Devin Alexander / Mbed OS Low_Power_Long_Distance_IR_Vision_Robot

This is example code that can get you started with building your own IR vision robot that communicates over LoRa

Dependencies:   Adafruit-MotorShield Adafruit-PWM-Servo-Driver Adafruit_GFX BufferedSerial MAX17055_EZconfig NEO-6m-GPS SX1276GenericLib USBDeviceHT max32630fthr max77650_charger_sample

Fork of MAX326xxFTHR_LoRa_Example_test by Devin Alexander

UARTService_custom.h@29:f7a0e49b826b, 2018-07-24 (annotated)

Committer:
dev_alexander
Date:
Tue Jul 24 00:38:18 2018 +0000
Revision:
29:f7a0e49b826b
Child:
30:66f9750cc44c
Changed the pins that the MAX32630FTHR uses in order to communicate with the LoRa Shield. This makes the UART pins available for the BLE now.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dev_alexander 29:f7a0e49b826b 1 /* mbed Microcontroller Library
dev_alexander 29:f7a0e49b826b 2 * Copyright (c) 2006-2013 ARM Limited
dev_alexander 29:f7a0e49b826b 3 *
dev_alexander 29:f7a0e49b826b 4 * Licensed under the Apache License, Version 2.0 (the "License");
dev_alexander 29:f7a0e49b826b 5 * you may not use this file except in compliance with the License.
dev_alexander 29:f7a0e49b826b 6 * You may obtain a copy of the License at
dev_alexander 29:f7a0e49b826b 7 *
dev_alexander 29:f7a0e49b826b 8 * http://www.apache.org/licenses/LICENSE-2.0
dev_alexander 29:f7a0e49b826b 9 *
dev_alexander 29:f7a0e49b826b 10 * Unless required by applicable law or agreed to in writing, software
dev_alexander 29:f7a0e49b826b 11 * distributed under the License is distributed on an "AS IS" BASIS,
dev_alexander 29:f7a0e49b826b 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
dev_alexander 29:f7a0e49b826b 13 * See the License for the specific language governing permissions and
dev_alexander 29:f7a0e49b826b 14 * limitations under the License.
dev_alexander 29:f7a0e49b826b 15 */
dev_alexander 29:f7a0e49b826b 16
dev_alexander 29:f7a0e49b826b 17 #ifndef __BLE_UART_SERVICE_H__
dev_alexander 29:f7a0e49b826b 18 #define __BLE_UART_SERVICE_H__
dev_alexander 29:f7a0e49b826b 19
dev_alexander 29:f7a0e49b826b 20 #ifdef YOTTA_CFG_MBED_OS
dev_alexander 29:f7a0e49b826b 21 #include "mbed-drivers/mbed.h"
dev_alexander 29:f7a0e49b826b 22 #include "mbed-drivers/Stream.h"
dev_alexander 29:f7a0e49b826b 23 #else
dev_alexander 29:f7a0e49b826b 24 #include "mbed.h"
dev_alexander 29:f7a0e49b826b 25 #include "Stream.h"
dev_alexander 29:f7a0e49b826b 26 #endif
dev_alexander 29:f7a0e49b826b 27
dev_alexander 29:f7a0e49b826b 28 #include "ble/UUID.h"
dev_alexander 29:f7a0e49b826b 29 #include "ble/BLE.h"
dev_alexander 29:f7a0e49b826b 30
dev_alexander 29:f7a0e49b826b 31 extern const uint8_t UARTServiceBaseUUID[UUID::LENGTH_OF_LONG_UUID];
dev_alexander 29:f7a0e49b826b 32 extern const uint16_t UARTServiceShortUUID;
dev_alexander 29:f7a0e49b826b 33 extern const uint16_t UARTServiceTXCharacteristicShortUUID;
dev_alexander 29:f7a0e49b826b 34 extern const uint16_t UARTServiceRXCharacteristicShortUUID;
dev_alexander 29:f7a0e49b826b 35
dev_alexander 29:f7a0e49b826b 36 extern const uint8_t UARTServiceUUID[UUID::LENGTH_OF_LONG_UUID];
dev_alexander 29:f7a0e49b826b 37 extern const uint8_t UARTServiceUUID_reversed[UUID::LENGTH_OF_LONG_UUID];
dev_alexander 29:f7a0e49b826b 38
dev_alexander 29:f7a0e49b826b 39 extern const uint8_t UARTServiceTXCharacteristicUUID[UUID::LENGTH_OF_LONG_UUID];
dev_alexander 29:f7a0e49b826b 40 extern const uint8_t UARTServiceRXCharacteristicUUID[UUID::LENGTH_OF_LONG_UUID];
dev_alexander 29:f7a0e49b826b 41
dev_alexander 29:f7a0e49b826b 42 /**
dev_alexander 29:f7a0e49b826b 43 * @class UARTService.
dev_alexander 29:f7a0e49b826b 44 * @brief BLE Service to enable UART over BLE.
dev_alexander 29:f7a0e49b826b 45 */
dev_alexander 29:f7a0e49b826b 46 class UARTService {
dev_alexander 29:f7a0e49b826b 47 public:
dev_alexander 29:f7a0e49b826b 48 /**< Maximum length of data (in bytes) that the UART service module can transmit to the peer. */
dev_alexander 29:f7a0e49b826b 49 static const unsigned BLE_UART_SERVICE_MAX_DATA_LEN = (BLE_GATT_MTU_SIZE_DEFAULT - 18);
dev_alexander 29:f7a0e49b826b 50
dev_alexander 29:f7a0e49b826b 51 public:
dev_alexander 29:f7a0e49b826b 52
dev_alexander 29:f7a0e49b826b 53 /**
dev_alexander 29:f7a0e49b826b 54 * @param[ref] ble
dev_alexander 29:f7a0e49b826b 55 * BLE object for the underlying controller.
dev_alexander 29:f7a0e49b826b 56 */
dev_alexander 29:f7a0e49b826b 57 UARTService(BLE &_ble) :
dev_alexander 29:f7a0e49b826b 58 ble(_ble),
dev_alexander 29:f7a0e49b826b 59 receiveBuffer(),
dev_alexander 29:f7a0e49b826b 60 sendBuffer(),
dev_alexander 29:f7a0e49b826b 61 sendBufferIndex(0),
dev_alexander 29:f7a0e49b826b 62 numBytesReceived(0),
dev_alexander 29:f7a0e49b826b 63 receiveBufferIndex(0),
dev_alexander 29:f7a0e49b826b 64 txCharacteristic(UARTServiceTXCharacteristicUUID, receiveBuffer, 1, BLE_UART_SERVICE_MAX_DATA_LEN,
dev_alexander 29:f7a0e49b826b 65 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE),
dev_alexander 29:f7a0e49b826b 66 rxCharacteristic(UARTServiceRXCharacteristicUUID, sendBuffer, 1, BLE_UART_SERVICE_MAX_DATA_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY) {
dev_alexander 29:f7a0e49b826b 67 GattCharacteristic *charTable[] = {&txCharacteristic, &rxCharacteristic};
dev_alexander 29:f7a0e49b826b 68 GattService uartService(UARTServiceUUID, charTable, sizeof(charTable) / sizeof(GattCharacteristic *));
dev_alexander 29:f7a0e49b826b 69
dev_alexander 29:f7a0e49b826b 70 ble.addService(uartService);
dev_alexander 29:f7a0e49b826b 71 ble.onDataWritten(this, &UARTService::onDataWritten);
dev_alexander 29:f7a0e49b826b 72 }
dev_alexander 29:f7a0e49b826b 73
dev_alexander 29:f7a0e49b826b 74 /**
dev_alexander 29:f7a0e49b826b 75 * Note: TX and RX characteristics are to be interpreted from the viewpoint of the GATT client using this service.
dev_alexander 29:f7a0e49b826b 76 */
dev_alexander 29:f7a0e49b826b 77 uint16_t getTXCharacteristicHandle() {
dev_alexander 29:f7a0e49b826b 78 return txCharacteristic.getValueAttribute().getHandle();
dev_alexander 29:f7a0e49b826b 79 }
dev_alexander 29:f7a0e49b826b 80
dev_alexander 29:f7a0e49b826b 81 /**
dev_alexander 29:f7a0e49b826b 82 * Note: TX and RX characteristics are to be interpreted from the viewpoint of the GATT client using this service.
dev_alexander 29:f7a0e49b826b 83 */
dev_alexander 29:f7a0e49b826b 84 uint16_t getRXCharacteristicHandle() {
dev_alexander 29:f7a0e49b826b 85 return rxCharacteristic.getValueAttribute().getHandle();
dev_alexander 29:f7a0e49b826b 86 }
dev_alexander 29:f7a0e49b826b 87
dev_alexander 29:f7a0e49b826b 88 /**
dev_alexander 29:f7a0e49b826b 89 * We attempt to collect bytes before pushing them to the UART RX
dev_alexander 29:f7a0e49b826b 90 * characteristic; writing to the RX characteristic then generates
dev_alexander 29:f7a0e49b826b 91 * notifications for the client. Updates made in quick succession to a
dev_alexander 29:f7a0e49b826b 92 * notification-generating characteristic result in data being buffered
dev_alexander 29:f7a0e49b826b 93 * in the Bluetooth stack as notifications are sent out. The stack has
dev_alexander 29:f7a0e49b826b 94 * its limits for this buffering - typically a small number under 10.
dev_alexander 29:f7a0e49b826b 95 * Collecting data into the sendBuffer buffer helps mitigate the rate of
dev_alexander 29:f7a0e49b826b 96 * updates. But we shouldn't buffer a large amount of data before updating
dev_alexander 29:f7a0e49b826b 97 * the characteristic, otherwise the client needs to turn around and make
dev_alexander 29:f7a0e49b826b 98 * a long read request; this is because notifications include only the first
dev_alexander 29:f7a0e49b826b 99 * 20 bytes of the updated data.
dev_alexander 29:f7a0e49b826b 100 *
dev_alexander 29:f7a0e49b826b 101 * @param buffer The received update.
dev_alexander 29:f7a0e49b826b 102 * @param length Number of characters to be appended.
dev_alexander 29:f7a0e49b826b 103 * @return Number of characters appended to the rxCharacteristic.
dev_alexander 29:f7a0e49b826b 104 */
dev_alexander 29:f7a0e49b826b 105 size_t write(const void *_buffer, size_t length) {
dev_alexander 29:f7a0e49b826b 106 size_t origLength = length;
dev_alexander 29:f7a0e49b826b 107 const uint8_t *buffer = static_cast<const uint8_t *>(_buffer);
dev_alexander 29:f7a0e49b826b 108
dev_alexander 29:f7a0e49b826b 109 if (ble.getGapState().connected) {
dev_alexander 29:f7a0e49b826b 110 unsigned bufferIndex = 0;
dev_alexander 29:f7a0e49b826b 111 while (length) {
dev_alexander 29:f7a0e49b826b 112 unsigned bytesRemainingInSendBuffer = BLE_UART_SERVICE_MAX_DATA_LEN - sendBufferIndex;
dev_alexander 29:f7a0e49b826b 113 unsigned bytesToCopy = (length < bytesRemainingInSendBuffer) ? length : bytesRemainingInSendBuffer;
dev_alexander 29:f7a0e49b826b 114
dev_alexander 29:f7a0e49b826b 115 /* Copy bytes into sendBuffer. */
dev_alexander 29:f7a0e49b826b 116 memcpy(&sendBuffer[sendBufferIndex], &buffer[bufferIndex], bytesToCopy);
dev_alexander 29:f7a0e49b826b 117 length -= bytesToCopy;
dev_alexander 29:f7a0e49b826b 118 sendBufferIndex += bytesToCopy;
dev_alexander 29:f7a0e49b826b 119 bufferIndex += bytesToCopy;
dev_alexander 29:f7a0e49b826b 120
dev_alexander 29:f7a0e49b826b 121 /* Have we collected enough? */
dev_alexander 29:f7a0e49b826b 122 if ((sendBufferIndex == BLE_UART_SERVICE_MAX_DATA_LEN) ||
dev_alexander 29:f7a0e49b826b 123 // (sendBuffer[sendBufferIndex - 1] == '\r') ||
dev_alexander 29:f7a0e49b826b 124 (sendBuffer[sendBufferIndex - 1] == '\n')) {
dev_alexander 29:f7a0e49b826b 125 ble.gattServer().write(getRXCharacteristicHandle(), static_cast<const uint8_t *>(sendBuffer), sendBufferIndex);
dev_alexander 29:f7a0e49b826b 126 sendBufferIndex = 0;
dev_alexander 29:f7a0e49b826b 127 }
dev_alexander 29:f7a0e49b826b 128 }
dev_alexander 29:f7a0e49b826b 129 }
dev_alexander 29:f7a0e49b826b 130
dev_alexander 29:f7a0e49b826b 131 return origLength;
dev_alexander 29:f7a0e49b826b 132 }
dev_alexander 29:f7a0e49b826b 133
dev_alexander 29:f7a0e49b826b 134 /**
dev_alexander 29:f7a0e49b826b 135 * Helper function to write out strings.
dev_alexander 29:f7a0e49b826b 136 * @param str The received string.
dev_alexander 29:f7a0e49b826b 137 * @return Number of characters appended to the rxCharacteristic.
dev_alexander 29:f7a0e49b826b 138 */
dev_alexander 29:f7a0e49b826b 139 size_t writeString(const char *str) {
dev_alexander 29:f7a0e49b826b 140 return write(str, strlen(str));
dev_alexander 29:f7a0e49b826b 141 }
dev_alexander 29:f7a0e49b826b 142
dev_alexander 29:f7a0e49b826b 143 /**
dev_alexander 29:f7a0e49b826b 144 * Override for Stream::_putc().
dev_alexander 29:f7a0e49b826b 145 * @param c
dev_alexander 29:f7a0e49b826b 146 * This function writes the character c, cast to an unsigned char, to stream.
dev_alexander 29:f7a0e49b826b 147 * @return
dev_alexander 29:f7a0e49b826b 148 * The character written as an unsigned char cast to an int or EOF on error.
dev_alexander 29:f7a0e49b826b 149 */
dev_alexander 29:f7a0e49b826b 150 int _putc(int c) {
dev_alexander 29:f7a0e49b826b 151 return (write(&c, 1) == 1) ? 1 : EOF;
dev_alexander 29:f7a0e49b826b 152 }
dev_alexander 29:f7a0e49b826b 153
dev_alexander 29:f7a0e49b826b 154 /**
dev_alexander 29:f7a0e49b826b 155 * Override for Stream::_getc().
dev_alexander 29:f7a0e49b826b 156 * @return
dev_alexander 29:f7a0e49b826b 157 * The character read.
dev_alexander 29:f7a0e49b826b 158 */
dev_alexander 29:f7a0e49b826b 159 int _getc() {
dev_alexander 29:f7a0e49b826b 160 if (receiveBufferIndex == numBytesReceived) {
dev_alexander 29:f7a0e49b826b 161 return EOF;
dev_alexander 29:f7a0e49b826b 162 }
dev_alexander 29:f7a0e49b826b 163
dev_alexander 29:f7a0e49b826b 164 return receiveBuffer[receiveBufferIndex++];
dev_alexander 29:f7a0e49b826b 165 }
dev_alexander 29:f7a0e49b826b 166
dev_alexander 29:f7a0e49b826b 167 protected:
dev_alexander 29:f7a0e49b826b 168 /**
dev_alexander 29:f7a0e49b826b 169 * This callback allows the UART service to receive updates to the
dev_alexander 29:f7a0e49b826b 170 * txCharacteristic. The application should forward the call to this
dev_alexander 29:f7a0e49b826b 171 * function from the global onDataWritten() callback handler; if that's
dev_alexander 29:f7a0e49b826b 172 * not used, this method can be used as a callback directly.
dev_alexander 29:f7a0e49b826b 173 */
dev_alexander 29:f7a0e49b826b 174 void onDataWritten(const GattWriteCallbackParams *params) {
dev_alexander 29:f7a0e49b826b 175 if (params->handle == getTXCharacteristicHandle()) {
dev_alexander 29:f7a0e49b826b 176 uint16_t bytesRead = params->len;
dev_alexander 29:f7a0e49b826b 177 if (bytesRead <= BLE_UART_SERVICE_MAX_DATA_LEN) {
dev_alexander 29:f7a0e49b826b 178 numBytesReceived = bytesRead;
dev_alexander 29:f7a0e49b826b 179 receiveBufferIndex = 0;
dev_alexander 29:f7a0e49b826b 180 memcpy(receiveBuffer, params->data, numBytesReceived);
dev_alexander 29:f7a0e49b826b 181 }
dev_alexander 29:f7a0e49b826b 182 }
dev_alexander 29:f7a0e49b826b 183 }
dev_alexander 29:f7a0e49b826b 184
dev_alexander 29:f7a0e49b826b 185 protected:
dev_alexander 29:f7a0e49b826b 186 BLE &ble;
dev_alexander 29:f7a0e49b826b 187
dev_alexander 29:f7a0e49b826b 188 uint8_t receiveBuffer[BLE_UART_SERVICE_MAX_DATA_LEN]; /**< The local buffer into which we receive
dev_alexander 29:f7a0e49b826b 189 * inbound data before forwarding it to the
dev_alexander 29:f7a0e49b826b 190 * application. */
dev_alexander 29:f7a0e49b826b 191
dev_alexander 29:f7a0e49b826b 192 uint8_t sendBuffer[BLE_UART_SERVICE_MAX_DATA_LEN]; /**< The local buffer into which outbound data is
dev_alexander 29:f7a0e49b826b 193 * accumulated before being pushed to the
dev_alexander 29:f7a0e49b826b 194 * rxCharacteristic. */
dev_alexander 29:f7a0e49b826b 195 uint8_t sendBufferIndex;
dev_alexander 29:f7a0e49b826b 196 uint8_t numBytesReceived;
dev_alexander 29:f7a0e49b826b 197 uint8_t receiveBufferIndex;
dev_alexander 29:f7a0e49b826b 198
dev_alexander 29:f7a0e49b826b 199 GattCharacteristic txCharacteristic; /**< From the point of view of the external client, this is the characteristic
dev_alexander 29:f7a0e49b826b 200 * they'd write into in order to communicate with this application. */
dev_alexander 29:f7a0e49b826b 201 GattCharacteristic rxCharacteristic; /**< From the point of view of the external client, this is the characteristic
dev_alexander 29:f7a0e49b826b 202 * they'd read from in order to receive the bytes transmitted by this
dev_alexander 29:f7a0e49b826b 203 * application. */
dev_alexander 29:f7a0e49b826b 204 };
dev_alexander 29:f7a0e49b826b 205
dev_alexander 29:f7a0e49b826b 206 #endif /* #ifndef __BLE_UART_SERVICE_H__*/