12. BLE4.0(HM-10) 비행제어

• 준비물
  

• 회로도

• 소스 코드 다운로드

Raduino_mini_V2_ble.ino

• 코드

#include "raduino_sbus.h"
 
#include "raduino_fc.h"
 
#include <Wire.h>                     // i2C 통신을 위한 라이브러리
 
SBUS sbus(Serial2);
 
FC Flight(Serial1);
 
HardwareSerial &ble=Serial3;
 
 
 
String inputString1 = "";         // a String to hold incoming data
 
boolean stringComplete1 = false;  // whether the string is complete
 
 
 
boolean startFlag = false;
 
 
 
int ledPin = PC13;
 
 
 
// We'll use timer 1
 
HardwareTimer timer(1);
 
 
 
byte RxValue[11];
 
int ChannelValue[4];
 
int error_count = 0;
 
    
 
void setup() {
 
 
 
  // Pause the timer while we're configuring it
 
  timer.pause();
 
 
 
  // Set up period
 
  timer.setPeriod(10000); // in 10 microseconds
 
 
 
  // Set up an interrupt on channel 1
 
  timer.setChannel1Mode(TIMER_OUTPUT_COMPARE);
 
  timer.setCompare(TIMER_CH1, 1);  // Interrupt 1 count after each update
 
  timer.attachCompare1Interrupt(handler_10ms);
 
 
 
  // Refresh the timer's count, prescale, and overflow
 
  timer.refresh();
 
 
 
  // Start the timer counting
 
  timer.resume();
 
      
 
  Flight.begin();
 
  Serial.begin(115200);   
 
  ble.begin(9600);//BT  
 
  
 
  // reserve 200 bytes for the inputString:
 
  inputString1.reserve(200);
 
  
 
  pinMode(LED_BUILTIN, OUTPUT);
 
  digitalWrite(LED_BUILTIN, HIGH);
 
 
 
  delay(100);
 
 
 
  // roll positive right
 
  // pitch positive forward
 
  Flight.Trim(-10,20); //roll: 0.0 , pith: -5.0
 
  Serial.println("Triming...");
 
 
 
  delay(5000);
 
    
 
  // binding.....
 
  Flight.Bind();
 
  Serial.println("binding...");
 
 
 
//     delay(100);
 
 //   Flight.Cali();  
 
 //   Serial.println("Calibration...");
 
}
 
 
 
int bleEvent() 
 
{
 
   int ret = 0;
 
   while (ble.available()) {
 
    char inChar = (char)ble.read();
 
    inputString1 += inChar;
 
    
 
    if (inChar == '\n') {
 
      stringComplete1 = true;      
 
    }
 
   }
 
 
 
  if (stringComplete1) {
 
    if((inputString1[0] == 'B')&&(inputString1[1] == 'I')&&(inputString1[2] == 'N')&&(inputString1[3] == 'D'))
 
    {
 
      ret=1; //ex_bind
 
    }
 
    else 
 
    {
 
      ParseData();
 
      ret = 2; //
 
    }
 
    
 
    Serial.print("ble:");
 
    Serial.print(ret);
 
     
 
    Serial.println(inputString1);
 
    // clear the string:    
 
    inputString1 = "";
 
    stringComplete1 = false;
 
  } 
 
  return ret;    
 
}
 
 
 
void ParseData() { 
 
    inputString1 = inputString1.substring(1,inputString1.length()); 
 
    int index = inputString1.indexOf('!');  
 
    ChannelValue[0] = inputString1.substring(index+1,index+5).toInt(); //roll
 
    index = inputString1.indexOf('@'); 
 
    ChannelValue[1] = inputString1.substring(index+1,index+5).toInt(); //pitch
 
    index = inputString1.indexOf('#'); 
 
    ChannelValue[2] = inputString1.substring(index+1,index+5).toInt(); //yaw
 
    index = inputString1.indexOf('$'); 
 
    ChannelValue[3] = inputString1.substring(index+1,index+5).toInt(); //throttle
 
    
 
    if ( ChannelValue[0] == 0 && ChannelValue[1] == 0 && ChannelValue[2] == 0 && ChannelValue[3] == 0 ) 
 
    {
 
      error_count++;
 
      Serial.println("wrong data");
 
    }else
 
    {
 
      error_count=0;
 
    }
 
}
 
 
 
void loop() 
 
{
 
  int ret = Flight.Event();
 
  if(ret==1)digitalWrite(LED_BUILTIN,LOW); 
 
  if(ret>0)Serial.println(Flight.retString);
 
   
 
  int event1 = bleEvent();//BT event
 
  if(event1==1){
 
      digitalWrite(LED_BUILTIN,HIGH);
 
      delay(100);
 
      digitalWrite(LED_BUILTIN,LOW);
 
      delay(100);
 
      digitalWrite(LED_BUILTIN,HIGH);
 
      delay(100);
 
      digitalWrite(LED_BUILTIN,LOW);
 
      startFlag = true;
 
      error_count = 0;
 
  }
 
  else if(event1==2){
 
    //debug
 
    for(int i = 0 ; i < 4; i++)
 
    {
 
      Serial.print(ChannelValue[i]); 
 
      Serial.print(",");
 
    } 
 
    Serial.println("");
 
  }   
 
}
 
 
 
void handler_10ms(void) {
 
 
 
   if ( (startFlag == true) && (error_count == 0))Flight.Tx(ChannelValue[0],ChannelValue[1],ChannelValue[2],ChannelValue[3]);
 
} 
 
 

• 블루투스 조종을 위한 앱 인벤터 사용법 다운로드 

RaduinoMini_BLE_181011_앱인벤터.pdf