apps/bleservo: Initial commit

nRF52840-DK BLE peripheral sample with PWM servo control ability.
apache · Oct 25, 2023 · c4a67d7 · c4a67d7
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diff --git a/apps/bleservo/README.md b/apps/bleservo/README.md
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+# BLE Servo peripheral app.
+
+The source files are located in the src/ directory.
+
+pkg.yml contains the base definition of the app.
+
+syscfg.yml contains setting definitions and overrides.
+
+On default servo PWM channel is connected to pin 31 of nRF52840-DK board,
+and it can be changed in ble_servo.h file (make sure that chosen pin supports PWM).
diff --git a/apps/bleservo/pkg.yml b/apps/bleservo/pkg.yml
@@ -0,0 +1,46 @@
+# Licensed to the Apache Software Foundation (ASF) under one
+# or more contributor license agreements.  See the NOTICE file
+# distributed with this work for additional information
+# regarding copyright ownership.  The ASF licenses this file
+# to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance
+# with the License.  You may obtain a copy of the License at
+#
+#  http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an
+# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+# KIND, either express or implied.  See the License for the
+# specific language governing permissions and limitations
+# under the License.
+#
+
+pkg.name: apps/bleservo
+pkg.type: app
+pkg.description: BLE peripheral servo motor controller.
+pkg.author: "Michal Gorecki"
+pkg.email: "michal.gorecki@codecoup.pl"
+pkg.homepage: 
+pkg.keywords:
+
+pkg.deps:
+    - "@apache-mynewt-core/boot/split"
+    - "@mcuboot/boot/bootutil"
+    - "@apache-mynewt-core/kernel/os"
+    - "@apache-mynewt-core/mgmt/imgmgr"
+    - "@apache-mynewt-core/mgmt/smp"
+    - "@apache-mynewt-core/mgmt/smp/transport/ble"
+    - "@apache-mynewt-core/sys/console/full"
+    - "@apache-mynewt-core/sys/log/full"
+    - "@apache-mynewt-core/sys/log/modlog"
+    - "@apache-mynewt-core/sys/stats/full"
+    - "@apache-mynewt-core/sys/sysinit"
+    - "@apache-mynewt-core/sys/id"
+    - nimble/host
+    - nimble/host/services/ans
+    - nimble/host/services/dis
+    - nimble/host/services/gap
+    - nimble/host/services/gatt
+    - nimble/host/store/config
+    - nimble/host/util
diff --git a/apps/bleservo/src/ble_servo.h b/apps/bleservo/src/ble_servo.h
@@ -0,0 +1,62 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements.  See the NOTICE file
+ * distributed with this work for additional information
+ * regarding copyright ownership.  The ASF licenses this file
+ * to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance
+ * with the License.  You may obtain a copy of the License at
+ *
+ *  http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing,
+ * software distributed under the License is distributed on an
+ * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+ * KIND, either express or implied.  See the License for the
+ * specific language governing permissions and limitations
+ * under the License.
+ */
+
+#ifndef H_BLE_SERVO_
+#define H_BLE_SERVO_
+
+#include "nimble/ble.h"
+#include "modlog/modlog.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define  PWM_CH_CFG_PIN  31
+#define  PWM_CH_CFG_INV  false
+#define  PWM_CH_NUM      0
+#define  PWM_IRQ_PRIO    1
+
+/*
+ * This servomotor works with 50 Hz PWM signal and accept pulse duration from
+ * around 1000us minimum (0-degree rotation) to 2000us maximum (180-degree rotation).
+ * If you have to adjust these parameters for your servo, this is the place to do so.
+ */
+#define  SERVO_MAX_PULSE_DURATION_US 2000
+#define  SERVO_MIN_PULSE_DURATION_US 1000
+#define  SERVO_PWM_FREQ 50
+#define  SERVO_PWM_FULL_CYCLE_DURATION 20000
+#define  SERVO_MAX_ANGLE_VAL 180
+#define  SERVO_MIN_ANGLE_VAL 0
+
+
+int gatt_svr_init(void);
+void servo_angle_setter(uint16_t);
+void servo_pwm_pulse_duration_setter(uint16_t);
+
+uint16_t get_servo_angle(void);
+uint16_t get_servo_pwm_pulse_duration(void);
+uint16_t get_gatt_angle_val_handle(void);
+uint16_t get_gatt_pulse_duration_val_handle(void);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/apps/bleservo/src/gatt_svr.c b/apps/bleservo/src/gatt_svr.c
@@ -0,0 +1,195 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements.  See the NOTICE file
+ * distributed with this work for additional information
+ * regarding copyright ownership.  The ASF licenses this file
+ * to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance
+ * with the License.  You may obtain a copy of the License at
+ *
+ *  http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing,
+ * software distributed under the License is distributed on an
+ * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+ * KIND, either express or implied.  See the License for the
+ * specific language governing permissions and limitations
+ * under the License.
+ */
+
+#include <string.h>
+#include "host/ble_hs.h"
+#include "host/ble_uuid.h"
+#include "ble_servo.h"
+
+/* 59462f12-9543-9999-12c8-58b459a2712d */
+static const ble_uuid128_t gatt_svr_svc_servo_uuid =
+    BLE_UUID128_INIT(0x2d, 0x71, 0xa2, 0x59, 0xb4, 0x58, 0xc8, 0x12,
+                     0x99, 0x99, 0x43, 0x95, 0x12, 0x2f, 0x46, 0x59);
+
+/* 5c3a659e-897e-45e1-b016-007107c96df6 */
+static const ble_uuid128_t gatt_svr_chr_servo_angle_uuid =
+    BLE_UUID128_INIT(0xf6, 0x6d, 0xc9, 0x07, 0x71, 0x00, 0x16, 0xb0,
+                     0xe1, 0x45, 0x7e, 0x89, 0x9e, 0x65, 0x3a, 0x5c);
+
+/* 6d456567-8995-45e1-b016-007107c96df6 */
+static const ble_uuid128_t gatt_svr_chr_servo_pulse_duration_uuid =
+    BLE_UUID128_INIT(0xf6, 0x6d, 0xc9, 0x07, 0x71, 0x00, 0x16, 0xb0,
+                     0xe1, 0x45, 0x95, 0x89, 0x67, 0x65, 0x45, 0x6d);
+
+/* Values kept in characteristics */
+static uint16_t gatt_angle_val;
+static uint16_t gatt_pulse_duration_val;
+
+/* GATT attribute handles  */
+static uint16_t gatt_angle_val_handle;
+static uint16_t gatt_pulse_duration_val_handle;
+
+static int
+gatt_svr_chr_access_servo_angle(uint16_t conn_handle, uint16_t attr_handle,
+                                struct ble_gatt_access_ctxt *ctxt, void *arg);
+
+static int
+gatt_svr_chr_access_servo_pulse_duration(uint16_t conn_handle, uint16_t attr_handle,
+                                         struct ble_gatt_access_ctxt *ctxt, void *arg);
+
+static int
+gatt_svr_chr_write(struct os_mbuf *om, uint16_t min_len, uint16_t max_len,
+                   void *dst, uint16_t *len)
+{
+    uint16_t om_len;
+    int rc;
+
+    om_len = OS_MBUF_PKTLEN(om);
+    if (om_len < min_len || om_len > max_len) {
+        return BLE_ATT_ERR_INVALID_ATTR_VALUE_LEN;
+    }
+
+    rc = ble_hs_mbuf_to_flat(om, dst, max_len, len);
+    if (rc != 0) {
+        return BLE_ATT_ERR_UNLIKELY;
+    }
+
+    return 0;
+}
+
+static const struct ble_gatt_svc_def gatt_svr_svcs[] = {
+    {
+        /* Service: Servo */
+        .type = BLE_GATT_SVC_TYPE_PRIMARY,
+        .uuid = &gatt_svr_svc_servo_uuid.u,
+        .characteristics = (struct ble_gatt_chr_def[]) { {
+            /* Characteristic: servo angle*/
+            .uuid = &gatt_svr_chr_servo_angle_uuid.u,
+            .val_handle = &gatt_angle_val_handle,
+            .access_cb = gatt_svr_chr_access_servo_angle,
+            .flags = BLE_GATT_CHR_F_READ |
+                     BLE_GATT_CHR_F_WRITE |
+                     BLE_GATT_CHR_F_NOTIFY
+        }, {
+            /* Characteristic: servo PWM pulse duration*/
+            .uuid = &gatt_svr_chr_servo_pulse_duration_uuid.u,
+            .val_handle = &gatt_pulse_duration_val_handle,
+            .access_cb = gatt_svr_chr_access_servo_pulse_duration,
+            .flags = BLE_GATT_CHR_F_READ |
+                     BLE_GATT_CHR_F_WRITE |
+                     BLE_GATT_CHR_F_NOTIFY
+        }, {
+            0, /* No more characteristics in this service */
+        }, }
+    },
+
+    {
+        0, /* No more services */
+    },
+};
+
+static int
+gatt_svr_chr_access_servo_angle(uint16_t conn_handle, uint16_t attr_handle,
+                                struct ble_gatt_access_ctxt *ctxt, void *arg)
+{
+    int rc;
+
+    if (attr_handle != gatt_angle_val_handle) {
+        return BLE_ATT_ERR_INVALID_HANDLE;
+    }
+
+    switch (ctxt->op) {
+    case BLE_GATT_ACCESS_OP_READ_CHR:
+        gatt_angle_val = get_servo_angle();
+        rc = os_mbuf_append(ctxt->om, &gatt_angle_val,
+                            sizeof gatt_angle_val);
+
+        return rc == 0 ? 0 : BLE_ATT_ERR_INSUFFICIENT_RES;
+    case BLE_GATT_ACCESS_OP_WRITE_CHR:
+        rc = gatt_svr_chr_write(ctxt->om,
+                                sizeof gatt_angle_val,
+                                sizeof gatt_angle_val,
+                                &gatt_angle_val, NULL);
+        servo_angle_setter(gatt_angle_val);
+
+        return rc;
+    default:
+        return BLE_ATT_ERR_UNLIKELY;
+    }
+}
+
+static int
+gatt_svr_chr_access_servo_pulse_duration(uint16_t conn_handle, uint16_t attr_handle,
+                                         struct ble_gatt_access_ctxt *ctxt, void *arg)
+{
+    int rc;
+
+    if (attr_handle != gatt_pulse_duration_val_handle) {
+        return BLE_ATT_ERR_INVALID_HANDLE;
+    }
+
+    switch (ctxt->op) {
+    case BLE_GATT_ACCESS_OP_READ_CHR:
+        gatt_pulse_duration_val = get_servo_pwm_pulse_duration();
+        rc = os_mbuf_append(ctxt->om, &gatt_pulse_duration_val,
+                            sizeof gatt_pulse_duration_val);
+
+        return rc == 0 ? 0 : BLE_ATT_ERR_INSUFFICIENT_RES;
+    case BLE_GATT_ACCESS_OP_WRITE_CHR:
+        rc = gatt_svr_chr_write(ctxt->om,
+                                sizeof gatt_pulse_duration_val,
+                                sizeof gatt_pulse_duration_val,
+                                &gatt_pulse_duration_val, NULL);
+        servo_pwm_pulse_duration_setter(gatt_pulse_duration_val);
+
+        return rc;
+    default:
+        return BLE_ATT_ERR_UNLIKELY;
+    }
+}
+
+int
+gatt_svr_init(void)
+{
+    int rc;
+
+    rc = ble_gatts_count_cfg(gatt_svr_svcs);
+    if (rc != 0) {
+        return rc;
+    }
+
+    rc = ble_gatts_add_svcs(gatt_svr_svcs);
+    if (rc != 0) {
+        return rc;
+    }
+
+    return 0;
+}
+
+uint16_t
+get_gatt_angle_val_handle(void)
+{
+    return gatt_angle_val_handle;
+}
+
+uint16_t
+get_gatt_pulse_duration_val_handle(void)
+{
+    return gatt_pulse_duration_val_handle;
+}