File content as of revision 17:229d78f063fb:

/* mbed Microcontroller Library
 * Copyright (c) 2006-2013 ARM Limited
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "mbed.h"
#include "Serial.h"
#include "BLE.h"
#include "DeviceInformationService.h"
#include "UARTService.h"
#include "bleHelper.h"
#include "laser.h"




/* Set this if you need debug messages on the console;
* it will have an impact on code-size and power consumption. */
#define NEED_CONSOLE_OUTPUT 0

// only used for parsing tag data- will not work if parse function is called from within serial interrupt
#define NEED_PARSE_TRACE   0

Serial  pc(USBTX, USBRX);
#if NEED_CONSOLE_OUTPUT
#define DEBUG(...) { pc.printf(__VA_ARGS__); }
#else
#define DEBUG(...) /* nothing */
#endif /* #if NEED_CONSOLE_OUTPUT */

#if NEED_PARSE_TRACE
#define TRACE(...) { pc.printf(__VA_ARGS__); }
#else
#define TRACE(...)
#endif /* #if NEED_TRACE */

#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 PB_DEBUNCE_TIME         100
#define PB_HOLD_TIME            1000   // ms- Holding the push button longer than this will turn the laser dot off if it is on

#define BATT_VALUE_THRESHOLD  0.5360f        // values by experiment 3.6V
//#define BATT_VALUE_HYSTERYSIS 0.0200f       // about 0.05 volt

#define ACTIVITY_TIMEOUT_SEC    60      // default value- turn laser off if no measurement for more than this many seconds

#undef NORDIC  // is board nordic DK?

#ifdef NORDIC
DigitalOut connectionLed(p21);
DigitalOut triggerLed(p22);
Serial serial(p13, p17);  // tx, rx   === NOTE tx port pin needs to be wired and verified  (for nordic DK)
Laser laser(serial);
InterruptIn triggerButton(p18);  // Button 2
#else
DigitalOut connectionLed(p23);
DigitalOut redLed(p24);
InterruptIn triggerButton(p22);
DigitalOut disableLRF(p28);
DigitalOut enableBattVoltSense (p29);
AnalogIn battVoltage (p1);
DigitalOut nReset(p30);
DigitalIn LRF_BOOT(p25, PullNone);
DigitalIn LRF_CAL(p0, PullNone);
#endif

Serial* serialPtr;
Laser* laserPtr;
BLEDevice  ble;
UARTService *uartServicePtr;
BLEHelper* bleHelper;
static uint8_t isConnected = 0;
Timer timer;
Ticker batteryChecker;
Ticker activityChecker;
uint16_t activityTimeout = ACTIVITY_TIMEOUT_SEC;


const static char     DEVICE_NAME[]    = "MCS_LRF";
const static char     MANUFACTURER[]   = "MCS";
const static char     MODEL[]          = "Model 2";
const static char     SERIAL_NO[]      = "SN 1234";
const static char     HARDWARE_REV[]   = "hw-rev 1.1";
const static char     FIRMWARE_REV[]   = "fw-rev 1.4";
const static char     SOFTWARE_REV[]   = "soft-rev 1.4";

// these values must macth definitions in the XML file accompanying this device
const static uint16_t distanceCmd   = 0x0001;
const static uint16_t triggerCmd    = 0x0002;
const static uint16_t redDotCmd     = 0x0003;
const static uint16_t resetCmd      = 0x0004;
const static uint16_t nSamplesCmd   = 0x0005;
const static uint16_t activityTimeoutCmd   = 0x0006;


void activityCheckerTask();
void resetActivityCheckerTask();
void turnLaserPowerOff();

void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
{
    DEBUG("Disconnected!\n\r");
    DEBUG("Restarting the advertising process\n\r");
    ble.startAdvertising();
    isConnected = 0;
    connectionLed = isConnected;
}

void connectionCallback(const Gap::ConnectionCallbackParams_t *params)
{
    DEBUG("Connected!\n\r");
    isConnected = 1;
    connectionLed = isConnected;
}

static void processData(const GattWriteCallbackParams *params)
{
    if(params->len >= 2) {
        uint16_t command = params->data[0] + (params->data[1] << 8);
        bool isSetCmd = (command & SET_PARAM_CMD_MASK) == SET_PARAM_CMD_MASK;
        DEBUG("command: %d   \r\n", command);

        switch(command & ~SET_PARAM_CMD_MASK) {
            case distanceCmd:
                if(!isSetCmd && params->len == 2) {
                    // form the reply to send
                    DEBUG("CMD is GET distance\n\r");
                    laserPtr->triggerDistanceMeasurement();
                }
                break;

                // TODO not needed really- can just use the distance command
            case triggerCmd:
                if(isSetCmd && params->len == 3) {
                    // form the reply to send
                    DEBUG("CMD is SET trigger\n\r");
                    laserPtr->triggerDistanceMeasurement();
                }
                break;

            case redDotCmd:
                if(isSetCmd && params->len == 3) {
                    DEBUG("CMD is SET redDot\n\r");
                    laserPtr->setRedDot(params->data[2]);
                }
                break;

            case resetCmd:
                if(isSetCmd && params->len == 3) {
                    DEBUG("CMD is reset\n\r");
                    nReset = 0;
                    wait_ms(100);
                    nReset = 1;
                    wait_ms(1000);
                    laserPtr->enableMeasurement(true);
                }
                break;
                
            case nSamplesCmd:
                if(isSetCmd && params->len == 4) {
                    DEBUG("CMD is nSample\n\r");
                     int16_t nSamples = params->data[2] + (params->data[3] << 8);
                    laserPtr->setNumberOfSamples(nSamples);
                }
                break;
                
                case activityTimeoutCmd:
                if(isSetCmd && params->len == 4) {
                    DEBUG("CMD is nSample\n\r");
                     activityTimeout = params->data[2] + (params->data[3] << 8);
                }
                break;

            default:
                break;
        }
    }
}


// Serial driver seems to be buggy and allocate p8 and p10 for flow control
// by default- Need to manually disable flow control since the function for
// disabling Serail.set_flow_control(Serial::Disabled) is not recognised by
// the compiler either! Could be something to do with the target processor??
static void disableFlowControl()
{
    uint32_t base = 0x40002000;
    uint32_t ctsOffset = 0x510;
    uint32_t rtsOffset = 0x508;

    uint32_t cts = base + ctsOffset;
    uint32_t rts = base + rtsOffset;

    uint32_t* pcts = (uint32_t*)cts;
    uint32_t* prts = (uint32_t*)rts;

    // no pin allocated for CTS and RTS
    *pcts = 0xffffffff;
    *prts = 0xffffffff;
}

void resetActivityCheckerTask()
{
    activityChecker.detach();
    activityChecker.attach(activityCheckerTask, activityTimeout);
}

void onDataWritten(const GattWriteCallbackParams *params)
{
    if ((uartServicePtr != NULL) && (params->handle == uartServicePtr->getTXCharacteristicHandle())) {
        uint16_t bytesRead = params->len;
        DEBUG("received %u bytes\n\r", bytesRead);
        for(int i = 0; i < bytesRead; i++) {
            DEBUG("0x%X ", params->data[i]);
        }
        DEBUG("\n\r", bytesRead);

        // echo?
        // ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), params->data, bytesRead);

        // make sure the laser is not powered off due to inactivity
        resetActivityCheckerTask();
        laserPtr->turnLaserPowerOn();

        processData(params);
    }
}

// this is an ISR, so do not spend too much time here and be careful with printing debug info
void readerCallback()
{
    //if(serial.readable()) {
//        laserPtr->processRxData(serial.getc());
//    }
}

/* This method is called when a distance measurement is ready to be sent to the client.
    send distance measurement to the connected BLE client */
void distanceCallcack(float distance, float elapsedTime)
{
    uint8_t buf[10];
    uint16_t arrayLen = 2;
    memcpy(&buf[0], &arrayLen, sizeof(uint16_t));
    memcpy(&buf[2], &distance, sizeof(float));
    memcpy(&buf[6], &elapsedTime, sizeof(float));
    bleHelper->sendPacketOverBLE(distanceCmd, buf, sizeof(buf));
}

void notifyActivityTimeout(){
    uint8_t buf[1];
    bleHelper->sendPacketOverBLE(activityTimeoutCmd, buf, 0);
}
    

void batteryCheckerTask(void)
{
    enableBattVoltSense = 1;
    wait_ms(20);  // wait for the circuit to settle
    float batt = battVoltage.read();
    enableBattVoltSense = 0;

    if(redLed == 0 && batt < BATT_VALUE_THRESHOLD) {
        redLed = 1;
    }
}



/* processor for the hardware trigger button */
void triggerFall()
{
    resetActivityCheckerTask();
    laserPtr->turnLaserPowerOn();

    laserPtr->triggerDistanceMeasurement();

    timer.reset();
    timer.start();
}

void turnLaserPowerOff()
{
    laserPtr->turnLaserPowerOff();
    notifyActivityTimeout();
}

/* interrupt processor for when the button is released. If it has been pushed and held, turn the red dot off on release,
  otherwise debunce and make a measurement */
void triggerRise()
{
    int elapsed = timer.read_ms();
    timer.stop();
    if(elapsed > PB_HOLD_TIME) {
        turnLaserPowerOff();
    }
    //else if(elapsed > PB_DEBUNCE_TIME) {
//        laserPtr->triggerDistanceMeasurement();
//    }
}

void activityCheckerTask()
{
    // too long with no activity- turn pwer off from laser to preserve power
    turnLaserPowerOff();
}

int main(void)
{
    connectionLed = 0;

    // turn laser on and reset and wait for it to settle
    disableLRF = 0;
    nReset = 1;
    wait_ms(1000);

    DEBUG("Initialising the nRF51822\n\r");
    ble.init();

    ble.onDisconnection(disconnectionCallback);
    ble.onConnection(connectionCallback);
    ble.onDataWritten(onDataWritten);

    /* setup advertising */
    ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
    ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
    ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, (const uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME) - 1);
    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,(const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
                                     (uint8_t *)GattService::UUID_DEVICE_INFORMATION_SERVICE, sizeof(GattService::UUID_DEVICE_INFORMATION_SERVICE));
    ble.setAdvertisingInterval(GapAdvertisingParams::MSEC_TO_ADVERTISEMENT_DURATION_UNITS(1000));
    ble.startAdvertising();

    // check battery level now and every minute afterwards
    batteryCheckerTask();
    batteryChecker.attach(batteryCheckerTask, 60);

    // check acticity once every 3 minutes
    activityChecker.attach(activityCheckerTask, activityTimeout);

    /* Setup uart service */
    UARTService uartService(ble);
    uartServicePtr = &uartService;

    /* Setup auxiliary service. */
    DeviceInformationService deviceInfo(ble, MANUFACTURER, MODEL, SERIAL_NO,HARDWARE_REV, FIRMWARE_REV, SOFTWARE_REV);

    /* Setup bleHelper */
    BLEHelper helper(&ble, uartServicePtr);
    bleHelper = &helper;

    // setup serial port to LRF
    serialPtr = new Serial(p27, p26);
    disableFlowControl();
    serialPtr->baud(READER_BAUD_RATE);
    // serial.attach(&readerCallback);

    // processors for the trigger button
    triggerButton.fall(&triggerFall);
    triggerButton.rise(&triggerRise);

    // setup laser
    laserPtr = new Laser(*serialPtr);
    laserPtr->enableMeasurement(true);
    laserPtr->setDistaceCallback(&distanceCallcack);
    laserPtr->turnLaserPowerOn();

    while (true) {
        ble.waitForEvent();
    }
}