BLE Nano – Redbear Duo間通信でモータ制御 －球体POV製作への道 その4－
お父ちゃん
2016.8.1
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前回 BLE Nanoとスマホでモーターの回転スピード制御するところまで出来ましたので今回は
ステップ2：BLE Nano (Peripheral) – Redbear Duo (Central) のBLE通信でDuoで
モーター供給電圧を指定してBLE Nanoから回転スピードを受信
を実施しました。BLE Nano – Redbear Duoの通信が意外と手こずりましたが。。。
目次
全体概要
部品
- BLE・WiFi搭載マイコン Redbear Duo
- フォトリフレクタ QTR-1A
- BLE搭載マイコン BLE Nano
- モータードライバ DRV8830
- DCモーター １００均の電動泡立て機のやつ(普通のモーター)
- 10kohmボリューム
BLE Nano
設定方法記事
Pin配置
Redbear Duo
設定方法記事
Pin配置
動作
BLE介してRedbear Duoに接続した10kohmボリュームでDCモーター(BLE Nano)への供給電圧を0.5～3.0Vまで変化させ回転スピードを制御してます。
モータの羽(割り箸)付近にフォトリフレクタを配置し回転スピードを計測しBLE NanoからRedbear Duoへスピード値を送信しています。回転スピード[usec]はRedbear Duoを接続したPCに表示されています。
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 uint8_t mdVol = 0; uint16_t mSpeed; //受信モータスピード /****************************************************** * 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, "Biscuit", min(7, 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); } } else if (0x00 == ble_advdata_decode(0x09, report->advDataLen, report->advData, &len, adv_name)) { Serial.print(" The length of Complete Local Name : "); Serial.println(len, HEX); Serial.print(" The Complete Local Name is : "); Serial.println((const char *)adv_name); if (0x00 == memcmp(adv_name, "Heart Rate", min(7, len))) { } } } /** * @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); 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 Serial.print("Moter Speed : "); mSpeed = value[1] << 8 | value[0]; Serial.println(mSpeed); } else if (status == BLE_STATUS_DONE) { //送信 uint8_t data[]= {mdVol}; // 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); // 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() { //10kohm VR アナログ値読み取り mdVol = map(analogRead(A7), 0, 4096, 0, 27); //Serial.println(analogRead(A0)); delay(15); } |
BLE Nano (Peripheral)
以下をベースに生成
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#include <BLE_API.h> #include <Wire.h> #include <QTRSensors.h> //フォトリフレクタライブラリ https://github.com/pololu/qtr-sensors-arduino const int DRV8830 = 0x64; #define NUM_SENSORS 1 // number of sensors used #define NUM_SAMPLES_PER_SENSOR 1 // average 4 analog samples per sensor reading #define EMITTER_PIN QTR_NO_EMITTER_PIN // emitter is controlled by digital pin 2 // sensors 0 through 5 are connected to analog inputs 0 through 5, respectively QTRSensorsAnalog qtra((unsigned char[]) {A4}, NUM_SENSORS, NUM_SAMPLES_PER_SENSOR, EMITTER_PIN); unsigned int sensorValues[NUM_SENSORS]; unsigned long Time; int QTRstate = 0; uint8_t mdVol = 0; uint16_t mSpeed = 0; #define DEVICE_NAME "BLE_Peripheral" #define TXRX_BUF_LEN 20 // Create ble instance BLE ble; // The uuid of service and characteristics 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_chars1_uuid[] = {0x71, 0x3D, 0, 2, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E}; static const uint8_t service1_chars2_uuid[] = {0x71, 0x3D, 0, 3, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E}; static const uint8_t service1_chars3_uuid[] = {0x71, 0x3D, 0, 4, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E}; // Used in advertisement static const uint8_t uart_base_uuid_rev[] = {0x1E, 0x94, 0x8D, 0xF1, 0x48, 0x31, 0x94, 0xBA, 0x75, 0x4C, 0x3E, 0x50, 0, 0, 0x3D, 0x71}; // Initialize value of chars uint8_t chars1_value[TXRX_BUF_LEN] = {0}; uint8_t chars2_value[TXRX_BUF_LEN] = {0,}; uint8_t chars3_value[TXRX_BUF_LEN] = {0}; uint8_t tx_value[TXRX_BUF_LEN] = {0,}; // Create characteristic GattCharacteristic characteristic1(service1_chars1_uuid, chars1_value, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE ); GattCharacteristic characteristic2(service1_chars2_uuid, chars2_value, 2, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ); GattCharacteristic characteristic3(service1_chars3_uuid, chars3_value, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY); GattCharacteristic *uartChars[] = {&characteristic1, &characteristic2, &characteristic3}; //Create service GattService uartService(service1_uuid, uartChars, sizeof(uartChars) / sizeof(GattCharacteristic *)); //モータドライバ I2C制御 motor driver I2C //参考 http://makers-with-myson.blog.so-net.ne.jp/2014-05-15 void writeMotorResister(byte vset, byte data1){ int vdata = vset << 2 | data1; Wire.beginTransmission(DRV8830); Wire.write(0x00); Wire.write(vdata); Wire.endTransmission(true); } HeartRateService *hrService; DeviceInformationService *deviceInfo; // Init HRM to 100bps static uint16_t hrmCounter = 100; /** @brief Disconnect callback handle * * @param[in] *params params->handle : connect handle * params->reason : CONNECTION_TIMEOUT = 0x08, * REMOTE_USER_TERMINATED_CONNECTION = 0x13, * REMOTE_DEV_TERMINATION_DUE_TO_LOW_RESOURCES = 0x14, // Remote device terminated connection due to low resources. * REMOTE_DEV_TERMINATION_DUE_TO_POWER_OFF = 0x15, // Remote device terminated connection due to power off. * LOCAL_HOST_TERMINATED_CONNECTION = 0x16, * CONN_INTERVAL_UNACCEPTABLE = 0x3B, */ void disconnectionCallBack(const Gap::DisconnectionCallbackParams_t *params) { Serial.print("Disconnected hande : "); Serial.println(params->handle, HEX); Serial.print("Disconnected reason : "); Serial.println(params->reason, HEX); Serial.println("Restart advertising "); writeMotorResister(0x00, 0x00); ble.startAdvertising(); } /** @brief Connection callback handle * * @param[in] *params params->handle : The ID for this connection * params->role : PERIPHERAL = 0x1, // Peripheral Role * CENTRAL = 0x2, // Central Role. * params->peerAddrType : The peer's BLE address type * params->peerAddr : The peer's BLE address * params->ownAddrType : This device's BLE address type * params->ownAddr : This devices's BLE address * params->connectionParams->minConnectionInterval * params->connectionParams->maxConnectionInterval * params->connectionParams->slaveLatency * params->connectionParams->connectionSupervisionTimeout */ void connectionCallBack( const Gap::ConnectionCallbackParams_t *params ) { uint8_t index; if(params->role == Gap::PERIPHERAL) { Serial.println("Peripheral "); } Serial.print("The conn handle : "); Serial.println(params->handle, HEX); Serial.print("The conn role : "); Serial.println(params->role, HEX); Serial.print("The peerAddr type : "); Serial.println(params->peerAddrType, HEX); Serial.print(" The peerAddr : "); for(index=0; index<6; index++) { Serial.print(params->peerAddr[index], HEX); Serial.print(" "); } Serial.println(" "); Serial.print("The ownAddr type : "); Serial.println(params->ownAddrType, HEX); Serial.print(" The ownAddr : "); for(index=0; index<6; index++) { Serial.print(params->ownAddr[index], HEX); Serial.print(" "); } Serial.println(" "); Serial.print("The min connection interval : "); Serial.println(params->connectionParams->minConnectionInterval, HEX); Serial.print("The max connection interval : "); Serial.println(params->connectionParams->maxConnectionInterval, HEX); Serial.print("The slaveLatency : "); Serial.println(params->connectionParams->slaveLatency, HEX); Serial.print("The connectionSupervisionTimeout : "); Serial.println(params->connectionParams->connectionSupervisionTimeout, HEX); } /** @brief write callback handle of Gatt server * * @param[in] *Handler Handler->connHandle : The handle of the connection that triggered the event * Handler->handle : Attribute Handle to which the write operation applies * Handler->writeOp : OP_INVALID = 0x00, // Invalid operation. * OP_WRITE_REQ = 0x01, // Write request. * OP_WRITE_CMD = 0x02, // Write command. * OP_SIGN_WRITE_CMD = 0x03, // Signed write command. * OP_PREP_WRITE_REQ = 0x04, // Prepare write request. * OP_EXEC_WRITE_REQ_CANCEL = 0x05, // Execute write request: cancel all prepared writes. * OP_EXEC_WRITE_REQ_NOW = 0x06, // Execute write request: immediately execute all prepared writes. * Handler->offset : Offset for the write operation * Handler->len : Length (in bytes) of the data to write * Handler->data : Pointer to the data to write */ //モータドライバ用データ送受信 void gattServerWriteCallBack(const GattWriteCallbackParams *Handler) { uint8_t index; uint8_t buf[TXRX_BUF_LEN]; uint16_t bytesRead; //受信 Serial.print("Write Handle : "); // Check the attribute belong to which characteristic if (Handler->handle == characteristic1.getValueAttribute().getHandle()) { // Read the value of characteristic ble.readCharacteristicValue(characteristic1.getValueAttribute().getHandle(), buf, &bytesRead); mdVol = buf[0]; Serial.println(mdVol, DEC); } //送信 ble.updateCharacteristicValue(characteristic2.getValueAttribute().getHandle(), (uint8_t *)&mSpeed, 2); } /** * @brief Set advertisement */ void setAdvertisement(void) { // A list of Advertising Data types commonly used by peripherals. // FLAGS = 0x01, // Flags, refer to GapAdvertisingData::Flags_t. // INCOMPLETE_LIST_16BIT_SERVICE_IDS = 0x02, // Incomplete list of 16-bit Service IDs. // COMPLETE_LIST_16BIT_SERVICE_IDS = 0x03, // Complete list of 16-bit Service IDs. // INCOMPLETE_LIST_32BIT_SERVICE_IDS = 0x04, // Incomplete list of 32-bit Service IDs (not relevant for Bluetooth 4.0). // COMPLETE_LIST_32BIT_SERVICE_IDS = 0x05, // Complete list of 32-bit Service IDs (not relevant for Bluetooth 4.0). // INCOMPLETE_LIST_128BIT_SERVICE_IDS = 0x06, // Incomplete list of 128-bit Service IDs. // COMPLETE_LIST_128BIT_SERVICE_IDS = 0x07, // Complete list of 128-bit Service IDs. // SHORTENED_LOCAL_NAME = 0x08, // Shortened Local Name. // COMPLETE_LOCAL_NAME = 0x09, // Complete Local Name. // TX_POWER_LEVEL = 0x0A, // TX Power Level (in dBm). // DEVICE_ID = 0x10, // Device ID. // SLAVE_CONNECTION_INTERVAL_RANGE = 0x12, // Slave Connection Interval Range. // LIST_128BIT_SOLICITATION_IDS = 0x15, // List of 128 bit service UUIDs the device is looking for. // SERVICE_DATA = 0x16, // Service Data. // APPEARANCE = 0x19, // Appearance, refer to GapAdvertisingData::Appearance_t. // ADVERTISING_INTERVAL = 0x1A, // Advertising Interval. // MANUFACTURER_SPECIFIC_DATA = 0xFF // Manufacturer Specific Data. // AD_Type_Flag : LE_LIMITED_DISCOVERABLE = 0x01, Peripheral device is discoverable for a limited period of time // LE_GENERAL_DISCOVERABLE = 0x02, Peripheral device is discoverable at any moment // BREDR_NOT_SUPPORTED = 0x03, Peripheral device is LE only // SIMULTANEOUS_LE_BREDR_C = 0x04, Not relevant - central mode only // SIMULTANEOUS_LE_BREDR_H = 0x05, Not relevant - central mode only ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE); // Add short name to advertisement ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,(const uint8_t *)"Biscuit", 7); // Add complete 128bit_uuid to advertisement ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,(const uint8_t *)uart_base_uuid_rev, sizeof(uart_base_uuid_rev)); // Add complete device name to scan response data ble.accumulateScanResponse(GapAdvertisingData::COMPLETE_LOCAL_NAME,(const uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME) - 1); } void setup() { // put your setup code here, to run once Serial.begin(9600); Wire.begin(D3, D2, 400000L); writeMotorResister(0x00, 0x00); Serial.println("Start "); pinMode(D13, OUTPUT); ble.init(); ble.onConnection(connectionCallBack); ble.onDisconnection(disconnectionCallBack); ble.onDataWritten(gattServerWriteCallBack); // set advertisement setAdvertisement(); // set adv_type(enum from 0) // ADV_CONNECTABLE_UNDIRECTED // ADV_CONNECTABLE_DIRECTED // ADV_SCANNABLE_UNDIRECTED // ADV_NON_CONNECTABLE_UNDIRECTED ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); // add service hrService = new HeartRateService(ble, hrmCounter, HeartRateService::LOCATION_FINGER); deviceInfo = new DeviceInformationService(ble, "ARM", "Model1", "SN1", "hw-rev1", "fw-rev1", "soft-rev1"); ble.addService(uartService); // set device name ble.setDeviceName((const uint8_t *)DEVICE_NAME); // 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); // ger BLE stack version Serial.print("BLE stack verison is : "); Serial.println(ble.getVersion()); // start advertising ble.startAdvertising(); Serial.println("start advertising "); } void loop() { //モータードライバ電圧指定 if(mdVol < 6){ writeMotorResister(0x00, 0x00); }else { writeMotorResister((byte)mdVol, 0x01); } //フォトリフレクタ処理 // read raw sensor values qtra.read(sensorValues); if(sensorValues[0] < 900 && QTRstate == 0){ QTRstate = 1; mSpeed = micros()-Time; Time = micros(); } if(sensorValues[0] > 920 && QTRstate == 1){ QTRstate = 0; } } |
まとめ
デバイス同士の通信が確認できて一安心。
以下直近の実施予定項目です。
- ステップ3：Redbear DuoでLED(Dotstar)制御確認
- ステップ4：スマホ – Redbear Duo でLED色・回転速度WiFi制御
- ステップ5：POV基本動作確認
まだまだコレ↓を実現するには時間かかりそう。。。
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