vo dung
first commit
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BLE_WallbotBLE_Challenge
by 
JKSoft
Diff: main.cpp
- Revision:
- 4:2386637c9c7c
- Parent:
- 3:ef465ae893a3
- Child:
- 5:984cc7e96073
--- a/main.cpp Thu Nov 23 07:44:33 2017 +0000
+++ b/main.cpp Thu Nov 23 08:46:00 2017 +0000
@@ -1,438 +1,48 @@
#include "mbed.h"
#include "BLEDevice.h"
-#include "RCBController.h"
-#include "TB6612.h"
-
-#define DBG 0
BLEDevice ble;
-#if DBG
-Serial pc(USBTX, USBRX);
-#endif
-/* LEDs for indication: */
-DigitalOut ModeLed(P0_19);
-DigitalOut ConnectStateLed(P0_18);
-DigitalOut outlow(P0_20);
-//PwmOut ControllerStateLed(LED2);
-
-AnalogIn fsen1(P0_2);
-AnalogIn fsen2(P0_3);
-AnalogIn fsen3(P0_4);
-AnalogIn fsen4(P0_5);
-#if 0
-TB6612 left(P0_29,P0_23,P0_24);
-TB6612 right(P0_28,P0_30,P0_0);
-#else
-TB6612 left(P0_29,P0_24,P0_23);
-TB6612 right(P0_28,P0_0,P0_30);
-#endif
-Ticker ticker;
-
-DigitalIn sw1(P0_16);
-DigitalIn sw2(P0_17);
-
-DigitalIn encl1(P0_6);
-DigitalIn encl2(P0_7);
-DigitalIn encr1(P0_8);
-DigitalIn encr2(P0_10);
-
-
-int base_fsen[4];
-int line_mode = 0;
-int challenge_mode = 0;
-char bValue = 0;
-
-int get_line(int num);
-
-/* RCBController Service */
-static const uint16_t RCBController_service_uuid = 0xFFF0;
-static const uint16_t RCBController_Characteristic_uuid = 0xFFF1;
-static const uint16_t RCBController_b_Characteristic_uuid = 0xFFF3;
-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);
-//static uint8_t _bValue = 0x00;
-static uint8_t _mValue[10] = {0,};
-GattCharacteristic b_Char(RCBController_b_Characteristic_uuid, _mValue, sizeof(_mValue), sizeof(_mValue),
- GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
-
-GattCharacteristic *ControllerChars[] = {&ControllerChar,&b_Char};
-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)
-{
- left = 0;
- right = 0;
-
- ble.startAdvertising();
- ConnectStateLed = 1;
-#if DBG
- pc.printf("Disconnected\n\r");
-#endif
-}
-
-void periodicCallback(void)
-{
- if (!ble.getGapState().connected) {
- return;
- }
- int line = get_line(0) ? 1 : 0;
- line |= get_line(1) ? 2 : 0;
- line |= get_line(2) ? 4 : 0;
- line |= get_line(3) ? 8 : 0;
- if( (bValue == 0)&&(line != 0) )
- {
- // game over
- left = 0.0;
- right = 0.0;
- bValue = 10;
- }
- if( bValue > 0 )
- {
- memcpy( _mValue , "GAME OVER",10);
- ble.updateCharacteristicValue(b_Char.getValueAttribute().getHandle(), (uint8_t *)_mValue, sizeof(_mValue));
- ModeLed = !ModeLed;
- bValue--;
- if( bValue == 0 )
- {
- ModeLed = 1;
- challenge_mode = 0;
- ticker.detach();
- }
- }
-}
-
-
-// GattEvent
-void onDataWritten(const GattCharacteristicWriteCBParams *params)
-{
- if( (params->charHandle == ControllerChar.getValueAttribute().getHandle()) && (line_mode == 0))
- {
- memcpy( &controller.data[0], params->data , params->len );
- //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
- float right_factor;
- float left_factor;
-
- left_factor = ((float)((int)controller.status.LeftAnalogUD -128) / 128.0);
- right_factor = ((float)((int)controller.status.RightAnalogUD -128) / 128.0);
-
- if(challenge_mode == 1)
- {
- if( bValue == 0 )
- {
- float factor = ((float)((int)controller.status.AcceleX -128) / 128.0);
-
- float right_factor = ((factor <= 0.0) ? 1.0 : 1.0 - (factor*2));
- float left_factor = ((factor >= 0.0) ? 1.0 : 1.0 - (-factor*2));
-
- if( controller.status.B == 1 )
- {
- left = left_factor;
- right = right_factor;
- }
- else if( controller.status.A == 1 )
- {
- left = -right_factor;
- right = -left_factor;
- }
- else
- {
- left = 0;
- right = 0;
- }
- }
- }
- else if( (left_factor != 0.0)||(right_factor != 0.0) )
- {
- left = left_factor;
- right = right_factor;
- }
- else
- {
- float factor = ((float)((int)controller.status.AcceleX -128) / 128.0);
-
- float right_factor = ((factor <= 0.0) ? 1.0 : 1.0 - (factor*2));
- float left_factor = ((factor >= 0.0) ? 1.0 : 1.0 - (-factor*2));
-
- if( controller.status.B == 1 )
- {
- left = left_factor;
- right = right_factor;
- }
- else if( controller.status.A == 1 )
- {
- left = -right_factor;
- right = -left_factor;
- }
- else if( controller.status.UP == 1 )
- {
- left = 1.0;
- right = 1.0;
- }
- else if( controller.status.DOWN == 1 )
- {
- left = -1.0;
- right = -1.0;
- }
- else if( controller.status.RIGHT == 1 )
- {
- left = 1.0;
- right = -1.0;
- }
- else if( controller.status.LEFT == 1 )
- {
- left = -1.0;
- right = 1.0;
- }
- else
- {
- left = 0.0;
- right = 0.0;
- }
- if((controller.status.UP == 1)&&(controller.status.DOWN == 1))
- {
- left = 0.0;
- right = 0.0;
- ModeLed = 0;
- challenge_mode = 1;
- ticker.attach(periodicCallback, 0.1);
-
- }
- }
- //ControllerStateLed = (float)controller.status.LeftAnalogLR / 255.0;
- }
-}
-
-int get_fsen(int num)
-{
- switch(num)
- {
- case 0:
- return((int)fsen1.read_u16());
- case 1:
- return((int)fsen2.read_u16());
- case 2:
- return((int)fsen3.read_u16());
- case 3:
- return((int)fsen4.read_u16());
- }
- return(0);
-}
-
-void base()
-{
- wait(0.5);
-
- for(int i=0;i<4;i++)
- {
- base_fsen[i] = 0;
- }
-
- for(int j=0;j<10;j++)
- {
- for(int i=0;i<4;i++)
- {
- base_fsen[i] += get_fsen(i);
- }
- wait_ms(50);
- }
- for(int i=0;i<4;i++)
- {
- base_fsen[i] = base_fsen[i] / 10;
- }
-#if DBG
- pc.printf("[0]:%05d[1]:%05d[2]:%05d[3]:%05d\n\r",base_fsen[0],base_fsen[1],base_fsen[2],base_fsen[3]);
-#endif
-}
-
-int get_line(int num)
-{
- int in = get_fsen(num);
- int ret = 0;
-
-#if 1
- if(in > 700)
-#else
- if( (in > (base_fsen[num] + 200))||(in < (base_fsen[num] - 200)))
-#endif
- {
- ret = 1;
- }
- return(ret);
-}
-
-void line(void)
-{
- ModeLed = 0;
- wait(1);
- while(sw1 != 0)
- {
-#if 0
- int line = get_line(0) ? 0 : 1;
- line |= get_line(1) ? 0 : 2;
- line |= get_line(2) ? 0 : 4;
- line |= get_line(3) ? 0 : 8;
-#else
- int line = get_line(0) ? 1 : 0;
- line |= get_line(1) ? 2 : 0;
- line |= get_line(2) ? 4 : 0;
- line |= get_line(3) ? 8 : 0;
-#endif
-
-#if DBG
- pc.printf("line=%02x %04x %04x %04x %04x\n\r",line,base_fsen[0],base_fsen[1],base_fsen[2],base_fsen[3]);
-#endif
-#if 1
- switch(line)
- {
- case 1: // ○○○●
- left = 1.0;
- right = -1.0;
- break;
- case 3: // ○○●●
- left = 1.0;
- right = -0.5;
- break;
- case 2: // ○○●○
- left = 1.0;
- right = 0.5;
- break;
- case 6: // ○●●○
- left = 1.0;
- right = 1.0;
- break;
- case 4: // ○●○○
- left = 0.5;
- right = 1.0;
- break;
- case 12: // ●●○○
- left = -0.5;
- right = 1.0;
- break;
- case 8: // ●○○○
- left = -1.0;
- right = 1.0;
- break;
- default:
- left = 1.0;
- right = 1.0;
- break;
- }
-#endif
- }
- ModeLed = 1;
- left = 0.0;
- right = 0.0;
- wait(1);
-}
-
-#if 0
-int counter1 = 0;
-void p1_rise()
-{
- if( pin2 == 1 )
- {
- counter1++;
- }
- else
- {
- counter1--;
- }
-}
-#endif
-
-/**************************************************************************/
-/*!
- @brief Program entry point
-*/
-/**************************************************************************/
+static const uint16_t uuid16_list[] = {0x00A0};
+const static uint8_t beaconPayload_url[] = {
+ 0xaa,
+ 0xfe,
+
+ // URL
+
+ 0x10, // Frame Type
+ 0x20, // Ranging Data
+ 0x02, // URL Scheme (http:// = 0x02)
+
+ 'i',
+ 'o',
+ 't',
+ 'm',
+ 'a',
+ 'k',
+ 'e',
+ 'r',
+ '.',
+ 'v',
+ 'n',
+};
int main(void)
{
- sw1.mode(PullUp);
- sw2.mode(PullUp);
-
- encl1.mode(PullNone);
- encl2.mode(PullNone);
- encr1.mode(PullNone);
- encr2.mode(PullNone);
-
- ModeLed = 1;
- ConnectStateLed = 1;
-#if DBG
- //pc.baud(921600);
- pc.baud(9600);
- pc.printf("Start\n\r");
-#endif
- outlow = 0;
+ ble.init();
+ ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED|GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
+
+ ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS, (uint8_t *)uuid16_list, sizeof(uuid16_list));
+
+ //ble.accumulateAdvertisingPayload(GapAdvertisingData::SERVICE_DATA,beaconPayload_uid, sizeof(beaconPayload_uid));
+ ble.accumulateAdvertisingPayload(GapAdvertisingData::SERVICE_DATA,beaconPayload_url, sizeof(beaconPayload_url));
+ //ble.accumulateAdvertisingPayload(GapAdvertisingData::SERVICE_DATA,beaconPayload_tlm, sizeof(beaconPayload_tlm));
+
+ ble.setAdvertisingType(GapAdvertisingParams::ADV_NON_CONNECTABLE_UNDIRECTED);
+
+ ble.setAdvertisingInterval(160);
- if(sw2 == 0)
- {
-// pin1.mode(PullDown);
-// pin1.rise(&p1_rise);
- while(1)
- {
- //int in1 = pin1;
- //int in2 = pin2;
- //ModeLed = pin1;
- //pc.printf("dat = %d %d\r\n",in1,in2);
- base();
-#if 0
- left = 1.0;
- right = 1.0;
- wait(5);
- left = -1.0;
- right = -1.0;
- wait(5);
-#endif
- }
- }
-
- 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 WallbotBLE", sizeof("mbed WallbotBLE") - 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 (1) {
- if(sw1 == 0)
- {
- bValue = 1;
- line_mode = 1;
- line();
- line_mode = 0;
- bValue = 0;
- }
+
+ while(true) {
ble.waitForEvent();
}
}
-