Filippo Montano / Mbed 2 deprecated CANBLE

CAN to BLE translator - and back

Dependencies:   BLE_API CANnucleo X_NUCLEO_IDB0XA1 mbed

main.cpp@0:345c72cbcd60, 2016-04-07 (annotated)

Committer:
filippomontano
Date:
Thu Apr 07 14:19:45 2016 +0000
Revision:
0:345c72cbcd60
Child:
1:43ff0e4d56cc
Child:
2:bfe8810290ac
First skeletal: CAN read and store

Who changed what in which revision?

UserRevisionLine numberNew contents of line
filippomontano 0:345c72cbcd60 1 #include "mbed.h"
filippomontano 0:345c72cbcd60 2 #include "ble/BLE.h"
filippomontano 0:345c72cbcd60 3 #include "CAN.h"
filippomontano 0:345c72cbcd60 4 #define TARGET_NUCLEO_F072RB 1
filippomontano 0:345c72cbcd60 5
filippomontano 0:345c72cbcd60 6 #define LED_PIN PA_5
filippomontano 0:345c72cbcd60 7
filippomontano 0:345c72cbcd60 8 uint8_t CANId2BLESlot(unsigned int id);
filippomontano 0:345c72cbcd60 9 unsigned int BLESlot2CANId(uint8_t id);
filippomontano 0:345c72cbcd60 10 void onMsgReceived(void);
filippomontano 0:345c72cbcd60 11 void initCAN(void);
filippomontano 0:345c72cbcd60 12
filippomontano 0:345c72cbcd60 13 DigitalOut led(LED_PIN);
filippomontano 0:345c72cbcd60 14
filippomontano 0:345c72cbcd60 15
filippomontano 0:345c72cbcd60 16 //const unsigned int RX_ID = 0x10;
filippomontano 0:345c72cbcd60 17 //const unsigned int TX_ID = 0x11;
filippomontano 0:345c72cbcd60 18
filippomontano 0:345c72cbcd60 19 char shareddata[64][8]= { };
filippomontano 0:345c72cbcd60 20
filippomontano 0:345c72cbcd60 21 uint8_t canWrPointer= 255;
filippomontano 0:345c72cbcd60 22 uint8_t canRdPointer= 255;
filippomontano 0:345c72cbcd60 23 uint8_t bleWrPointerA= 255;
filippomontano 0:345c72cbcd60 24 uint8_t bleRdPointerA= 255;
filippomontano 0:345c72cbcd60 25 uint8_t bleWrPointerB= 255;
filippomontano 0:345c72cbcd60 26 uint8_t bleRdPointerB= 255;
filippomontano 0:345c72cbcd60 27
filippomontano 0:345c72cbcd60 28 Timer timerA, timerB; //questi due contatori servono solo per dire: appena è passato un po' di tempo -> esegui
filippomontano 0:345c72cbcd60 29
filippomontano 0:345c72cbcd60 30 CAN can(PB_8, PB_9); // CAN Rx pin name, CAN Tx pin name
filippomontano 0:345c72cbcd60 31 CANMessage rxMsg;
filippomontano 0:345c72cbcd60 32 CANMessage txMsg;
filippomontano 0:345c72cbcd60 33
filippomontano 0:345c72cbcd60 34 volatile bool CANmsgAvailable = false;
filippomontano 0:345c72cbcd60 35
filippomontano 0:345c72cbcd60 36
filippomontano 0:345c72cbcd60 37 int main()
filippomontano 0:345c72cbcd60 38 {
filippomontano 0:345c72cbcd60 39 uint8_t j=0;
filippomontano 0:345c72cbcd60 40 printf("\r\nBoard started\r\n");
filippomontano 0:345c72cbcd60 41 led = 1; // turn LED on
filippomontano 0:345c72cbcd60 42 initCAN();
filippomontano 0:345c72cbcd60 43 timerA.start();
filippomontano 0:345c72cbcd60 44 timerB.start();
filippomontano 0:345c72cbcd60 45 while(1) {
filippomontano 0:345c72cbcd60 46 if(timerA.read()>=1.0) {
filippomontano 0:345c72cbcd60 47 timerA.stop();
filippomontano 0:345c72cbcd60 48 timerA.reset();
filippomontano 0:345c72cbcd60 49 led=!led.read();
filippomontano 0:345c72cbcd60 50 timerA.start();
filippomontano 0:345c72cbcd60 51 }
filippomontano 0:345c72cbcd60 52 if(timerB.read()>=1.0) {
filippomontano 0:345c72cbcd60 53 timerB.stop();
filippomontano 0:345c72cbcd60 54 timerB.reset();
filippomontano 0:345c72cbcd60 55 //led=!led.read();
filippomontano 0:345c72cbcd60 56 timerB.start();
filippomontano 0:345c72cbcd60 57 }
filippomontano 0:345c72cbcd60 58 if(CANmsgAvailable) {
filippomontano 0:345c72cbcd60 59 CANmsgAvailable = false; // reset flag for next use
filippomontano 0:345c72cbcd60 60 can.read(rxMsg); // read message into Rx message storage
filippomontano 0:345c72cbcd60 61 j=CANId2BLESlot(rxMsg.id);
filippomontano 0:345c72cbcd60 62 if(j!=bleRdPointerA && j!=bleRdPointerB) {
filippomontano 0:345c72cbcd60 63 //write if BLE is not reading
filippomontano 0:345c72cbcd60 64 canWrPointer=j;
filippomontano 0:345c72cbcd60 65 printf("CAN message received:\r\n");
filippomontano 0:345c72cbcd60 66 printf(" ID = %#x -> %d \r\n", rxMsg.id, j);
filippomontano 0:345c72cbcd60 67 // printf(" Type = %d\r\n", rxMsg.type);
filippomontano 0:345c72cbcd60 68 // printf(" Format = %d\r\n", rxMsg.format);
filippomontano 0:345c72cbcd60 69 // printf(" Length = %d\r\n", rxMsg.len);
filippomontano 0:345c72cbcd60 70 printf(" Data =");
filippomontano 0:345c72cbcd60 71 for(int i = 0; i < rxMsg.len; i++) {
filippomontano 0:345c72cbcd60 72 shareddata[j][i]=rxMsg.data[i];
filippomontano 0:345c72cbcd60 73 printf(" %x", rxMsg.data[i]);
filippomontano 0:345c72cbcd60 74 }
filippomontano 0:345c72cbcd60 75 printf("\r\n");
filippomontano 0:345c72cbcd60 76 canWrPointer=255;
filippomontano 0:345c72cbcd60 77 }
filippomontano 0:345c72cbcd60 78 else
filippomontano 0:345c72cbcd60 79 {
filippomontano 0:345c72cbcd60 80 printf("CAN message %#x dropped because BLE read\r\n",rxMsg.id);
filippomontano 0:345c72cbcd60 81 }
filippomontano 0:345c72cbcd60 82 }
filippomontano 0:345c72cbcd60 83 }
filippomontano 0:345c72cbcd60 84 }
filippomontano 0:345c72cbcd60 85 void initCAN(void)
filippomontano 0:345c72cbcd60 86 {
filippomontano 0:345c72cbcd60 87 can.frequency(500000); // set bit rate to 500kbps as S018
filippomontano 0:345c72cbcd60 88 can.attach(&onMsgReceived, CAN::RxIrq); // attach 'CAN receive-complete' interrupt handler
filippomontano 0:345c72cbcd60 89 printf("\r\nCAN started at 500kbps\r\n");
filippomontano 0:345c72cbcd60 90 }
filippomontano 0:345c72cbcd60 91 void onMsgReceived(void)
filippomontano 0:345c72cbcd60 92 {
filippomontano 0:345c72cbcd60 93 CANmsgAvailable = true;
filippomontano 0:345c72cbcd60 94 }
filippomontano 0:345c72cbcd60 95 uint8_t CANId2BLESlot(unsigned int id)
filippomontano 0:345c72cbcd60 96 {
filippomontano 0:345c72cbcd60 97 uint8_t retval=0;
filippomontano 0:345c72cbcd60 98 switch(id) {
filippomontano 0:345c72cbcd60 99 case 0x313:
filippomontano 0:345c72cbcd60 100 retval=1;
filippomontano 0:345c72cbcd60 101 break;
filippomontano 0:345c72cbcd60 102 case 0x314:
filippomontano 0:345c72cbcd60 103 retval=2;
filippomontano 0:345c72cbcd60 104 break;
filippomontano 0:345c72cbcd60 105 case 0x310:
filippomontano 0:345c72cbcd60 106 retval=3;
filippomontano 0:345c72cbcd60 107 break;
filippomontano 0:345c72cbcd60 108 case 0x315:
filippomontano 0:345c72cbcd60 109 retval=4;
filippomontano 0:345c72cbcd60 110 break;
filippomontano 0:345c72cbcd60 111 case 0x111:
filippomontano 0:345c72cbcd60 112 retval=5;
filippomontano 0:345c72cbcd60 113 break;
filippomontano 0:345c72cbcd60 114 case 0x112:
filippomontano 0:345c72cbcd60 115 retval=6;
filippomontano 0:345c72cbcd60 116 break;
filippomontano 0:345c72cbcd60 117 case 0x400:
filippomontano 0:345c72cbcd60 118 retval=7;
filippomontano 0:345c72cbcd60 119 break;
filippomontano 0:345c72cbcd60 120 case 0x450:
filippomontano 0:345c72cbcd60 121 retval=8;
filippomontano 0:345c72cbcd60 122 break;
filippomontano 0:345c72cbcd60 123 case 0x451:
filippomontano 0:345c72cbcd60 124 retval=9;
filippomontano 0:345c72cbcd60 125 break;
filippomontano 0:345c72cbcd60 126 case 0x452:
filippomontano 0:345c72cbcd60 127 retval=10;
filippomontano 0:345c72cbcd60 128 break;
filippomontano 0:345c72cbcd60 129 case 0x453:
filippomontano 0:345c72cbcd60 130 retval=11;
filippomontano 0:345c72cbcd60 131 break;
filippomontano 0:345c72cbcd60 132 case 0x454:
filippomontano 0:345c72cbcd60 133 retval=12;
filippomontano 0:345c72cbcd60 134 break;
filippomontano 0:345c72cbcd60 135 case 0x455:
filippomontano 0:345c72cbcd60 136 retval=13;
filippomontano 0:345c72cbcd60 137 break;
filippomontano 0:345c72cbcd60 138 default:
filippomontano 0:345c72cbcd60 139 retval=0;
filippomontano 0:345c72cbcd60 140 break;
filippomontano 0:345c72cbcd60 141 }
filippomontano 0:345c72cbcd60 142 return retval;
filippomontano 0:345c72cbcd60 143 }
filippomontano 0:345c72cbcd60 144 unsigned int BLESlot2CANId(uint8_t id)
filippomontano 0:345c72cbcd60 145 {
filippomontano 0:345c72cbcd60 146 unsigned int retval=0;
filippomontano 0:345c72cbcd60 147 switch(id) {
filippomontano 0:345c72cbcd60 148 case 63:
filippomontano 0:345c72cbcd60 149 retval=0x303;
filippomontano 0:345c72cbcd60 150 break;
filippomontano 0:345c72cbcd60 151 case 62:
filippomontano 0:345c72cbcd60 152 retval=0x304;
filippomontano 0:345c72cbcd60 153 break;
filippomontano 0:345c72cbcd60 154 default:
filippomontano 0:345c72cbcd60 155 retval=0x0;
filippomontano 0:345c72cbcd60 156 break;
filippomontano 0:345c72cbcd60 157 }
filippomontano 0:345c72cbcd60 158 return retval;
filippomontano 0:345c72cbcd60 159 }