Bernard Mentink / Mbed 2 deprecated MCS_LRF_EEP

EEP fORK

Dependencies:   BLE_API mbed nRF51822

Fork of MCS_LRF by Farshad N

main.cpp@8:ed66e7ef8243, 2015-12-17 (annotated)

Committer:
Farshad
Date:
Thu Dec 17 01:04:59 2015 +0000
Revision:
8:ed66e7ef8243
Parent:
7:8a23a257b66a
Child:
10:d37cd13dd529
Added hardware trigger and tidied up unused code.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Farshad 0:d58d1cdf43a9 1 /* mbed Microcontroller Library
Farshad 0:d58d1cdf43a9 2 * Copyright (c) 2006-2013 ARM Limited
Farshad 0:d58d1cdf43a9 3 *
Farshad 0:d58d1cdf43a9 4 * Licensed under the Apache License, Version 2.0 (the "License");
Farshad 0:d58d1cdf43a9 5 * you may not use this file except in compliance with the License.
Farshad 0:d58d1cdf43a9 6 * You may obtain a copy of the License at
Farshad 0:d58d1cdf43a9 7 *
Farshad 0:d58d1cdf43a9 8 * http://www.apache.org/licenses/LICENSE-2.0
Farshad 0:d58d1cdf43a9 9 *
Farshad 0:d58d1cdf43a9 10 * Unless required by applicable law or agreed to in writing, software
Farshad 0:d58d1cdf43a9 11 * distributed under the License is distributed on an "AS IS" BASIS,
Farshad 0:d58d1cdf43a9 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
Farshad 0:d58d1cdf43a9 13 * See the License for the specific language governing permissions and
Farshad 0:d58d1cdf43a9 14 * limitations under the License.
Farshad 0:d58d1cdf43a9 15 */
Farshad 0:d58d1cdf43a9 16
Farshad 0:d58d1cdf43a9 17 #include "mbed.h"
Farshad 5:207d4b6dface 18 #include "Serial.h"
Farshad 0:d58d1cdf43a9 19 #include "BLE.h"
Farshad 0:d58d1cdf43a9 20 #include "DeviceInformationService.h"
Farshad 0:d58d1cdf43a9 21 #include "UARTService.h"
Farshad 7:8a23a257b66a 22 #include "bleHelper.h"
Farshad 8:ed66e7ef8243 23 #include "laser.h"
Farshad 6:09cdafc3ffeb 24
Farshad 7:8a23a257b66a 25
Farshad 6:09cdafc3ffeb 26 #undef BLE_DEBUG_OUTPUT
Farshad 0:d58d1cdf43a9 27
Farshad 8:ed66e7ef8243 28 /* Set this if you need debug messages on the console;
Farshad 0:d58d1cdf43a9 29 * it will have an impact on code-size and power consumption. */
Farshad 8:ed66e7ef8243 30 #define NEED_CONSOLE_OUTPUT 0
Farshad 0:d58d1cdf43a9 31
Farshad 8:ed66e7ef8243 32 // only used for parsing tag data- will not work if parse function is called from within serial interrupt
Farshad 8:ed66e7ef8243 33 #define NEED_PARSE_TRACE 0
Farshad 2:79a9dad8bc5e 34
Farshad 2:79a9dad8bc5e 35 Serial pc(USBTX, USBRX);
Farshad 0:d58d1cdf43a9 36 #if NEED_CONSOLE_OUTPUT
Farshad 0:d58d1cdf43a9 37 #define DEBUG(...) { pc.printf(__VA_ARGS__); }
Farshad 0:d58d1cdf43a9 38 #else
Farshad 0:d58d1cdf43a9 39 #define DEBUG(...) /* nothing */
Farshad 0:d58d1cdf43a9 40 #endif /* #if NEED_CONSOLE_OUTPUT */
Farshad 0:d58d1cdf43a9 41
Farshad 5:207d4b6dface 42 #if NEED_PARSE_TRACE
Farshad 2:79a9dad8bc5e 43 #define TRACE(...) { pc.printf(__VA_ARGS__); }
Farshad 2:79a9dad8bc5e 44 #else
Farshad 2:79a9dad8bc5e 45 #define TRACE(...)
Farshad 2:79a9dad8bc5e 46 #endif /* #if NEED_TRACE */
Farshad 2:79a9dad8bc5e 47
Farshad 7:8a23a257b66a 48 #define SET_PARAM_CMD_MASK 0x8000 // commands with MSB set to 0 are to get the parameter and MSB of 1 to set the parameter
Farshad 7:8a23a257b66a 49 #define READER_BAUD_RATE 115200
Farshad 7:8a23a257b66a 50
Farshad 7:8a23a257b66a 51
Farshad 7:8a23a257b66a 52 #undef NORDIC // is board nordic DK?
Farshad 5:207d4b6dface 53
Farshad 6:09cdafc3ffeb 54 #ifdef NORDIC
Farshad 5:207d4b6dface 55 DigitalOut connectionLed(p21);
Farshad 5:207d4b6dface 56 DigitalOut triggerLed(p22);
Farshad 5:207d4b6dface 57 DigitalOut shutdown(p20); // for nordic DK
Farshad 5:207d4b6dface 58 Serial reader(p13, p17); // tx, rx === NOTE tx port pin needs to be wired and verified (for nordic DK)
Farshad 5:207d4b6dface 59 #else
Farshad 7:8a23a257b66a 60 DigitalOut connectionLed(p23);
Farshad 7:8a23a257b66a 61 Serial serial(p27, p26); // tx, rx === for adafruit BLE UART board (small blue board with red BLE module)
Farshad 7:8a23a257b66a 62 Laser laser(serial);
Farshad 8:ed66e7ef8243 63 InterruptIn triggerButton(p22);
Farshad 5:207d4b6dface 64 #endif
Farshad 0:d58d1cdf43a9 65
Farshad 8:ed66e7ef8243 66 BLEDevice ble;
Farshad 8:ed66e7ef8243 67 UARTService *uartServicePtr;
Farshad 8:ed66e7ef8243 68 BLEHelper* bleHelper;
Farshad 8:ed66e7ef8243 69 static uint8_t isConnected = 0;
Farshad 8:ed66e7ef8243 70
Farshad 7:8a23a257b66a 71 const static char DEVICE_NAME[] = "MCS_LRF";
Farshad 0:d58d1cdf43a9 72 const static char MANUFACTURER[] = "MCS";
Farshad 0:d58d1cdf43a9 73 const static char MODEL[] = "Model 1";
Farshad 0:d58d1cdf43a9 74 const static char SERIAL_NO[] = "SN 1234";
Farshad 0:d58d1cdf43a9 75 const static char HARDWARE_REV[] = "hw-rev 1";
Farshad 0:d58d1cdf43a9 76 const static char FIRMWARE_REV[] = "fw-rev 1";
Farshad 0:d58d1cdf43a9 77 const static char SOFTWARE_REV[] = "soft-rev 1";
Farshad 0:d58d1cdf43a9 78
Farshad 2:79a9dad8bc5e 79 // these values must macth definitions in the XML file accompanying this device
Farshad 7:8a23a257b66a 80 const static uint16_t distanceCmd = 0x0001;
Farshad 7:8a23a257b66a 81 const static uint16_t triggerCmd = 0x0002;
Farshad 2:79a9dad8bc5e 82
Farshad 2:79a9dad8bc5e 83 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
Farshad 0:d58d1cdf43a9 84 {
Farshad 0:d58d1cdf43a9 85 DEBUG("Disconnected!\n\r");
Farshad 0:d58d1cdf43a9 86 DEBUG("Restarting the advertising process\n\r");
Farshad 0:d58d1cdf43a9 87 ble.startAdvertising();
Farshad 2:79a9dad8bc5e 88 isConnected = 0;
Farshad 5:207d4b6dface 89 connectionLed = isConnected;
Farshad 2:79a9dad8bc5e 90 }
Farshad 2:79a9dad8bc5e 91
Farshad 2:79a9dad8bc5e 92 void connectionCallback(const Gap::ConnectionCallbackParams_t *params)
Farshad 2:79a9dad8bc5e 93 {
Farshad 2:79a9dad8bc5e 94 DEBUG("Connected!\n\r");
Farshad 2:79a9dad8bc5e 95 isConnected = 1;
Farshad 5:207d4b6dface 96 connectionLed = isConnected;
Farshad 0:d58d1cdf43a9 97 }
Farshad 0:d58d1cdf43a9 98
Farshad 6:09cdafc3ffeb 99 static void processData(const GattWriteCallbackParams *params)
Farshad 6:09cdafc3ffeb 100 {
Farshad 6:09cdafc3ffeb 101 if(params->len >= 2) {
Farshad 6:09cdafc3ffeb 102 uint16_t command = params->data[0] + (params->data[1] << 8);
Farshad 6:09cdafc3ffeb 103 bool isSetCmd = (command & SET_PARAM_CMD_MASK) == SET_PARAM_CMD_MASK;
Farshad 6:09cdafc3ffeb 104 DEBUG("command: %d \r\n", command);
Farshad 6:09cdafc3ffeb 105
Farshad 6:09cdafc3ffeb 106 switch(command & ~SET_PARAM_CMD_MASK) {
Farshad 7:8a23a257b66a 107 case distanceCmd:
Farshad 6:09cdafc3ffeb 108 if(!isSetCmd && params->len == 2) {
Farshad 6:09cdafc3ffeb 109 // form the reply to send
Farshad 7:8a23a257b66a 110 DEBUG("CMD is GET distance\n\r");
Farshad 8:ed66e7ef8243 111 laser.triggerDistanceMeasurement();
Farshad 6:09cdafc3ffeb 112 }
Farshad 6:09cdafc3ffeb 113 break;
Farshad 8:ed66e7ef8243 114
Farshad 7:8a23a257b66a 115 // TODO not needed really- can just use the distance command
Farshad 8:ed66e7ef8243 116 case triggerCmd:
Farshad 6:09cdafc3ffeb 117 if(isSetCmd && params->len == 3) {
Farshad 7:8a23a257b66a 118 // form the reply to send
Farshad 7:8a23a257b66a 119 DEBUG("CMD is SET trigger\n\r");
Farshad 8:ed66e7ef8243 120 laser.triggerDistanceMeasurement();
Farshad 6:09cdafc3ffeb 121 }
Farshad 6:09cdafc3ffeb 122 break;
Farshad 6:09cdafc3ffeb 123
Farshad 6:09cdafc3ffeb 124 default:
Farshad 6:09cdafc3ffeb 125 break;
Farshad 6:09cdafc3ffeb 126 }
Farshad 6:09cdafc3ffeb 127 }
Farshad 6:09cdafc3ffeb 128 }
Farshad 6:09cdafc3ffeb 129
Farshad 6:09cdafc3ffeb 130 void onDataWritten(const GattWriteCallbackParams *params)
Farshad 6:09cdafc3ffeb 131 {
Farshad 6:09cdafc3ffeb 132 if ((uartServicePtr != NULL) && (params->handle == uartServicePtr->getTXCharacteristicHandle())) {
Farshad 6:09cdafc3ffeb 133 uint16_t bytesRead = params->len;
Farshad 6:09cdafc3ffeb 134 DEBUG("received %u bytes\n\r", bytesRead);
Farshad 6:09cdafc3ffeb 135 for(int i = 0; i < bytesRead; i++) {
Farshad 6:09cdafc3ffeb 136 DEBUG("0x%X ", params->data[i]);
Farshad 6:09cdafc3ffeb 137 }
Farshad 6:09cdafc3ffeb 138 DEBUG("\n\r", bytesRead);
Farshad 6:09cdafc3ffeb 139
Farshad 6:09cdafc3ffeb 140 // echo?
Farshad 6:09cdafc3ffeb 141 // ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), params->data, bytesRead);
Farshad 6:09cdafc3ffeb 142
Farshad 6:09cdafc3ffeb 143 processData(params);
Farshad 6:09cdafc3ffeb 144 }
Farshad 6:09cdafc3ffeb 145 }
Farshad 6:09cdafc3ffeb 146
Farshad 6:09cdafc3ffeb 147
Farshad 0:d58d1cdf43a9 148 void periodicCallback(void)
Farshad 0:d58d1cdf43a9 149 {
Farshad 0:d58d1cdf43a9 150 }
Farshad 0:d58d1cdf43a9 151
Farshad 3:de77a4ebbf21 152 // this is an ISR, so do not spend too much time here and be careful with printing debug info
Farshad 2:79a9dad8bc5e 153 void readerCallback()
Farshad 8:ed66e7ef8243 154 {
Farshad 8:ed66e7ef8243 155 //if(serial.readable()) {
Farshad 8:ed66e7ef8243 156 // laser.processRxData(serial.getc());
Farshad 7:8a23a257b66a 157 // }
Farshad 2:79a9dad8bc5e 158 }
Farshad 2:79a9dad8bc5e 159
Farshad 8:ed66e7ef8243 160 /* send distance measurement to the connected BLE client */
Farshad 8:ed66e7ef8243 161 void distanceCallcack(float distance, float elapsedTime)
Farshad 8:ed66e7ef8243 162 {
Farshad 8:ed66e7ef8243 163 uint8_t buf[10];
Farshad 8:ed66e7ef8243 164 uint16_t arrayLen = 2;
Farshad 8:ed66e7ef8243 165 memcpy(&buf[0], &arrayLen, sizeof(uint16_t));
Farshad 8:ed66e7ef8243 166 memcpy(&buf[2], &distance, sizeof(float));
Farshad 8:ed66e7ef8243 167 memcpy(&buf[6], &elapsedTime, sizeof(float));
Farshad 8:ed66e7ef8243 168 bleHelper->sendPacketOverBLE(distanceCmd, buf, sizeof(buf));
Farshad 8:ed66e7ef8243 169 }
Farshad 8:ed66e7ef8243 170
Farshad 8:ed66e7ef8243 171 /* processor for the hardware trigger button */
Farshad 8:ed66e7ef8243 172 void trigger(){
Farshad 8:ed66e7ef8243 173 laser.triggerDistanceMeasurement();
Farshad 8:ed66e7ef8243 174 }
Farshad 8:ed66e7ef8243 175
Farshad 0:d58d1cdf43a9 176 int main(void)
Farshad 0:d58d1cdf43a9 177 {
Farshad 2:79a9dad8bc5e 178 // default state is unknown
Farshad 5:207d4b6dface 179 connectionLed = 0;
Farshad 5:207d4b6dface 180
Farshad 0:d58d1cdf43a9 181 DEBUG("Initialising the nRF51822\n\r");
Farshad 0:d58d1cdf43a9 182 ble.init();
Farshad 0:d58d1cdf43a9 183
Farshad 0:d58d1cdf43a9 184 ble.onDisconnection(disconnectionCallback);
Farshad 2:79a9dad8bc5e 185 ble.onConnection(connectionCallback);
Farshad 0:d58d1cdf43a9 186 ble.onDataWritten(onDataWritten);
Farshad 0:d58d1cdf43a9 187
Farshad 0:d58d1cdf43a9 188 /* setup advertising */
Farshad 0:d58d1cdf43a9 189 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
Farshad 0:d58d1cdf43a9 190 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
Farshad 0:d58d1cdf43a9 191 ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, (const uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME) - 1);
Farshad 0:d58d1cdf43a9 192 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,(const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
Farshad 0:d58d1cdf43a9 193 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
Farshad 1:e18634cb382a 194 (uint8_t *)GattService::UUID_DEVICE_INFORMATION_SERVICE, sizeof(GattService::UUID_DEVICE_INFORMATION_SERVICE));
Farshad 2:79a9dad8bc5e 195 ble.setAdvertisingInterval(GapAdvertisingParams::MSEC_TO_ADVERTISEMENT_DURATION_UNITS(1000));
Farshad 0:d58d1cdf43a9 196 ble.startAdvertising();
Farshad 0:d58d1cdf43a9 197
Farshad 0:d58d1cdf43a9 198 /* Setup uart service */
Farshad 0:d58d1cdf43a9 199 UARTService uartService(ble);
Farshad 0:d58d1cdf43a9 200 uartServicePtr = &uartService;
Farshad 0:d58d1cdf43a9 201
Farshad 0:d58d1cdf43a9 202 /* Setup auxiliary service. */
Farshad 0:d58d1cdf43a9 203 DeviceInformationService deviceInfo(ble, MANUFACTURER, MODEL, SERIAL_NO,HARDWARE_REV, FIRMWARE_REV, SOFTWARE_REV);
Farshad 0:d58d1cdf43a9 204
Farshad 7:8a23a257b66a 205 /* Setup bleHelper */
Farshad 7:8a23a257b66a 206 BLEHelper helper(&ble, uartServicePtr);
Farshad 7:8a23a257b66a 207 bleHelper = &helper;
Farshad 8:ed66e7ef8243 208
Farshad 8:ed66e7ef8243 209 // setup serial port to LRF
Farshad 7:8a23a257b66a 210 serial.baud(READER_BAUD_RATE);
Farshad 8:ed66e7ef8243 211 // serial.attach(&readerCallback);
Farshad 6:09cdafc3ffeb 212
Farshad 8:ed66e7ef8243 213 // processor for the trigger button
Farshad 8:ed66e7ef8243 214 triggerButton.fall(&trigger);
Farshad 8:ed66e7ef8243 215
Farshad 7:8a23a257b66a 216 laser.enableMeasurement(true);
Farshad 8:ed66e7ef8243 217 laser.setDistaceCallback(&distanceCallcack);
Farshad 5:207d4b6dface 218
Farshad 0:d58d1cdf43a9 219 while (true) {
Farshad 0:d58d1cdf43a9 220 ble.waitForEvent();
Farshad 0:d58d1cdf43a9 221 }
Farshad 8:ed66e7ef8243 222 }