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CAN to BLE translator - and back
Dependencies: BLE_API CANnucleo X_NUCLEO_IDB0XA1 mbed
Diff: main.cpp
- Revision:
- 3:5bce2e8d2797
- Parent:
- 2:bfe8810290ac
- Child:
- 4:8c2cd88d2545
--- a/main.cpp Fri Apr 08 07:40:08 2016 +0000 +++ b/main.cpp Fri Apr 08 12:21:07 2016 +0000 @@ -1,18 +1,30 @@ #include "mbed.h" #include "ble/BLE.h" #include "CAN.h" -#define TARGET_NUCLEO_F072RB 1 +#define TARGET_NUCLEO_F072RB 1 #define LED_PIN PA_5 +#define BLE_GATT_CHAR_PROPERTIES_NOTIFY 0x10 + uint8_t CANId2BLESlot(unsigned int id); unsigned int BLESlot2CANId(uint8_t id); void onMsgReceived(void); void initCAN(void); -DigitalOut led(LED_PIN); +void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params); +void writeCharCallback(const GattWriteCallbackParams *params); +void bleInitComplete(BLE::InitializationCompleteCallbackContext *params); +void onBleInitError(BLE &ble, ble_error_t error); +void initBLE(void); +DigitalOut led(LED_PIN),CAN_show(PC_12); + + +const static char DEVICE_NAME[] = "STNucleo - RGM - FM"; +static const uint16_t uuid16_list[] = {0xFFFF}; + //const unsigned int RX_ID = 0x10; //const unsigned int TX_ID = 0x11; @@ -25,70 +37,163 @@ uint8_t bleWrPointerB= 255; uint8_t bleRdPointerB= 255; -Timer timerA, timerB; //questi due contatori servono solo per dire: appena è passato un po' di tempo -> esegui +const uint8_t firstBleRdPointer=1; +const uint8_t lastBleRdPointer=14; + +const uint8_t firstCanRdPointer=62; +const uint8_t lastCanRdPointer=63; + +uint8_t canRdLastPointer= 255; // puntatore per sapere che cosa ho mandato per ultimo. a runtime devo andare a modificarlo per sapere al ciclo dopo cosa ho già mandato +uint8_t bleRdLastPointer= 255; // puntatore per sapere che cosa ho mandato per ultimo. a runtime devo andare a modificarlo per sapere al ciclo dopo cosa ho già mandato + +Timer timerA; //questo contatoro serve solo per dire: appena è passato un po' di tempo -> esegui //CAN can(PB_8, PB_9); // CAN Rx pin name, CAN Tx pin name - -CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name CANMessage rxMsg; CANMessage txMsg; +BLE ble; + +uint16_t customServiceUUID = 0xA000; // service UUID +uint16_t readCharUUID = 0xA001; // read characteristic UUID +uint16_t writeCharUUID = 0xA002; // write characteristic UUID + +static uint8_t readValue[128] = {0}; + +//static uint8_t readValue[6]="HELLO"; + + +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 + +static uint8_t writeValue[128] = {0}; +WriteOnlyArrayGattCharacteristic<uint8_t, sizeof(writeValue)> writeChar(writeCharUUID, writeValue); + +GattCharacteristic *characteristics[] = {&readChar, &writeChar}; +GattService customService(customServiceUUID, characteristics, sizeof(characteristics) / sizeof(GattCharacteristic *)); +uint8_t retry=1; +uint8_t readdata[20]= {}; +char symbol=' '; volatile bool CANmsgAvailable = false; - +volatile bool BLExmit = false; +float stopTimer=2.0; int main() { - uint8_t j=0; - printf("\r\nBoard started\r\n"); + uint8_t j=0,k=firstBleRdPointer; + // printf("\r\nBoard started\r\n"); led = 1; // turn LED on - initCAN(); + CAN_show=1; + + bleRdLastPointer=lastBleRdPointer; + BLE::Instance().init(bleInitComplete); + CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name + CAN_show=0; + + //canRdLastPointer=lastCanRdPointer; + can.frequency(500000); // set bit rate to 500kbps as S018 + printf("\r\nCAN started at 500kbps\r\n"); timerA.start(); - timerB.start(); - while(1) { - if(timerA.read()>=1.0) { + can.attach(&onMsgReceived, CAN::RxIrq); // attach 'CAN receive-complete' interrupt handler + + while(true) { + if(ble.getGapState().connected) { + stopTimer=0.2; + symbol='!'; + + + } else { + stopTimer=3; + ble.waitForEvent(); + symbol='.'; + } + + if(timerA.read()>=stopTimer) { + BLExmit=ble.getGapState().connected; timerA.stop(); timerA.reset(); led=!led.read(); + printf("%c\r\n",symbol); timerA.start(); - } - if(timerB.read()>=1.0) { - timerB.stop(); - timerB.reset(); - //led=!led.read(); - timerB.start(); + } if(CANmsgAvailable) { CANmsgAvailable = false; // reset flag for next use can.read(rxMsg); // read message into Rx message storage j=CANId2BLESlot(rxMsg.id); if(j!=bleRdPointerA && j!=bleRdPointerB) { - //write if BLE is not reading - canWrPointer=j; - printf("CAN message received:\r\n"); - printf(" ID = %#x -> %d \r\n", rxMsg.id, j); - // printf(" Type = %d\r\n", rxMsg.type); - // printf(" Format = %d\r\n", rxMsg.format); - // printf(" Length = %d\r\n", rxMsg.len); - printf(" Data ="); + for(int i = 0; i < rxMsg.len; i++) { shareddata[j][i]=rxMsg.data[i]; - printf(" %x", rxMsg.data[i]); + // printf(" %x", rxMsg.data[i]); } - printf("\r\n"); - canWrPointer=255; + // printf("#"); + } - else - { - printf("CAN message %#x dropped because BLE read\r\n",rxMsg.id); + } + if(BLExmit) { + BLExmit=false; + retry++; + if(retry==0xff) ble.gap().startAdvertising(); + printf ("%x ",retry); + printf("@"); + k++; + if(k>lastBleRdPointer) + k=firstBleRdPointer; + readValue[0]=k; + for(int i=1; i<8; i++) { + readValue[i]=shareddata[k][i]; } + for(int i=0; i<8; i++) { + printf ("%x",readValue[i]); + } + ble.updateCharacteristicValue(readChar.getValueHandle(), readValue,9); + + } } } -void initCAN(void) + +void bleInitComplete(BLE::InitializationCompleteCallbackContext *params) { - can.frequency(500000); // set bit rate to 500kbps as S018 - can.attach(&onMsgReceived, CAN::RxIrq); // attach 'CAN receive-complete' interrupt handler - printf("\r\nCAN started at 500kbps\r\n"); + BLE& ble = params->ble; + ble_error_t error = params->error; + + if (error != BLE_ERROR_NONE) { + onBleInitError(ble, error); + return; + } + + if (ble.getInstanceID() != BLE::DEFAULT_INSTANCE) { + return; + } + + ble.gap().onDisconnection(disconnectionCallback); + + /* Setup primary service. */ + + /* Setup advertising. */ + printf("Setup of Advertising\r\n"); + ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE); + ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS, (uint8_t *)uuid16_list, sizeof(uuid16_list)); + ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME)); + ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); + ble.gap().setAdvertisingInterval(1000);// 1000ms + ble.gap().startAdvertising(); + ble.onDataWritten(writeCharCallback); + ble.addService(customService); + + printf("Starting Loop\r\n"); + + +} +void onBleInitError(BLE &ble, ble_error_t error) +{ + (void)ble; + (void)error; + printf(" ### BLE init error ###\r\n"); + + + /* Initialization error handling should go here */ } void onMsgReceived(void) { @@ -158,4 +263,38 @@ break; } return retval; -} \ No newline at end of file +} + +void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params) +{ + (void)params; + printf("\r\nTarget loss... wait for reconnection \r\n"); + + BLE::Instance().gap().startAdvertising(); // restart advertising +} + +void writeCharCallback(const GattWriteCallbackParams *params) +{ + + uint8_t j=0; + + // check to see what characteristic was written, by handle + if(params->handle == writeChar.getValueHandle()) { + BLESlot2CANId(params->data[0]); + printf("\n\r Data received: length = %d, data = ",params->len); + if(canRdPointer != j && canRdPointer != j+1) { + bleWrPointerA=j; + bleWrPointerB=j+1; + for(int x=0; x < 9; x++) { + printf("%c",params->data[x]); + shareddata[j][x]=params->data[x]; + } + for(int x=9; x < 18; x++) { + printf("%c",params->data[x]); + shareddata[j+1][x-9]=params->data[x]; + } + bleWrPointerA=255; + bleWrPointerB=255; + } + } +}