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‎code/bluey-MeArm/README.md

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## Controlling a MeArm using Bluey.
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![Bluey MeArm](images/bluey-mearm-sm.jpg)
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This is an example project to demonstrate the use of Bluey to control MeArm over BLE.
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MeArm is a compact robotic arm with four degrees of freedom. The four degrees of freedom allow MeArm to rotate on its base, while its arm can extend horizontally and vertically and its claws can be opened and closed to grab objects.
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MeArm design files can be found [here](https://github.com/mimeindustries/MeArm) and instructions on building your MeArm can be fund [here](http://learn.mime.co.uk/docs/control-your-mearm-from-arduino/)
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In our application, we use Bluey as the processing unit to control MeArm and as wireless communication unit to obtain data from a smartphone. Using nRF ToolBox, eight different states are configured - 2 states for each motor, to move the motor in two different directions; that facilitates controlling the motion of MeArm.
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#### Compiling
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* Copy *bluey-MeArm* directory in *nRF5_SDK_12.2.0_f012efa\examples\ble_peripheral*.
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* Open *nRF5_SDK_12.2.0_f012efa\examples\ble_peripheral\bluey-MeArm\bluey1.2\s132\armgcc* in command prompt.
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* Issue `make` command to compile the program.
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* Issue `make dfupkg` to generate zip package.
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* The generated package is used to perform over-the-air(OTA) device firmware update (DFU). Follow instructions mentioned [here](../ota-prog.md) for detailed description on OTA programming to upload firmware to bluey.
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#### Connections
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Motor | Pin
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----- | ---
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VCC | 5V
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GND | GND
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PWM (Base Servo) | 27
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PWM (Left Servo) | 28
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PWM (Right Servo)| 29
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PWM (Claw Servo) | 30
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*Note!* Do not power the servo motors from bluey directly as the current draw of 4 servo motors is high and cannot be supported by the board. Use a dedicated power supply unit instead.
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Testing:
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* Power up Bluey.
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* Download and Install nRF Toolbox from Play Store. Run the application.
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* Select **UART** tab.
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* Press on **Connect** tab to scan for devices.
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![](images/connect.jpg)
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* Select **Bluey-MeArm** from available devices.
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![](images/scan.jpg)
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* On successful connection, **Bluey-MeArm** is seen on the screen.
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![](images/Bluey-Mearm.jpg)
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* Configure buttons by clicking the **Edit** tab on top-right corner of the mobile app.
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* Select any button, choose an icon indicating this button and enter the value as shown in image below. Click on **Ok** followed by **Done** tab to save your changes.
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![](images/config.jpg)
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* Create 8 such buttons with following values.
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Icon | Value
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---- | -----
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Up arrow (^) | leftOut
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Right arrow (>) | baseCW
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Left arrow (<) | baseCCW
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Down arrow | leftIn
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1 | rightA
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2 | rightB
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3 | clawOpen
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4 | clawClose
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* Pressing any one of these buttons, will result in corresponding change in the position of the servo associated with the button.

‎code/bluey-MeArm/bluey1.2/s132/armgcc/Makefile

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PROJECT_NAME := bluey1.2_s132
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TARGETS := nrf52832_xxaa
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OUTPUT_DIRECTORY := _build
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SDK_ROOT := ../../../../../..
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PROJ_DIR := ../../..
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$(OUTPUT_DIRECTORY)/nrf52832_xxaa.out: \
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LINKER_SCRIPT := ble_app_uart_gcc_nrf52.ld
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# Source files common to all targets
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SRC_FILES += \
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$(SDK_ROOT)/components/libraries/log/src/nrf_log_backend_serial.c \
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$(SDK_ROOT)/components/libraries/log/src/nrf_log_frontend.c \
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$(SDK_ROOT)/components/libraries/button/app_button.c \
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$(SDK_ROOT)/components/libraries/util/app_error.c \
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$(SDK_ROOT)/components/libraries/util/app_error_weak.c \
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$(SDK_ROOT)/components/libraries/fifo/app_fifo.c \
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$(SDK_ROOT)/components/libraries/pwm/app_pwm.c \
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$(SDK_ROOT)/components/libraries/timer/app_timer.c \
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$(SDK_ROOT)/components/libraries/uart/app_uart_fifo.c \
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$(SDK_ROOT)/components/libraries/util/app_util_platform.c \
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$(SDK_ROOT)/components/libraries/fstorage/fstorage.c \
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$(SDK_ROOT)/components/libraries/hardfault/hardfault_implementation.c \
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$(SDK_ROOT)/components/libraries/util/nrf_assert.c \
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$(SDK_ROOT)/components/libraries/uart/retarget.c \
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$(SDK_ROOT)/components/libraries/util/sdk_errors.c \
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$(SDK_ROOT)/components/boards/boards.c \
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$(SDK_ROOT)/components/drivers_nrf/clock/nrf_drv_clock.c \
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$(SDK_ROOT)/components/drivers_nrf/common/nrf_drv_common.c \
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$(SDK_ROOT)/components/drivers_nrf/gpiote/nrf_drv_gpiote.c \
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$(SDK_ROOT)/components/drivers_nrf/ppi/nrf_drv_ppi.c \
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$(SDK_ROOT)/components/drivers_nrf/timer/nrf_drv_timer.c \
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$(SDK_ROOT)/components/drivers_nrf/uart/nrf_drv_uart.c \
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$(SDK_ROOT)/components/libraries/bsp/bsp.c \
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$(SDK_ROOT)/components/libraries/bsp/bsp_btn_ble.c \
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$(SDK_ROOT)/components/libraries/bsp/bsp_nfc.c \
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$(PROJ_DIR)/main.c \
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$(SDK_ROOT)/external/segger_rtt/RTT_Syscalls_GCC.c \
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$(SDK_ROOT)/external/segger_rtt/SEGGER_RTT.c \
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$(SDK_ROOT)/external/segger_rtt/SEGGER_RTT_printf.c \
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$(SDK_ROOT)/components/ble/common/ble_advdata.c \
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$(SDK_ROOT)/components/ble/ble_advertising/ble_advertising.c \
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$(SDK_ROOT)/components/ble/common/ble_conn_params.c \
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$(SDK_ROOT)/components/ble/common/ble_srv_common.c \
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$(SDK_ROOT)/components/toolchain/gcc/gcc_startup_nrf52.S \
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$(SDK_ROOT)/components/toolchain/system_nrf52.c \
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$(SDK_ROOT)/components/ble/ble_services/ble_nus/ble_nus.c \
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$(SDK_ROOT)/components/softdevice/common/softdevice_handler/softdevice_handler.c \
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# Include folders common to all targets
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INC_FOLDERS += \
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$(SDK_ROOT)/components/drivers_nrf/comp \
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$(SDK_ROOT)/components/drivers_nrf/twi_master \
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$(SDK_ROOT)/components/ble/ble_services/ble_ancs_c \
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$(SDK_ROOT)/components/ble/ble_services/ble_ias_c \
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$(SDK_ROOT)/components/libraries/pwm \
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$(SDK_ROOT)/components/softdevice/s132/headers/nrf52 \
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$(SDK_ROOT)/components/libraries/usbd/class/cdc/acm \
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$(SDK_ROOT)/components/libraries/usbd/class/hid/generic \
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$(SDK_ROOT)/components/libraries/usbd/class/msc \
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$(SDK_ROOT)/components/libraries/usbd/class/hid \
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$(SDK_ROOT)/components/libraries/log \
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$(SDK_ROOT)/components/ble/ble_services/ble_gls \
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$(SDK_ROOT)/components/libraries/fstorage \
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$(SDK_ROOT)/components/drivers_nrf/i2s \
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$(SDK_ROOT)/components/libraries/gpiote \
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$(SDK_ROOT)/components/drivers_nrf/gpiote \
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$(SDK_ROOT)/components/libraries/fifo \
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$(SDK_ROOT)/components/boards \
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$(SDK_ROOT)/components/drivers_nrf/common \
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$(SDK_ROOT)/components/ble/ble_advertising \
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$(SDK_ROOT)/components/drivers_nrf/adc \
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$(SDK_ROOT)/components/ble/ble_services/ble_bas_c \
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$(SDK_ROOT)/components/ble/ble_services/ble_hrs_c \
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$(SDK_ROOT)/components/libraries/queue \
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$(SDK_ROOT)/components/ble/ble_dtm \
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$(SDK_ROOT)/components/toolchain/cmsis/include \
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$(SDK_ROOT)/components/ble/ble_services/ble_rscs_c \
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$(SDK_ROOT)/components/drivers_nrf/uart \
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$(SDK_ROOT)/components/ble/common \
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$(SDK_ROOT)/components/ble/ble_services/ble_lls \
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$(SDK_ROOT)/components/drivers_nrf/wdt \
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$(SDK_ROOT)/components/libraries/bsp \
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$(SDK_ROOT)/components/ble/ble_services/ble_bas \
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$(SDK_ROOT)/components/libraries/experimental_section_vars \
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$(SDK_ROOT)/components/softdevice/s132/headers \
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$(SDK_ROOT)/components/ble/ble_services/ble_ans_c \
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$(SDK_ROOT)/components/libraries/slip \
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$(SDK_ROOT)/components/libraries/mem_manager \
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$(SDK_ROOT)/external/segger_rtt \
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$(SDK_ROOT)/components/libraries/csense_drv \
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$(SDK_ROOT)/components/drivers_nrf/hal \
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$(SDK_ROOT)/components/ble/ble_services/ble_nus_c \
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$(SDK_ROOT)/components/drivers_nrf/rtc \
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$(SDK_ROOT)/components/ble/ble_services/ble_ias \
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$(SDK_ROOT)/components/libraries/usbd/class/hid/mouse \
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$(SDK_ROOT)/components/drivers_nrf/ppi \
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$(SDK_ROOT)/components/ble/ble_services/ble_dfu \
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$(SDK_ROOT)/components/drivers_nrf/twis_slave \
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$(SDK_ROOT)/components \
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$(SDK_ROOT)/components/libraries/scheduler \
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$(SDK_ROOT)/components/ble/ble_services/ble_lbs \
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$(SDK_ROOT)/components/ble/ble_services/ble_hts \
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$(SDK_ROOT)/components/drivers_nrf/delay \
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$(SDK_ROOT)/components/libraries/crc16 \
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$(SDK_ROOT)/components/drivers_nrf/timer \
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$(SDK_ROOT)/components/libraries/util \
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$(SDK_ROOT)/components/drivers_nrf/pwm \
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../config \
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$(SDK_ROOT)/components/libraries/usbd/class/cdc \
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$(SDK_ROOT)/components/libraries/csense \
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$(SDK_ROOT)/components/drivers_nrf/rng \
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$(SDK_ROOT)/components/libraries/low_power_pwm \
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$(SDK_ROOT)/components/libraries/hardfault \
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$(SDK_ROOT)/components/ble/ble_services/ble_cscs \
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$(SDK_ROOT)/components/libraries/uart \
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$(SDK_ROOT)/components/libraries/hci \
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$(SDK_ROOT)/components/libraries/usbd/class/hid/kbd \
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$(SDK_ROOT)/components/drivers_nrf/spi_slave \
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$(SDK_ROOT)/components/drivers_nrf/lpcomp \
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$(SDK_ROOT)/components/libraries/timer \
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$(SDK_ROOT)/components/drivers_nrf/power \
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$(SDK_ROOT)/components/libraries/usbd/config \
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$(SDK_ROOT)/components/toolchain \
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$(SDK_ROOT)/components/libraries/led_softblink \
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$(SDK_ROOT)/components/drivers_nrf/qdec \
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$(SDK_ROOT)/components/ble/ble_services/ble_cts_c \
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$(SDK_ROOT)/components/drivers_nrf/spi_master \
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$(SDK_ROOT)/components/ble/ble_services/ble_nus \
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$(SDK_ROOT)/components/ble/ble_services/ble_hids \
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$(SDK_ROOT)/components/drivers_nrf/pdm \
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$(SDK_ROOT)/components/libraries/crc32 \
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$(SDK_ROOT)/components/libraries/usbd/class/audio \
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$(SDK_ROOT)/components/ble/peer_manager \
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$(SDK_ROOT)/components/drivers_nrf/swi \
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$(SDK_ROOT)/components/ble/ble_services/ble_tps \
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$(SDK_ROOT)/components/ble/ble_services/ble_dis \
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$(SDK_ROOT)/components/device \
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$(SDK_ROOT)/components/ble/nrf_ble_qwr \
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$(SDK_ROOT)/components/libraries/button \
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$(SDK_ROOT)/components/libraries/usbd \
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$(SDK_ROOT)/components/drivers_nrf/saadc \
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$(SDK_ROOT)/components/ble/ble_services/ble_lbs_c \
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$(SDK_ROOT)/components/ble/ble_racp \
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$(SDK_ROOT)/components/toolchain/gcc \
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$(SDK_ROOT)/components/libraries/fds \
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$(SDK_ROOT)/components/libraries/twi \
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$(SDK_ROOT)/components/drivers_nrf/clock \
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$(SDK_ROOT)/components/ble/ble_services/ble_rscs \
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$(SDK_ROOT)/components/drivers_nrf/usbd \
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$(SDK_ROOT)/components/softdevice/common/softdevice_handler \
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$(SDK_ROOT)/components/ble/ble_services/ble_hrs \
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$(SDK_ROOT)/components/libraries/log/src \
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# Libraries common to all targets
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LIB_FILES += \
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# C flags common to all targets
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CFLAGS += -DNRF52
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CFLAGS += -DNRF52_PAN_64
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CFLAGS += -DSOFTDEVICE_PRESENT
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CFLAGS += -DBOARD_PCA10040
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CFLAGS += -DNRF52832
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CFLAGS += -DNRF52_PAN_12
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CFLAGS += -DNRF52_PAN_58
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CFLAGS += -DNRF52_PAN_54
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CFLAGS += -DNRF52_PAN_31
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CFLAGS += -DNRF52_PAN_51
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CFLAGS += -DNRF52_PAN_36
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CFLAGS += -DCONFIG_GPIO_AS_PINRESET
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CFLAGS += -DBLE_STACK_SUPPORT_REQD
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CFLAGS += -DNRF52_PAN_15
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CFLAGS += -DNRF_SD_BLE_API_VERSION=3
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CFLAGS += -DSWI_DISABLE0
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CFLAGS += -DNRF52_PAN_20
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CFLAGS += -DNRF52_PAN_55
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CFLAGS += -DS132
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CFLAGS += -mcpu=cortex-m4
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CFLAGS += -mthumb -mabi=aapcs
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CFLAGS += -Wall -Werror -O0 -g3
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CFLAGS += -mfloat-abi=hard -mfpu=fpv4-sp-d16
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# keep every function in separate section, this allows linker to discard unused ones
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CFLAGS += -ffunction-sections -fdata-sections -fno-strict-aliasing
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CFLAGS += -fno-builtin --short-enums
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# C++ flags common to all targets
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CXXFLAGS += \
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# Assembler flags common to all targets
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ASMFLAGS += -x assembler-with-cpp
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ASMFLAGS += -DNRF52
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ASMFLAGS += -DNRF52_PAN_64
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ASMFLAGS += -DSOFTDEVICE_PRESENT
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ASMFLAGS += -DBOARD_PCA10040
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ASMFLAGS += -DNRF52832
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ASMFLAGS += -DNRF52_PAN_12
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ASMFLAGS += -DNRF52_PAN_58
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ASMFLAGS += -DNRF52_PAN_54
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ASMFLAGS += -DNRF52_PAN_31
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ASMFLAGS += -DNRF52_PAN_51
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ASMFLAGS += -DNRF52_PAN_36
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ASMFLAGS += -DCONFIG_GPIO_AS_PINRESET
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ASMFLAGS += -DBLE_STACK_SUPPORT_REQD
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ASMFLAGS += -DNRF52_PAN_15
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ASMFLAGS += -DNRF_SD_BLE_API_VERSION=3
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ASMFLAGS += -DSWI_DISABLE0
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ASMFLAGS += -DNRF52_PAN_20
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ASMFLAGS += -DNRF52_PAN_55
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ASMFLAGS += -DS132
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# Linker flags
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LDFLAGS += -mthumb -mabi=aapcs -L $(TEMPLATE_PATH) -T$(LINKER_SCRIPT)
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LDFLAGS += -mcpu=cortex-m4
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LDFLAGS += -mfloat-abi=hard -mfpu=fpv4-sp-d16
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# let linker to dump unused sections
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LDFLAGS += -Wl,--gc-sections
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# use newlib in nano version
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LDFLAGS += --specs=nano.specs -lc -lnosys
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.PHONY: $(TARGETS) default all clean help flash flash_softdevice
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# Default target - first one defined
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default: nrf52832_xxaa
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# Print all targets that can be built
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help:
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@echo following targets are available:
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@echo nrf52832_xxaa
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TEMPLATE_PATH := $(SDK_ROOT)/components/toolchain/gcc
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include $(TEMPLATE_PATH)/Makefile.common
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$(foreach target, $(TARGETS), $(call define_target, $(target)))
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# Flash the program
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flash: $(OUTPUT_DIRECTORY)/nrf52832_xxaa.hex
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@echo Flashing: $<
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nrfjprog --program $< -f nrf52 --sectorerase
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nrfjprog --reset -f nrf52
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# Flash softdevice
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flash_softdevice:
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@echo Flashing: s132_nrf52_3.0.0_softdevice.hex
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nrfjprog --program $(SDK_ROOT)/components/softdevice/s132/hex/s132_nrf52_3.0.0_softdevice.hex -f nrf52 --sectorerase
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nrfjprog --reset -f nrf52
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# make DFU package
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dfupkg:
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@echo Generating DFU package...
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nrfutil pkg generate --hw-version 52 --application-version 1 --application $(OUTPUT_DIRECTORY)/nrf52832_xxaa.hex --sd-req 0x8C --key-file ../../../private.key ../../../bluey_MeArm_dfu_package.zip
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erase:
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nrfjprog --eraseall -f nrf52

‎code/bluey-MeArm/bluey1.2/s132/armgcc/ble_app_uart_gcc_nrf52.ld

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/* Linker script to configure memory regions. */
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SEARCH_DIR(.)
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GROUP(-lgcc -lc -lnosys)
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MEMORY
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{
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FLASH (rx) : ORIGIN = 0x1f000, LENGTH = 0x61000
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RAM (rwx) : ORIGIN = 0x20002128, LENGTH = 0xded8
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}
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SECTIONS
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{
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.fs_data :
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{
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PROVIDE(__start_fs_data = .);
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KEEP(*(.fs_data))
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PROVIDE(__stop_fs_data = .);
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} > RAM
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.pwr_mgmt_data :
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{
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PROVIDE(__start_pwr_mgmt_data = .);
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KEEP(*(.pwr_mgmt_data))
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PROVIDE(__stop_pwr_mgmt_data = .);
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} > RAM
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} INSERT AFTER .data;
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INCLUDE "nrf5x_common.ld"

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