nrf52-quadcopter question

[Yoojin.Jang]

Hello.

nrf52-quadcopter question.

nrf52-quadcopter source code download is ok in github

website bluetooth connection is ok.

 joystick operation need to excharUUID(0x0004) service in website but only txuuid(0x0002) and rxuuid(0x0003) in source code 

please give me upright source code or website.  

[Henrik]

Ah yes, my bad. The characteristic must also be registered I believe. Try replacing the entirety of ble_nus.c with the following:

/* Copyright (c) 2012 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.
 *
 */

#include "ble_nus.h"
#include "ble_srv_common.h"
#include "sdk_common.h"

#define BLE_UUID_NUS_TX_CHARACTERISTIC 0x0002                      /**< The UUID of the TX Characteristic. */
#define BLE_UUID_NUS_RX_CHARACTERISTIC 0x0003                      /**< The UUID of the RX Characteristic. */
#define BLE_UUID_NUS_EX_CHARACTERISTIC 0x0004                      /**< The UUID of the EX Characteristic. */

#define BLE_NUS_MAX_RX_CHAR_LEN        BLE_NUS_MAX_DATA_LEN        /**< Maximum length of the RX Characteristic (in bytes). */
#define BLE_NUS_MAX_TX_CHAR_LEN        BLE_NUS_MAX_DATA_LEN        /**< Maximum length of the TX Characteristic (in bytes). */
#define BLE_NUS_MAX_EX_CHAR_LEN        BLE_NUS_MAX_DATA_LEN        /**< Maximum length of the EX Characteristic (in bytes). */

#define NUS_BASE_UUID                  {{0x9E, 0xCA, 0xDC, 0x24, 0x0E, 0xE5, 0xA9, 0xE0, 0x93, 0xF3, 0xA3, 0xB5, 0x00, 0x00, 0x40, 0x6E}} /**< Used vendor specific UUID. */

/**@brief Function for handling the @ref BLE_GAP_EVT_CONNECTED event from the S110 SoftDevice.
 *
 * @param[in] p_nus     Nordic UART Service structure.
 * @param[in] p_ble_evt Pointer to the event received from BLE stack.
 */
static void on_connect(ble_nus_t * p_nus, ble_evt_t * p_ble_evt)
{
    p_nus->conn_handle = p_ble_evt->evt.gap_evt.conn_handle;
}


/**@brief Function for handling the @ref BLE_GAP_EVT_DISCONNECTED event from the S110 SoftDevice.
 *
 * @param[in] p_nus     Nordic UART Service structure.
 * @param[in] p_ble_evt Pointer to the event received from BLE stack.
 */
static void on_disconnect(ble_nus_t * p_nus, ble_evt_t * p_ble_evt)
{
    UNUSED_PARAMETER(p_ble_evt);
    p_nus->conn_handle = BLE_CONN_HANDLE_INVALID;
}


/**@brief Function for handling the @ref BLE_GATTS_EVT_WRITE event from the S132 SoftDevice.
 *
 * @param[in] p_nus     Nordic UART Service structure.
 * @param[in] p_ble_evt Pointer to the event received from BLE stack.
 */
static void on_write(ble_nus_t * p_nus, ble_evt_t * p_ble_evt)
{
    ble_gatts_evt_write_t * p_evt_write = &p_ble_evt->evt.gatts_evt.params.write;

    if (
        (p_evt_write->handle == p_nus->rx_handles.cccd_handle)
        &&
        (p_evt_write->len == 2)
       )
    {
        if (ble_srv_is_notification_enabled(p_evt_write->data))
        {
            p_nus->is_notification_enabled = true;
        }
        else
        {
            p_nus->is_notification_enabled = false;
        }
    }
    else if (
             (p_evt_write->handle == p_nus->tx_handles.value_handle)
             &&
             (p_nus->data_handler != NULL)
            )
    {
        p_nus->data_handler(p_nus, p_evt_write->data, p_evt_write->len);
    }
		
		else if (
             (p_evt_write->handle == p_nus->ex_handles.value_handle)
             &&
             (p_nus->data_handler_ex != NULL)
            )
    {
        p_nus->data_handler_ex(p_nus, p_evt_write->data, p_evt_write->len);
    }
				
    else
    {
        // Do Nothing. This event is not relevant for this service.
    }
}


/**@brief Function for adding RX characteristic.
 *
 * @param[in] p_nus       Nordic UART Service structure.
 * @param[in] p_nus_init  Information needed to initialize the service.
 *
 * @return NRF_SUCCESS on success, otherwise an error code.
 */
static uint32_t rx_char_add(ble_nus_t * p_nus, const ble_nus_init_t * p_nus_init)
{
    /**@snippet [Adding proprietary characteristic to S110 SoftDevice] */
    ble_gatts_char_md_t char_md;
    ble_gatts_attr_md_t cccd_md;
    ble_gatts_attr_t    attr_char_value;
    ble_uuid_t          ble_uuid;
    ble_gatts_attr_md_t attr_md;

    memset(&cccd_md, 0, sizeof(cccd_md));

    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&cccd_md.read_perm);
    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&cccd_md.write_perm);

    cccd_md.vloc = BLE_GATTS_VLOC_STACK;

    memset(&char_md, 0, sizeof(char_md));

    char_md.char_props.notify = 1;
	  char_md.char_props.read   = 1;
    char_md.p_char_user_desc  = NULL;
    char_md.p_char_pf         = NULL;
    char_md.p_user_desc_md    = NULL;
    char_md.p_cccd_md         = &cccd_md;
    char_md.p_sccd_md         = NULL;

    ble_uuid.type = p_nus->uuid_type;
    ble_uuid.uuid = BLE_UUID_NUS_RX_CHARACTERISTIC;

    memset(&attr_md, 0, sizeof(attr_md));

    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&attr_md.read_perm);
    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&attr_md.write_perm);

    attr_md.vloc    = BLE_GATTS_VLOC_STACK;
    attr_md.rd_auth = 0;
    attr_md.wr_auth = 0;
    attr_md.vlen    = 1;

    memset(&attr_char_value, 0, sizeof(attr_char_value));

    attr_char_value.p_uuid    = &ble_uuid;
    attr_char_value.p_attr_md = &attr_md;
    attr_char_value.init_len  = sizeof(uint8_t);
    attr_char_value.init_offs = 0;
    attr_char_value.max_len   = BLE_NUS_MAX_RX_CHAR_LEN;

    return sd_ble_gatts_characteristic_add(p_nus->service_handle,
                                           &char_md,
                                           &attr_char_value,
                                           &p_nus->rx_handles);
    /**@snippet [Adding proprietary characteristic to S110 SoftDevice] */
}


/**@brief Function for adding EX characteristic.
 *
 * @param[in] p_nus       Nordic UART Service structure.
 * @param[in] p_nus_init  Information needed to initialize the service.
 *
 * @return NRF_SUCCESS on success, otherwise an error code.
 */
static uint32_t ex_char_add(ble_nus_t * p_nus, const ble_nus_init_t * p_nus_init)
{
    ble_gatts_char_md_t char_md;
    ble_gatts_attr_t    attr_char_value;
    ble_uuid_t          ble_uuid;
    ble_gatts_attr_md_t attr_md;

    memset(&char_md, 0, sizeof(char_md));

    char_md.char_props.write         = 1;
    char_md.char_props.write_wo_resp = 1;
    char_md.p_char_user_desc         = NULL;
    char_md.p_char_pf                = NULL;
    char_md.p_user_desc_md           = NULL;
    char_md.p_cccd_md                = NULL;
    char_md.p_sccd_md                = NULL;

    ble_uuid.type = p_nus->uuid_type;
    ble_uuid.uuid = BLE_UUID_NUS_EX_CHARACTERISTIC;

    memset(&attr_md, 0, sizeof(attr_md));

    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&attr_md.read_perm);
    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&attr_md.write_perm);

    attr_md.vloc    = BLE_GATTS_VLOC_STACK;
    attr_md.rd_auth = 0;
    attr_md.wr_auth = 0;
    attr_md.vlen    = 1;

    memset(&attr_char_value, 0, sizeof(attr_char_value));

    attr_char_value.p_uuid    = &ble_uuid;
    attr_char_value.p_attr_md = &attr_md;
    attr_char_value.init_len  = 1;
    attr_char_value.init_offs = 0;
    attr_char_value.max_len   = BLE_NUS_MAX_EX_CHAR_LEN;

    return sd_ble_gatts_characteristic_add(p_nus->service_handle,
                                           &char_md,
                                           &attr_char_value,
                                           &p_nus->ex_handles);
    /**@snippet [Adding proprietary characteristic to S110 SoftDevice] */
}


/**@brief Function for adding TX characteristic.
 *
 * @param[in] p_nus       Nordic UART Service structure.
 * @param[in] p_nus_init  Information needed to initialize the service.
 *
 * @return NRF_SUCCESS on success, otherwise an error code.
 */
static uint32_t tx_char_add(ble_nus_t * p_nus, const ble_nus_init_t * p_nus_init)
{
    ble_gatts_char_md_t char_md;
    ble_gatts_attr_t    attr_char_value;
    ble_uuid_t          ble_uuid;
    ble_gatts_attr_md_t attr_md;

    memset(&char_md, 0, sizeof(char_md));

    char_md.char_props.write         = 1;
    char_md.char_props.write_wo_resp = 1;
    char_md.p_char_user_desc         = NULL;
    char_md.p_char_pf                = NULL;
    char_md.p_user_desc_md           = NULL;
    char_md.p_cccd_md                = NULL;
    char_md.p_sccd_md                = NULL;

    ble_uuid.type = p_nus->uuid_type;
    ble_uuid.uuid = BLE_UUID_NUS_TX_CHARACTERISTIC;

    memset(&attr_md, 0, sizeof(attr_md));

    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&attr_md.read_perm);
    BLE_GAP_CONN_SEC_MODE_SET_OPEN(&attr_md.write_perm);

    attr_md.vloc    = BLE_GATTS_VLOC_STACK;
    attr_md.rd_auth = 0;
    attr_md.wr_auth = 0;
    attr_md.vlen    = 1;

    memset(&attr_char_value, 0, sizeof(attr_char_value));

    attr_char_value.p_uuid    = &ble_uuid;
    attr_char_value.p_attr_md = &attr_md;
    attr_char_value.init_len  = 1;
    attr_char_value.init_offs = 0;
    attr_char_value.max_len   = BLE_NUS_MAX_TX_CHAR_LEN;

    return sd_ble_gatts_characteristic_add(p_nus->service_handle,
                                           &char_md,
                                           &attr_char_value,
                                           &p_nus->tx_handles);
}


void ble_nus_on_ble_evt(ble_nus_t * p_nus, ble_evt_t * p_ble_evt)
{
    if ((p_nus == NULL) || (p_ble_evt == NULL))
    {
        return;
    }

    switch (p_ble_evt->header.evt_id)
    {
        case BLE_GAP_EVT_CONNECTED:
            on_connect(p_nus, p_ble_evt);
            break;

        case BLE_GAP_EVT_DISCONNECTED:
            on_disconnect(p_nus, p_ble_evt);
            break;

        case BLE_GATTS_EVT_WRITE:
            on_write(p_nus, p_ble_evt);
            break;

        default:
            // No implementation needed.
            break;
    }
}


uint32_t ble_nus_init(ble_nus_t * p_nus, const ble_nus_init_t * p_nus_init)
{
    uint32_t      err_code;
    ble_uuid_t    ble_uuid;
    ble_uuid128_t nus_base_uuid = NUS_BASE_UUID;

    VERIFY_PARAM_NOT_NULL(p_nus);
    VERIFY_PARAM_NOT_NULL(p_nus_init);

    // Initialize the service structure.
    p_nus->conn_handle             = BLE_CONN_HANDLE_INVALID;
    p_nus->data_handler            = p_nus_init->data_handler;
	  p_nus->data_handler_ex         = p_nus_init->data_handler_ex;
    p_nus->is_notification_enabled = false;

    /**@snippet [Adding proprietary Service to S110 SoftDevice] */
    // Add a custom base UUID.
    err_code = sd_ble_uuid_vs_add(&nus_base_uuid, &p_nus->uuid_type);
    VERIFY_SUCCESS(err_code);

    ble_uuid.type = p_nus->uuid_type;
    ble_uuid.uuid = BLE_UUID_NUS_SERVICE;

    // Add the service.
    err_code = sd_ble_gatts_service_add(BLE_GATTS_SRVC_TYPE_PRIMARY,
                                        &ble_uuid,
                                        &p_nus->service_handle);
    /**@snippet [Adding proprietary Service to S110 SoftDevice] */
    VERIFY_SUCCESS(err_code);

    // Add the RX Characteristic.
    err_code = rx_char_add(p_nus, p_nus_init);
    VERIFY_SUCCESS(err_code);

    // Add the TX Characteristic.
    err_code = tx_char_add(p_nus, p_nus_init);
    VERIFY_SUCCESS(err_code);
		
		// Add the EX Characteristic.
    err_code = ex_char_add(p_nus, p_nus_init);
    VERIFY_SUCCESS(err_code);

    return NRF_SUCCESS;
}


uint32_t ble_nus_string_send(ble_nus_t * p_nus, uint8_t * p_string, uint16_t length)
{
    ble_gatts_hvx_params_t hvx_params;

    VERIFY_PARAM_NOT_NULL(p_nus);

    if ((p_nus->conn_handle == BLE_CONN_HANDLE_INVALID) || (!p_nus->is_notification_enabled))
    {
        return NRF_ERROR_INVALID_STATE;
    }

    if (length > BLE_NUS_MAX_DATA_LEN)
    {
        return NRF_ERROR_INVALID_PARAM;
    }

    memset(&hvx_params, 0, sizeof(hvx_params));

    hvx_params.handle = p_nus->rx_handles.value_handle;
    hvx_params.p_data = p_string;
    hvx_params.p_len  = &length;
    hvx_params.type   = BLE_GATT_HVX_NOTIFICATION;

    return sd_ble_gatts_hvx(p_nus->conn_handle, &hvx_params);
}

Please take note of the function "ex_char_add". It adds the characteristic used by the website. It must be called during ble initialization, that is probably already the case. 

It has been a couple of years since I worked on this project, and it couldn't be stressed enough that I was an inexperienced student. Looking back on this project I see a multiple of inefficiencies that should have been dealt with. Additionally, version 11 of the SDK is without a doubt outdated. It is no wonder that you are having issues working with this repo (sorry!). 

I can however confirm that this project is indeed working, but going further with your own project would it be a necessity to migrate into your own firmware for stability, readability and probably less memory usage. 

[Yoojin.Jang]

thank you for your support.

drone and website is operation OK.

I need to make a little more changes, but thank you for your help.

I am developing a drones, and this is the only project that uses the nrf52832 microcontroller.

have a good day.

[Yoojin.Jang]

Hello.

I am developing a drone, drone and website is opertation OK.

but gyro and accel not operation by joystick.

gyro and accel call ime6Read(&gyro, &acc) function.

but continue call , when AUTO_LEVEL_ENABLE is true and ATTITUDE_DIVIDER is 0 in scheduler_execute function.

but gyro and accel not operation by jostick.

I want to add uart_init() function.

but add uart_init() function, not operation.

I want to confirm gyro and accel value by serial monitoring. 

sorry, but give me all source code as my e-mail.

[email protected]

thank you.

best regard. 

[Henrik]

Hello!

There is no routing for UART on our reference PCB. Either you have to solder some wiring for UART yourself or you could use a debugger and RTT, which is what we used for development. 

[Yoojin.Jang]

Thank you for your support.

My PCB is uart routing. But operation is not ok.

Uart of Other project is ok.

I confirm Gyro and accel value is ok by osciloscope.

It is ok.

maybe I developing gyro and accel u-com is icm20602.

I will continue test.

have a good day. 

[Yoojin.Jang]

Hello.

thank you for your support.

I almost finish nrf52-quadcopter develop.

I want fly drone and mobile.

I want to confirm PID value from minum to maxium in mobile.

and I want to confirm your PID value.

Roll - rate

P:    I:   D:

Roll - attitude

P:    I:   D:

Pitch - rate

P:    I:   D:

Pitch - attitude

P:    I:   D:

Yaw - rate

P:    I:   D:

Yaw - attitude

P:    I:   D:

thank you have a nice day