Bernard Mentink / Mbed 2 deprecated MCS_LRF_EEP

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Dependencies:   BLE_API mbed nRF51822

Fork of MCS_LRF by Farshad N

main.cpp@13:a051da83a849, 2016-10-20 (annotated)

Committer:
Farshad
Date:
Thu Oct 20 04:00:31 2016 +0000
Revision:
13:a051da83a849
Parent:
12:cf8af0b4e0d2
Child:
15:bc4f8c597c26
Check voltage every minute. Also drive tx and rx to GND when turning laser module power off.

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 12:cf8af0b4e0d2 56 #define ACTIVITY_TIMEOUT_SEC 60
Farshad 7:8a23a257b66a 57
Farshad 7:8a23a257b66a 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 12:cf8af0b4e0d2 68 DigitalOut redLed(p24);
Farshad 8:ed66e7ef8243 69 InterruptIn triggerButton(p22);
Farshad 12:cf8af0b4e0d2 70 DigitalOut disableLRF(p28);
Farshad 12:cf8af0b4e0d2 71 DigitalOut enableBattVoltSense (p29);
Farshad 12:cf8af0b4e0d2 72 AnalogIn battVoltage (p1);
Farshad 12:cf8af0b4e0d2 73 DigitalOut nReset(p30);
Farshad 12:cf8af0b4e0d2 74 DigitalIn LRF_BOOT(p25, PullNone);
Farshad 12:cf8af0b4e0d2 75 DigitalIn LRF_CAL(p0, PullNone);
Farshad 5:207d4b6dface 76 #endif
Farshad 0:d58d1cdf43a9 77
Farshad 12:cf8af0b4e0d2 78 Serial* serialPtr;
Farshad 12:cf8af0b4e0d2 79 Laser* laserPtr;
Farshad 8:ed66e7ef8243 80 BLEDevice ble;
Farshad 8:ed66e7ef8243 81 UARTService *uartServicePtr;
Farshad 8:ed66e7ef8243 82 BLEHelper* bleHelper;
Farshad 8:ed66e7ef8243 83 static uint8_t isConnected = 0;
Farshad 10:d37cd13dd529 84 Timer timer;
Farshad 12:cf8af0b4e0d2 85 Ticker batteryChecker;
Farshad 12:cf8af0b4e0d2 86 Ticker activityChecker;
Farshad 12:cf8af0b4e0d2 87 bool powerOffState = true;
Farshad 8:ed66e7ef8243 88
Farshad 7:8a23a257b66a 89 const static char DEVICE_NAME[] = "MCS_LRF";
Farshad 0:d58d1cdf43a9 90 const static char MANUFACTURER[] = "MCS";
Farshad 12:cf8af0b4e0d2 91 const static char MODEL[] = "Model 2";
Farshad 0:d58d1cdf43a9 92 const static char SERIAL_NO[] = "SN 1234";
Farshad 12:cf8af0b4e0d2 93 const static char HARDWARE_REV[] = "hw-rev 1.1";
Farshad 12:cf8af0b4e0d2 94 const static char FIRMWARE_REV[] = "fw-rev 1.1";
Farshad 0:d58d1cdf43a9 95 const static char SOFTWARE_REV[] = "soft-rev 1";
Farshad 0:d58d1cdf43a9 96
Farshad 2:79a9dad8bc5e 97 // these values must macth definitions in the XML file accompanying this device
Farshad 7:8a23a257b66a 98 const static uint16_t distanceCmd = 0x0001;
Farshad 7:8a23a257b66a 99 const static uint16_t triggerCmd = 0x0002;
Farshad 12:cf8af0b4e0d2 100 const static uint16_t redDotCmd = 0x0003;
Farshad 12:cf8af0b4e0d2 101 const static uint16_t resetCmd = 0x0004;
Farshad 12:cf8af0b4e0d2 102
Farshad 12:cf8af0b4e0d2 103
Farshad 12:cf8af0b4e0d2 104 void activityCheckerTask();
Farshad 12:cf8af0b4e0d2 105 void resetActivityCheckerTask();
Farshad 12:cf8af0b4e0d2 106 void turnLaserPowerOff();
Farshad 2:79a9dad8bc5e 107
Farshad 2:79a9dad8bc5e 108 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
Farshad 0:d58d1cdf43a9 109 {
Farshad 0:d58d1cdf43a9 110 DEBUG("Disconnected!\n\r");
Farshad 0:d58d1cdf43a9 111 DEBUG("Restarting the advertising process\n\r");
Farshad 0:d58d1cdf43a9 112 ble.startAdvertising();
Farshad 2:79a9dad8bc5e 113 isConnected = 0;
Farshad 5:207d4b6dface 114 connectionLed = isConnected;
Farshad 2:79a9dad8bc5e 115 }
Farshad 2:79a9dad8bc5e 116
Farshad 2:79a9dad8bc5e 117 void connectionCallback(const Gap::ConnectionCallbackParams_t *params)
Farshad 2:79a9dad8bc5e 118 {
Farshad 2:79a9dad8bc5e 119 DEBUG("Connected!\n\r");
Farshad 2:79a9dad8bc5e 120 isConnected = 1;
Farshad 5:207d4b6dface 121 connectionLed = isConnected;
Farshad 0:d58d1cdf43a9 122 }
Farshad 0:d58d1cdf43a9 123
Farshad 6:09cdafc3ffeb 124 static void processData(const GattWriteCallbackParams *params)
Farshad 6:09cdafc3ffeb 125 {
Farshad 6:09cdafc3ffeb 126 if(params->len >= 2) {
Farshad 6:09cdafc3ffeb 127 uint16_t command = params->data[0] + (params->data[1] << 8);
Farshad 6:09cdafc3ffeb 128 bool isSetCmd = (command & SET_PARAM_CMD_MASK) == SET_PARAM_CMD_MASK;
Farshad 6:09cdafc3ffeb 129 DEBUG("command: %d \r\n", command);
Farshad 6:09cdafc3ffeb 130
Farshad 6:09cdafc3ffeb 131 switch(command & ~SET_PARAM_CMD_MASK) {
Farshad 7:8a23a257b66a 132 case distanceCmd:
Farshad 6:09cdafc3ffeb 133 if(!isSetCmd && params->len == 2) {
Farshad 6:09cdafc3ffeb 134 // form the reply to send
Farshad 7:8a23a257b66a 135 DEBUG("CMD is GET distance\n\r");
Farshad 12:cf8af0b4e0d2 136 laserPtr->triggerDistanceMeasurement();
Farshad 6:09cdafc3ffeb 137 }
Farshad 6:09cdafc3ffeb 138 break;
Farshad 8:ed66e7ef8243 139
Farshad 7:8a23a257b66a 140 // TODO not needed really- can just use the distance command
Farshad 8:ed66e7ef8243 141 case triggerCmd:
Farshad 6:09cdafc3ffeb 142 if(isSetCmd && params->len == 3) {
Farshad 7:8a23a257b66a 143 // form the reply to send
Farshad 7:8a23a257b66a 144 DEBUG("CMD is SET trigger\n\r");
Farshad 12:cf8af0b4e0d2 145 laserPtr->triggerDistanceMeasurement();
Farshad 6:09cdafc3ffeb 146 }
Farshad 6:09cdafc3ffeb 147 break;
Farshad 6:09cdafc3ffeb 148
Farshad 10:d37cd13dd529 149 case redDotCmd:
Farshad 10:d37cd13dd529 150 if(isSetCmd && params->len == 3) {
Farshad 10:d37cd13dd529 151 DEBUG("CMD is SET redDot\n\r");
Farshad 12:cf8af0b4e0d2 152 laserPtr->setRedDot(params->data[2]);
Farshad 12:cf8af0b4e0d2 153 }
Farshad 12:cf8af0b4e0d2 154 break;
Farshad 12:cf8af0b4e0d2 155
Farshad 12:cf8af0b4e0d2 156 case resetCmd:
Farshad 12:cf8af0b4e0d2 157 if(isSetCmd && params->len == 3) {
Farshad 12:cf8af0b4e0d2 158 DEBUG("CMD is reset\n\r");
Farshad 12:cf8af0b4e0d2 159 nReset = 0;
Farshad 12:cf8af0b4e0d2 160 wait_ms(100);
Farshad 12:cf8af0b4e0d2 161 nReset = 1;
Farshad 12:cf8af0b4e0d2 162 wait_ms(1000);
Farshad 12:cf8af0b4e0d2 163 laserPtr->enableMeasurement(true);
Farshad 10:d37cd13dd529 164 }
Farshad 10:d37cd13dd529 165 break;
Farshad 10:d37cd13dd529 166
Farshad 6:09cdafc3ffeb 167 default:
Farshad 6:09cdafc3ffeb 168 break;
Farshad 6:09cdafc3ffeb 169 }
Farshad 6:09cdafc3ffeb 170 }
Farshad 6:09cdafc3ffeb 171 }
Farshad 6:09cdafc3ffeb 172
Farshad 12:cf8af0b4e0d2 173
Farshad 12:cf8af0b4e0d2 174 // Serial driver seems to be buggy and allocate p8 and p10 for flow control
Farshad 12:cf8af0b4e0d2 175 // by default- Need to manually disable flow control since the function for
Farshad 12:cf8af0b4e0d2 176 // disabling Serail.set_flow_control(Serial::Disabled) is not recognised by
Farshad 12:cf8af0b4e0d2 177 // the compiler either! Could be something to do with the target processor??
Farshad 12:cf8af0b4e0d2 178 static void disableFlowControl()
Farshad 12:cf8af0b4e0d2 179 {
Farshad 12:cf8af0b4e0d2 180 uint32_t base = 0x40002000;
Farshad 12:cf8af0b4e0d2 181 uint32_t ctsOffset = 0x510;
Farshad 12:cf8af0b4e0d2 182 uint32_t rtsOffset = 0x508;
Farshad 12:cf8af0b4e0d2 183
Farshad 12:cf8af0b4e0d2 184 uint32_t cts = base + ctsOffset;
Farshad 12:cf8af0b4e0d2 185 uint32_t rts = base + rtsOffset;
Farshad 12:cf8af0b4e0d2 186
Farshad 12:cf8af0b4e0d2 187 uint32_t* pcts = (uint32_t*)cts;
Farshad 12:cf8af0b4e0d2 188 uint32_t* prts = (uint32_t*)rts;
Farshad 12:cf8af0b4e0d2 189
Farshad 12:cf8af0b4e0d2 190 // no pin allocated for CTS and RTS
Farshad 12:cf8af0b4e0d2 191 *pcts = 0xffffffff;
Farshad 12:cf8af0b4e0d2 192 *prts = 0xffffffff;
Farshad 12:cf8af0b4e0d2 193 }
Farshad 12:cf8af0b4e0d2 194
Farshad 13:a051da83a849 195
Farshad 13:a051da83a849 196 uint32_t base = 0x40002000;
Farshad 13:a051da83a849 197 uint32_t rxOffset = 0x514;
Farshad 13:a051da83a849 198 uint32_t txOffset = 0x50c;
Farshad 13:a051da83a849 199
Farshad 13:a051da83a849 200 uint32_t rx = base + rxOffset;
Farshad 13:a051da83a849 201 uint32_t tx = base + txOffset;
Farshad 13:a051da83a849 202
Farshad 13:a051da83a849 203 uint32_t* prx = (uint32_t*)rx;
Farshad 13:a051da83a849 204 uint32_t* ptx = (uint32_t*)tx;
Farshad 13:a051da83a849 205
Farshad 13:a051da83a849 206 // when connceting power to the laser module ensure that tx and rx pins are
Farshad 13:a051da83a849 207 // reassigned to the serial port
Farshad 13:a051da83a849 208 void connectPower()
Farshad 13:a051da83a849 209 {
Farshad 13:a051da83a849 210 disableLRF = 0;
Farshad 13:a051da83a849 211 nReset = 1;
Farshad 13:a051da83a849 212 *ptx = 27; // p27 for tx
Farshad 13:a051da83a849 213 *prx = 26; // p26 for rx
Farshad 13:a051da83a849 214 wait_ms(1000);
Farshad 13:a051da83a849 215 }
Farshad 13:a051da83a849 216
Farshad 13:a051da83a849 217 // when removing power from the laser module ensure that rx and tx pins are not
Farshad 13:a051da83a849 218 // driving voltage into the laser module to avoid hardware damange
Farshad 13:a051da83a849 219 void removePower(){
Farshad 13:a051da83a849 220 *ptx = 0xffffffff; // no pin for tx
Farshad 13:a051da83a849 221 *prx = 0xffffffff; // no pin for rx
Farshad 13:a051da83a849 222 DigitalOut rx(p26);
Farshad 13:a051da83a849 223 DigitalOut tx(p27);
Farshad 13:a051da83a849 224 rx = 0;
Farshad 13:a051da83a849 225 tx = 0;
Farshad 13:a051da83a849 226 nReset = 0;
Farshad 13:a051da83a849 227 disableLRF = 1;
Farshad 13:a051da83a849 228 }
Farshad 13:a051da83a849 229
Farshad 12:cf8af0b4e0d2 230 void turnLaserPowerOn()
Farshad 12:cf8af0b4e0d2 231 {
Farshad 12:cf8af0b4e0d2 232 if(powerOffState == true) {
Farshad 12:cf8af0b4e0d2 233 powerOffState = false;
Farshad 12:cf8af0b4e0d2 234
Farshad 13:a051da83a849 235 connectPower();
Farshad 13:a051da83a849 236
Farshad 12:cf8af0b4e0d2 237 // trun power back on and reinstate serial and laser
Farshad 12:cf8af0b4e0d2 238 //DigitalIn rx(p26, PullUp);
Farshad 12:cf8af0b4e0d2 239 // serialPtr = new Serial(p27, p26);
Farshad 12:cf8af0b4e0d2 240 // serialPtr->baud(READER_BAUD_RATE);
Farshad 12:cf8af0b4e0d2 241 // disableFlowControl();
Farshad 12:cf8af0b4e0d2 242 // laserPtr = new Laser(*serialPtr);
Farshad 12:cf8af0b4e0d2 243
Farshad 12:cf8af0b4e0d2 244 laserPtr->enableMeasurement(true);
Farshad 12:cf8af0b4e0d2 245 laserPtr->setRedDot(1);
Farshad 12:cf8af0b4e0d2 246 }
Farshad 12:cf8af0b4e0d2 247 }
Farshad 12:cf8af0b4e0d2 248
Farshad 12:cf8af0b4e0d2 249 void turnLaserPowerOff()
Farshad 12:cf8af0b4e0d2 250 {
Farshad 12:cf8af0b4e0d2 251 if(powerOffState == false) {
Farshad 12:cf8af0b4e0d2 252 powerOffState = true;
Farshad 12:cf8af0b4e0d2 253 laserPtr->setRedDot(0); // this disables measurements
Farshad 12:cf8af0b4e0d2 254
Farshad 13:a051da83a849 255 removePower();
Farshad 13:a051da83a849 256
Farshad 12:cf8af0b4e0d2 257 // also take power off the Laser, but first ensure io pins are not powered
Farshad 12:cf8af0b4e0d2 258 // if(serialPtr != NULL) delete serialPtr;
Farshad 12:cf8af0b4e0d2 259 // serialPtr = new Serial(NC, p26);
Farshad 12:cf8af0b4e0d2 260 // DigitalOut rx(p26);
Farshad 12:cf8af0b4e0d2 261 // DigitalOut tx(p27);
Farshad 12:cf8af0b4e0d2 262 // rx = 0;
Farshad 12:cf8af0b4e0d2 263 // tx = 0;
Farshad 12:cf8af0b4e0d2 264 // if(laserPtr != NULL) delete laserPtr;
Farshad 12:cf8af0b4e0d2 265 // laserPtr = new Laser(*serialPtr);
Farshad 12:cf8af0b4e0d2 266
Farshad 12:cf8af0b4e0d2 267 // nReset = 0;
Farshad 12:cf8af0b4e0d2 268 // disableLRF = 1;
Farshad 12:cf8af0b4e0d2 269 }
Farshad 12:cf8af0b4e0d2 270 }
Farshad 12:cf8af0b4e0d2 271
Farshad 12:cf8af0b4e0d2 272 void resetActivityCheckerTask()
Farshad 12:cf8af0b4e0d2 273 {
Farshad 12:cf8af0b4e0d2 274 activityChecker.detach();
Farshad 12:cf8af0b4e0d2 275 activityChecker.attach(activityCheckerTask, ACTIVITY_TIMEOUT_SEC);
Farshad 12:cf8af0b4e0d2 276 }
Farshad 12:cf8af0b4e0d2 277
Farshad 6:09cdafc3ffeb 278 void onDataWritten(const GattWriteCallbackParams *params)
Farshad 6:09cdafc3ffeb 279 {
Farshad 6:09cdafc3ffeb 280 if ((uartServicePtr != NULL) && (params->handle == uartServicePtr->getTXCharacteristicHandle())) {
Farshad 6:09cdafc3ffeb 281 uint16_t bytesRead = params->len;
Farshad 6:09cdafc3ffeb 282 DEBUG("received %u bytes\n\r", bytesRead);
Farshad 6:09cdafc3ffeb 283 for(int i = 0; i < bytesRead; i++) {
Farshad 6:09cdafc3ffeb 284 DEBUG("0x%X ", params->data[i]);
Farshad 6:09cdafc3ffeb 285 }
Farshad 6:09cdafc3ffeb 286 DEBUG("\n\r", bytesRead);
Farshad 6:09cdafc3ffeb 287
Farshad 6:09cdafc3ffeb 288 // echo?
Farshad 6:09cdafc3ffeb 289 // ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), params->data, bytesRead);
Farshad 6:09cdafc3ffeb 290
Farshad 12:cf8af0b4e0d2 291 // make sure the laser is not powered off due to inactivity
Farshad 12:cf8af0b4e0d2 292 resetActivityCheckerTask();
Farshad 12:cf8af0b4e0d2 293 turnLaserPowerOn();
Farshad 12:cf8af0b4e0d2 294
Farshad 6:09cdafc3ffeb 295 processData(params);
Farshad 6:09cdafc3ffeb 296 }
Farshad 6:09cdafc3ffeb 297 }
Farshad 6:09cdafc3ffeb 298
Farshad 3:de77a4ebbf21 299 // this is an ISR, so do not spend too much time here and be careful with printing debug info
Farshad 2:79a9dad8bc5e 300 void readerCallback()
Farshad 8:ed66e7ef8243 301 {
Farshad 8:ed66e7ef8243 302 //if(serial.readable()) {
Farshad 12:cf8af0b4e0d2 303 // laserPtr->processRxData(serial.getc());
Farshad 7:8a23a257b66a 304 // }
Farshad 2:79a9dad8bc5e 305 }
Farshad 2:79a9dad8bc5e 306
Farshad 10:d37cd13dd529 307 /* This method is called when a distance measurement is ready to be sent to the client.
Farshad 10:d37cd13dd529 308 send distance measurement to the connected BLE client */
Farshad 8:ed66e7ef8243 309 void distanceCallcack(float distance, float elapsedTime)
Farshad 8:ed66e7ef8243 310 {
Farshad 8:ed66e7ef8243 311 uint8_t buf[10];
Farshad 8:ed66e7ef8243 312 uint16_t arrayLen = 2;
Farshad 8:ed66e7ef8243 313 memcpy(&buf[0], &arrayLen, sizeof(uint16_t));
Farshad 8:ed66e7ef8243 314 memcpy(&buf[2], &distance, sizeof(float));
Farshad 8:ed66e7ef8243 315 memcpy(&buf[6], &elapsedTime, sizeof(float));
Farshad 8:ed66e7ef8243 316 bleHelper->sendPacketOverBLE(distanceCmd, buf, sizeof(buf));
Farshad 8:ed66e7ef8243 317 }
Farshad 8:ed66e7ef8243 318
Farshad 12:cf8af0b4e0d2 319 void batteryCheckerTask(void)
Farshad 12:cf8af0b4e0d2 320 {
Farshad 12:cf8af0b4e0d2 321 enableBattVoltSense = 1;
Farshad 12:cf8af0b4e0d2 322 wait_ms(20); // wait for the circuit to settle
Farshad 12:cf8af0b4e0d2 323 float batt = battVoltage.read();
Farshad 12:cf8af0b4e0d2 324 enableBattVoltSense = 0;
Farshad 12:cf8af0b4e0d2 325
Farshad 12:cf8af0b4e0d2 326 if(redLed == 0 && batt < BATT_VALUE_THRESHOLD)
Farshad 12:cf8af0b4e0d2 327 {
Farshad 12:cf8af0b4e0d2 328 redLed = 1;
Farshad 12:cf8af0b4e0d2 329 }
Farshad 12:cf8af0b4e0d2 330 }
Farshad 12:cf8af0b4e0d2 331
Farshad 12:cf8af0b4e0d2 332
Farshad 12:cf8af0b4e0d2 333
Farshad 10:d37cd13dd529 334 /* processor for the hardware trigger button */
Farshad 10:d37cd13dd529 335 void triggerFall()
Farshad 10:d37cd13dd529 336 {
Farshad 12:cf8af0b4e0d2 337 resetActivityCheckerTask();
Farshad 12:cf8af0b4e0d2 338 turnLaserPowerOn();
Farshad 12:cf8af0b4e0d2 339
Farshad 12:cf8af0b4e0d2 340 laserPtr->triggerDistanceMeasurement();
Farshad 12:cf8af0b4e0d2 341
Farshad 10:d37cd13dd529 342 timer.reset();
Farshad 10:d37cd13dd529 343 timer.start();
Farshad 10:d37cd13dd529 344 }
Farshad 10:d37cd13dd529 345
Farshad 10:d37cd13dd529 346 /* 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 347 otherwise debunce and make a measurement */
Farshad 10:d37cd13dd529 348 void triggerRise()
Farshad 10:d37cd13dd529 349 {
Farshad 10:d37cd13dd529 350 int elapsed = timer.read_ms();
Farshad 10:d37cd13dd529 351 timer.stop();
Farshad 10:d37cd13dd529 352 if(elapsed > PB_HOLD_TIME) {
Farshad 12:cf8af0b4e0d2 353 turnLaserPowerOff();
Farshad 12:cf8af0b4e0d2 354 }
Farshad 12:cf8af0b4e0d2 355 //else if(elapsed > PB_DEBUNCE_TIME) {
Farshad 12:cf8af0b4e0d2 356 // laserPtr->triggerDistanceMeasurement();
Farshad 12:cf8af0b4e0d2 357 // }
Farshad 12:cf8af0b4e0d2 358 }
Farshad 12:cf8af0b4e0d2 359
Farshad 12:cf8af0b4e0d2 360 void activityCheckerTask()
Farshad 12:cf8af0b4e0d2 361 {
Farshad 12:cf8af0b4e0d2 362 // too long with no activity- turn pwer off from laser to preserve power
Farshad 12:cf8af0b4e0d2 363 turnLaserPowerOff();
Farshad 8:ed66e7ef8243 364 }
Farshad 8:ed66e7ef8243 365
Farshad 0:d58d1cdf43a9 366 int main(void)
Farshad 0:d58d1cdf43a9 367 {
Farshad 5:207d4b6dface 368 connectionLed = 0;
Farshad 12:cf8af0b4e0d2 369
Farshad 12:cf8af0b4e0d2 370 // turn laser on and reset and wait for it to settle
Farshad 12:cf8af0b4e0d2 371 disableLRF = 0;
Farshad 12:cf8af0b4e0d2 372 nReset = 1;
Farshad 12:cf8af0b4e0d2 373 wait_ms(1000);
Farshad 5:207d4b6dface 374
Farshad 0:d58d1cdf43a9 375 DEBUG("Initialising the nRF51822\n\r");
Farshad 0:d58d1cdf43a9 376 ble.init();
Farshad 0:d58d1cdf43a9 377
Farshad 0:d58d1cdf43a9 378 ble.onDisconnection(disconnectionCallback);
Farshad 2:79a9dad8bc5e 379 ble.onConnection(connectionCallback);
Farshad 0:d58d1cdf43a9 380 ble.onDataWritten(onDataWritten);
Farshad 0:d58d1cdf43a9 381
Farshad 0:d58d1cdf43a9 382 /* setup advertising */
Farshad 0:d58d1cdf43a9 383 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
Farshad 0:d58d1cdf43a9 384 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
Farshad 0:d58d1cdf43a9 385 ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, (const uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME) - 1);
Farshad 0:d58d1cdf43a9 386 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,(const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
Farshad 0:d58d1cdf43a9 387 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
Farshad 1:e18634cb382a 388 (uint8_t *)GattService::UUID_DEVICE_INFORMATION_SERVICE, sizeof(GattService::UUID_DEVICE_INFORMATION_SERVICE));
Farshad 2:79a9dad8bc5e 389 ble.setAdvertisingInterval(GapAdvertisingParams::MSEC_TO_ADVERTISEMENT_DURATION_UNITS(1000));
Farshad 0:d58d1cdf43a9 390 ble.startAdvertising();
Farshad 12:cf8af0b4e0d2 391
Farshad 12:cf8af0b4e0d2 392 // check battery level now and every minute afterwards
Farshad 12:cf8af0b4e0d2 393 batteryCheckerTask();
Farshad 12:cf8af0b4e0d2 394 batteryChecker.attach(batteryCheckerTask, 1);
Farshad 12:cf8af0b4e0d2 395
Farshad 12:cf8af0b4e0d2 396 // check acticity once every 3 minutes
Farshad 12:cf8af0b4e0d2 397 activityChecker.attach(activityCheckerTask, ACTIVITY_TIMEOUT_SEC);
Farshad 0:d58d1cdf43a9 398
Farshad 0:d58d1cdf43a9 399 /* Setup uart service */
Farshad 0:d58d1cdf43a9 400 UARTService uartService(ble);
Farshad 0:d58d1cdf43a9 401 uartServicePtr = &uartService;
Farshad 0:d58d1cdf43a9 402
Farshad 0:d58d1cdf43a9 403 /* Setup auxiliary service. */
Farshad 0:d58d1cdf43a9 404 DeviceInformationService deviceInfo(ble, MANUFACTURER, MODEL, SERIAL_NO,HARDWARE_REV, FIRMWARE_REV, SOFTWARE_REV);
Farshad 0:d58d1cdf43a9 405
Farshad 7:8a23a257b66a 406 /* Setup bleHelper */
Farshad 7:8a23a257b66a 407 BLEHelper helper(&ble, uartServicePtr);
Farshad 7:8a23a257b66a 408 bleHelper = &helper;
Farshad 8:ed66e7ef8243 409
Farshad 8:ed66e7ef8243 410 // setup serial port to LRF
Farshad 12:cf8af0b4e0d2 411 serialPtr = new Serial(p27, p26);
Farshad 12:cf8af0b4e0d2 412 disableFlowControl();
Farshad 12:cf8af0b4e0d2 413 serialPtr->baud(READER_BAUD_RATE);
Farshad 8:ed66e7ef8243 414 // serial.attach(&readerCallback);
Farshad 8:ed66e7ef8243 415
Farshad 10:d37cd13dd529 416 // processors for the trigger button
Farshad 10:d37cd13dd529 417 triggerButton.fall(&triggerFall);
Farshad 10:d37cd13dd529 418 triggerButton.rise(&triggerRise);
Farshad 10:d37cd13dd529 419
Farshad 10:d37cd13dd529 420 // setup laser
Farshad 12:cf8af0b4e0d2 421 laserPtr = new Laser(*serialPtr);
Farshad 12:cf8af0b4e0d2 422 laserPtr->enableMeasurement(true);
Farshad 12:cf8af0b4e0d2 423 laserPtr->setDistaceCallback(&distanceCallcack);
Farshad 12:cf8af0b4e0d2 424 turnLaserPowerOn();
Farshad 5:207d4b6dface 425
Farshad 0:d58d1cdf43a9 426 while (true) {
Farshad 0:d58d1cdf43a9 427 ble.waitForEvent();
Farshad 0:d58d1cdf43a9 428 }
Farshad 8:ed66e7ef8243 429 }