library/BLE_uart_coderacer/BLE_uart_coderacer.ino
2018-10-26 08:33:29 +02:00

181 lines
5.5 KiB
C++

#include <CodeRacer.h>
/*
Video: https://www.youtube.com/watch?v=oCMOYS71NIU
Based on Neil Kolban example for IDF: https://github.com/nkolban/esp32-snippets/blob/master/cpp_utils/tests/BLE%20Tests/SampleNotify.cpp
Ported to Arduino ESP32 by Evandro Copercini
Create a BLE server that, once we receive a connection, will send periodic notifications.
The service advertises itself as: 6E400001-B5A3-F393-E0A9-E50E24DCCA9E
Has a characteristic of: 6E400002-B5A3-F393-E0A9-E50E24DCCA9E - used for receiving data with "WRITE"
Has a characteristic of: 6E400003-B5A3-F393-E0A9-E50E24DCCA9E - used to send data with "NOTIFY"
The design of creating the BLE server is:
1. Create a BLE Server
2. Create a BLE Service
3. Create a BLE Characteristic on the Service
4. Create a BLE Descriptor on the characteristic
5. Start the service.
6. Start advertising.
In this example rxValue is the data received (only accessible inside that function).
And txValue is the data to be sent, in this example just a byte incremented every second.
*/
#include <BLEDevice.h>
#include <BLEServer.h>
#include <BLEUtils.h>
#include <BLE2902.h>
#define LED_VORWAERTS 26 // Pin an dem die VORWÄRTS LED angeschlossen ist. 'GPIO' muss man weglassen -> also z.B. nicht GPIO88 sondern nur 88.
#define LED_STOP 25 // Pin an dem die STOP LED angeschlossen ist. 'GPIO' muss man weglassen -> also z.B. nicht GPIO88 sondern nur 88.
#define LED_LINKS 27 // Pin an dem die LINKS LED angeschlossen ist. 'GPIO' muss man weglassen -> also z.B. nicht GPIO88 sondern nur 88.
#define LED_RECHTS 33
BLECharacteristic *pCharacteristic;
bool deviceConnected = false;
uint8_t txValue = 0;
char CRstatus = 0;
// See the following for generating UUIDs:
// https://www.uuidgenerator.net/
#define SERVICE_UUID "6E400001-B5A3-F393-E0A9-E50E24DCCA9E" // UART service UUID
#define CHARACTERISTIC_UUID_RX "6E400002-B5A3-F393-E0A9-E50E24DCCA9E"
#define CHARACTERISTIC_UUID_TX "6E400003-B5A3-F393-E0A9-E50E24DCCA9E"
class MyServerCallbacks: public BLEServerCallbacks {
void onConnect(BLEServer* pServer) {
deviceConnected = true;
};
void onDisconnect(BLEServer* pServer) {
deviceConnected = false;
}
};
class MyCallbacks: public BLECharacteristicCallbacks {
void onWrite(BLECharacteristic *pCharacteristic) {
std::string rxValue = pCharacteristic->getValue();
if (rxValue.length() > 0) {
Serial.println("*********");
Serial.print("Received Value: ");
for (int i = 0; i < rxValue.length(); i++)
{
CRstatus = rxValue[i];
Serial.print(CRstatus);
};
Serial.println();
Serial.println("*********");
}
}
};
CodeRacer coderacer;
void setup() {
Serial.begin(115200);
/*
pinMode(LED_VORWAERTS, OUTPUT); // LED Vorwärts ist ein Ausgang
pinMode(LED_STOP, OUTPUT); // LED Stop ist ein Ausgang
pinMode(LED_LINKS, OUTPUT); // LED Links ist ein Ausgang
pinMode(LED_RECHTS, OUTPUT); // LED Rechts ist ein Ausgang
// alle LEDS aus
digitalWrite(LED_VORWAERTS, LOW);
digitalWrite(LED_STOP, LOW);
digitalWrite(LED_LINKS, LOW);
digitalWrite(LED_RECHTS, LOW);
*/
// CodeRacer initialisieren
coderacer.begin();
coderacer.servo_mitte();
coderacer.motor_einstellungen(255,255,200,200);
// Create the BLE Device
BLEDevice::init("UART Service");
// Create the BLE Server
BLEServer *pServer = BLEDevice::createServer();
pServer->setCallbacks(new MyServerCallbacks());
// Create the BLE Service
BLEService *pService = pServer->createService(SERVICE_UUID);
// Create a BLE Characteristic
pCharacteristic = pService->createCharacteristic(
CHARACTERISTIC_UUID_TX,
BLECharacteristic::PROPERTY_NOTIFY
);
pCharacteristic->addDescriptor(new BLE2902());
BLECharacteristic *pCharacteristic = pService->createCharacteristic(
CHARACTERISTIC_UUID_RX,
BLECharacteristic::PROPERTY_WRITE
);
pCharacteristic->setCallbacks(new MyCallbacks());
// Start the service
pService->start();
// Start advertising
pServer->getAdvertising()->start();
Serial.println("Waiting a client connection to notify...");
}
void loop() {
switch (CRstatus) {
case '0': //
Serial.println("STOP");
//digitalWrite(LED_STOP, HIGH);
coderacer.anhalten();
break;
case '1':
Serial.println("VOR");
//digitalWrite(LED_VORWAERTS, HIGH);
coderacer.vorwaerts();
break;
case '2':
Serial.println("LINKS");
//digitalWrite(LED_LINKS, HIGH);
coderacer.links_dreh();
break;
case '3':
Serial.println("RECHTS");
//digitalWrite(LED_RECHTS, HIGH);
coderacer.rechts_dreh();
break;
case '4':
Serial.println("ZURUECK"); // hier gibt es keine LED
coderacer.rueckwaerts();
break;
//default:
//Serial.println("Kommando unbekannt");
}
//if (deviceConnected) {
// Serial.printf("*** Sent Value: %d ***\n", txValue);
// pCharacteristic->setValue(&txValue, 1);
// pCharacteristic->notify();
// txValue++;
//}
delay(100);
/*
digitalWrite(LED_VORWAERTS, LOW);
digitalWrite(LED_STOP, LOW);
digitalWrite(LED_LINKS, LOW);
digitalWrite(LED_RECHTS, LOW);
*/
}