Bernard Mentink
EEP fORK
Dependencies: BLE_API mbed nRF51822
Diff: main.cpp
- Revision:
- 7:8a23a257b66a
- Parent:
- 6:09cdafc3ffeb
- Child:
- 8:ed66e7ef8243
--- a/main.cpp Mon Nov 09 04:47:27 2015 +0000
+++ b/main.cpp Wed Dec 09 03:28:42 2015 +0000
@@ -19,8 +19,11 @@
#include "BLE.h"
#include "DeviceInformationService.h"
#include "UARTService.h"
+#include "bleHelper.h"
#include "CircularBuffer.h"
+#include "laser.h"
+
#undef BLE_DEBUG_OUTPUT
#define NEED_CONSOLE_OUTPUT 0 /* Set this if you need debug messages on the console;
@@ -44,11 +47,14 @@
+#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
+#define READER_BAUD_RATE 115200
+
+
BLEDevice ble;
-DigitalOut trigger(p18);
-#define NORDIC // is board nordic DK?
+#undef NORDIC // is board nordic DK?
#ifdef NORDIC
DigitalOut connectionLed(p21);
@@ -56,13 +62,12 @@
DigitalOut shutdown(p20); // for nordic DK
Serial reader(p13, p17); // tx, rx === NOTE tx port pin needs to be wired and verified (for nordic DK)
#else
-DigitalOut connectionLed(p19);
-DigitalOut triggerLed(p18);
-DigitalOut shutdown(p10);
-Serial reader(p9, p8); // tx, rx === for adafruit BLE UART board (small blue board with red BLE module)
+DigitalOut connectionLed(p23);
+Serial serial(p27, p26); // tx, rx === for adafruit BLE UART board (small blue board with red BLE module)
+Laser laser(serial);
#endif
-const static char DEVICE_NAME[] = "MCS_RFID";
+const static char DEVICE_NAME[] = "MCS_LRF";
const static char MANUFACTURER[] = "MCS";
const static char MODEL[] = "Model 1";
const static char SERIAL_NO[] = "SN 1234";
@@ -71,103 +76,12 @@
const static char SOFTWARE_REV[] = "soft-rev 1";
UARTService *uartServicePtr;
+BLEHelper* bleHelper;
static uint8_t isConnected = 0;
// these values must macth definitions in the XML file accompanying this device
-const static uint16_t tagIdCmd = 0x0001;
-const static uint16_t hardwareTriggerCmd = 0x0002;
-const static uint16_t softwareTriggerCmd = 0x0003;
-
-// definition of the RFID packet
-#define HEADER_FLAG 0xFF
-#define EPC_READ_CMD 0x29
-#define BIT_64_TAG_FLAG 0x60
-#define BIT_96_TAG_FLAG 0x80
-#define SKIP_TO_BIT_FLAG 22
-#define BIT_64_TAG_PC_WORD 0x20
-#define BIT_96_TAG_PC_WORD 0x30
-#define SKIP_TO_TAG_EPC 2
-
-
-#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
-#define READER_BAUD_RATE 115200
-#define READ_BUF_SIZE 255
-#define TAG_EPC_BUF_SIZE 12
-
-
-typedef enum {
- AWAITING_PREAMBLE,
- AWAITING_HEADER,
- AWAITING_DATA_LEN,
- AWAITING_READ_CMD,
- AWAITING_STATUS_1,
- AWAITING_STATUS_2,
- AWAITING_EPC_LENGTH,
- AWAITING_PC_WORD,
- READING_TAG_EPC,
- READIG_TAG_CRC
-} packetState_e;
-
-//CircularBuffer cb;
-
-static uint8_t tagEPC[TAG_EPC_BUF_SIZE] = {0};
-static packetState_e state = AWAITING_PREAMBLE;
-static uint8_t tagBufIndex = 0;
-static uint8_t skip = 0;
-static uint16_t tagLen = 0;
-//static uint16_t dataLen = 0;
-
-// the preamble before 96 bit EPC tag data- we look for this before reading the EPC data
-static uint8_t preamble[] = {0x00, 0x80};
-static uint8_t preambleIdx = 0;
-
-// commmands to initialize the Nano RFID reader- sniffied from coms going from the base edge device to the Nano reader
-// only use the get commands
-const uint8_t rfidInit[] = {
-// 0xFF, 0x04, 0x06, 0x00, 0x01, 0xC2, 0x00, 0xA4,0x60, // set baud rate to 115200
-// 0xFF, 0x00, 0x03, 0x1D, 0x0C,
-// 0xFF, 0x00, 0x03, 0x1D, 0x0C,
-// 0xF3, 0xE0, 0xE0, 0xE0, 0xE0, 0xFC, 0x1C, 0x00, 0x00, 0xFE, 0x80, 0xE6, 0xE0,
-// 0xFF, 0x00, 0x03, 0x1D, 0x0C,
-// 0xFF, 0x00, 0x0C, 0x1D, 0x03, //get current program
-// 0xFF, 0x00, 0x68, 0x1D, 0x67, // get power mode
-// 0xFF, 0x02, 0x6A, 0x01, 0x0E, 0x2E, 0x40, // get reader configuration
-// 0xFF, 0x02, 0x6A, 0x01, 0x12, 0x2E, 0x5C, // get reader configuration
-// 0xFF, 0x00, 0x63, 0x1D, 0x6C, // get current tag protocol
- 0xFF, 0x02, 0x93, 0x00, 0x05, 0x51, 0x7D, // set current tag protocol to Gen2)
-// 0xFF, 0x01, 0x61, 0x05, 0xBD, 0xB8, // get antenna configuration
-// 0xFF, 0x02, 0x6A, 0x01, 0x0C, 0x2E, 0x42, // get power mode
-// 0xFF, 0x02, 0x6A, 0x01, 0x0D, 0x2E, 0x43, // get power mode
-// 0xFF, 0x02, 0x10, 0x00, 0x40, 0xF0, 0xD3, // get hardware version
- 0xFF, 0x01, 0x97, 0x01, 0x4B, 0xBC, // set current region to NA
- 0xFF, 0x03, 0x9B, 0x05, 0x00, 0x00, 0xDC, 0xE8, // set protocol configuration, Gen2, S0
- 0xFF, 0x04, 0x9B, 0x05, 0x01, 0x01, 0x00, 0xA2, 0xFD, // set protocol configuration Gen2,
- 0xFF, 0x03, 0x9B, 0x05, 0x02, 0x01, 0xDE, 0xE9, // set protocol configuration Gen2,
-// 0xFF, 0x01, 0x62, 0x00, 0xBE, 0xBD, // get read transmit power
- 0xFF, 0x02, 0x92, 0x0A, 0x8C, 0x4B, 0xD5, // set read transmit power to 27dbm
-};
-
-// commmands to trigger a tag read- sniffied from coms going from the base edge device to the Nano reader
-uint8_t cmd_1[] = {0xFF, 0x00, 0x72, 0x1D, 0x7D}; // get current temperature
-uint8_t cmd_2[] = {0xFF, 0x00, 0x2A, 0x1D, 0x25}; // clear tag buffer
-uint8_t cmd_3[] = {0xFF, 0x03, 0x91, 0x02, 0x01, 0x01, 0x42, 0xC5}; // set antenna port
-uint8_t cmd_4[] = {0xFF, 0x05, 0x22, 0x00, 0x00, 0x13, 0x00, 0xFA, 0x2A, 0x17}; // read Tag Multiple
-uint8_t cmd_5[] = {0xFF, 0x03, 0x29, 0x01, 0xFF, 0x00, 0x1B, 0x03}; // get tag buffer
-
-typedef struct {
- uint8_t* data;
- uint8_t len;
- uint16_t delayms;
-} command_t;
-
-command_t readCommands[] = {
- {cmd_1, sizeof(cmd_1), 10},
- {cmd_2, sizeof(cmd_2), 10},
- {cmd_3, sizeof(cmd_3), 10},
- {cmd_4, sizeof(cmd_4), 300},
- {cmd_5, sizeof(cmd_5), 1}
-};
-
+const static uint16_t distanceCmd = 0x0001;
+const static uint16_t triggerCmd = 0x0002;
void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
{
@@ -186,180 +100,12 @@
}
-//// State machine to parse the tag data received from serial port. It only looks for EPC data in the packet
-//static void parsePacket_2(uint8_t d)
-//{
-//// // TRACE("%02X ", d);
-// switch (state) {
-// case AWAITING_HEADER:
-// if(d == HEADER_FLAG) {
-// TRACE("AWAITING_DATA_LEN \r\n");
-// state = AWAITING_DATA_LEN;
-// skip = 0;
-// }
-// break;
-//
-// case AWAITING_DATA_LEN:
-// if(d > 0) {
-// dataLen = d;
-// state = AWAITING_READ_CMD;
-// TRACE("AWAITING_READ_CMD \r\n");
-// } else {
-// state = AWAITING_HEADER;
-// }
-// break;
-//
-// case AWAITING_READ_CMD:
-// if(d == EPC_READ_CMD) {
-// state = AWAITING_STATUS_1;
-// TRACE("AWAITING_STATUS_1 \r\n");
-// } else {
-// state = AWAITING_HEADER;
-// }
-// break;
-//
-// case AWAITING_STATUS_1:
-// if(d == 0) {
-// state = AWAITING_STATUS_2;
-// TRACE("AWAITING_STATUS_2 \r\n");
-// } else {
-// state = AWAITING_HEADER;
-// }
-// break;
-//
-// case AWAITING_STATUS_2:
-// if(d == 0) {
-// state = AWAITING_EPC_LENGTH;
-// TRACE("AWAITING_EPC_LENGTH_1 \r\n");
-// } else {
-// state = AWAITING_HEADER;
-// }
-// break;
-//
-// case AWAITING_EPC_LENGTH:
-// if(++skip >= SKIP_TO_BIT_FLAG) {
-// if(d == BIT_64_TAG_FLAG) {
-// state = AWAITING_PC_WORD;
-// tagLen = 8;
-// TRACE("AWAITING_PC_WORD \r\n");
-// } else if (d == BIT_96_TAG_FLAG) {
-// state = AWAITING_PC_WORD;
-// tagLen = 12;
-// TRACE("AWAITING_PC_WORD \r\n");
-// } else {
-// state = AWAITING_HEADER;
-// }
-// }
-// break;
-//
-// case AWAITING_PC_WORD:
-//// if((tagLen == 8 && d == BIT_64_TAG_PC_WORD) || (tagLen == 12 && d == BIT_96_TAG_PC_WORD))
-// {
-// state = READING_TAG_EPC;
-// tagBufIndex = 0;
-// TRACE("READING_TAG_EPC \r\n");
-// skip = 0;
-// }
-// //else {
-//// state = AWAITING_HEADER;
-//// }
-// break;
-//
-// case READING_TAG_EPC:
-// if(++skip >= SKIP_TO_TAG_EPC) {
-// if(tagBufIndex < tagLen) {
-// tagEPC[tagBufIndex++] = d;
-// TRACE("%02X ", d);
-// } else {
-// // don't worry about CRC for now
-// state = AWAITING_HEADER;
-// TRACE("AWAITING_HEADER \r\n");
-//
-// TRACE("TAG EPC: ============\r\n");
-// for(int i = 0; i < tagLen; i++) {
-// TRACE("%02X ", tagEPC[i]);
-// // pc.printf("%02X ", tagEPC[i]);
-// }
-// // pc.printf("\r\n");
-//
-// sendBLENotification();
-// }
-// }
-// break;
-// }
-//}
-
uint16_t idx = 0;
const uint16_t storeSize = 300;
uint8_t store[storeSize];
bool reading = false;
bool sending = false;
-typedef enum{
- PS_FIRST_AND_ONLY = 0b0000000000000000,
- PS_FIRST_AND_NOT_LAST = 0b0010000000000000,
- PS_LAST = 0b0100000000000000,
- PS_MIDDLE = 0b0110000000000000
-} PacketStatus_e;
-
-static PacketStatus_e packetStatus = PS_FIRST_AND_ONLY;
-
-static void sendOverBLE(uint16_t cmd, uint8_t data[], uint16_t len, PacketStatus_e status){
-
- if(len > 16){
- // this is a problem
- }
-
- uint8_t buf[len + 4]; // should set it to the max single packet size
- uint8_t offset = 0;
- uint16_t tmp = cmd | (uint16_t)status;
- memcpy(buf, &tmp, sizeof(uint16_t)); // command
- offset+=sizeof(uint16_t);
- memcpy(&buf[offset], &len, sizeof(uint16_t)); // length of array
- offset+=sizeof(uint16_t);
- memcpy(&buf[offset], &data[0], len); // data
- offset+= len;
- ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), buf, offset);
-}
-
-static void sendPacketOverBLE(uint16_t cmd, uint8_t data[], uint16_t len)
-{
- uint8_t nPackets = (len / 17) + 1;
- uint8_t remainingPackets = nPackets;
- uint16_t offset = 0;
- bool first = true;
- const uint8_t maxDataPayload = 16; // max is 20 but we are sending a command (2) plus the length (2)
-
- do {
- if(nPackets == 1) {
- // first and only
- packetStatus = PS_FIRST_AND_ONLY;
- sendOverBLE(cmd, &data[offset], len, packetStatus);
- remainingPackets = 0;
- } else if(remainingPackets == 1) {
- // last one
- packetStatus = PS_LAST;
- sendOverBLE(cmd, &data[offset], len-offset, packetStatus);
- remainingPackets = 0;
- } else if(remainingPackets > 1 && first == true) {
- // first and more to come
- packetStatus = PS_FIRST_AND_NOT_LAST;
- sendOverBLE(cmd, &data[offset], maxDataPayload, packetStatus);
- offset += maxDataPayload;
- remainingPackets -= 1;
- first = false;
- } else if(remainingPackets > 1 && first == false) {
- // middle
- packetStatus = PS_MIDDLE;
- sendOverBLE(cmd, &data[offset], maxDataPayload, packetStatus);
- offset += maxDataPayload;
- remainingPackets -= 1;
- }
-
- wait_ms(50); // 40ms delay seems to be a limit
- } while (remainingPackets > 0);
-}
-
static void processData(const GattWriteCallbackParams *params)
{
@@ -369,41 +115,32 @@
DEBUG("command: %d \r\n", command);
switch(command & ~SET_PARAM_CMD_MASK) {
- case tagIdCmd:
+ case distanceCmd:
if(!isSetCmd && params->len == 2) {
// form the reply to send
- DEBUG("CMD is GET code\n\r");
+ DEBUG("CMD is GET distance\n\r");
// TODO can do a trigger for a new read before transimiting, For now just send the latest read
- sendPacketOverBLE(tagIdCmd, tagEPC, tagLen);
+ // laser.Connect();
+ // laser.SetRedDot(true);
+ float distance = laser.getDistance();
+ uint8_t buf[5];
+ memcpy(&buf[0], &distance, sizeof(distance));
+ bleHelper->sendPacketOverBLE(distanceCmd, buf, sizeof(distance));
+ // laser.SetRedDot(false);
}
break;
-
- case hardwareTriggerCmd:
+
+ // TODO not needed really- can just use the distance command
+ case triggerCmd:
if(isSetCmd && params->len == 3) {
- DEBUG("CMD is SET hardwareTriggerCmd\n\r");
- trigger = 0;
- triggerLed = 1;
- wait_ms(100);
- trigger = 1;
- triggerLed = 0;
- }
- break;
-
- case softwareTriggerCmd:
- if(isSetCmd && params->len == 3) { // TODO this command does not need a value
- DEBUG("CMD is SET softwareTriggerCmd\n\r");
- triggerLed = 1;
- for(int i = 0; i < sizeof(readCommands) / sizeof(command_t); i++) {
- uint8_t* d = readCommands[i].data;
- uint8_t len = readCommands[i].len;
- for(int j = 0; j < len; j++) {
- // DEBUG("%02X ", d[j]);
- reader.putc(d[j]);
- }
- wait_ms(readCommands[i].delayms);
- DEBUG("\r\n ");
- }
- triggerLed = 0;
+ // form the reply to send
+ DEBUG("CMD is SET trigger\n\r");
+ // TODO can do a trigger for a new read before transimiting, For now just send the latest read
+ // make sure it is active
+ float distance = laser.getDistance();
+ uint8_t buf[5];
+ memcpy(&buf[0], &distance, sizeof(distance));
+ bleHelper->sendPacketOverBLE(distanceCmd, buf, sizeof(distance));
}
break;
@@ -431,52 +168,12 @@
}
// State machine to parse the tag data received from serial port. It only looks for EPC data in the packet
-static void parsePacket(uint8_t d)
-{
- TRACE("%02X ", d);
-
- tagLen = 12;
- switch (state) {
- case AWAITING_PREAMBLE:
- // if(d == preamble[preambleIdx] || preambleIdx > 1) {
- if(d == preamble[preambleIdx]) {
- preambleIdx++;
- if(preambleIdx == sizeof(preamble)) {
- state = READING_TAG_EPC;
- skip = 0;
- }
- } else {
- preambleIdx = 0;
- }
- break;
-
- case READING_TAG_EPC:
- if(++skip > SKIP_TO_TAG_EPC) {
- if(tagBufIndex < tagLen) {
- tagEPC[tagBufIndex++] = d;
- TRACE("%02X ", d);
- } else {
- // don't worry about CRC for now
- state = AWAITING_PREAMBLE;
- preambleIdx = 0;
- tagBufIndex = 0;
- TRACE("AWAITING_PREAMBLE \r\n");
-
- TRACE("TAG EPC: ============\r\n");
- for(int i = 0; i < tagLen; i++) {
- TRACE("%02X ", tagEPC[i]);
- // pc.printf("%02X ", tagEPC[i]);
- }
- // pc.printf("\r\n");
-
- sendPacketOverBLE(tagIdCmd, tagEPC, tagLen);
- triggerLed = 0;
- }
- }
-
- break;
- }
-}
+//static void parsePacket(uint8_t d)
+//{
+// TRACE("%02X ", d);
+//
+//
+//}
uint16_t length;
@@ -506,18 +203,18 @@
void readerCallback()
{
// Note: Need to actually read from the serial to clear the RX interrupt
- if(sending == false) {
- reading = true;
- while(reader.readable()) {
- uint8_t c = reader.getc();
- parsePacket(c);
- #ifdef BLE_DEBUG_OUTPUT
- store[idx] = c;
- if(idx < (storeSize-1)) idx++;
- #endif
- }
- reading = false;
- }
+ // if(sending == false) {
+// reading = true;
+// while(serial.readable()) {
+// uint8_t c = serial.getc();
+// parsePacket(c);
+// #ifdef BLE_DEBUG_OUTPUT
+// store[idx] = c;
+// if(idx < (storeSize-1)) idx++;
+// #endif
+// }
+// reading = false;
+// }
}
int main(void)
@@ -525,12 +222,6 @@
// default state is unknown
connectionLed = 0;
- trigger = 1;
- triggerLed = 0;
-
- // make sure Reader is not shutdown
- shutdown = 1;
-
DEBUG("Initialising the nRF51822\n\r");
ble.init();
@@ -555,23 +246,20 @@
/* Setup auxiliary service. */
DeviceInformationService deviceInfo(ble, MANUFACTURER, MODEL, SERIAL_NO,HARDWARE_REV, FIRMWARE_REV, SOFTWARE_REV);
- // setup serial port to RFID reader
- reader.baud(READER_BAUD_RATE);
- reader.attach(&readerCallback);
+ /* Setup bleHelper */
+ BLEHelper helper(&ble, uartServicePtr);
+ bleHelper = &helper;
+
+ // setup serial port to LRF
+ serial.baud(READER_BAUD_RATE);
+ // serial.attach(&readerCallback);
#ifdef BLE_DEBUG_OUTPUT
Ticker ticker;
ticker.attach(periodicCallback, 5);
#endif
-
- // initialise reader
- wait_ms(100);
- for(int i = 0; i < sizeof(rfidInit)/sizeof(rfidInit[0]); i++) {
- if(rfidInit[i] == 0xFF) {
- wait_ms(50);
- }
- reader.putc(rfidInit[i]);
- }
+
+ laser.enableMeasurement(true);
while (true) {
ble.waitForEvent();