Filippo Montano / Mbed 2 deprecated CANBLE

CAN to BLE translator - and back

Dependencies:   BLE_API CANnucleo X_NUCLEO_IDB0XA1 mbed

main.cpp@1:43ff0e4d56cc, 2016-04-07 (annotated)

Committer:
filippomontano
Date:
Thu Apr 07 14:36:30 2016 +0000
Revision:
1:43ff0e4d56cc
Parent:
0:345c72cbcd60 
Second skeletal: BLE init

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
filippomontano 1:43ff0e4d56cc 5 #define TARGET_NUCLEO_F072RB 1
filippomontano 0:345c72cbcd60 6 #define LED_PIN PA_5
filippomontano 0:345c72cbcd60 7
filippomontano 1:43ff0e4d56cc 8 #define BLE_GATT_CHAR_PROPERTIES_NOTIFY 0x10
filippomontano 1:43ff0e4d56cc 9
filippomontano 0:345c72cbcd60 10 uint8_t CANId2BLESlot(unsigned int id);
filippomontano 0:345c72cbcd60 11 unsigned int BLESlot2CANId(uint8_t id);
filippomontano 0:345c72cbcd60 12 void onMsgReceived(void);
filippomontano 0:345c72cbcd60 13 void initCAN(void);
filippomontano 0:345c72cbcd60 14
filippomontano 1:43ff0e4d56cc 15 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params);
filippomontano 1:43ff0e4d56cc 16 void writeCharCallback(const GattWriteCallbackParams *params);
filippomontano 1:43ff0e4d56cc 17 void bleInitComplete(BLE::InitializationCompleteCallbackContext *params);
filippomontano 1:43ff0e4d56cc 18 void onBleInitError(BLE &ble, ble_error_t error);
filippomontano 1:43ff0e4d56cc 19 void initBLE(void);
filippomontano 1:43ff0e4d56cc 20
filippomontano 1:43ff0e4d56cc 21
filippomontano 0:345c72cbcd60 22 DigitalOut led(LED_PIN);
filippomontano 0:345c72cbcd60 23
filippomontano 0:345c72cbcd60 24
filippomontano 1:43ff0e4d56cc 25 const static char DEVICE_NAME[] = "STNucleo - RGM - FM";
filippomontano 1:43ff0e4d56cc 26 static const uint16_t uuid16_list[] = {0xFFFF};
filippomontano 1:43ff0e4d56cc 27
filippomontano 0:345c72cbcd60 28 //const unsigned int RX_ID = 0x10;
filippomontano 0:345c72cbcd60 29 //const unsigned int TX_ID = 0x11;
filippomontano 0:345c72cbcd60 30
filippomontano 0:345c72cbcd60 31 char shareddata[64][8]= { };
filippomontano 0:345c72cbcd60 32
filippomontano 0:345c72cbcd60 33 uint8_t canWrPointer= 255;
filippomontano 0:345c72cbcd60 34 uint8_t canRdPointer= 255;
filippomontano 0:345c72cbcd60 35 uint8_t bleWrPointerA= 255;
filippomontano 0:345c72cbcd60 36 uint8_t bleRdPointerA= 255;
filippomontano 0:345c72cbcd60 37 uint8_t bleWrPointerB= 255;
filippomontano 0:345c72cbcd60 38 uint8_t bleRdPointerB= 255;
filippomontano 0:345c72cbcd60 39
filippomontano 0:345c72cbcd60 40 Timer timerA, timerB; //questi due contatori servono solo per dire: appena è passato un po' di tempo -> esegui
filippomontano 0:345c72cbcd60 41
filippomontano 0:345c72cbcd60 42 CAN can(PB_8, PB_9); // CAN Rx pin name, CAN Tx pin name
filippomontano 0:345c72cbcd60 43 CANMessage rxMsg;
filippomontano 0:345c72cbcd60 44 CANMessage txMsg;
filippomontano 0:345c72cbcd60 45
filippomontano 1:43ff0e4d56cc 46 BLE ble;
filippomontano 1:43ff0e4d56cc 47
filippomontano 1:43ff0e4d56cc 48 uint16_t customServiceUUID = 0xA000; // service UUID
filippomontano 1:43ff0e4d56cc 49 uint16_t readCharUUID = 0xA001; // read characteristic UUID
filippomontano 1:43ff0e4d56cc 50 uint16_t writeCharUUID = 0xA002; // write characteristic UUID
filippomontano 1:43ff0e4d56cc 51
filippomontano 1:43ff0e4d56cc 52 static uint8_t readValue[128] = {0};
filippomontano 1:43ff0e4d56cc 53 ReadOnlyArrayGattCharacteristic<uint8_t, sizeof(readValue)> readChar(readCharUUID, readValue, BLE_GATT_CHAR_PROPERTIES_NOTIFY , NULL,0); //aggiunto il BLE_GATT_CHAR_PROPERTIES_NOTIFY => appena arriva lo rimanda
filippomontano 1:43ff0e4d56cc 54
filippomontano 1:43ff0e4d56cc 55 static uint8_t writeValue[128] = {0};
filippomontano 1:43ff0e4d56cc 56 WriteOnlyArrayGattCharacteristic<uint8_t, sizeof(writeValue)> writeChar(writeCharUUID, writeValue);
filippomontano 1:43ff0e4d56cc 57
filippomontano 1:43ff0e4d56cc 58 GattCharacteristic *characteristics[] = {&readChar, &writeChar};
filippomontano 1:43ff0e4d56cc 59 GattService customService(customServiceUUID, characteristics, sizeof(characteristics) / sizeof(GattCharacteristic *));
filippomontano 1:43ff0e4d56cc 60
filippomontano 1:43ff0e4d56cc 61
filippomontano 0:345c72cbcd60 62 volatile bool CANmsgAvailable = false;
filippomontano 1:43ff0e4d56cc 63 volatile bool BLExmit = false;
filippomontano 0:345c72cbcd60 64
filippomontano 0:345c72cbcd60 65 int main()
filippomontano 0:345c72cbcd60 66 {
filippomontano 0:345c72cbcd60 67 uint8_t j=0;
filippomontano 0:345c72cbcd60 68 printf("\r\nBoard started\r\n");
filippomontano 0:345c72cbcd60 69 led = 1; // turn LED on
filippomontano 0:345c72cbcd60 70 initCAN();
filippomontano 0:345c72cbcd60 71 timerA.start();
filippomontano 0:345c72cbcd60 72 timerB.start();
filippomontano 0:345c72cbcd60 73 while(1) {
filippomontano 0:345c72cbcd60 74 if(timerA.read()>=1.0) {
filippomontano 0:345c72cbcd60 75 timerA.stop();
filippomontano 0:345c72cbcd60 76 timerA.reset();
filippomontano 0:345c72cbcd60 77 led=!led.read();
filippomontano 0:345c72cbcd60 78 timerA.start();
filippomontano 0:345c72cbcd60 79 }
filippomontano 1:43ff0e4d56cc 80 if(timerB.read()>=0.1) {
filippomontano 0:345c72cbcd60 81 timerB.stop();
filippomontano 0:345c72cbcd60 82 timerB.reset();
filippomontano 1:43ff0e4d56cc 83
filippomontano 1:43ff0e4d56cc 84 if(ble.getGapState().connected) BLExmit=true;
filippomontano 1:43ff0e4d56cc 85
filippomontano 0:345c72cbcd60 86 timerB.start();
filippomontano 0:345c72cbcd60 87 }
filippomontano 0:345c72cbcd60 88 if(CANmsgAvailable) {
filippomontano 0:345c72cbcd60 89 CANmsgAvailable = false; // reset flag for next use
filippomontano 0:345c72cbcd60 90 can.read(rxMsg); // read message into Rx message storage
filippomontano 0:345c72cbcd60 91 j=CANId2BLESlot(rxMsg.id);
filippomontano 0:345c72cbcd60 92 if(j!=bleRdPointerA && j!=bleRdPointerB) {
filippomontano 0:345c72cbcd60 93 //write if BLE is not reading
filippomontano 0:345c72cbcd60 94 canWrPointer=j;
filippomontano 0:345c72cbcd60 95 printf("CAN message received:\r\n");
filippomontano 0:345c72cbcd60 96 printf(" ID = %#x -> %d \r\n", rxMsg.id, j);
filippomontano 0:345c72cbcd60 97 // printf(" Type = %d\r\n", rxMsg.type);
filippomontano 0:345c72cbcd60 98 // printf(" Format = %d\r\n", rxMsg.format);
filippomontano 0:345c72cbcd60 99 // printf(" Length = %d\r\n", rxMsg.len);
filippomontano 0:345c72cbcd60 100 printf(" Data =");
filippomontano 0:345c72cbcd60 101 for(int i = 0; i < rxMsg.len; i++) {
filippomontano 0:345c72cbcd60 102 shareddata[j][i]=rxMsg.data[i];
filippomontano 0:345c72cbcd60 103 printf(" %x", rxMsg.data[i]);
filippomontano 0:345c72cbcd60 104 }
filippomontano 0:345c72cbcd60 105 printf("\r\n");
filippomontano 0:345c72cbcd60 106 canWrPointer=255;
filippomontano 1:43ff0e4d56cc 107 } else {
filippomontano 1:43ff0e4d56cc 108 printf("CAN message %#x dropped because BLE read\r\n",rxMsg.id);
filippomontano 0:345c72cbcd60 109 }
filippomontano 1:43ff0e4d56cc 110 }
filippomontano 1:43ff0e4d56cc 111 if(BLExmit) {
filippomontano 1:43ff0e4d56cc 112 BLExmit=false;
filippomontano 0:345c72cbcd60 113 }
filippomontano 0:345c72cbcd60 114 }
filippomontano 0:345c72cbcd60 115 }
filippomontano 0:345c72cbcd60 116 void initCAN(void)
filippomontano 0:345c72cbcd60 117 {
filippomontano 0:345c72cbcd60 118 can.frequency(500000); // set bit rate to 500kbps as S018
filippomontano 0:345c72cbcd60 119 can.attach(&onMsgReceived, CAN::RxIrq); // attach 'CAN receive-complete' interrupt handler
filippomontano 0:345c72cbcd60 120 printf("\r\nCAN started at 500kbps\r\n");
filippomontano 0:345c72cbcd60 121 }
filippomontano 1:43ff0e4d56cc 122 void initBLE(void)
filippomontano 1:43ff0e4d56cc 123 {
filippomontano 1:43ff0e4d56cc 124 BLE::Instance().init(bleInitComplete);
filippomontano 1:43ff0e4d56cc 125 }
filippomontano 1:43ff0e4d56cc 126 void bleInitComplete(BLE::InitializationCompleteCallbackContext *params)
filippomontano 1:43ff0e4d56cc 127 {
filippomontano 1:43ff0e4d56cc 128 BLE& ble = params->ble;
filippomontano 1:43ff0e4d56cc 129 ble_error_t error = params->error;
filippomontano 1:43ff0e4d56cc 130
filippomontano 1:43ff0e4d56cc 131 if (error != BLE_ERROR_NONE) {
filippomontano 1:43ff0e4d56cc 132 onBleInitError(ble, error);
filippomontano 1:43ff0e4d56cc 133 return;
filippomontano 1:43ff0e4d56cc 134 }
filippomontano 1:43ff0e4d56cc 135
filippomontano 1:43ff0e4d56cc 136 if (ble.getInstanceID() != BLE::DEFAULT_INSTANCE) {
filippomontano 1:43ff0e4d56cc 137 return;
filippomontano 1:43ff0e4d56cc 138 }
filippomontano 1:43ff0e4d56cc 139
filippomontano 1:43ff0e4d56cc 140 ble.gap().onDisconnection(disconnectionCallback);
filippomontano 1:43ff0e4d56cc 141
filippomontano 1:43ff0e4d56cc 142 /* Setup primary service. */
filippomontano 1:43ff0e4d56cc 143
filippomontano 1:43ff0e4d56cc 144 /* Setup advertising. */
filippomontano 1:43ff0e4d56cc 145 printf("Setup of Advertising\r\n");
filippomontano 1:43ff0e4d56cc 146 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
filippomontano 1:43ff0e4d56cc 147 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS, (uint8_t *)uuid16_list, sizeof(uuid16_list));
filippomontano 1:43ff0e4d56cc 148 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
filippomontano 1:43ff0e4d56cc 149 ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
filippomontano 1:43ff0e4d56cc 150 ble.gap().setAdvertisingInterval(1000); /* 1000ms */
filippomontano 1:43ff0e4d56cc 151 ble.gap().startAdvertising();
filippomontano 1:43ff0e4d56cc 152 ble.onDataWritten(writeCharCallback);
filippomontano 1:43ff0e4d56cc 153 ble.addService(customService);
filippomontano 1:43ff0e4d56cc 154 }
filippomontano 1:43ff0e4d56cc 155 void onBleInitError(BLE &ble, ble_error_t error)
filippomontano 1:43ff0e4d56cc 156 {
filippomontano 1:43ff0e4d56cc 157 (void)ble;
filippomontano 1:43ff0e4d56cc 158 (void)error;
filippomontano 1:43ff0e4d56cc 159 /* Initialization error handling should go here */
filippomontano 1:43ff0e4d56cc 160 }
filippomontano 0:345c72cbcd60 161 void onMsgReceived(void)
filippomontano 0:345c72cbcd60 162 {
filippomontano 0:345c72cbcd60 163 CANmsgAvailable = true;
filippomontano 0:345c72cbcd60 164 }
filippomontano 0:345c72cbcd60 165 uint8_t CANId2BLESlot(unsigned int id)
filippomontano 0:345c72cbcd60 166 {
filippomontano 0:345c72cbcd60 167 uint8_t retval=0;
filippomontano 0:345c72cbcd60 168 switch(id) {
filippomontano 0:345c72cbcd60 169 case 0x313:
filippomontano 0:345c72cbcd60 170 retval=1;
filippomontano 0:345c72cbcd60 171 break;
filippomontano 0:345c72cbcd60 172 case 0x314:
filippomontano 0:345c72cbcd60 173 retval=2;
filippomontano 0:345c72cbcd60 174 break;
filippomontano 0:345c72cbcd60 175 case 0x310:
filippomontano 0:345c72cbcd60 176 retval=3;
filippomontano 0:345c72cbcd60 177 break;
filippomontano 0:345c72cbcd60 178 case 0x315:
filippomontano 0:345c72cbcd60 179 retval=4;
filippomontano 0:345c72cbcd60 180 break;
filippomontano 0:345c72cbcd60 181 case 0x111:
filippomontano 0:345c72cbcd60 182 retval=5;
filippomontano 0:345c72cbcd60 183 break;
filippomontano 0:345c72cbcd60 184 case 0x112:
filippomontano 0:345c72cbcd60 185 retval=6;
filippomontano 0:345c72cbcd60 186 break;
filippomontano 0:345c72cbcd60 187 case 0x400:
filippomontano 0:345c72cbcd60 188 retval=7;
filippomontano 0:345c72cbcd60 189 break;
filippomontano 0:345c72cbcd60 190 case 0x450:
filippomontano 0:345c72cbcd60 191 retval=8;
filippomontano 0:345c72cbcd60 192 break;
filippomontano 0:345c72cbcd60 193 case 0x451:
filippomontano 0:345c72cbcd60 194 retval=9;
filippomontano 0:345c72cbcd60 195 break;
filippomontano 0:345c72cbcd60 196 case 0x452:
filippomontano 0:345c72cbcd60 197 retval=10;
filippomontano 0:345c72cbcd60 198 break;
filippomontano 0:345c72cbcd60 199 case 0x453:
filippomontano 0:345c72cbcd60 200 retval=11;
filippomontano 0:345c72cbcd60 201 break;
filippomontano 0:345c72cbcd60 202 case 0x454:
filippomontano 0:345c72cbcd60 203 retval=12;
filippomontano 0:345c72cbcd60 204 break;
filippomontano 0:345c72cbcd60 205 case 0x455:
filippomontano 0:345c72cbcd60 206 retval=13;
filippomontano 0:345c72cbcd60 207 break;
filippomontano 0:345c72cbcd60 208 default:
filippomontano 0:345c72cbcd60 209 retval=0;
filippomontano 0:345c72cbcd60 210 break;
filippomontano 0:345c72cbcd60 211 }
filippomontano 0:345c72cbcd60 212 return retval;
filippomontano 0:345c72cbcd60 213 }
filippomontano 0:345c72cbcd60 214 unsigned int BLESlot2CANId(uint8_t id)
filippomontano 0:345c72cbcd60 215 {
filippomontano 0:345c72cbcd60 216 unsigned int retval=0;
filippomontano 0:345c72cbcd60 217 switch(id) {
filippomontano 0:345c72cbcd60 218 case 63:
filippomontano 0:345c72cbcd60 219 retval=0x303;
filippomontano 0:345c72cbcd60 220 break;
filippomontano 0:345c72cbcd60 221 case 62:
filippomontano 0:345c72cbcd60 222 retval=0x304;
filippomontano 0:345c72cbcd60 223 break;
filippomontano 0:345c72cbcd60 224 default:
filippomontano 0:345c72cbcd60 225 retval=0x0;
filippomontano 0:345c72cbcd60 226 break;
filippomontano 0:345c72cbcd60 227 }
filippomontano 0:345c72cbcd60 228 return retval;
filippomontano 1:43ff0e4d56cc 229 }
filippomontano 1:43ff0e4d56cc 230
filippomontano 1:43ff0e4d56cc 231 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
filippomontano 1:43ff0e4d56cc 232 {
filippomontano 1:43ff0e4d56cc 233 (void)params;
filippomontano 1:43ff0e4d56cc 234 printf("\r\nTarget loss... wait for reconnection \r\n");
filippomontano 1:43ff0e4d56cc 235
filippomontano 1:43ff0e4d56cc 236 BLE::Instance().gap().startAdvertising(); // restart advertising
filippomontano 1:43ff0e4d56cc 237 }
filippomontano 1:43ff0e4d56cc 238
filippomontano 1:43ff0e4d56cc 239 void writeCharCallback(const GattWriteCallbackParams *params)
filippomontano 1:43ff0e4d56cc 240 {
filippomontano 1:43ff0e4d56cc 241 /*
filippomontano 1:43ff0e4d56cc 242 int terminale=params->len;
filippomontano 1:43ff0e4d56cc 243 // check to see what characteristic was written, by handle
filippomontano 1:43ff0e4d56cc 244 if(params->handle == writeChar.getValueHandle()) {
filippomontano 1:43ff0e4d56cc 245 daerdata[0]=terminale;
filippomontano 1:43ff0e4d56cc 246
filippomontano 1:43ff0e4d56cc 247 printf("\n\r Data received: length = %d, data = ",terminale);
filippomontano 1:43ff0e4d56cc 248 for(int x=0; x < terminale; x++) {
filippomontano 1:43ff0e4d56cc 249 printf("%c",params->data[x]);
filippomontano 1:43ff0e4d56cc 250 daerdata[x+1]=params->data[x];
filippomontano 1:43ff0e4d56cc 251 }
filippomontano 1:43ff0e4d56cc 252
filippomontano 1:43ff0e4d56cc 253 ble.updateCharacteristicValue(readChar.getValueHandle(),daerdata,terminale+1);
filippomontano 1:43ff0e4d56cc 254
filippomontano 1:43ff0e4d56cc 255 }*/
filippomontano 1:43ff0e4d56cc 256 }