ST / Mbed OS Node_BLE_StepperMotor_Device

Bluetooth Low Energy and Stepper Motor enabled device, compatible with the BlueST Protocol.

Dependencies:   X_NUCLEO_IHM01A1

Bluetooth Low Energy and Stepper Motor enabled device, compatible with the BlueST Protocol.

source/CustomService.h@0:f87cdc08dcd1, 2018-04-17 (annotated)

Committer:
Davidroid
Date:
Tue Apr 17 14:59:28 2018 +0000
Revision:
0:f87cdc08dcd1
Child:
1:84935552ca4d
Bluetooth Low Energy and Stepper Motor enabled device.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:f87cdc08dcd1 1 /**
Davidroid 0:f87cdc08dcd1 2 *******************************************************************************
Davidroid 0:f87cdc08dcd1 3 * @file CustomService.h
Davidroid 0:f87cdc08dcd1 4 * @author Davide Aliprandi, STMicroelectronics
Davidroid 0:f87cdc08dcd1 5 * @version V1.0.0
Davidroid 0:f87cdc08dcd1 6 * @date October 31st, 2017
Davidroid 0:f87cdc08dcd1 7 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
Davidroid 0:f87cdc08dcd1 8 * Motor Control Expansion Board and the X-NUCLEO-IDB05A1 Bluetooth
Davidroid 0:f87cdc08dcd1 9 * Low energy Expansion Board.
Davidroid 0:f87cdc08dcd1 10 *******************************************************************************
Davidroid 0:f87cdc08dcd1 11 * @attention
Davidroid 0:f87cdc08dcd1 12 *
Davidroid 0:f87cdc08dcd1 13 * <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
Davidroid 0:f87cdc08dcd1 14 *
Davidroid 0:f87cdc08dcd1 15 * Redistribution and use in source and binary forms, with or without
Davidroid 0:f87cdc08dcd1 16 * modification, are permitted provided that the following conditions are met:
Davidroid 0:f87cdc08dcd1 17 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:f87cdc08dcd1 18 * this list of conditions and the following disclaimer.
Davidroid 0:f87cdc08dcd1 19 * 2. Redistributions in binary form must reproduce the above copyright
Davidroid 0:f87cdc08dcd1 20 * notice, this list of conditions and the following disclaimer in the
Davidroid 0:f87cdc08dcd1 21 * documentation and/or other materials provided with the distribution.
Davidroid 0:f87cdc08dcd1 22 * 3. Neither the name of STMicroelectronics nor the names of its
Davidroid 0:f87cdc08dcd1 23 * contributors may be used to endorse or promote products derived from
Davidroid 0:f87cdc08dcd1 24 * this software without specific prior written permission.
Davidroid 0:f87cdc08dcd1 25 *
Davidroid 0:f87cdc08dcd1 26 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:f87cdc08dcd1 27 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:f87cdc08dcd1 28 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
Davidroid 0:f87cdc08dcd1 29 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS
Davidroid 0:f87cdc08dcd1 30 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
Davidroid 0:f87cdc08dcd1 31 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
Davidroid 0:f87cdc08dcd1 32 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
Davidroid 0:f87cdc08dcd1 33 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
Davidroid 0:f87cdc08dcd1 34 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
Davidroid 0:f87cdc08dcd1 35 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
Davidroid 0:f87cdc08dcd1 36 * POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:f87cdc08dcd1 37 *
Davidroid 0:f87cdc08dcd1 38 *******************************************************************************
Davidroid 0:f87cdc08dcd1 39 */
Davidroid 0:f87cdc08dcd1 40
Davidroid 0:f87cdc08dcd1 41
Davidroid 0:f87cdc08dcd1 42 #ifndef __BLE_CUSTOM_SERVICE_H__
Davidroid 0:f87cdc08dcd1 43 #define __BLE_CUSTOM_SERVICE_H__
Davidroid 0:f87cdc08dcd1 44
Davidroid 0:f87cdc08dcd1 45 #include "ble_utils.h"
Davidroid 0:f87cdc08dcd1 46
Davidroid 0:f87cdc08dcd1 47 #define STATE_DATA_LENGTH (sizeof(uint16_t) + sizeof(uint8_t))
Davidroid 0:f87cdc08dcd1 48 #define COMMAND_DATA_LENGTH (sizeof(uint8_t) + sizeof(uint32_t))
Davidroid 0:f87cdc08dcd1 49 #define MAX_DATA_LENGTH (COMMAND_DATA_LENGTH)
Davidroid 0:f87cdc08dcd1 50
Davidroid 0:f87cdc08dcd1 51 const UUID::LongUUIDBytes_t CUSTOM_STEPPER_MOTOR_SERVICE_UUID = {0x00,0x00,0x00,0x00,0x00,0x01,0x11,0xe1,0xac,0x36,0x00,0x02,0xa5,0xd5,0xc5,0x1b};
Davidroid 0:f87cdc08dcd1 52 const UUID::LongUUIDBytes_t CUSTOM_STEPPER_MOTOR_CHARACTERISTIC_UUID = {0x00,0x00,0x20,0x00,0x00,0x01,0x11,0xe1,0xac,0x36,0x00,0x02,0xa5,0xd5,0xc5,0x1b};
Davidroid 0:f87cdc08dcd1 53
Davidroid 0:f87cdc08dcd1 54 class CustomService {
Davidroid 0:f87cdc08dcd1 55 public:
Davidroid 0:f87cdc08dcd1 56
Davidroid 0:f87cdc08dcd1 57 /* Motor states. */
Davidroid 0:f87cdc08dcd1 58 typedef enum
Davidroid 0:f87cdc08dcd1 59 {
Davidroid 0:f87cdc08dcd1 60 MOTOR_INACTIVE = 0, // Motor not running.
Davidroid 0:f87cdc08dcd1 61 MOTOR_RUNNING // Motor running.
Davidroid 0:f87cdc08dcd1 62 } motor_state_t;
Davidroid 0:f87cdc08dcd1 63
Davidroid 0:f87cdc08dcd1 64 /* Motor commands. */
Davidroid 0:f87cdc08dcd1 65 typedef enum
Davidroid 0:f87cdc08dcd1 66 {
Davidroid 0:f87cdc08dcd1 67 MOTOR_STOP_RUNNING_WITHOUT_TORQUE = 0, // Stops running with HiZ.
Davidroid 0:f87cdc08dcd1 68 MOTOR_STOP_RUNNING_WITH_TORQUE, // Stops running with torque applied.
Davidroid 0:f87cdc08dcd1 69 MOTOR_RUN_FORWARD, // Runs forward indefinitely.
Davidroid 0:f87cdc08dcd1 70 MOTOR_RUN_BACKWARD, // Runs backward indefinitely.
Davidroid 0:f87cdc08dcd1 71 MOTOR_MOVE_STEPS_FORWARD, // Moves steps forward.
Davidroid 0:f87cdc08dcd1 72 MOTOR_MOVE_STEPS_BACKWARD // Moves steps backward.
Davidroid 0:f87cdc08dcd1 73 } motor_command_t;
Davidroid 0:f87cdc08dcd1 74
Davidroid 0:f87cdc08dcd1 75 CustomService(BLEDevice &_ble) :
Davidroid 0:f87cdc08dcd1 76 ble(_ble),
Davidroid 0:f87cdc08dcd1 77 state_command(CUSTOM_STEPPER_MOTOR_CHARACTERISTIC_UUID, packed_state_command, MAX_DATA_LENGTH, MAX_DATA_LENGTH,
Davidroid 0:f87cdc08dcd1 78 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE)
Davidroid 0:f87cdc08dcd1 79 {
Davidroid 0:f87cdc08dcd1 80 GattCharacteristic *char_table[] = {&state_command};
Davidroid 0:f87cdc08dcd1 81 GattService motor_service(CUSTOM_STEPPER_MOTOR_SERVICE_UUID, char_table, sizeof(char_table) / sizeof(GattCharacteristic *));
Davidroid 0:f87cdc08dcd1 82 ble.addService(motor_service);
Davidroid 0:f87cdc08dcd1 83 memset (packed_state_command, 0, MAX_DATA_LENGTH);
Davidroid 0:f87cdc08dcd1 84 }
Davidroid 0:f87cdc08dcd1 85
Davidroid 0:f87cdc08dcd1 86 void send_state(uint16_t time_stamp, uint8_t current_state) {
Davidroid 0:f87cdc08dcd1 87 memset (packed_state_command, 0, MAX_DATA_LENGTH);
Davidroid 0:f87cdc08dcd1 88 STORE_LE_16(packed_state_command, time_stamp);
Davidroid 0:f87cdc08dcd1 89 packed_state_command[2] = current_state;
Davidroid 0:f87cdc08dcd1 90 ble.gattServer().write(state_command.getValueHandle(), (uint8_t *) &packed_state_command, STATE_DATA_LENGTH, 0);
Davidroid 0:f87cdc08dcd1 91 }
Davidroid 0:f87cdc08dcd1 92
Davidroid 0:f87cdc08dcd1 93 GattAttribute::Handle_t getValueHandle() const
Davidroid 0:f87cdc08dcd1 94 {
Davidroid 0:f87cdc08dcd1 95 return state_command.getValueHandle();
Davidroid 0:f87cdc08dcd1 96 }
Davidroid 0:f87cdc08dcd1 97
Davidroid 0:f87cdc08dcd1 98 private:
Davidroid 0:f87cdc08dcd1 99 BLEDevice &ble;
Davidroid 0:f87cdc08dcd1 100 GattCharacteristic state_command;
Davidroid 0:f87cdc08dcd1 101 uint8_t packed_state_command[MAX_DATA_LENGTH];
Davidroid 0:f87cdc08dcd1 102 };
Davidroid 0:f87cdc08dcd1 103
Davidroid 0:f87cdc08dcd1 104 #endif /* #ifndef __BLE_CUSTOM_SERVICE_H__ */