 1;
tridung141196 3:aceb81e0eab5 107 motorright_A = 1;
tridung141196 3:aceb81e0eab5 108 motorright_B = 1;
tridung141196 0:223260474c81 109 pc.printf("\n\r# stop\n\r");
tridung141196 0:223260474c81 110 }
tridung141196 0:223260474c81 111 /////////////////////////////////////////
tridung141196 3:aceb81e0eab5 112 void maybao_down(void)
tridung141196 0:223260474c81 113 {
tridung141196 0:223260474c81 114 Relay_3A = 0;
tridung141196 0:223260474c81 115 Relay_3B = 1;
tridung141196 0:223260474c81 116 }
tridung141196 3:aceb81e0eab5 117 void maybao_up(void)
tridung141196 0:223260474c81 118 {
tridung141196 0:223260474c81 119 Relay_3A = 1;
tridung141196 0:223260474c81 120 Relay_3B = 0;
tridung141196 3:aceb81e0eab5 121 pc.printf("\n\r# may bao up\n\r");
tridung141196 0:223260474c81 122 }
tridung141196 3:aceb81e0eab5 123 void maybao_stop(void)
tridung141196 0:223260474c81 124 {
tridung141196 0:223260474c81 125 Relay_3A = 1;
tridung141196 0:223260474c81 126 Relay_3B = 1;
tridung141196 3:aceb81e0eab5 127 pc.printf("\n\r# may bao down\n\r");
tridung141196 0:223260474c81 128 }
tridung141196 3:aceb81e0eab5 129 void skillE(void)
tridung141196 0:223260474c81 130 {
tridung141196 3:aceb81e0eab5 131
tridung141196 3:aceb81e0eab5 132 }
tridung141196 3:aceb81e0eab5 133 void skillR(void)
tridung141196 3:aceb81e0eab5 134 {
tridung141196 3:aceb81e0eab5 135
tridung141196 0:223260474c81 136 }
tridung141196 0:223260474c81 137
tridung141196 0:223260474c81 138 //////////////////////////////////////////////////////////////////////
tridung141196 0:223260474c81 139 int main(void)
tridung141196 0:223260474c81 140 {
tridung141196 0:223260474c81 141 //Init hardware
tridung141196 1:cd80403c0bc1 142 led1 = 0;
tridung141196 3:aceb81e0eab5 143 motorleft_A = 1;
tridung141196 3:aceb81e0eab5 144 motorleft_B = 1;
tridung141196 3:aceb81e0eab5 145 motorright_A = 1;
tridung141196 3:aceb81e0eab5 146 motorright_B = 1;
tridung141196 0:223260474c81 147 Relay_3A = 1;
tridung141196 0:223260474c81 148 Relay_3B = 1;
tridung141196 3:aceb81e0eab5 149 kichdien = 1;
tridung141196 0:223260474c81 150 //Init UART
tridung141196 0:223260474c81 151 pc.baud(115200);
tridung141196 0:223260474c81 152 pc.printf("\n\r# BOT_BATTLE\n\r");
tridung141196 0:223260474c81 153 //Init timer
tridung141196 0:223260474c81 154 Ticker ticker;
tridung141196 0:223260474c81 155 ticker.attach(periodicCallback, 0.1); //sec
tridung141196 0:223260474c81 156 //Init BLE
tridung141196 3:aceb81e0eab5 157 ble.init(); //start ble driver
tridung141196 3:aceb81e0eab5 158 ble.onConnection(connectionCallback); //callback when connected
tridung141196 3:aceb81e0eab5 159 ble.onDisconnection(disconnectionCallback); //callback when disconnected
tridung141196 3:aceb81e0eab5 160 ble.onDataWritten(onDataWritten); //callback when receive data
tridung141196 0:223260474c81 161 /* setup advertising */
tridung141196 3:aceb81e0eab5 162 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED); //chế độ hoạt động BLE (only le peripheral)
tridung141196 3:aceb81e0eab5 163 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); // có khả năng kêt nối vô hướng
tridung141196 3:aceb81e0eab5 164 ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, //tên thiết bị ble peripheral
tridung141196 3:aceb81e0eab5 165 (const uint8_t *)"BOT_BATTLE", sizeof("BOT_BATTLE") - 1); //
tridung141196 0:223260474c81 166 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
tridung141196 3:aceb81e0eab5 167 (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed)); //UUID service
tridung141196 0:223260474c81 168 ble.setAdvertisingInterval(200); /* 1000ms; in multiples of 0.625ms. */
tridung141196 0:223260474c81 169 ble.startAdvertising();
tridung141196 0:223260474c81 170 UARTService uartService(ble);
tridung141196 0:223260474c81 171 uartServicePtr = &uartService;
tridung141196 0:223260474c81 172
tridung141196 0:223260474c81 173 while (true) {
tridung141196 0:223260474c81 174 ble.waitForEvent();
tridung141196 0:223260474c81 175 //test_relay();
tridung141196 0:223260474c81 176
tridung141196 0:223260474c81 177 if (g_cmd == 1) {up(); }
tridung141196 0:223260474c81 178 else if(g_cmd == 2) {left(); }
tridung141196 0:223260474c81 179 else if(g_cmd == 3) {down(); }
tridung141196 0:223260474c81 180 else if(g_cmd == 4) {right(); }
tridung141196 0:223260474c81 181 else if(g_cmd == 5) {stop(); }
tridung141196 3:aceb81e0eab5 182 else if(g_cmd == 6) {maybao_up(); } //
tridung141196 3:aceb81e0eab5 183 else if(g_cmd == 7) {maybao_down(); } // Skill Q
tridung141196 3:aceb81e0eab5 184 else if(g_cmd == 8) {maybao_stop(); } //
tridung141196 2:cf9e91db9fb0 185 else if(g_cmd == 12) {
tridung141196 3:aceb81e0eab5 186 skillE();
tridung141196 3:aceb81e0eab5 187 pc.printf("\n\r# turn on skill E - turn round \n\r"); } //Skill E
tridung141196 2:cf9e91db9fb0 188 else if(g_cmd == 14) {
tridung141196 3:aceb81e0eab5 189 skillR();
tridung141196 3:aceb81e0eab5 190 pc.printf("\n\r# turn on skill R - crazy dance \n\r");} //Skill R
tridung141196 2:cf9e91db9fb0 191 else if(g_cmd == 16) {
tridung141196 3:aceb81e0eab5 192 kichdien = ON;
tridung141196 3:aceb81e0eab5 193 pc.printf("\n\r# bat kich dien\n\r"); } //
tridung141196 3:aceb81e0eab5 194 else if(g_cmd == 17) { //
tridung141196 3:aceb81e0eab5 195 kichdien = OFF; //skill W
tridung141196 3:aceb81e0eab5 196 pc.printf("\n\r# tat kich dien\n\r"); } //
tridung141196 0:223260474c81 197
tridung141196 0:223260474c81 198 g_cmd = 0;
tridung141196 0:223260474c81 199 }
tridung141196 0:223260474c81 200 }