EEP fORK
Dependencies: BLE_API mbed nRF51822
Fork of MCS_LRF by
main.cpp
- Committer:
- Farshad
- Date:
- 2015-12-09
- Revision:
- 7:8a23a257b66a
- Parent:
- 6:09cdafc3ffeb
- Child:
- 8:ed66e7ef8243
File content as of revision 7:8a23a257b66a:
/* 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 "CircularBuffer.h" #include "laser.h" #undef BLE_DEBUG_OUTPUT #define NEED_CONSOLE_OUTPUT 0 /* Set this if you need debug messages on the console; * it will have an impact on code-size and power consumption. */ #define NEED_PARSE_TRACE 0 // only used for parsing tag data- will not work if parse function is called from within serial interrupt Serial pc(USBTX, USBRX); #if NEED_CONSOLE_OUTPUT //Serial pc(USBTX, USBRX); #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 BLEDevice ble; #undef NORDIC // is board nordic DK? #ifdef NORDIC DigitalOut connectionLed(p21); DigitalOut triggerLed(p22); 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(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_LRF"; const static char MANUFACTURER[] = "MCS"; const static char MODEL[] = "Model 1"; const static char SERIAL_NO[] = "SN 1234"; const static char HARDWARE_REV[] = "hw-rev 1"; const static char FIRMWARE_REV[] = "fw-rev 1"; 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 distanceCmd = 0x0001; const static uint16_t triggerCmd = 0x0002; 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; } uint16_t idx = 0; const uint16_t storeSize = 300; uint8_t store[storeSize]; bool reading = false; bool sending = false; 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"); // TODO can do a trigger for a new read before transimiting, For now just send the latest read // 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; // 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"); // 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; default: break; } } } 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); processData(params); } } // 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); // // //} uint16_t length; //uint8_t tempBuf[1000]; void periodicCallback(void) { #ifdef BLE_DEBUG_OUTPUT //for( idx = 0; idx < 64; idx++){ // 64 is the limit // store[idx] = idx; // } if(reading == false) { if(idx > 0) { sending = true; length = idx; //memcpy(&tempBuf[0], &store[0], idx); sendPacketOverBLE(tagIdCmd, store, idx); idx = 0; // now that we have sent this, reset the index } } #endif sending = false; } // this is an ISR, so do not spend too much time here and be careful with printing debug info void readerCallback() { // Note: Need to actually read from the serial to clear the RX interrupt // 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) { // default state is unknown connectionLed = 0; 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(); /* 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 serial.baud(READER_BAUD_RATE); // serial.attach(&readerCallback); #ifdef BLE_DEBUG_OUTPUT Ticker ticker; ticker.attach(periodicCallback, 5); #endif laser.enableMeasurement(true); while (true) { ble.waitForEvent(); } }