我正在尝试通过 BLE mini(Red Bear 实验室)将 9dof Razor IMU 模块(来自 Sparkfun)的数据传输到 BLEChat_Central_OSX 应用程序，但它不起作用:/
我使用的代码是:
https://github.com/ptrbrtz/razor-9dof-ahrs/tree/master/Arduino/Razor_AHRS
https://github.com/RedBearLab/iOS/tree/master/Examples/BLEChat_Central_OSX
我尝试使用以下代码通过 BLE 仅传输一个值:
Serial.print(int(smoothedAX));
Serial.println();
但是在 Xcode 上运行 BLEChat 时，我只收到“i”和“Y”值:
2014-07-16 18:27:01.389 BLEChat Central[395:303] scanForPeripheralsWithServices
2014-07-16 18:27:02.108 BLEChat Central[395:303] didDiscoverPeripheral
2014-07-16 18:27:02.426 BLEChat Central[395:303] Duplicate UUID found updating...
2014-07-16 18:27:03.389 BLEChat Central[395:303] Stopped Scanning
2014-07-16 18:27:03.389 BLEChat Central[395:303] Known peripherals : 1
2014-07-16 18:27:03.389 BLEChat Central[395:303] List of currently known peripherals :
2014-07-16 18:27:03.390 BLEChat Central[395:303] 0 | 308B4C0E-F756-434C-84D4-B474B1C12AD6
2014-07-16 18:27:03.390 BLEChat Central[395:303]
------------------------------------
2014-07-16 18:27:03.390 BLEChat Central[395:303] Peripheral Info :
2014-07-16 18:27:03.390 BLEChat Central[395:303] UUID : 308B4C0E-F756-434C-84D4-B474B1C12AD6
2014-07-16 18:27:03.390 BLEChat Central[395:303] Name : Biscuit
2014-07-16 18:27:03.391 BLEChat Central[395:303]
-------------------------------------
2014-07-16 18:27:03.391 BLEChat Central[395:303] Connecting to peripheral with UUID : 308B4C0E-F756-434C-84D4-B474B1C12AD6
2014-07-16 18:27:03.567 BLEChat Central[395:303] Connected to 308B4C0E-F756-434C-84D4-B474B1C12AD6 successful
2014-07-16 18:27:03.582 BLEChat Central[395:303] ->Connected
2014-07-16 18:27:03.747 BLEChat Central[395:303] Length: 2
2014-07-16 18:27:03.747 BLEChat Central[395:303] y
2014-07-16 18:27:03.749 BLEChat Central[395:303] Length: 2
2014-07-16 18:27:03.749 BLEChat Central[395:303] y
2014-07-16 18:27:03.750 BLEChat Central[395:303] Length: 2
2014-07-16 18:27:03.750 BLEChat Central[395:303] i
2014-07-16 18:27:03.814 BLEChat Central[395:303] Length: 2
2014-07-16 18:27:03.814 BLEChat Central[395:303] i
2014-07-16 18:27:03.816 BLEChat Central[395:303] Length: 2
2014-07-16 18:27:03.816 BLEChat Central[395:303] i
2014-07-16 18:27:03.817 BLEChat Central[395:303] Length: 2
2014-07-16 18:27:03.817 BLEChat Central[395:303] i
2014-07-16 18:27:03.818 BLEChat Central[395:303] Length: 2
2014-07-16 18:27:03.818 BLEChat Central[395:303] i
我还尝试使用 arduino 代码传输数据:
// uint16_t value = smoothedAX;
uint16_t value = 123; // fake reading
BLEMini_write(0x0B);
BLEMini_write(value >> 8);
BLEMini_write(value);
但随后我立即收到一条错误消息:
2014-07-16 18:28:04.930 BLEChat Central[425:303] scanForPeripheralsWithServices
2014-07-16 18:28:04.964 BLEChat Central[425:303] didDiscoverPeripheral
2014-07-16 18:28:04.964 BLEChat Central[425:303] Duplicate UUID found updating...
2014-07-16 18:28:06.932 BLEChat Central[425:303] Stopped Scanning
2014-07-16 18:28:06.932 BLEChat Central[425:303] Known peripherals : 1
2014-07-16 18:28:06.932 BLEChat Central[425:303] List of currently known peripherals :
2014-07-16 18:28:06.932 BLEChat Central[425:303] 0 | 308B4C0E-F756-434C-84D4-B474B1C12AD6
2014-07-16 18:28:06.932 BLEChat Central[425:303] ------------------------------------
2014-07-16 18:28:06.933 BLEChat Central[425:303] Peripheral Info :
2014-07-16 18:28:06.933 BLEChat Central[425:303] UUID : 308B4C0E-F756-434C-84D4-B474B1C12AD6
2014-07-16 18:28:06.933 BLEChat Central[425:303] Name : Biscuit
2014-07-16 18:28:06.933 BLEChat Central[425:303] -------------------------------------
2014-07-16 18:28:06.933 BLEChat Central[425:303] Connecting to peripheral with UUID : 308B4C0E-F756-434C-84D4-B474B1C12AD6
2014-07-16 18:28:06.975 BLEChat Central[425:303] Connected to 308B4C0E-F756-434C-84D4-B474B1C12AD6 successful
2014-07-16 18:28:06.991 BLEChat Central[425:303] ->Connected
2014-07-16 18:28:07.131 BLEChat Central[425:303] Length: 2
2014-07-16 18:28:07.132 BLEChat Central[425:303] (null)
2014-07-16 18:28:07.133 BLEChat Central[425:303] An uncaught exception was raised
2014-07-16 18:28:07.134 BLEChat Central[425:303] -[__NSCFString appendString:]: nil argument
2014-07-16 18:28:07.134 BLEChat Central[425:303] (
0 CoreFoundation 0x00007fff82e5725c __exceptionPreprocess + 172
1 libobjc.A.dylib 0x00007fff88243e75 objc_exception_throw + 43
2 CoreFoundation 0x00007fff82e5710c +[NSException raise:format:] + 204
3 CoreFoundation 0x00007fff82e26def mutateError + 159
4 BLEChat Central 0x00000001000054d1 -[RBLAppDelegate bleDidReceiveData:length:] + 257
5 BLEChat Central 0x0000000100004cb2 -[BLE peripheral:didUpdateValueForCharacteristic:error:] + 770
6 CoreBluetooth 0x00007fff884b4089 -[CBCentralManager xpcConnection:didReceiveMsg:args:] + 101
7 CoreBluetooth 0x00007fff884bd88b __34-[CBXpcConnection handleMsg:args:]_block_invoke + 81
8 libdispatch.dylib 0x00007fff884c81bb _dispatch_call_block_and_release + 12
9 libdispatch.dylib 0x00007fff884c528d _dispatch_client_callout + 8
10 libdispatch.dylib 0x00007fff884ccef0 _dispatch_main_queue_callback_4CF + 333
11 CoreFoundation 0x00007fff82dbe4f9 __CFRUNLOOP_IS_SERVICING_THE_MAIN_DISPATCH_QUEUE__ + 9
12 CoreFoundation 0x00007fff82d79714 __CFRunLoopRun + 1636
13 CoreFoundation 0x00007fff82d78e75 CFRunLoopRunSpecific + 309
14 HIToolbox 0x00007fff877cea0d RunCurrentEventLoopInMode + 226
15 HIToolbox 0x00007fff877ce7b7 ReceiveNextEventCommon + 479
16 HIToolbox 0x00007fff877ce5bc _BlockUntilNextEventMatchingListInModeWithFilter + 65
17 AppKit 0x00007fff833f624e _DPSNextEvent + 1434
18 AppKit 0x00007fff833f589b -[NSApplication nextEventMatchingMask:untilDate:inMode:dequeue:] + 122
19 AppKit 0x00007fff833e999c -[NSApplication run] + 553
20 AppKit 0x00007fff833d4783 NSApplicationMain + 940
21 BLEChat Central 0x0000000100005122 main + 34
22 libdyld.dylib 0x00007fff87eea5fd start + 1
)
2014-07-16 18:28:07.135 BLEChat Central[425:303] *** Terminating app due to uncaught exception 'NSInvalidArgumentException', reason: '-[__NSCFString appendString:]: nil argument'
*** First throw call stack:
(
0 CoreFoundation 0x00007fff82e5725c __exceptionPreprocess + 172
1 libobjc.A.dylib 0x00007fff88243e75 objc_exception_throw + 43
2 CoreFoundation 0x00007fff82e5710c +[NSException raise:format:] + 204
3 CoreFoundation 0x00007fff82e26def mutateError + 159
4 BLEChat Central 0x00000001000054d1 -[RBLAppDelegate bleDidReceiveData:length:] + 257
5 BLEChat Central 0x0000000100004cb2 -[BLE peripheral:didUpdateValueForCharacteristic:error:] + 770
6 CoreBluetooth 0x00007fff884b4089 -[CBCentralManager xpcConnection:didReceiveMsg:args:] + 101
7 CoreBluetooth 0x00007fff884bd88b __34-[CBXpcConnection handleMsg:args:]_block_invoke + 81
8 libdispatch.dylib 0x00007fff884c81bb _dispatch_call_block_and_release + 12
9 libdispatch.dylib 0x00007fff884c528d _dispatch_client_callout + 8
10 libdispatch.dylib 0x00007fff884ccef0 _dispatch_main_queue_callback_4CF + 333
11 CoreFoundation 0x00007fff82dbe4f9 __CFRUNLOOP_IS_SERVICING_THE_MAIN_DISPATCH_QUEUE__ + 9
12 CoreFoundation 0x00007fff82d79714 __CFRunLoopRun + 1636
13 CoreFoundation 0x00007fff82d78e75 CFRunLoopRunSpecific + 309
14 HIToolbox 0x00007fff877cea0d RunCurrentEventLoopInMode + 226
15 HIToolbox 0x00007fff877ce7b7 ReceiveNextEventCommon + 479
16 HIToolbox 0x00007fff877ce5bc _BlockUntilNextEventMatchingListInModeWithFilter + 65
17 AppKit 0x00007fff833f624e _DPSNextEvent + 1434
18 AppKit 0x00007fff833f589b -[NSApplication nextEventMatchingMask:untilDate:inMode:dequeue:] + 122
19 AppKit 0x00007fff833e999c -[NSApplication run] + 553
20 AppKit 0x00007fff833d4783 NSApplicationMain + 940
21 BLEChat Central 0x0000000100005122 main + 34
22 libdyld.dylib 0x00007fff87eea5fd start + 1
)
libc++abi.dylib: terminating with uncaught exception of type NSException
根据 Xcode-Debugger 的说法，错误应该在以下两个方法中:
-(void) bleDidReceiveData:(unsigned char *)data length:(int)length
{
NSLog(@"Length: %d", length);
data[length] = 0;
NSString *str = [NSString stringWithCString:data encoding:NSUTF8StringEncoding];
NSLog(@"%@", str);
static NSMutableString *message;
if (message == nil)
message = [[NSMutableString alloc] initWithString:@""];
[message appendString:str];
[message appendString:@"\n"];
self.textView.string = message;
[self.textView scrollRangeToVisible: NSMakeRange(self.textView.string.length, 0)];
}
和
- (void)peripheral:(CBPeripheral *)peripheral didUpdateValueForCharacteristic:(CBCharacteristic *)characteristic error:(NSError *)error
{
unsigned char data[20];
static unsigned char buf[512];
static int len = 0;
NSInteger data_len;
if (!error)
{
if ([characteristic.UUID isEqual:[CBUUID UUIDWithString:@RBL_CHAR_TX_UUID]])
{
data_len = characteristic.value.length;
[characteristic.value getBytes:data length:data_len];
if (data_len == 20)
{
memcpy(&buf[len], data, 20);
len += data_len;
if (len >= 64)
{
[[self delegate] bleDidReceiveData:buf length:len];
len = 0;
}
}
else if (data_len < 20)
{
memcpy(&buf[len], data, data_len);
len += data_len;
[[self delegate] bleDidReceiveData:buf length:len];
len = 0;
}
}
}
else
{
NSLog(@"updateValueForCharacteristic failed!");
}
}
可能是在 OSX 应用程序中添加以下代码的解决方案？如果可以，我必须把它放在哪里？
UInt16 value;
UInt16 pin;
for (int i = 0; i < length; i+=3) {
pin = data[i];
value = data[i+2] | data[i+1] << 8;
NSLog(@"Pin: %d", pin);
NSLog(@"Value %d",value);
}
找了三天的解决办法，还是没能解决问题。如果你能帮助我，那就太好了:)
提前致谢并干杯!
最佳答案
如果您只发送两个字节，那么最简单的方法是 -
- (void)peripheral:(CBPeripheral *)peripheral didUpdateValueForCharacteristic:(CBCharacteristic *)characteristic error:(NSError *)error
{
int smoothedAX;
if (!error)
{
if ([characteristic.UUID isEqual:[CBUUID UUIDWithString:@RBL_CHAR_TX_UUID]])
{
if (characteristic.value.length == 2) {
const char *data=[characteristic.value bytes];
smoothedAX=data[0] <<8 | data[1];
}
else {
NSLog(@"Received %ld bytes",characteristic.value.length);
}
}
}
else
{
NSLog(@"updateValueForCharacteristic failed!");
}
}
您需要对 smoothedAX 做一些有用的事情——可能将它传递给另一个方法
关于ios - 9dof Razor 和 BLE mini，我们在Stack Overflow上找到一个类似的问题： https://stackoverflow.com/questions/24788236/