ワウペダルと加速度センサでBLE制御ラジコン！
お父ちゃん
2016.10.13
0
0
以前スマホでコントロールするラジコンを作ったのですが。。。
やっぱり物理コントローラで動かしてみたくなりハンドルに加速度センサ、アクセルに大昔に買ったワウペダルを使ってコントローラつくりました♪コントローラと車の通信にはBLEを使用しました。
ワウペダルはウルフルズのガッツだぜをコピーしたくて買ったんだったなぁ。。もう20年前か。。。。
目次
構成
部品
- Redbearlab BLE Nano
- Redbear Duo
- 6DOF MPU-6050
- Motor Driver DRV8835
-
JIM DUNLOP wah pedal CRYBABY
車体
BLEとWiFiを搭載したマイコンRedBear Duoを使用しコントローラ情報を受信(BLE Central)し、モータを制御します。今回はWiFi使用しないのでBLE Nanoでも良かったのですがNanoはPWM出力できないのでPWM出力端子のあるDuoを贅沢に使用！
コントローラ
BLE搭載マイコンBLE Nanoを使用して車体と通信(BLE Peripheral)しています。
ハンドル(現状タッパのフタ。。。ww)の傾きを6軸モーションセンサMPU6050のy軸(水平方向)の加速度で検出しBLE Nanoに送信。
アクセルとしてワウペダルを使用しました。
ワウペダル内の可変抵抗に配線引っ張ってBLE Nanoに接続してペダルの踏み込みを検知します。中ホコリだらけだった。。。
BLE NanoとDuoの詳細は以下にも記載しております。
動作
ワウペダルを踏み込むと加速します！
ハンドルを切ると曲がります！
Arduino IDE用コード
Redbear Duo (Central)
以下をベースに生成
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#if defined(ARDUINO) SYSTEM_MODE(SEMI_AUTOMATIC); #endif /* * BLE scan parameters: * - BLE_SCAN_TYPE * 0x00: Passive scanning, no scan request packets shall be sent.(default) * 0x01: Active scanning, scan request packets may be sent. * 0x02 - 0xFF: Reserved for future use. * - BLE_SCAN_INTERVAL: This is defined as the time interval from when the Controller started its last LE scan until it begins the subsequent LE scan. * Range: 0x0004 to 0x4000 * Default: 0x0010 (10 ms) * Time = N * 0.625 msec * Time Range: 2.5 msec to 10.24 seconds * - BLE_SCAN_WINDOW: The duration of the LE scan. The scan window shall be less than or equal to the scan interval. * Range: 0x0004 to 0x4000 * Default: 0x0010 (10 ms) * Time = N * 0.625 msec * Time Range: 2.5 msec to 10240 msec */ #define BLE_SCAN_TYPE 0x00 // Passive scanning #define BLE_SCAN_INTERVAL 0x0060 // 60 ms #define BLE_SCAN_WINDOW 0x0030 // 30 ms int mpuVol; uint8_t wpVol = 0; //Wah pedal値 int L = D8; int R = D9; /****************************************************** * Type Define ******************************************************/ typedef struct { uint16_t connected_handle; uint8_t addr_type; bd_addr_t addr; struct { gatt_client_service_t service; struct { gatt_client_characteristic_t chars; gatt_client_characteristic_descriptor_t descriptor[2]; // User_descriptor and client charactersitc configuration descriptor. } chars[2]; } service; // Service contains two characteristics and each characteristic contains two descriptors. } Device_t; /****************************************************** * Variable Definitions ******************************************************/ // Connect handle. static uint16_t connected_id = 0xFFFF; Device_t device; uint8_t chars_index = 0; uint8_t desc_index = 0; // The service uuid to be discovered. static uint8_t service1_uuid[16] = { 0x71,0x3d,0x00,0x00,0x50,0x3e,0x4c,0x75,0xba,0x94,0x31,0x48,0xf1,0x8d,0x94,0x1e }; static uint8_t gatt_notify_flag = 0; /****************************************************** * Function Definitions ******************************************************/ /** * @brief Find the data given the type in advertising data. * * @param[in] type The type of field data. * @param[in] advdata_len Length of advertising data. * @param[in] *p_advdata The pointer of advertising data. * @param[out] *len The length of found data. * @param[out] *p_field_data The pointer of buffer to store field data. * * @retval 0 Find the data * 1 Not find. */ uint32_t ble_advdata_decode(uint8_t type, uint8_t advdata_len, uint8_t *p_advdata, uint8_t *len, uint8_t *p_field_data) { uint8_t index = 0; uint8_t field_length, field_type; while (index < advdata_len) { field_length = p_advdata[index]; field_type = p_advdata[index + 1]; if (field_type == type) { memcpy(p_field_data, &p_advdata[index + 2], (field_length - 1)); *len = field_length - 1; return 0; } index += field_length + 1; } return 1; } /** * @brief Callback for scanning device. * * @param[in] *report * * @retval None */ void reportCallback(advertisementReport_t *report) { uint8_t index; Serial.println("reportCallback: "); Serial.print("The advEventType: "); Serial.println(report->advEventType, HEX); Serial.print("The peerAddrType: "); Serial.println(report->peerAddrType, HEX); Serial.print("The peerAddr: "); for (index = 0; index < 6; index++) { Serial.print(report->peerAddr[index], HEX); Serial.print(" "); } Serial.println(" "); Serial.print("The rssi: "); Serial.println(report->rssi, DEC); Serial.print("The ADV data: "); for (index = 0; index < report->advDataLen; index++) { Serial.print(report->advData[index], HEX); Serial.print(" "); } Serial.println(" "); Serial.println(" "); uint8_t len; uint8_t adv_name[31]; // Find short local name. if (0x00 == ble_advdata_decode(0x08, report->advDataLen, report->advData, &len, adv_name)) { Serial.print(" The length of Short Local Name : "); Serial.println(len, HEX); Serial.print(" The Short Local Name is : "); Serial.println((const char *)adv_name); if (0x00 == memcmp(adv_name, "TXRX", min(4, len))) { ble.stopScanning(); device.addr_type = report->peerAddrType; memcpy(device.addr, report->peerAddr, 6); //ble.connect(report->peerAddr, report->peerAddrType); //ble.connect(report->peerAddr, BD_ADDR_TYPE_LE_PUBLIC); ble.connect(report->peerAddr, BD_ADDR_TYPE_LE_RANDOM); } } } /** * @brief Connect handle. * * @param[in] status BLE_STATUS_CONNECTION_ERROR or BLE_STATUS_OK. * @param[in] handle Connect handle. * * @retval None */ void deviceConnectedCallback(BLEStatus_t status, uint16_t handle) { RGB.color(0, 60, 25); //BLE接続時にLED水色 switch (status) { case BLE_STATUS_OK: Serial.println("Device connected!"); // Connect to remote device, start to discover service. connected_id = handle; device.connected_handle = handle; // Start to discover service, will report result on discoveredServiceCallback. ble.discoverPrimaryServices(handle); break; default: break; } } /** * @brief Disconnect handle. * * @param[in] handle Connect handle. * * @retval None */ void deviceDisconnectedCallback(uint16_t handle){ RGB.color(100, 0, 0); //BLE非接続時にLED赤色 analogWrite(L, LOW); analogWrite(R, LOW); Serial.print("Disconnected handle:"); Serial.println(handle,HEX); if (connected_id == handle) { Serial.println("Restart scanning."); // Disconnect from remote device, restart to scanning. connected_id = 0xFFFF; ble.startScanning(); } } /** * @brief Callback for handling result of discovering service. * * @param[in] status BLE_STATUS_OK/BLE_STATUS_DONE * @param[in] con_handle * @param[in] *service Discoverable service. * * @retval None */ static void discoveredServiceCallback(BLEStatus_t status, uint16_t con_handle, gatt_client_service_t *service) { uint8_t index; if (status == BLE_STATUS_OK) { // Found a service. Serial.println(" "); Serial.print("Service start handle: "); Serial.println(service->start_group_handle, HEX); Serial.print("Service end handle: "); Serial.println(service->end_group_handle, HEX); Serial.print("Service uuid16: "); Serial.println(service->uuid16, HEX); Serial.print("The uuid128 : "); for (index = 0; index < 16; index++) { Serial.print(service->uuid128[index], HEX); Serial.print(" "); } Serial.println(" "); if (0x00 == memcmp(service->uuid128, service1_uuid, 16)) { Serial.println("Target uuid128"); device.service.service = *service; } } else if (status == BLE_STATUS_DONE) { Serial.println("Discovered service done"); // All sevice have been found, start to discover characteristics. // Result will be reported on discoveredCharsCallback. ble.discoverCharacteristics(device.connected_handle, &device.service.service); } } /** * @brief Callback for handling result of discovering characteristic. * * @param[in] status BLE_STATUS_OK/BLE_STATUS_DONE * @param[in] con_handle * @param[in] *characteristic Discoverable characteristic. * * @retval None */ static void discoveredCharsCallback(BLEStatus_t status, uint16_t con_handle, gatt_client_characteristic_t *characteristic) { uint8_t index; if (status == BLE_STATUS_OK) { // Found a characteristic. Serial.println(" "); Serial.print("characteristic start handle: "); Serial.println(characteristic->start_handle, HEX); Serial.print("characteristic value handle: "); Serial.println(characteristic->value_handle, HEX); Serial.print("characteristic end_handle: "); Serial.println(characteristic->end_handle, HEX); Serial.print("characteristic properties: "); Serial.println(characteristic->properties, HEX); Serial.print("characteristic uuid16: "); Serial.println(characteristic->uuid16, HEX); Serial.print("characteristic uuid128 : "); for (index = 0; index < 16; index++) { Serial.print(characteristic->uuid128[index], HEX); Serial.print(" "); } Serial.println(" "); if (chars_index < 2) { device.service.chars[chars_index].chars= *characteristic; chars_index++; } } else if (status == BLE_STATUS_DONE) { Serial.println("Discovered characteristic done"); chars_index = 0; // All characteristics have been found, start to discover descriptors. // Result will be reported on discoveredCharsDescriptorsCallback. ble.discoverCharacteristicDescriptors(device.connected_handle, &device.service.chars[chars_index].chars); } } /** * @brief Callback for handling result of discovering descriptor. * * @param[in] status BLE_STATUS_OK/BLE_STATUS_DONE * @param[in] con_handle * @param[in] *descriptor Discoverable descriptor. * * @retval None */ static void discoveredCharsDescriptorsCallback(BLEStatus_t status, uint16_t con_handle, gatt_client_characteristic_descriptor_t *descriptor) { uint8_t index; if (status == BLE_STATUS_OK) { // Found a descriptor. Serial.println(" "); Serial.print("descriptor handle: "); Serial.println(descriptor->handle, HEX); Serial.print("descriptor uuid16: "); Serial.println(descriptor->uuid16, HEX); Serial.print("descriptor uuid128 : "); for (index = 0; index < 16; index++) { Serial.print(descriptor->uuid128[index], HEX); Serial.print(" "); } Serial.println(" "); if (desc_index < 2) { device.service.chars[chars_index].descriptor[desc_index++] = *descriptor; } } else if (status == BLE_STATUS_DONE) { // finish. Serial.println("Discovered descriptor done"); chars_index++; if (chars_index < 2) { desc_index=0; ble.discoverCharacteristicDescriptors(device.connected_handle, &device.service.chars[chars_index].chars); } else { // Read value of characteristic, // Result will be reported on gattReadCallback. ble.readValue(device.connected_handle,&device.service.chars[1].chars); } } } /** * @brief Callback for handling result of reading. * * @param[in] status BLE_STATUS_OK/BLE_STATUS_DONE/BLE_STATUS_OTHER_ERROR * @param[in] con_handle * @param[in] value_handle * @param[in] *value * @param[in] length * * @retval None */ void gattReadCallback(BLEStatus_t status, uint16_t con_handle, uint16_t value_handle, uint8_t *value, uint16_t length) { uint8_t index; if (status == BLE_STATUS_OK) { //受信処理 mpuVol = value[0] - 127; //MPU6050 Acc-y値 wpVol = value[1]; //Wah pedal値 Serial.print(mpuVol); Serial.print("\t"); Serial.println(wpVol); } else if (status == BLE_STATUS_DONE) { //送信(ダミー) uint8_t data[]= {0}; // Result will be reported on gattWrittenCallback. // If use ble.writeValueWithoutResponse, will no response. ble.writeValue(device.connected_handle, device.service.chars[0].chars.value_handle, sizeof(data), data); } } /** * @brief Callback for handling result of writting. * * @param[in] status BLE_STATUS_DONE/BLE_STATUS_OTHER_ERROR * @param[in] con_handle * * @retval None */ void gattWrittenCallback(BLEStatus_t status, uint16_t con_handle) { if (status == BLE_STATUS_DONE) { //受信 ble.readValue(device.connected_handle,&device.service.chars[1].chars); } } /** * @brief Callback for handling result of reading descriptor. * * @param[in] status BLE_STATUS_DONE/BLE_STATUS_OTHER_ERROR * @param[in] con_handle * @param[in] value_handle * @param[in] *value * @param[in] length * * @retval None */ void gattReadDescriptorCallback(BLEStatus_t status, uint16_t con_handle, uint16_t value_handle, uint8_t *value, uint16_t length) { uint8_t index; if(status == BLE_STATUS_OK) { Serial.println(" "); Serial.println("Read descriptor ok"); Serial.print("conn handle: "); Serial.println(con_handle, HEX); Serial.print("value handle: "); Serial.println(value_handle, HEX); Serial.print("The value : "); for (index = 0; index < length; index++) { Serial.print(value[index], HEX); Serial.print(" "); } Serial.println(" "); } else if (status == BLE_STATUS_DONE) { // Enable notify. ble.writeClientCharsConfigDescritpor(device.connected_handle, &device.service.chars[0].chars, GATT_CLIENT_CHARACTERISTICS_CONFIGURATION_NOTIFICATION); } } /** * @brief Callback for handling result of writting client characteristic configuration. * * @param[in] status BLE_STATUS_DONE/BLE_STATUS_OTHER_ERROR * @param[in] con_handle * * @retval None */ void gattWriteCCCDCallback(BLEStatus_t status, uint16_t con_handle) { if (status == BLE_STATUS_DONE) { Serial.println("gattWriteCCCDCallback done"); if (gatt_notify_flag == 0) { gatt_notify_flag = 1; ble.writeClientCharsConfigDescritpor(device.connected_handle, &device.service.chars[1].chars, GATT_CLIENT_CHARACTERISTICS_CONFIGURATION_NOTIFICATION); } else if (gatt_notify_flag == 1) { gatt_notify_flag = 2; } } } /** * @brief Callback for handling notify event from remote device. * * @param[in] status BLE_STATUS_OK * @param[in] con_handle * @param[in] value_handle * @param[in] *value * @param[in] length * * @retval None */ void gattNotifyUpdateCallback(BLEStatus_t status, uint16_t con_handle, uint16_t value_handle, uint8_t *value, uint16_t length) { uint8_t index; Serial.println(" "); Serial.println("Notify Update value "); Serial.print("conn handle: "); Serial.println(con_handle, HEX); Serial.print("value handle: "); Serial.println(value_handle, HEX); Serial.print("The value : "); for (index = 0; index < length; index++) { Serial.print(value[index], HEX); Serial.print(" "); } Serial.println(" "); } /** * @brief Setup. */ void setup() { Serial.begin(115200); delay(5000); RGB.control(true); RGB.color(100, 0, 0); pinMode(L, OUTPUT); pinMode(R, OUTPUT); // Open debugger, must befor init(). //ble.debugLogger(true); //ble.debugError(true); //ble.enablePacketLogger(); Serial.println("BLE central demo!"); // Initialize ble_stack. ble.init(); // Register callback functions. ble.onConnectedCallback(deviceConnectedCallback); ble.onDisconnectedCallback(deviceDisconnectedCallback); ble.onScanReportCallback(reportCallback); ble.onServiceDiscoveredCallback(discoveredServiceCallback); ble.onCharacteristicDiscoveredCallback(discoveredCharsCallback); ble.onDescriptorDiscoveredCallback(discoveredCharsDescriptorsCallback); ble.onGattCharacteristicReadCallback(gattReadCallback); ble.onGattCharacteristicWrittenCallback(gattWrittenCallback); ble.onGattDescriptorReadCallback(gattReadDescriptorCallback); ble.onGattWriteClientCharacteristicConfigCallback(gattWriteCCCDCallback); ble.onGattNotifyUpdateCallback(gattNotifyUpdateCallback); // Set scan parameters. ble.setScanParams(BLE_SCAN_TYPE, BLE_SCAN_INTERVAL, BLE_SCAN_WINDOW); // Start scanning. ble.startScanning(); Serial.println("Start scanning "); } /** * @brief Loop. */ void loop() { if(wpVol > 45){ if(mpuVol > 0){ analogWrite(L, wpVol - map(abs(mpuVol), 0, 127, 0, wpVol)); analogWrite(R, wpVol + map(abs(mpuVol), 0, 127, 0, wpVol)); }else{ analogWrite(L, wpVol + map(abs(mpuVol), 0, 127, 0, wpVol)); analogWrite(R, wpVol - map(abs(mpuVol), 0, 127, 0, wpVol)); } }else { analogWrite(L, LOW); analogWrite(R, LOW); } } |
BLE Nano (Peripheral)
以下をベースに生成
6軸モーションセンサMPU6050のArduino用ライブラリは以下にあります（MPU6050とI2Cdevを使用）。
https://github.com/jrowberg/i2cdevlib/tree/master/Arduino
https://github.com/jrowberg/i2cdevlib/tree/master/Arduino
BLE NanoでMPU6050を使用する場合にはArduino IDEボードマネージャのRedBearLab nRF51822 Boardsのパッケージバージョン1.0.5を使用してください。1.0.6以上では何かしらに変更あったらしくエラー出まくります。。。
さらにI2Cdev.hに ”#define BUFFER_LENGTH 32″ を追加で問題なく使用できるようになります。
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#include <BLE_API.h> #include <Wire.h> #include "I2Cdev.h" #include "MPU6050.h" BLE ble; Timeout timeout; MPU6050 mpu; #define TXRX_BUF_LEN 20 static uint8_t tx_buf[TXRX_BUF_LEN]; // The Nordic UART Service static const uint8_t service1_uuid[] = {0x71, 0x3D, 0, 0, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E}; static const uint8_t service1_tx_uuid[] = {0x71, 0x3D, 0, 3, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E}; static const uint8_t service1_rx_uuid[] = {0x71, 0x3D, 0, 2, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E}; static const uint8_t uart_base_uuid_rev[] = {0x1E, 0x94, 0x8D, 0xF1, 0x48, 0x31, 0x94, 0xBA, 0x75, 0x4C, 0x3E, 0x50, 0, 0, 0x3D, 0x71}; uint8_t tx_value[TXRX_BUF_LEN] = {0,}; uint8_t rx_value[TXRX_BUF_LEN] = {0,}; GattCharacteristic characteristic1(service1_tx_uuid, tx_value, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE ); GattCharacteristic characteristic2(service1_rx_uuid, rx_value, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY); GattCharacteristic *uartChars[] = {&characteristic1, &characteristic2}; GattService uartService(service1_uuid, uartChars, sizeof(uartChars) / sizeof(GattCharacteristic *)); MPU6050 accelgyro; int16_t ax, ay, az; int16_t gx, gy, gz; static void disconnectionCallBack(Gap::Handle_t handle, Gap::DisconnectionReason_t reason) { ble.startAdvertising(); } void writtenHandle(const GattWriteCallbackParams *Handler) { uint8_t buf[TXRX_BUF_LEN]; uint16_t bytesRead, index; if (Handler->handle == characteristic1.getValueAttribute().getHandle()) { ble.readCharacteristicValue(characteristic1.getValueAttribute().getHandle(), buf, &bytesRead); for(byte index=0; index<bytesRead; index++) { Serial.write(buf[index]); } } } void setup() { // join I2C bus (I2Cdev library doesn't do this automatically) #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE Wire.begin(); #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE Fastwire::setup(400, true); #endif Serial.begin(250000); // initialize device Serial.println("Initializing I2C devices..."); accelgyro.initialize(); // verify connection Serial.println("Testing device connections..."); Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed"); mpu.setXAccelOffset(-1020); mpu.setYAccelOffset(-1030); mpu.setZAccelOffset(1470); mpu.setXGyroOffset(80); mpu.setYGyroOffset(-45); mpu.setZGyroOffset(30); //BLE設定 ble.init(); ble.onDisconnection(disconnectionCallBack); ble.onDataWritten(writtenHandle); // setup adv_data and srp_data ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED); ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, (const uint8_t *)"TXRX", sizeof("TXRX") - 1); ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS, (const uint8_t *)uart_base_uuid_rev, sizeof(uart_base_uuid_rev)); // set adv_type ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); // add service ble.addService(uartService); // set device name ble.setDeviceName((const uint8_t *)"Simple Chat"); // set tx power,valid values are -40, -20, -16, -12, -8, -4, 0, 4 ble.setTxPower(4); // set adv_interval, 100ms in multiples of 0.625ms. ble.setAdvertisingInterval(160); // set adv_timeout, in seconds ble.setAdvertisingTimeout(0); // start advertising ble.startAdvertising(); Serial.println("Advertising Start!"); } void loop() { // read raw accel/gyro measurements from device accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); /* Serial.print("a/g:\t"); Serial.print(ax); Serial.print("\t"); Serial.print(ay); Serial.print("\t"); Serial.print(az); Serial.print("\t"); Serial.print(gx); Serial.print("\t"); Serial.print(gy); Serial.print("\t"); Serial.println(gz); */ //BLEデータ送信 tx_buf[0] = map(ay, -18000, 18000, 0, 255); //MPU6050 tx_buf[1] = map(analogRead(A5), 960, 0, 0, 255); //Wah Pedal値 Serial.print(tx_buf[0]); Serial.print("\t"); Serial.println(tx_buf[1]); ble.updateCharacteristicValue(characteristic2.getValueAttribute().getHandle(), tx_buf, 2); } |
これでヘッドマウントデスプレイでFPVできたら面白いだろうなぁ
「ワウペダルと加速度センサでBLE制御ラジコン！」への1件のフィードバック