iOSのBLEコントローラアプリ「RCBController」とmbed HRM1017を接続し、RCサーボモータを操作するテストプログラムです。

Dependencies:   BLE_API_Native_IRC Servo mbed

Fork of BLE_RCBController by Junichi Katsu

  • 古いBLEライブラリを使っているのでプラットフォームは”Nordic nRF51822”を選択してください。
  • ライブラリ類はUpdateしないでください。コンパイルエラーになります。

うまく接続できない時は、iPhone/iPadのBluetoothをOFF->ONしてキャッシュをクリアしてみてください。

/media/uploads/robo8080/img_1560.jpg

Revision:
0:8c643bfe55b7
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BLE_API_Native_IRC/hw/nRF51822n/nordic/nrf-sdk/app_common/hci_transport.h	Thu Jul 10 14:21:52 2014 +0000
@@ -0,0 +1,221 @@
+/* Copyright (c) 2013 Nordic Semiconductor. All Rights Reserved.
+ *
+ * The information contained herein is property of Nordic Semiconductor ASA.
+ * Terms and conditions of usage are described in detail in NORDIC
+ * SEMICONDUCTOR STANDARD SOFTWARE LICENSE AGREEMENT.
+ *
+ * Licensees are granted free, non-transferable use of the information. NO
+ * WARRANTY of ANY KIND is provided. This heading must NOT be removed from
+ * the file.
+ *
+ */
+ 
+/**@file
+ *
+ * @defgroup hci_transport HCI Transport
+ * @{
+ * @ingroup  app_common
+ *
+ * @brief    HCI transport module implementation.
+ *
+ * This module implements certain specific features from the three-wire UART transport layer, 
+ * defined by the Bluetooth specification version 4.0 [Vol 4] part D.
+ *
+ * \par Features supported
+ * - Transmission and reception of Vendor Specific HCI packet type application packets.
+ * - Transmission and reception of reliable packets: defined by chapter 6 of the specification.
+ *
+ * \par Features not supported
+ * - Link establishment procedure: defined by chapter 8 of the specification.
+ * - Low power: defined by chapter 9 of the specification. 
+ *
+ * \par Implementation specific behaviour
+ * - As Link establishment procedure is not supported following static link configuration parameters
+ * are used:
+ * + TX window size is 1.
+ * + 16 bit CCITT-CRC must be used.
+ * + Out of frame software flow control not supported.
+ * + Parameters specific for resending reliable packets are compile time configurable (clarifed 
+ * later in this document).
+ * + Acknowledgement packet transmissions are not timeout driven , meaning they are delivered for 
+ * transmission within same context which the corresponding application packet was received. 
+ *
+ * \par Implementation specific limitations
+ * Current implementation has the following limitations which will have impact to system wide 
+ * behaviour:
+ * - Delayed acknowledgement scheduling not implemented: 
+ * There exists a possibility that acknowledgement TX packet and application TX packet will collide 
+ * in the TX pipeline having the end result that acknowledgement packet will be excluded from the TX 
+ * pipeline which will trigger the retransmission algorithm within the peer protocol entity.
+ * - Delayed retransmission scheduling not implemented:  
+ * There exists a possibility that retransmitted application TX packet and acknowledgement TX packet
+ * will collide in the TX pipeline having the end result that retransmitted application TX packet 
+ * will be excluded from the TX pipeline.
+ * - Processing of the acknowledgement number from RX application packets:
+ * Acknowledgement number is not processed from the RX application packets having the end result 
+ * that unnecessary application packet retransmissions can occur.
+ *
+ * The application TX packet processing flow is illustrated by the statemachine below. 
+ *
+ * @image html hci_transport_tx_sm.png "TX - application packet statemachine"
+ *
+ * \par Component specific configuration options
+ *
+ * The following compile time configuration options are available, and used to configure the 
+ * application TX packet retransmission interval, in order to suite various application specific 
+ * implementations:
+ * - MAC_PACKET_SIZE_IN_BITS Maximum size of a single application packet in bits. 
+ * - USED_BAUD_RATE Used uart baudrate. 
+ *
+ * The following compile time configuration option is available to configure module specific 
+ * behaviour:
+ * - MAX_RETRY_COUNT Max retransmission retry count for applicaton packets.
+ */
+ 
+#ifndef HCI_TRANSPORT_H__
+#define HCI_TRANSPORT_H__
+
+#include <stdint.h>
+#include "nordic_global.h"
+#include "nrf_error.h"
+
+/**@brief Generic event callback function events. */
+typedef enum
+{
+    HCI_TRANSPORT_RX_RDY,               /**< An event indicating that RX packet is ready for read. */
+    HCI_TRANSPORT_EVT_TYPE_MAX          /**< Enumeration upper bound. */  
+} hci_transport_evt_type_t;
+
+/**@brief Struct containing events from the Transport layer.
+ */
+typedef struct
+{
+    hci_transport_evt_type_t evt_type;  /**< Type of event. */
+} hci_transport_evt_t;
+
+/**@brief Transport layer generic event callback function type.
+ *
+ * @param[in] event                Transport layer event.  
+ */
+typedef void (*hci_transport_event_handler_t)(hci_transport_evt_t event);
+
+/**@brief TX done event callback function result codes. */
+typedef enum
+{
+    HCI_TRANSPORT_TX_DONE_SUCCESS,      /**< Transmission success, peer transport entity has acknowledged the transmission. */
+    HCI_TRANSPORT_TX_DONE_FAILURE       /**< Transmission failure. */    
+} hci_transport_tx_done_result_t;
+
+/**@brief Transport layer TX done event callback function type.
+ *
+ * @param[in] result                TX done event result code. 
+ */
+typedef void (*hci_transport_tx_done_handler_t)(hci_transport_tx_done_result_t result);
+
+/**@brief Function for registering a generic event handler.
+ *
+ * @note Multiple registration requests will overwrite any possible existing registration. 
+ *
+ * @param[in] event_handler         The function to be called by the transport layer upon an event.
+ *
+ * @retval NRF_SUCCESS              Operation success.
+ * @retval NRF_ERROR_NULL           Operation failure. NULL pointer supplied.    
+ */
+uint32_t hci_transport_evt_handler_reg(hci_transport_event_handler_t event_handler);
+
+/**@brief Function for registering a handler for TX done event.
+ *
+ * @note Multiple registration requests will overwrite any possible existing registration. 
+ *
+ * @param[in] event_handler         The function to be called by the transport layer upon TX done
+ *                                  event.
+ *
+ * @retval NRF_SUCCESS              Operation success.
+ * @retval NRF_ERROR_NULL           Operation failure. NULL pointer supplied.    
+ */
+uint32_t hci_transport_tx_done_register(hci_transport_tx_done_handler_t event_handler);
+                                        
+/**@brief Function for opening the transport channel and initializing the transport layer.
+ *
+ * @warning Must not be called for a channel which has been allready opened. 
+ * 
+ * @retval NRF_SUCCESS              Operation success.
+ * @retval NRF_ERROR_INTERNAL       Operation failure. Internal error ocurred. 
+ */
+uint32_t hci_transport_open(void);
+
+/**@brief Function for closing the transport channel.
+ *
+ * @note Can be called multiple times and also for not opened channel.
+ * 
+ * @retval NRF_SUCCESS              Operation success.  
+ */
+uint32_t hci_transport_close(void);
+
+/**@brief Function for allocating tx packet memory.
+ * 
+ * @param[out] pp_memory            Pointer to the packet data.
+ * 
+ * @retval NRF_SUCCESS              Operation success. Memory was allocated.
+ * @retval NRF_ERROR_NO_MEM         Operation failure. No memory available.
+ * @retval NRF_ERROR_NULL           Operation failure. NULL pointer supplied.   
+ */
+uint32_t hci_transport_tx_alloc(uint8_t ** pp_memory);
+
+/**@brief Function for freeing tx packet memory.
+ *
+ * @note Memory management works in FIFO principle meaning that free order must match the alloc 
+ *       order.
+ * 
+ * @retval NRF_SUCCESS              Operation success. Memory was freed.   
+ */
+uint32_t hci_transport_tx_free(void);
+
+/**@brief Function for writing a packet.
+ *
+ * @note Completion of this method does not guarantee that actual peripheral transmission would 
+ *       have completed.
+ *
+ * @note In case of 0 byte packet length write request, message will consist of only transport 
+ *       module specific headers.  
+ *
+ * @retval NRF_SUCCESS              Operation success. Packet was added to the transmission queue 
+ *                                  and an event will be send upon transmission completion. 
+ * @retval NRF_ERROR_NO_MEM         Operation failure. Transmission queue is full and packet was not
+ *                                  added to the transmission queue. User should wait for 
+ *                                  a appropriate event prior issuing this operation again.
+ * @retval NRF_ERROR_DATA_SIZE      Operation failure. Packet size exceeds limit.   
+ * @retval NRF_ERROR_NULL           Operation failure. NULL pointer supplied.  
+ * @retval NRF_ERROR_INVALID_STATE  Operation failure. Channel is not open.
+ */
+uint32_t hci_transport_pkt_write(const uint8_t * p_buffer, uint32_t length);
+
+/**@brief Function for extracting received packet.
+ *
+ * @note Extracted memory can't be reused by the underlying transport layer untill freed by call to 
+ *       hci_transport_rx_pkt_consume().
+ *
+ * @param[out] pp_buffer            Pointer to the packet data.
+ * @param[out] p_length             Length of packet data in bytes.  
+ *
+ * @retval NRF_SUCCESS              Operation success. Packet was extracted. 
+ * @retval NRF_ERROR_NO_MEM         Operation failure. No packet available to extract.
+ * @retval NRF_ERROR_NULL           Operation failure. NULL pointer supplied.   
+ */
+uint32_t hci_transport_rx_pkt_extract(uint8_t ** pp_buffer, uint32_t * p_length);
+
+/**@brief Function for consuming extracted packet described by p_buffer.
+ *
+ * RX memory pointed to by p_buffer is freed and can be reused by the underlying transport layer.
+ *
+ * @param[in] p_buffer              Pointer to the buffer that has been consumed.
+ *
+ * @retval NRF_SUCCESS              Operation success. 
+ * @retval NRF_ERROR_NO_MEM         Operation failure. No packet available to consume. 
+ * @retval NRF_ERROR_INVALID_ADDR   Operation failure. Not a valid pointer. 
+ */
+uint32_t hci_transport_rx_pkt_consume(uint8_t * p_buffer);
+
+#endif // HCI_TRANSPORT_H__
+
+/** @} */