Bernard Mentink / Mbed 2 deprecated MCS_LRF_EEP

EEP fORK

Dependencies:   BLE_API mbed nRF51822

Fork of MCS_LRF by Farshad N

main.cpp@20:fa5dfaf624a9, 2018-03-05 (annotated)

Committer:
Farshad
Date:
Mon Mar 05 22:14:16 2018 +0000
Revision:
20:fa5dfaf624a9
Parent:
19:b576835175e2
Child:
21:c19355cc5e79
commit before publish

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 12:cf8af0b4e0d2 26
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 10:d37cd13dd529 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 10:d37cd13dd529 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 10:d37cd13dd529 50 #define PB_DEBUNCE_TIME 100
Farshad 10:d37cd13dd529 51 #define PB_HOLD_TIME 1000 // ms- Holding the push button longer than this will turn the laser dot off if it is on
Farshad 7:8a23a257b66a 52
Farshad 12:cf8af0b4e0d2 53 #define BATT_VALUE_THRESHOLD 0.5360f // values by experiment 3.6V
Farshad 12:cf8af0b4e0d2 54 //#define BATT_VALUE_HYSTERYSIS 0.0200f // about 0.05 volt
Farshad 12:cf8af0b4e0d2 55
Farshad 17:229d78f063fb 56 #define ACTIVITY_TIMEOUT_SEC 60 // default value- turn laser off if no measurement for more than this many seconds
Farshad 7:8a23a257b66a 57
Farshad 20:fa5dfaf624a9 58 #undef NORDIC // is board nordic DK?
Farshad 5:207d4b6dface 59
Farshad 6:09cdafc3ffeb 60 #ifdef NORDIC
Farshad 5:207d4b6dface 61 DigitalOut connectionLed(p21);
Farshad 5:207d4b6dface 62 DigitalOut triggerLed(p22);
Farshad 10:d37cd13dd529 63 Serial serial(p13, p17); // tx, rx === NOTE tx port pin needs to be wired and verified (for nordic DK)
Farshad 10:d37cd13dd529 64 Laser laser(serial);
Farshad 10:d37cd13dd529 65 InterruptIn triggerButton(p18); // Button 2
Farshad 5:207d4b6dface 66 #else
Farshad 7:8a23a257b66a 67 DigitalOut connectionLed(p23);
Farshad 18:08184949ab30 68 //PwmOut connectionLed(p23); // good idea using PwmOut but it seems that period can't be set to longer than about 1s
Farshad 12:cf8af0b4e0d2 69 DigitalOut redLed(p24);
Farshad 8:ed66e7ef8243 70 InterruptIn triggerButton(p22);
Farshad 12:cf8af0b4e0d2 71 DigitalOut disableLRF(p28);
Farshad 12:cf8af0b4e0d2 72 DigitalOut enableBattVoltSense (p29);
Farshad 12:cf8af0b4e0d2 73 AnalogIn battVoltage (p1);
Farshad 12:cf8af0b4e0d2 74 DigitalOut nReset(p30);
Farshad 12:cf8af0b4e0d2 75 DigitalIn LRF_BOOT(p25, PullNone);
Farshad 12:cf8af0b4e0d2 76 DigitalIn LRF_CAL(p0, PullNone);
Farshad 5:207d4b6dface 77 #endif
Farshad 0:d58d1cdf43a9 78
Farshad 12:cf8af0b4e0d2 79 Serial* serialPtr;
Farshad 12:cf8af0b4e0d2 80 Laser* laserPtr;
Farshad 8:ed66e7ef8243 81 BLEDevice ble;
Farshad 8:ed66e7ef8243 82 UARTService *uartServicePtr;
Farshad 8:ed66e7ef8243 83 BLEHelper* bleHelper;
Farshad 8:ed66e7ef8243 84 static uint8_t isConnected = 0;
Farshad 10:d37cd13dd529 85 Timer timer;
Farshad 12:cf8af0b4e0d2 86 Ticker batteryChecker;
Farshad 12:cf8af0b4e0d2 87 Ticker activityChecker;
Farshad 18:08184949ab30 88 Ticker connectionLedBlinker;
Farshad 17:229d78f063fb 89 uint16_t activityTimeout = ACTIVITY_TIMEOUT_SEC;
Farshad 15:bc4f8c597c26 90
Farshad 18:08184949ab30 91 // settings for blinking the connection LED- Blink to save power
Farshad 18:08184949ab30 92 uint16_t connectionLedOffCount = 0;
Farshad 18:08184949ab30 93 #define CONNECTION_LED_OFF_TIME_MS 2000
Farshad 18:08184949ab30 94 #define CONNECTION_LED_ON_TIME_MS 20
Farshad 18:08184949ab30 95 #define CONNECTION_LED_OFF_COUNT (CONNECTION_LED_OFF_TIME_MS / CONNECTION_LED_ON_TIME_MS)
Farshad 18:08184949ab30 96
Farshad 8:ed66e7ef8243 97
Farshad 7:8a23a257b66a 98 const static char DEVICE_NAME[] = "MCS_LRF";
Farshad 0:d58d1cdf43a9 99 const static char MANUFACTURER[] = "MCS";
Farshad 12:cf8af0b4e0d2 100 const static char MODEL[] = "Model 2";
Farshad 0:d58d1cdf43a9 101 const static char SERIAL_NO[] = "SN 1234";
Farshad 12:cf8af0b4e0d2 102 const static char HARDWARE_REV[] = "hw-rev 1.1";
Farshad 18:08184949ab30 103 const static char FIRMWARE_REV[] = "fw-rev 1.5";
Farshad 18:08184949ab30 104 const static char SOFTWARE_REV[] = "soft-rev 1.5";
Farshad 0:d58d1cdf43a9 105
Farshad 2:79a9dad8bc5e 106 // these values must macth definitions in the XML file accompanying this device
Farshad 7:8a23a257b66a 107 const static uint16_t distanceCmd = 0x0001;
Farshad 7:8a23a257b66a 108 const static uint16_t triggerCmd = 0x0002;
Farshad 12:cf8af0b4e0d2 109 const static uint16_t redDotCmd = 0x0003;
Farshad 12:cf8af0b4e0d2 110 const static uint16_t resetCmd = 0x0004;
Farshad 15:bc4f8c597c26 111 const static uint16_t nSamplesCmd = 0x0005;
Farshad 17:229d78f063fb 112 const static uint16_t activityTimeoutCmd = 0x0006;
Farshad 12:cf8af0b4e0d2 113
Farshad 12:cf8af0b4e0d2 114
Farshad 12:cf8af0b4e0d2 115 void activityCheckerTask();
Farshad 12:cf8af0b4e0d2 116 void resetActivityCheckerTask();
Farshad 12:cf8af0b4e0d2 117 void turnLaserPowerOff();
Farshad 2:79a9dad8bc5e 118
Farshad 2:79a9dad8bc5e 119 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
Farshad 0:d58d1cdf43a9 120 {
Farshad 0:d58d1cdf43a9 121 DEBUG("Disconnected!\n\r");
Farshad 0:d58d1cdf43a9 122 DEBUG("Restarting the advertising process\n\r");
Farshad 0:d58d1cdf43a9 123 ble.startAdvertising();
Farshad 2:79a9dad8bc5e 124 isConnected = 0;
Farshad 18:08184949ab30 125 // connectionLed = isConnected;
Farshad 18:08184949ab30 126
Farshad 18:08184949ab30 127 // turn off blinking LED
Farshad 18:08184949ab30 128 // connectionLed.pulsewidth_ms(0);
Farshad 2:79a9dad8bc5e 129 }
Farshad 2:79a9dad8bc5e 130
Farshad 2:79a9dad8bc5e 131 void connectionCallback(const Gap::ConnectionCallbackParams_t *params)
Farshad 2:79a9dad8bc5e 132 {
Farshad 2:79a9dad8bc5e 133 DEBUG("Connected!\n\r");
Farshad 2:79a9dad8bc5e 134 isConnected = 1;
Farshad 18:08184949ab30 135 //connectionLed = isConnected;
Farshad 18:08184949ab30 136 // connectionLed.pulsewidth_ms(25);
Farshad 0:d58d1cdf43a9 137 }
Farshad 0:d58d1cdf43a9 138
Farshad 19:b576835175e2 139 void passkeyDisplayCallback(Gap::Handle_t handle, const SecurityManager::Passkey_t passkey)
Farshad 19:b576835175e2 140 {
Farshad 19:b576835175e2 141 printf("Input passKey: ");
Farshad 19:b576835175e2 142 for (unsigned i = 0; i < Gap::ADDR_LEN; i++) {
Farshad 19:b576835175e2 143 printf("%c ", passkey[i]);
Farshad 19:b576835175e2 144 }
Farshad 19:b576835175e2 145 printf("\r\n");
Farshad 19:b576835175e2 146 }
Farshad 19:b576835175e2 147
Farshad 19:b576835175e2 148 void securitySetupCompletedCallback(Gap::Handle_t handle, SecurityManager::SecurityCompletionStatus_t status)
Farshad 19:b576835175e2 149 {
Farshad 19:b576835175e2 150 if (status == SecurityManager::SEC_STATUS_SUCCESS) {
Farshad 19:b576835175e2 151 printf("Security success\r\n");
Farshad 19:b576835175e2 152 } else {
Farshad 19:b576835175e2 153 printf("Security failed\r\n");
Farshad 19:b576835175e2 154 }
Farshad 19:b576835175e2 155 }
Farshad 19:b576835175e2 156
Farshad 6:09cdafc3ffeb 157 static void processData(const GattWriteCallbackParams *params)
Farshad 6:09cdafc3ffeb 158 {
Farshad 6:09cdafc3ffeb 159 if(params->len >= 2) {
Farshad 6:09cdafc3ffeb 160 uint16_t command = params->data[0] + (params->data[1] << 8);
Farshad 6:09cdafc3ffeb 161 bool isSetCmd = (command & SET_PARAM_CMD_MASK) == SET_PARAM_CMD_MASK;
Farshad 6:09cdafc3ffeb 162 DEBUG("command: %d \r\n", command);
Farshad 6:09cdafc3ffeb 163
Farshad 6:09cdafc3ffeb 164 switch(command & ~SET_PARAM_CMD_MASK) {
Farshad 7:8a23a257b66a 165 case distanceCmd:
Farshad 6:09cdafc3ffeb 166 if(!isSetCmd && params->len == 2) {
Farshad 6:09cdafc3ffeb 167 // form the reply to send
Farshad 7:8a23a257b66a 168 DEBUG("CMD is GET distance\n\r");
Farshad 12:cf8af0b4e0d2 169 laserPtr->triggerDistanceMeasurement();
Farshad 6:09cdafc3ffeb 170 }
Farshad 6:09cdafc3ffeb 171 break;
Farshad 8:ed66e7ef8243 172
Farshad 7:8a23a257b66a 173 // TODO not needed really- can just use the distance command
Farshad 8:ed66e7ef8243 174 case triggerCmd:
Farshad 6:09cdafc3ffeb 175 if(isSetCmd && params->len == 3) {
Farshad 7:8a23a257b66a 176 // form the reply to send
Farshad 7:8a23a257b66a 177 DEBUG("CMD is SET trigger\n\r");
Farshad 12:cf8af0b4e0d2 178 laserPtr->triggerDistanceMeasurement();
Farshad 6:09cdafc3ffeb 179 }
Farshad 6:09cdafc3ffeb 180 break;
Farshad 6:09cdafc3ffeb 181
Farshad 10:d37cd13dd529 182 case redDotCmd:
Farshad 10:d37cd13dd529 183 if(isSetCmd && params->len == 3) {
Farshad 10:d37cd13dd529 184 DEBUG("CMD is SET redDot\n\r");
Farshad 12:cf8af0b4e0d2 185 laserPtr->setRedDot(params->data[2]);
Farshad 12:cf8af0b4e0d2 186 }
Farshad 12:cf8af0b4e0d2 187 break;
Farshad 15:bc4f8c597c26 188
Farshad 12:cf8af0b4e0d2 189 case resetCmd:
Farshad 12:cf8af0b4e0d2 190 if(isSetCmd && params->len == 3) {
Farshad 12:cf8af0b4e0d2 191 DEBUG("CMD is reset\n\r");
Farshad 12:cf8af0b4e0d2 192 nReset = 0;
Farshad 12:cf8af0b4e0d2 193 wait_ms(100);
Farshad 12:cf8af0b4e0d2 194 nReset = 1;
Farshad 12:cf8af0b4e0d2 195 wait_ms(1000);
Farshad 12:cf8af0b4e0d2 196 laserPtr->enableMeasurement(true);
Farshad 10:d37cd13dd529 197 }
Farshad 10:d37cd13dd529 198 break;
Farshad 15:bc4f8c597c26 199
Farshad 15:bc4f8c597c26 200 case nSamplesCmd:
Farshad 15:bc4f8c597c26 201 if(isSetCmd && params->len == 4) {
Farshad 15:bc4f8c597c26 202 DEBUG("CMD is nSample\n\r");
Farshad 15:bc4f8c597c26 203 int16_t nSamples = params->data[2] + (params->data[3] << 8);
Farshad 15:bc4f8c597c26 204 laserPtr->setNumberOfSamples(nSamples);
Farshad 15:bc4f8c597c26 205 }
Farshad 15:bc4f8c597c26 206 break;
Farshad 17:229d78f063fb 207
Farshad 17:229d78f063fb 208 case activityTimeoutCmd:
Farshad 17:229d78f063fb 209 if(isSetCmd && params->len == 4) {
Farshad 17:229d78f063fb 210 DEBUG("CMD is nSample\n\r");
Farshad 17:229d78f063fb 211 activityTimeout = params->data[2] + (params->data[3] << 8);
Farshad 17:229d78f063fb 212 }
Farshad 17:229d78f063fb 213 break;
Farshad 10:d37cd13dd529 214
Farshad 6:09cdafc3ffeb 215 default:
Farshad 6:09cdafc3ffeb 216 break;
Farshad 6:09cdafc3ffeb 217 }
Farshad 6:09cdafc3ffeb 218 }
Farshad 6:09cdafc3ffeb 219 }
Farshad 6:09cdafc3ffeb 220
Farshad 12:cf8af0b4e0d2 221
Farshad 12:cf8af0b4e0d2 222 // Serial driver seems to be buggy and allocate p8 and p10 for flow control
Farshad 12:cf8af0b4e0d2 223 // by default- Need to manually disable flow control since the function for
Farshad 12:cf8af0b4e0d2 224 // disabling Serail.set_flow_control(Serial::Disabled) is not recognised by
Farshad 12:cf8af0b4e0d2 225 // the compiler either! Could be something to do with the target processor??
Farshad 12:cf8af0b4e0d2 226 static void disableFlowControl()
Farshad 12:cf8af0b4e0d2 227 {
Farshad 12:cf8af0b4e0d2 228 uint32_t base = 0x40002000;
Farshad 12:cf8af0b4e0d2 229 uint32_t ctsOffset = 0x510;
Farshad 12:cf8af0b4e0d2 230 uint32_t rtsOffset = 0x508;
Farshad 12:cf8af0b4e0d2 231
Farshad 12:cf8af0b4e0d2 232 uint32_t cts = base + ctsOffset;
Farshad 12:cf8af0b4e0d2 233 uint32_t rts = base + rtsOffset;
Farshad 12:cf8af0b4e0d2 234
Farshad 12:cf8af0b4e0d2 235 uint32_t* pcts = (uint32_t*)cts;
Farshad 12:cf8af0b4e0d2 236 uint32_t* prts = (uint32_t*)rts;
Farshad 12:cf8af0b4e0d2 237
Farshad 12:cf8af0b4e0d2 238 // no pin allocated for CTS and RTS
Farshad 12:cf8af0b4e0d2 239 *pcts = 0xffffffff;
Farshad 12:cf8af0b4e0d2 240 *prts = 0xffffffff;
Farshad 12:cf8af0b4e0d2 241 }
Farshad 12:cf8af0b4e0d2 242
Farshad 12:cf8af0b4e0d2 243 void resetActivityCheckerTask()
Farshad 12:cf8af0b4e0d2 244 {
Farshad 12:cf8af0b4e0d2 245 activityChecker.detach();
Farshad 17:229d78f063fb 246 activityChecker.attach(activityCheckerTask, activityTimeout);
Farshad 12:cf8af0b4e0d2 247 }
Farshad 12:cf8af0b4e0d2 248
Farshad 6:09cdafc3ffeb 249 void onDataWritten(const GattWriteCallbackParams *params)
Farshad 6:09cdafc3ffeb 250 {
Farshad 6:09cdafc3ffeb 251 if ((uartServicePtr != NULL) && (params->handle == uartServicePtr->getTXCharacteristicHandle())) {
Farshad 6:09cdafc3ffeb 252 uint16_t bytesRead = params->len;
Farshad 6:09cdafc3ffeb 253 DEBUG("received %u bytes\n\r", bytesRead);
Farshad 6:09cdafc3ffeb 254 for(int i = 0; i < bytesRead; i++) {
Farshad 6:09cdafc3ffeb 255 DEBUG("0x%X ", params->data[i]);
Farshad 6:09cdafc3ffeb 256 }
Farshad 6:09cdafc3ffeb 257 DEBUG("\n\r", bytesRead);
Farshad 6:09cdafc3ffeb 258
Farshad 6:09cdafc3ffeb 259 // echo?
Farshad 6:09cdafc3ffeb 260 // ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), params->data, bytesRead);
Farshad 6:09cdafc3ffeb 261
Farshad 12:cf8af0b4e0d2 262 // make sure the laser is not powered off due to inactivity
Farshad 12:cf8af0b4e0d2 263 resetActivityCheckerTask();
Farshad 15:bc4f8c597c26 264 laserPtr->turnLaserPowerOn();
Farshad 15:bc4f8c597c26 265
Farshad 6:09cdafc3ffeb 266 processData(params);
Farshad 6:09cdafc3ffeb 267 }
Farshad 6:09cdafc3ffeb 268 }
Farshad 6:09cdafc3ffeb 269
Farshad 3:de77a4ebbf21 270 // this is an ISR, so do not spend too much time here and be careful with printing debug info
Farshad 2:79a9dad8bc5e 271 void readerCallback()
Farshad 8:ed66e7ef8243 272 {
Farshad 8:ed66e7ef8243 273 //if(serial.readable()) {
Farshad 12:cf8af0b4e0d2 274 // laserPtr->processRxData(serial.getc());
Farshad 7:8a23a257b66a 275 // }
Farshad 2:79a9dad8bc5e 276 }
Farshad 2:79a9dad8bc5e 277
Farshad 10:d37cd13dd529 278 /* This method is called when a distance measurement is ready to be sent to the client.
Farshad 10:d37cd13dd529 279 send distance measurement to the connected BLE client */
Farshad 8:ed66e7ef8243 280 void distanceCallcack(float distance, float elapsedTime)
Farshad 8:ed66e7ef8243 281 {
Farshad 8:ed66e7ef8243 282 uint8_t buf[10];
Farshad 8:ed66e7ef8243 283 uint16_t arrayLen = 2;
Farshad 8:ed66e7ef8243 284 memcpy(&buf[0], &arrayLen, sizeof(uint16_t));
Farshad 8:ed66e7ef8243 285 memcpy(&buf[2], &distance, sizeof(float));
Farshad 8:ed66e7ef8243 286 memcpy(&buf[6], &elapsedTime, sizeof(float));
Farshad 8:ed66e7ef8243 287 bleHelper->sendPacketOverBLE(distanceCmd, buf, sizeof(buf));
Farshad 8:ed66e7ef8243 288 }
Farshad 8:ed66e7ef8243 289
Farshad 17:229d78f063fb 290 void notifyActivityTimeout(){
Farshad 17:229d78f063fb 291 uint8_t buf[1];
Farshad 17:229d78f063fb 292 bleHelper->sendPacketOverBLE(activityTimeoutCmd, buf, 0);
Farshad 17:229d78f063fb 293 }
Farshad 18:08184949ab30 294
Farshad 18:08184949ab30 295 void connectionLedBlinkerTask()
Farshad 18:08184949ab30 296 {
Farshad 18:08184949ab30 297 if(isConnected) {
Farshad 18:08184949ab30 298 if(connectionLed) {
Farshad 18:08184949ab30 299 connectionLed = 0;
Farshad 18:08184949ab30 300 connectionLedOffCount = 0;
Farshad 18:08184949ab30 301 } else if(++connectionLedOffCount > CONNECTION_LED_OFF_COUNT) {
Farshad 18:08184949ab30 302 connectionLed = 1;
Farshad 18:08184949ab30 303 }
Farshad 18:08184949ab30 304 } else {
Farshad 18:08184949ab30 305 connectionLed = 0;
Farshad 18:08184949ab30 306 }
Farshad 18:08184949ab30 307 }
Farshad 17:229d78f063fb 308
Farshad 17:229d78f063fb 309
Farshad 12:cf8af0b4e0d2 310 void batteryCheckerTask(void)
Farshad 12:cf8af0b4e0d2 311 {
Farshad 12:cf8af0b4e0d2 312 enableBattVoltSense = 1;
Farshad 12:cf8af0b4e0d2 313 wait_ms(20); // wait for the circuit to settle
Farshad 12:cf8af0b4e0d2 314 float batt = battVoltage.read();
Farshad 12:cf8af0b4e0d2 315 enableBattVoltSense = 0;
Farshad 12:cf8af0b4e0d2 316
Farshad 15:bc4f8c597c26 317 if(redLed == 0 && batt < BATT_VALUE_THRESHOLD) {
Farshad 12:cf8af0b4e0d2 318 redLed = 1;
Farshad 12:cf8af0b4e0d2 319 }
Farshad 12:cf8af0b4e0d2 320 }
Farshad 12:cf8af0b4e0d2 321
Farshad 12:cf8af0b4e0d2 322
Farshad 12:cf8af0b4e0d2 323
Farshad 10:d37cd13dd529 324 /* processor for the hardware trigger button */
Farshad 10:d37cd13dd529 325 void triggerFall()
Farshad 10:d37cd13dd529 326 {
Farshad 12:cf8af0b4e0d2 327 resetActivityCheckerTask();
Farshad 15:bc4f8c597c26 328 laserPtr->turnLaserPowerOn();
Farshad 15:bc4f8c597c26 329
Farshad 12:cf8af0b4e0d2 330 laserPtr->triggerDistanceMeasurement();
Farshad 12:cf8af0b4e0d2 331
Farshad 10:d37cd13dd529 332 timer.reset();
Farshad 10:d37cd13dd529 333 timer.start();
Farshad 10:d37cd13dd529 334 }
Farshad 10:d37cd13dd529 335
Farshad 17:229d78f063fb 336 void turnLaserPowerOff()
Farshad 17:229d78f063fb 337 {
Farshad 17:229d78f063fb 338 laserPtr->turnLaserPowerOff();
Farshad 17:229d78f063fb 339 notifyActivityTimeout();
Farshad 17:229d78f063fb 340 }
Farshad 17:229d78f063fb 341
Farshad 10:d37cd13dd529 342 /* interrupt processor for when the button is released. If it has been pushed and held, turn the red dot off on release,
Farshad 10:d37cd13dd529 343 otherwise debunce and make a measurement */
Farshad 10:d37cd13dd529 344 void triggerRise()
Farshad 10:d37cd13dd529 345 {
Farshad 10:d37cd13dd529 346 int elapsed = timer.read_ms();
Farshad 10:d37cd13dd529 347 timer.stop();
Farshad 10:d37cd13dd529 348 if(elapsed > PB_HOLD_TIME) {
Farshad 17:229d78f063fb 349 turnLaserPowerOff();
Farshad 15:bc4f8c597c26 350 }
Farshad 12:cf8af0b4e0d2 351 //else if(elapsed > PB_DEBUNCE_TIME) {
Farshad 12:cf8af0b4e0d2 352 // laserPtr->triggerDistanceMeasurement();
Farshad 12:cf8af0b4e0d2 353 // }
Farshad 12:cf8af0b4e0d2 354 }
Farshad 12:cf8af0b4e0d2 355
Farshad 12:cf8af0b4e0d2 356 void activityCheckerTask()
Farshad 12:cf8af0b4e0d2 357 {
Farshad 12:cf8af0b4e0d2 358 // too long with no activity- turn pwer off from laser to preserve power
Farshad 17:229d78f063fb 359 turnLaserPowerOff();
Farshad 8:ed66e7ef8243 360 }
Farshad 8:ed66e7ef8243 361
Farshad 0:d58d1cdf43a9 362 int main(void)
Farshad 0:d58d1cdf43a9 363 {
Farshad 5:207d4b6dface 364 connectionLed = 0;
Farshad 15:bc4f8c597c26 365
Farshad 15:bc4f8c597c26 366 // turn laser on and reset and wait for it to settle
Farshad 12:cf8af0b4e0d2 367 disableLRF = 0;
Farshad 12:cf8af0b4e0d2 368 nReset = 1;
Farshad 12:cf8af0b4e0d2 369 wait_ms(1000);
Farshad 5:207d4b6dface 370
Farshad 0:d58d1cdf43a9 371 DEBUG("Initialising the nRF51822\n\r");
Farshad 0:d58d1cdf43a9 372 ble.init();
Farshad 19:b576835175e2 373
Farshad 19:b576835175e2 374 /* Initialize BLE security */
Farshad 19:b576835175e2 375 bool enableBonding = true;
Farshad 19:b576835175e2 376 bool requireMITM = false;
Farshad 19:b576835175e2 377 ble.securityManager().init(enableBonding, requireMITM, SecurityManager::IO_CAPS_NONE);
Farshad 0:d58d1cdf43a9 378
Farshad 0:d58d1cdf43a9 379 ble.onDisconnection(disconnectionCallback);
Farshad 2:79a9dad8bc5e 380 ble.onConnection(connectionCallback);
Farshad 0:d58d1cdf43a9 381 ble.onDataWritten(onDataWritten);
Farshad 19:b576835175e2 382 ble.securityManager().onPasskeyDisplay(passkeyDisplayCallback);
Farshad 19:b576835175e2 383 ble.securityManager().onSecuritySetupCompleted(securitySetupCompletedCallback);
Farshad 0:d58d1cdf43a9 384
Farshad 0:d58d1cdf43a9 385 /* setup advertising */
Farshad 0:d58d1cdf43a9 386 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
Farshad 0:d58d1cdf43a9 387 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
Farshad 0:d58d1cdf43a9 388 ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, (const uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME) - 1);
Farshad 0:d58d1cdf43a9 389 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,(const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
Farshad 0:d58d1cdf43a9 390 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
Farshad 1:e18634cb382a 391 (uint8_t *)GattService::UUID_DEVICE_INFORMATION_SERVICE, sizeof(GattService::UUID_DEVICE_INFORMATION_SERVICE));
Farshad 2:79a9dad8bc5e 392 ble.setAdvertisingInterval(GapAdvertisingParams::MSEC_TO_ADVERTISEMENT_DURATION_UNITS(1000));
Farshad 0:d58d1cdf43a9 393 ble.startAdvertising();
Farshad 15:bc4f8c597c26 394
Farshad 12:cf8af0b4e0d2 395 // check battery level now and every minute afterwards
Farshad 12:cf8af0b4e0d2 396 batteryCheckerTask();
Farshad 15:bc4f8c597c26 397 batteryChecker.attach(batteryCheckerTask, 60);
Farshad 15:bc4f8c597c26 398
Farshad 12:cf8af0b4e0d2 399 // check acticity once every 3 minutes
Farshad 17:229d78f063fb 400 activityChecker.attach(activityCheckerTask, activityTimeout);
Farshad 0:d58d1cdf43a9 401
Farshad 0:d58d1cdf43a9 402 /* Setup uart service */
Farshad 0:d58d1cdf43a9 403 UARTService uartService(ble);
Farshad 0:d58d1cdf43a9 404 uartServicePtr = &uartService;
Farshad 0:d58d1cdf43a9 405
Farshad 0:d58d1cdf43a9 406 /* Setup auxiliary service. */
Farshad 0:d58d1cdf43a9 407 DeviceInformationService deviceInfo(ble, MANUFACTURER, MODEL, SERIAL_NO,HARDWARE_REV, FIRMWARE_REV, SOFTWARE_REV);
Farshad 0:d58d1cdf43a9 408
Farshad 7:8a23a257b66a 409 /* Setup bleHelper */
Farshad 7:8a23a257b66a 410 BLEHelper helper(&ble, uartServicePtr);
Farshad 7:8a23a257b66a 411 bleHelper = &helper;
Farshad 8:ed66e7ef8243 412
Farshad 8:ed66e7ef8243 413 // setup serial port to LRF
Farshad 12:cf8af0b4e0d2 414 serialPtr = new Serial(p27, p26);
Farshad 12:cf8af0b4e0d2 415 disableFlowControl();
Farshad 12:cf8af0b4e0d2 416 serialPtr->baud(READER_BAUD_RATE);
Farshad 8:ed66e7ef8243 417 // serial.attach(&readerCallback);
Farshad 8:ed66e7ef8243 418
Farshad 10:d37cd13dd529 419 // processors for the trigger button
Farshad 10:d37cd13dd529 420 triggerButton.fall(&triggerFall);
Farshad 10:d37cd13dd529 421 triggerButton.rise(&triggerRise);
Farshad 10:d37cd13dd529 422
Farshad 10:d37cd13dd529 423 // setup laser
Farshad 12:cf8af0b4e0d2 424 laserPtr = new Laser(*serialPtr);
Farshad 12:cf8af0b4e0d2 425 laserPtr->enableMeasurement(true);
Farshad 12:cf8af0b4e0d2 426 laserPtr->setDistaceCallback(&distanceCallcack);
Farshad 15:bc4f8c597c26 427 laserPtr->turnLaserPowerOn();
Farshad 18:08184949ab30 428
Farshad 18:08184949ab30 429 // setup blinking connectionLed
Farshad 18:08184949ab30 430 // connectionLed.period(2.0f);
Farshad 18:08184949ab30 431 connectionLedBlinker.attach(connectionLedBlinkerTask, CONNECTION_LED_ON_TIME_MS / 1000.0f);
Farshad 5:207d4b6dface 432
Farshad 0:d58d1cdf43a9 433 while (true) {
Farshad 0:d58d1cdf43a9 434 ble.waitForEvent();
Farshad 0:d58d1cdf43a9 435 }
Farshad 8:ed66e7ef8243 436 }