【CANNON试用体验】空中体感鼠标（完）

STM32

STM32F401玩了这么久，USB、蓝牙、姿态融合、现在做一个空中体感鼠标，作为一个阶段性总结

也把当时的项目做完吧
【CANNON申请】空中蓝牙飞鼠
https://bbs.elecfans.com/jishu_542842_1_1.html

整体的方案如下

对电脑采用USB（Device）HID Mouse 实际免驱USB 鼠标
相关链接
【CANNON试用体验】USB接口问题分析与解决
https://bbs.elecfans.com/jishu_548235_1_1.html
【CANNON试用体验】USB HID 鼠标
https://bbs.elecfans.com/jishu_550015_1_1.html

空中传输是采用蓝牙4.1 模块一 BLUE Central(Client) 、模块二BLUE Peripheral（Server）
相关链接
【CANNON试用体验】BlueNRG-MS蓝牙4.1
https://bbs.elecfans.com/jishu_553253_1_1.html

【CANNON试用体验】BlueNRG-MS蓝牙4.1驱动程序
https://bbs.elecfans.com/jishu_553274_1_1.html

体感（姿态融合算法）
相关连接
【CANNON试用体验】传感器——LSM6DS3 加速度计陀螺仪
https://bbs.elecfans.com/jishu_550022_1_1.html
【CANNON试用体验】6DOF姿态融合算法
https://bbs.elecfans.com/jishu_550360_1_1.html

相关关键代码

#include "sensor_service.h"
#include "sensor_user.h"
/** @addtogroup X-CUBE-BLE1_Applications
* @{
*/
/** @addtogroup SensorDemo
* @{
*/
/** @defgroup SENSOR_SERVICE
* @{
*/
/** @defgroup SENSOR_SERVICE_Private_Variables
* @{
*/
/* Private variables ---------------------------------------------------------*/
#include "bluenrg_sdk_api.h"
uint16_t tx_handle,rx_handle;/*用于Central (client) 记录UUID的句柄
rx_handle Central (client) 发送 Peripheral (server) RXCharHandle 接收
tx_handle Central (client) 接收 Peripheral (server) TXCharHandle 发送
*/
uint16_t sampleServHandle, TXCharHandle, RXCharHandle;
volatile uint8_t start_read_tx_char_handle = FALSE;
volatile uint8_t start_read_rx_char_handle = FALSE;
volatile uint8_t end_read_tx_char_handle = FALSE;
volatile uint8_t end_read_rx_char_handle = FALSE;
#ifdef THROUGHPUT_TEST
uint8_t throughput_test = 1; /* enable the test for the estimation of the throughput */
#else
uint8_t throughput_test = 0; /* disable the test for the estimation of the throughput */
#endif
#define NUM_PACKETS 500 // Only used for throughput test (define THROUGHPUT_TEST)
/**
* @}
*/
/** @defgroup SENSOR_SERVICE_Private_Macros
* @{
*/
/* Private macros ------------------------------------------------------------*/
#define COPY_UUID_128(uuid_struct, uuid_15, uuid_14, uuid_13, uuid_12, uuid_11, uuid_10, uuid_9, uuid_8, uuid_7, uuid_6, uuid_5, uuid_4, uuid_3, uuid_2, uuid_1, uuid_0)
do {
uuid_struct[0] = uuid_0; uuid_struct[1] = uuid_1; uuid_struct[2] = uuid_2; uuid_struct[3] = uuid_3;
uuid_struct[4] = uuid_4; uuid_struct[5] = uuid_5; uuid_struct[6] = uuid_6; uuid_struct[7] = uuid_7;
uuid_struct[8] = uuid_8; uuid_struct[9] = uuid_9; uuid_struct[10] = uuid_10; uuid_struct[11] = uuid_11;
uuid_struct[12] = uuid_12; uuid_struct[13] = uuid_13; uuid_struct[14] = uuid_14; uuid_struct[15] = uuid_15;
}while(0)
/*
UUIDs:
D973F2E0-B19E-11E2-9E96-0800200C9A66
D973F2E1-B19E-11E2-9E96-0800200C9A66
D973F2E2-B19E-11E2-9E96-0800200C9A66
*/
#define COPY_TXRX_SERVICE_UUID(uuid_struct) COPY_UUID_128(uuid_struct,0x66,0x9a,0x0c,0x20,0x00,0x08,0x96,0x9e,0xe2,0x11,0x9e,0xb1,0xe0,0xf2,0x73,0xd9)
#define COPY_TX_CHAR_UUID(uuid_struct) COPY_UUID_128(uuid_struct,0x66,0x9a,0x0c,0x20,0x00,0x08,0x96,0x9e,0xe2,0x11,0x9e,0xb1,0xe1,0xf2,0x73,0xd9)
#define COPY_RX_CHAR_UUID(uuid_struct) COPY_UUID_128(uuid_struct,0x66,0x9a,0x0c,0x20,0x00,0x08,0x96,0x9e,0xe2,0x11,0x9e,0xb1,0xe2,0xf2,0x73,0xd9)
/* Store Value into a buffer in Little Endian Format */
#define STORE_LE_16(buf, val) ( ((buf)[0] = (uint8_t) (val) ) ,
((buf)[1] = (uint8_t) (val>>8) ) )
/**
* @}
*/
/** @defgroup SENSOR_SERVICE_Exported_Functions
* @{
*/
/*
* @brief Add TXRX service using a vendor specific profile.
* @param None
* @retval Status
*/
tBleStatus Add_TXRX_Service(void)
{
tBleStatus ret;
uint8_t uuid[16];
COPY_TXRX_SERVICE_UUID(uuid);
ret = aci_gatt_add_serv(UUID_TYPE_128, uuid, PRIMARY_SERVICE, 7, &sampleServHandle); /* original is 9?? */
if (ret != BLE_STATUS_SUCCESS) goto fail;
COPY_TX_CHAR_UUID(uuid);
ret = aci_gatt_add_char(sampleServHandle, UUID_TYPE_128, uuid, 20, CHAR_PROP_NOTIFY, ATTR_PERMISSION_NONE, GATT_DONT_NOTIFY_EVENTS,16, 1, &TXCharHandle);
if (ret != BLE_STATUS_SUCCESS) goto fail;
COPY_RX_CHAR_UUID(uuid);
ret = aci_gatt_add_char(sampleServHandle, UUID_TYPE_128, uuid, 20, CHAR_PROP_WRITE|CHAR_PROP_WRITE_WITHOUT_RESP, ATTR_PERMISSION_NONE, GATT_NOTIFY_ATTRIBUTE_WRITE,16, 1, &RXCharHandle);
if (ret != BLE_STATUS_SUCCESS) goto fail;
PRINTF("Sample Service added.nTX Char Handle %04X, RX Char Handle %04Xn", TXCharHandle, RXCharHandle);
return BLE_STATUS_SUCCESS;
fail:
PRINTF("Error while adding Sample Service.n");
return BLE_STATUS_ERROR ;
}
/**
* @brief Discovery TX characteristic handle by UUID 128 bits
* @param None
* @retval None
*/
void startReadTXCharHandle(void)
{
/*Central (client)*/
/*Central (client) 发出 aci_gatt_disc_charac_by_uuid
When the procedure is completed, a [url=home.php?mod=space&uid=1352397]@ref[/url] EVT_BLUE_GATT_PROCEDURE_COMPLETE event is generated.
Before procedure completion the response packets are given through @ref EVT_BLUE_GATT_DISC_READ_CHAR_BY_UUID_RESP event.
从EVT_BLUE_GATT_DISC_READ_CHAR_BY_UUID_RESP 得到 UUID 对应的handle
*/
if (!start_read_tx_char_handle) {
PRINTF("Start reading TX Char Handlen");
uint8_t uuid[16];
COPY_TX_CHAR_UUID(uuid);
aci_gatt_disc_charac_by_uuid(connection_handle, 0x0001, 0xFFFF, UUID_TYPE_128, uuid);
start_read_tx_char_handle = TRUE;
}
}
/**
* @brief Discovery RX characteristic handle by UUID 128 bits
* @param None
* @retval None
*/
void startReadRXCharHandle(void)
{
/*Central (client)*/
if (!start_read_rx_char_handle) {
PRINTF("Start reading RX Char Handlen");
uint8_t uuid[16];
//const uint8_t charUuid128_RX[16] = {0x66,0x9a,0x0c,0x20,0x00,0x08,0x96,0x9e,0xe2,0x11,0x9e,0xb1,0xe2,0xf2,0x73,0xd9};
COPY_RX_CHAR_UUID(uuid);
aci_gatt_disc_charac_by_uuid(connection_handle, 0x0001, 0xFFFF, UUID_TYPE_128, uuid);
start_read_rx_char_handle = TRUE;
}
}
/**
* @brief This function is used to receive data related to the sample service
* (received over the air from the remote board).
* @param data_buffer : pointer to store in received data
* @param Nb_bytes : number of bytes to be received
* @retval None
*/
void receiveData(uint8_t* data_buffer, uint8_t Nb_bytes)
{
BSP_LED_Toggle(LED2);
for(int i = 0; i < Nb_bytes; i++) {
PRINTF("%c", data_buffer[i]);
}
Mouse_Report_Send(data_buffer);
}
/**
* @brief This function is used to send data related to the sample service
* (to be sent over the air to the remote board).
* @param data_buffer : pointer to data to be sent
* @param Nb_bytes : number of bytes to send
* @retval None
*/
void sendData(uint8_t* data_buffer, uint8_t Nb_bytes)
{
if(BLE_Role == SERVER) {
if (throughput_test) {
//uint8_t test_end = FALSE;
//uint32_t packets = 0;
do {
uint8_t data[20] = {'0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F',0,0,0,0};
static uint32_t packets = 0;
static tClockTime time, time2;
HOST_TO_LE_32(data+16, packets);
if(packets==0) {
PRINTF("Test startn");
time = Clock_Time();
}
struct timer t;
Timer_Set(&t, CLOCK_SECOND*10);
while(aci_gatt_update_char_value(sampleServHandle, TXCharHandle, 0, 20, data)==BLE_STATUS_INSUFFICIENT_RESOURCES) {
// Radio is busy (buffer full).
//PRINTF("Radio is busy (buffer full)n");
if(Timer_Expired(&t)) {
break;
}
}
packets++;
if(packets != 0 && packets%NUM_PACKETS == 0) {
time2 = Clock_Time();
tClockTime diff = time2-time;
PRINTF("%d packets. Elapsed time: %d ms. App throughput: %d kbps.n", NUM_PACKETS, diff, (int)((float)NUM_PACKETS*20*8/diff));
time = Clock_Time();
//test_end = TRUE;
}
} while(1/*!test_end*/);
} else {
aci_gatt_update_char_value(sampleServHandle,TXCharHandle, 0, Nb_bytes, data_buffer);
}
} else {
/*Central (client)*/
aci_gatt_write_without_response(connection_handle, rx_handle+1, Nb_bytes, data_buffer);
}
}
/******************************************************************************
bluenrg_sdk_api.c 移植函数
******************************************************************************/
#include "bluenrg_sdk_api.h"
tBleStatus ble_device_user_add_service(void)
{
/**<
添加用户UUID 被 ble_device_init调用
*/
ret = Add_TXRX_Service();
if(ret == BLE_STATUS_SUCCESS)
PRINTF("TXRX service added successfully.n");
else
PRINTF("Error while adding TXRX service.n");
/* USER CODE END */
if(ret != BLE_STATUS_SUCCESS) {
PRINTF("Error while adding service.n");
return BLE_STATUS_ERROR ;
}
PRINTF("Service added successfully.n");
return BLE_STATUS_SUCCESS;
}
void ble_user_process(void)
{
/* 用户任务一般多用于 Central (client) 获取 Peripheral (server) 的uuid 对应的 handle
*/
if(BLE_Role == CLIENT) {
/* Start TX handle Characteristic dynamic discovery if not yet done */
if (connected && !end_read_tx_char_handle) {
startReadTXCharHandle();
}
/* Start RX handle Characteristic dynamic discovery if not yet done */
else if (connected && !end_read_rx_char_handle) {
startReadRXCharHandle();
}
if(connected && end_read_tx_char_handle && end_read_rx_char_handle && !notification_enabled) {
BSP_LED_Off(LED2); //end of the connection and chars discovery phase
enableNotification();
}
}
}
void ble_on_disconnect_cb(uint8_t reason)
{
/**<
HCI_Event_CB 调用 GAP DisconnectionComplete Callback funciton
断开连接事件
当原来连接的BLE设备断开后，系统会触发该事件
该函数内部用于处理BLE设备断开后需要执行的任务
*/
connected = FALSE;
PRINTF("Disconnectedrn");
/* Make the device connectable again. */
set_connectable = TRUE;
notification_enabled = FALSE;
/* USER CODE BEGIN */
start_read_tx_char_handle = FALSE;
start_read_rx_char_handle = FALSE;
end_read_tx_char_handle = FALSE;
end_read_rx_char_handle = FALSE;
/* USER CODE END */
/* Make the device connectable again. */
//ble_device_start_advertising();//because set_connectable = TRUE; ble_process while auto advertising
}
void ble_on_gatt_notification_cb(uint16_t attr_handle, uint8_t attr_len, uint8_t *attr_value)
{
/* This event is generated when a notification is received from the server */
/* server 修改UUID 才会被调用 */
/* USER CODE BEGIN */
if (throughput_test && BLE_Role == CLIENT) {
static tClockTime time, time2;
static uint32_t packets=0;
static uint32_t n_packet1, n_packet2, lost_packets = 0;
if(attr_handle == tx_handle+1) {
if(packets==0) {
PRINTF("Test startn");
time = Clock_Time();
n_packet1 = LE_TO_HOST_32(attr_value+16) - 1;
}
n_packet2 = LE_TO_HOST_32(attr_value+16);
if(n_packet2 != n_packet1 + 1) {
lost_packets += n_packet2-(n_packet1+1);
}
n_packet1 = n_packet2;
packets++;
//PRINTF("packet %dn", packets);
if(packets != 0 && packets%NUM_PACKETS == 0) {
time2 = Clock_Time();
tClockTime diff = time2-time;
PRINTF("%d packets. Elapsed time: %d ms. App throughput: %d kbps.n", NUM_PACKETS, diff, (int)((float)NUM_PACKETS*20*8/diff));
if(lost_packets) {
PRINTF("%d lost packet(s)n", lost_packets);
}
time = Clock_Time();
lost_packets=0;
}
}
} else if(BLE_Role == CLIENT) {
if(attr_handle == tx_handle+1) {
receiveData(attr_value, attr_len);
}
}
/* USER CODE END */
}
void ble_on_gatt_dis_read_char_by_uuid_resp_cb(evt_gatt_disc_read_char_by_uuid_resp *resp)
{
/*Central (client)*/
/*
This event can be generated during a "Discover Characteristics By UUID" procedure or a "Read using Characteristic UUID" procedure.
*/
/* USER CODE BEGIN */
//evt_gatt_disc_read_char_by_uuid_resp *resp = (void*)blue_evt->data;
PRINTF("The Handle for Discover Characteristics By UUID %04Xn", resp->attr_handle);
if (start_read_tx_char_handle && !end_read_tx_char_handle) {
tx_handle = resp->attr_handle;
PRINTF("TX Char Handle %04Xn", tx_handle);
} else if (start_read_rx_char_handle && !end_read_rx_char_handle) {
rx_handle = resp->attr_handle;
PRINTF("RX Char Handle %04Xn", rx_handle);
}
/* USER CODE END */
}
void ble_on_gatt_procedure_complete_cb( evt_gatt_procedure_complete *pr)
{
/*
This event is generated when a GATT client procedure completes either with error or successfully.
*/
/* USER CODE BEGIN */
PRINTF("The Handle for a GATT client procedure completes %04Xn", pr->conn_handle);
if (start_read_tx_char_handle && !end_read_tx_char_handle) {
end_read_tx_char_handle = TRUE;
} else if (start_read_rx_char_handle && !end_read_rx_char_handle) {
end_read_rx_char_handle = TRUE;
}
/* USER CODE END */
}
/******************************************************************************
其他任务函数
******************************************************************************/
void ble_user_tx_data_process(void)
{
/* Check if the user has pushed the button */
if(connected && notification_enabled) {
AHRS_output AHRSOutput;
uint8_t data[4] = {0,0,0,0};
int8_t * px = (int8_t *)(&data[1]);
int8_t * py = (int8_t *)(&data[2]);
Motion_Getdata(&AHRSOutput);
* px = (((int8_t)AHRSOutput.Roll)/5)*4;
* py = (((int8_t)AHRSOutput.Pitch)/5)*3;
if(BSP_PB_GetState(BUTTON_KEY) == RESET)
data[0]=0x01;/* 按键 0bit 左; 1bit 中; 2bit 右*/
sendData(data, sizeof(data));
//BSP_LED_Toggle(LED2); // toggle the LED2 locally.
// If uncommented be sure BSP_LED_Init(LED2) is
// called in main().
// E.g. it can be enabled for debugging.
}
}

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原地址：http://blog.sina.com.cn/s/blog_7e7fa4c80102wayr.html
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