hi all.. I recently purchased an ESP32 and am looking to try and connect it to a gimbal using bluetooth.. Someone else has already made this work using the same brand gimbal and they provided their sketch.. so i bought an ESP32 thinking it should work fairly easily butso far no luck.. im wondering if someone might be able to identify where its failing ?
i have a small analog joystick connected which i know is working as i tried it with another sketch.. when i upload the bluetooth sketch and move the joystick i get nothing... the status monitor shows a message that looks like its trying to connect but it repeats over and over, which makes me wonder if the gimbal is disconnecting and the ESP32 keeps trying to reconnect ? here is the message i see in status window..
rst:0x8 (TG1WDT_SYS_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:1
load:0x3fff0030,len:1344
load:0x40078000,len:13964
load:0x40080400,len:3600
entry 0x400805f0
E (10) Starting Arduino BLE Client application...
BLE Advertised Device found: Name: , Address: XX:XX:XX:XX:XX:XX, manufacturer data: 09050005, serviceUUID: 0000fee9-0000-1000-8000-00805f9b34fb, serviceUUID: 0000180a-0000-1000-8000-00805f9b34fb, serviceUUID: 0000fee8-0000-1000-8000-00805f9b34fb, rssi: -78
Found our device! address: Forming a connection to ac:9a:22:88:7e:81
- Created client
- Connected to server
- Found our service
- Found our characteristic
The characteristic value was:
ets Jul 29 2019 12:21:46
the joystick pins align with whats in the sketch and i also used nrf app on my tablet to verify all the BT characteristics match so the sketch should work with my gimbal but i get nothing ? i can post the sketch here if needed also... if anyone has an idea where it might be failing id appreciate any help.. thanks
Connecting BT LE device
Re: Connecting BT LE device
Idea:
what is the first line of code after this one
what is the first line of code after this one
Its where the code failsThe characteristic value was:
Re: Connecting BT LE device
thanks for the reply... i'll post the code below..
if that line you mentioned is a problem, would it be because the code has an error ? or because my gimbal just isn't responding with the expected characteristic data ? i havent changed anything from the original code except for the pin numbers where the joystick are connected... appreciate any insight you might have..
if that line you mentioned is a problem, would it be because the code has an error ? or because my gimbal just isn't responding with the expected characteristic data ? i havent changed anything from the original code except for the pin numbers where the joystick are connected... appreciate any insight you might have..
Code: Select all
#include "BLEDevice.h"
//#include "BLEScan.h"
const int SW_pin = 34; // digital pin connected to switch output
const int X_pin = 32; // analog pin connected to X output
const int Y_pin = 35; // analog pin connected to Y output
int Y_axis = 1800;
int X_axis = 1800;
// The remote service we wish to connect to.
static BLEUUID serviceUUID("0000fee9-0000-1000-8000-00805f9b34fb");
// The characteristic of the remote service we are interested in.
static BLEUUID charUUID("d44bc439-abfd-45a2-b575-925416129600");
static BLEAddress *pServerAddress;
static boolean doConnect = false;
static boolean connected = false;
static BLERemoteCharacteristic* pRemoteCharacteristic;
static void notifyCallback(
BLERemoteCharacteristic* pBLERemoteCharacteristic,
uint8_t* pData,
size_t length,
bool isNotify) {
Serial.print("Notify callback for characteristic ");
Serial.print(pBLERemoteCharacteristic->getUUID().toString().c_str());
Serial.print(" of data length ");
Serial.println(length);
}
bool connectToServer(BLEAddress pAddress) {
Serial.print("Forming a connection to ");
Serial.println(pAddress.toString().c_str());
BLEClient* pClient = BLEDevice::createClient();
Serial.println(" - Created client");
// Connect to the remove BLE Server.
pClient->connect(pAddress);
Serial.println(" - Connected to server");
// Obtain a reference to the service we are after in the remote BLE server.
BLERemoteService* pRemoteService = pClient->getService(serviceUUID);
if (pRemoteService == nullptr) {
Serial.print("Failed to find our service UUID: ");
Serial.println(serviceUUID.toString().c_str());
return false;
}
Serial.println(" - Found our service");
// Obtain a reference to the characteristic in the service of the remote BLE server.
pRemoteCharacteristic = pRemoteService->getCharacteristic(charUUID);
if (pRemoteCharacteristic == nullptr) {
Serial.print("Failed to find our characteristic UUID: ");
Serial.println(charUUID.toString().c_str());
return false;
}
Serial.println(" - Found our characteristic");
// Read the value of the characteristic.
std::string value = pRemoteCharacteristic->readValue();
Serial.print("The characteristic value was: ");
Serial.println(value.c_str());
//pRemoteCharacteristic->registerForNotify(notifyCallback);
}
/**
* Scan for BLE servers and find the first one that advertises the service we are looking for.
*/
class MyAdvertisedDeviceCallbacks: public BLEAdvertisedDeviceCallbacks {
/**
* Called for each advertising BLE server.
*/
void onResult(BLEAdvertisedDevice advertisedDevice) {
Serial.print("BLE Advertised Device found: ");
Serial.println(advertisedDevice.toString().c_str());
// We have found a device, let us now see if it contains the service we are looking for.
if (advertisedDevice.haveServiceUUID() && advertisedDevice.getServiceUUID().equals(serviceUUID)) {
//
Serial.print("Found our device! address: ");
advertisedDevice.getScan()->stop();
pServerAddress = new BLEAddress(advertisedDevice.getAddress());
doConnect = true;
} // Found our server
} // onResult
}; // MyAdvertisedDeviceCallbacks
void setup() {
pinMode(SW_pin, INPUT);
digitalWrite(SW_pin, HIGH);
Serial.begin(115200);
Serial.println("Starting Arduino BLE Client application...");
BLEDevice::init("");
// Retrieve a Scanner and set the callback we want to use to be informed when we
// have detected a new device. Specify that we want active scanning and start the
// scan to run for 30 seconds.
BLEScan* pBLEScan = BLEDevice::getScan();
pBLEScan->setAdvertisedDeviceCallbacks(new MyAdvertisedDeviceCallbacks());
pBLEScan->setActiveScan(true);
pBLEScan->start(30);
} // End of setup.
// This is the Arduino main loop function.
void loop() {
// If the flag "doConnect" is true then we have scanned for and found the desired
// BLE Server with which we wish to connect. Now we connect to it. Once we are
// connected we set the connected flag to be true.
if (doConnect == true) {
if (connectToServer(*pServerAddress)) {
Serial.println("We are now connected to the BLE Server.");
connected = true;
} else {
Serial.println("We have failed to connect to the server; there is nothin more we will do.");
}
doConnect = false;
}
// If we are connected to a peer BLE Server, update the characteristic each time we are reached
// with the current time since boot.
if (connected) {
int Y_axis = analogRead(X_pin);
int X_axis = analogRead(Y_pin);
//Up
if (X_axis < 1665){
const uint8_t onPacket[] = {0x06, 0x10, 0x01, 0x0e, 0x89, 0xc2, 0xbc, 0x06, 0x10, 0x02, 0x08, 0x00, 0x31, 0xeb};
pRemoteCharacteristic->writeValue((uint8_t*)onPacket, 14, true);
}
//Down
if (X_axis > 1900){
const uint8_t onPacket[] = {0x06, 0x10, 0x03, 0x08, 0x00, 0x06, 0xdb, 0x06, 0x10, 0x01, 0x01, 0x76, 0xcc, 0x72};
pRemoteCharacteristic->writeValue((uint8_t*)onPacket, 14, true);
}
//Left
if (Y_axis < 1700){
const uint8_t onPacket[] = {0x06, 0x10, 0x02, 0x08, 0x00, 0x31, 0xeb, 0x06, 0x10, 0x03, 0x01, 0x76, 0xa2, 0x12};
pRemoteCharacteristic->writeValue((uint8_t*)onPacket, 14, true);
}
//Right
if (Y_axis > 1935){
const uint8_t onPacket[] = {0x06, 0x10, 0x02, 0x08, 0x00, 0x31, 0xeb, 0x06, 0x10, 0x03, 0x0d, 0xd9, 0xa3, 0x7a};
pRemoteCharacteristic->writeValue((uint8_t*)onPacket, 14, true);
}
}
delay(50); // Delay a second between loops.
} // End of loop
Re: Connecting BT LE device
This line may crash for 2 reasons:
- characteristic is not readable
- characteristic does not have any value yet, to the .c_ctr() will return NULL
Code: Select all
Serial.print("The characteristic value was: ");
Serial.println(value.c_str()); <----
- characteristic does not have any value yet, to the .c_ctr() will return NULL
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