I made a BLE car controlled by motion sensor and wah pedal.

Configuration

Parts

Redbearlab BLE Nano
Redbear Duo

　
6DOF MPU-6050

　
Motor Driver DRV8835

　
JIM DUNLOP wah pedal CRYBABY

Car Body

I used the RedBear Duo (BLE Central) to receive the controller (handle and accelerator) information and control the motor.

Controller

And I used the BLE Nano (BLE Peripheral) to communicate with the car.

The 6-axis motion sensor MPU6050 detects the inclination of the handle (y-axis acceleration).

I used the wah pedal as an accelerator.

I wired the variable resistor in the wah pedal to the BLE Nano, so the BLE Nano can detect the depression of the pedal.

Operation

Accelerate by pressing down the wah pedal!

　
Steer the car when you turn the handle!

Code for Arduino IDE

Redbear Duo (Central)

Generated based on the following

Https://github.com/redbear/STM32-Arduino/blob/master/arduino/libraries/RedBear_Duo/examples/03.BLE/SimpleBLECentral/SimpleBLECentral.ino

#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);
  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) {
    //Rx Data
    mpuVol = value[0] - 127; //MPU6050 Acc-y
    wpVol = value[1]; //Wah pedal
    Serial.print(mpuVol); Serial.print("\t");
    Serial.println(wpVol);
  }
  else if (status == BLE_STATUS_DONE) {
    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) {
    //Rx
    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);
  }
}

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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(" ");

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);

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) {

//Rx Data

mpuVol = value[0] - 127; //MPU6050 Acc-y

wpVol = value[1]; //Wah pedal

Serial.print(mpuVol); Serial.print("\t");

Serial.println(wpVol);

}

else if (status == BLE_STATUS_DONE) {

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) {

//Rx

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)

Generated based on the following

https://github.com/redbear/nRF51822-Arduino/blob/S130/arduino-1.6.x/hardware/RBL/RBL_nRF51822/libraries/BLE_Examples/examples/BLE_SimplePeripheral/BLE_SimplePeripheral.ino

The Arduino library for 6-axis motion sensor mpu6050 is located below (using mpu6050 and I2cdev).
　https://github.com/jrowberg/i2cdevlib/tree/master/Arduino

#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);
  */
  
        
  //Tx DATA
  tx_buf[0] = map(ay, -18000, 18000, 0, 255); //MPU6050
  tx_buf[1] = map(analogRead(A5), 960, 0, 0, 255); //Wah Pedal
  Serial.print(tx_buf[0]); Serial.print("\t");
  Serial.println(tx_buf[1]);
  ble.updateCharacteristicValue(characteristic2.getValueAttribute().getHandle(), tx_buf, 2);
}

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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);

//Tx DATA

tx_buf[0] = map(ay, -18000, 18000, 0, 255); //MPU6050

tx_buf[1] = map(analogRead(A5), 960, 0, 0, 255); //Wah Pedal

Serial.print(tx_buf[0]); Serial.print("\t");

Serial.println(tx_buf[1]);

ble.updateCharacteristicValue(characteristic2.getValueAttribute().getHandle(), tx_buf, 2);

}

It would be interesting to be able to FPV in the head mount Desplay now!

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Configuration

Parts

Car Body

Controller

Operation

Code for Arduino IDE

Redbear Duo (Central)

BLE Nano (peripheral)

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