Bluetooth enabled control of a BLDC via the Allegro MicroSystems A4960.

Dependencies:   BLE_API mbed nRF51822

Fork of BLE_LED by Bluetooth Low Energy

Committer:
anniemao
Date:
Tue May 16 19:31:49 2017 +0000
Revision:
11:4251b62991ac
Parent:
10:af76616e4d75
Annie Mao 2017

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rgrover1 0:ed5c53845de7 1 /* mbed Microcontroller Library
rgrover1 0:ed5c53845de7 2 * Copyright (c) 2006-2013 ARM Limited
rgrover1 0:ed5c53845de7 3 *
rgrover1 0:ed5c53845de7 4 * Licensed under the Apache License, Version 2.0 (the "License");
rgrover1 0:ed5c53845de7 5 * you may not use this file except in compliance with the License.
rgrover1 0:ed5c53845de7 6 * You may obtain a copy of the License at
rgrover1 0:ed5c53845de7 7 *
rgrover1 0:ed5c53845de7 8 * http://www.apache.org/licenses/LICENSE-2.0
rgrover1 0:ed5c53845de7 9 *
rgrover1 0:ed5c53845de7 10 * Unless required by applicable law or agreed to in writing, software
rgrover1 0:ed5c53845de7 11 * distributed under the License is distributed on an "AS IS" BASIS,
rgrover1 0:ed5c53845de7 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
rgrover1 0:ed5c53845de7 13 * See the License for the specific language governing permissions and
rgrover1 0:ed5c53845de7 14 * limitations under the License.
rgrover1 0:ed5c53845de7 15 */
rgrover1 0:ed5c53845de7 16
rgrover1 0:ed5c53845de7 17 #include "mbed.h"
andresag 10:af76616e4d75 18 #include "ble/BLE.h"
rgrover1 0:ed5c53845de7 19 #include "LEDService.h"
anniemao 11:4251b62991ac 20 #include "a4960.h"
rgrover1 0:ed5c53845de7 21
anniemao 11:4251b62991ac 22 DigitalOut alivenessLED(P0_6, 0);
anniemao 11:4251b62991ac 23 DigitalOut actuatedLED(P0_7, 0);
anniemao 11:4251b62991ac 24 a4960 motor;
rgrover1 0:ed5c53845de7 25
rgrover1 0:ed5c53845de7 26 const static char DEVICE_NAME[] = "LED";
rgrover1 0:ed5c53845de7 27 static const uint16_t uuid16_list[] = {LEDService::LED_SERVICE_UUID};
rgrover1 0:ed5c53845de7 28
rgrover1 0:ed5c53845de7 29 LEDService *ledServicePtr;
rgrover1 0:ed5c53845de7 30
andresag 10:af76616e4d75 31 Ticker ticker;
andresag 10:af76616e4d75 32
rgrover1 9:35a5a5796286 33 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
rgrover1 0:ed5c53845de7 34 {
andresag 10:af76616e4d75 35 BLE::Instance().gap().startAdvertising();
rgrover1 0:ed5c53845de7 36 }
rgrover1 0:ed5c53845de7 37
rgrover1 0:ed5c53845de7 38 void periodicCallback(void)
rgrover1 0:ed5c53845de7 39 {
andresag 10:af76616e4d75 40 alivenessLED = !alivenessLED; /* Do blinky on LED1 to indicate system aliveness. */
rgrover1 0:ed5c53845de7 41 }
rgrover1 0:ed5c53845de7 42
rgrover1 0:ed5c53845de7 43 /**
rgrover1 0:ed5c53845de7 44 * This callback allows the LEDService to receive updates to the ledState Characteristic.
rgrover1 0:ed5c53845de7 45 *
rgrover1 0:ed5c53845de7 46 * @param[in] params
rgrover1 0:ed5c53845de7 47 * Information about the characterisitc being updated.
rgrover1 0:ed5c53845de7 48 */
rgrover1 7:c9271599ec5f 49 void onDataWrittenCallback(const GattWriteCallbackParams *params) {
rgrover1 7:c9271599ec5f 50 if ((params->handle == ledServicePtr->getValueHandle()) && (params->len == 1)) {
rgrover1 0:ed5c53845de7 51 actuatedLED = *(params->data);
anniemao 11:4251b62991ac 52 if (*(params->data))
anniemao 11:4251b62991ac 53 {
anniemao 11:4251b62991ac 54 motor.write_run();
anniemao 11:4251b62991ac 55 }
anniemao 11:4251b62991ac 56 else
anniemao 11:4251b62991ac 57 {
anniemao 11:4251b62991ac 58 motor.write_brake();
anniemao 11:4251b62991ac 59 }
rgrover1 0:ed5c53845de7 60 }
rgrover1 0:ed5c53845de7 61 }
rgrover1 0:ed5c53845de7 62
andresag 10:af76616e4d75 63 /**
andresag 10:af76616e4d75 64 * This function is called when the ble initialization process has failed
andresag 10:af76616e4d75 65 */
andresag 10:af76616e4d75 66 void onBleInitError(BLE &ble, ble_error_t error)
rgrover1 0:ed5c53845de7 67 {
andresag 10:af76616e4d75 68 /* Initialization error handling should go here */
andresag 10:af76616e4d75 69 }
rgrover1 0:ed5c53845de7 70
andresag 10:af76616e4d75 71 /**
andresag 10:af76616e4d75 72 * Callback triggered when the ble initialization process has finished
andresag 10:af76616e4d75 73 */
andresag 10:af76616e4d75 74 void bleInitComplete(BLE::InitializationCompleteCallbackContext *params)
andresag 10:af76616e4d75 75 {
andresag 10:af76616e4d75 76 BLE& ble = params->ble;
andresag 10:af76616e4d75 77 ble_error_t error = params->error;
rgrover1 0:ed5c53845de7 78
andresag 10:af76616e4d75 79 if (error != BLE_ERROR_NONE) {
andresag 10:af76616e4d75 80 /* In case of error, forward the error handling to onBleInitError */
andresag 10:af76616e4d75 81 onBleInitError(ble, error);
andresag 10:af76616e4d75 82 return;
andresag 10:af76616e4d75 83 }
andresag 10:af76616e4d75 84
andresag 10:af76616e4d75 85 /* Ensure that it is the default instance of BLE */
andresag 10:af76616e4d75 86 if(ble.getInstanceID() != BLE::DEFAULT_INSTANCE) {
andresag 10:af76616e4d75 87 return;
andresag 10:af76616e4d75 88 }
andresag 10:af76616e4d75 89
rgrover1 7:c9271599ec5f 90 ble.gap().onDisconnection(disconnectionCallback);
rgrover1 7:c9271599ec5f 91 ble.gattServer().onDataWritten(onDataWrittenCallback);
rgrover1 0:ed5c53845de7 92
rgrover1 0:ed5c53845de7 93 bool initialValueForLEDCharacteristic = false;
andresag 10:af76616e4d75 94 ledServicePtr = new LEDService(ble, initialValueForLEDCharacteristic);
rgrover1 0:ed5c53845de7 95
rgrover1 0:ed5c53845de7 96 /* setup advertising */
rgrover1 7:c9271599ec5f 97 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
rgrover1 7:c9271599ec5f 98 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS, (uint8_t *)uuid16_list, sizeof(uuid16_list));
rgrover1 7:c9271599ec5f 99 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
rgrover1 7:c9271599ec5f 100 ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
rgrover1 7:c9271599ec5f 101 ble.gap().setAdvertisingInterval(1000); /* 1000ms. */
rgrover1 7:c9271599ec5f 102 ble.gap().startAdvertising();
andresag 10:af76616e4d75 103 }
andresag 10:af76616e4d75 104
andresag 10:af76616e4d75 105 int main(void)
andresag 10:af76616e4d75 106 {
andresag 10:af76616e4d75 107 ticker.attach(periodicCallback, 1); /* Blink LED every second */
andresag 10:af76616e4d75 108
andresag 10:af76616e4d75 109 BLE &ble = BLE::Instance();
andresag 10:af76616e4d75 110 ble.init(bleInitComplete);
andresag 10:af76616e4d75 111
andresag 10:af76616e4d75 112 /* SpinWait for initialization to complete. This is necessary because the
andresag 10:af76616e4d75 113 * BLE object is used in the main loop below. */
andresag 10:af76616e4d75 114 while (ble.hasInitialized() == false) { /* spin loop */ }
rgrover1 0:ed5c53845de7 115
rgrover1 0:ed5c53845de7 116 while (true) {
rgrover1 0:ed5c53845de7 117 ble.waitForEvent();
rgrover1 0:ed5c53845de7 118 }
rgrover1 0:ed5c53845de7 119 }