Filippo Montano
CAN to BLE translator - and back
Dependencies: BLE_API CANnucleo X_NUCLEO_IDB0XA1 mbed
Diff: main.cpp
- Revision:
- 7:b834d20f9aa1
- Parent:
- 6:f85bc6e59111
--- a/main.cpp Fri Apr 08 14:39:43 2016 +0000
+++ b/main.cpp Tue Apr 12 06:32:27 2016 +0000
@@ -10,29 +10,37 @@
uint8_t CANId2BLESlot(unsigned int id);
unsigned int BLESlot2CANId(uint8_t id);
void onMsgReceived(void);
-void initCAN(void);
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);
void periodicCallback(void);
-static volatile bool triggerSensorPolling = false;
+
+
+void initMEM(void);
+void dumpMEM(void);
-Ticker ticker;
+CANMessage rxMsg;
+CANMessage txMsg;
+
+BLE ble;
+
+char shareddata[64][8]= { };
DigitalOut led(LED_PIN),CAN_show(PC_12);
+DigitalIn button(PC_13);
+const uint8_t firstBleRdPointer=1;
+const uint8_t lastBleRdPointer=14;
+const uint8_t firstCanRdPointer=57;
+const uint8_t lastCanRdPointer=63;
const static char DEVICE_NAME[] = "STNucleo - RGM - FM";
-static const uint16_t uuid16_list[] = {0xFFFF};
+const static uint16_t uuid16_list[] = {0xFFFF};
-//const unsigned int RX_ID = 0x10;
-//const unsigned int TX_ID = 0x11;
-
-char shareddata[64][8]= { };
+static volatile bool triggerSensorPolling = false;
uint8_t canWrPointer= 255;
uint8_t canRdPointer= 255;
@@ -41,31 +49,19 @@
uint8_t bleWrPointerB= 255;
uint8_t bleRdPointerB= 255;
-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
+Ticker ticker; //synchronous counter - IRQ enabled
+Timer timerA; //unsynchronous counter - no IRQ
-//CAN can(PB_8, PB_9); // CAN Rx pin name, CAN Tx pin name
-CANMessage rxMsg;
-CANMessage txMsg;
-
-BLE ble;
+//CAN can(PB_8, PB_9); // alternatives for CAN Rx pin name, CAN Tx pin name
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};
-
-
-
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};
@@ -73,49 +69,53 @@
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;
+bool signal=true;
+
float stopTimer=2.0;
+uint8_t readdata[20]= {}; //BLE data
+char kantMsg[8]= {0}; //CAN data
+
int main()
{
- uint8_t j=0,k=firstBleRdPointer;
- // printf("\r\nBoard started\r\n");
+ uint8_t j=0,k=0;
+ int mcan=0;
+ initMEM();
+ printf("\r\nBoard started\r\n");
led = 1; // turn LED on
- CAN_show=1;
-
bleRdLastPointer=lastBleRdPointer;
+ canRdPointer=lastCanRdPointer;
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");
+ printf("CAN started at 500kbps\r\n");
timerA.start();
can.attach(&onMsgReceived, CAN::RxIrq); // attach 'CAN receive-complete' interrupt handler
-
-
while(true) {
// if(ble.getGapState().connected) {
if(triggerSensorPolling && ble.getGapState().connected) {
triggerSensorPolling=false;
- // printf("^");
} else {
- // printf("v");
ble.waitForEvent();
}
if(ble.gap().getState().connected) {
- stopTimer=0.2;
- symbol='!';
+ stopTimer=0.1;
+
} else {
- stopTimer=3;
+
+ stopTimer=1;
+ //stopTimer=5;
// ble.waitForEvent();
- symbol='.';
+
}
if(timerA.read()>=stopTimer) {
@@ -124,8 +124,26 @@
timerA.stop();
timerA.reset();
led=!led.read();
- printf("%c\r\n",symbol);
timerA.start();
+ if(!button) dumpMEM();
+
+
+ if(++canRdPointer>lastCanRdPointer) {
+ canRdPointer=firstCanRdPointer;
+ }
+ mcan = BLESlot2CANId(canRdPointer);
+ for(int m=0; m<8; m++) {
+ kantMsg[m] = shareddata[canRdPointer][m];
+ }
+ if(can.write(CANMessage(mcan, kantMsg, 8))) { // transmit message
+ //if(can.write(txMsg)) { // transmit message
+ // printf("CAN message sent %x, 0x%.3x",canRdPointer, mcan);
+ // for(int c=0; c<8; c++) {
+ // printf(" %.2x",kantMsg[c]);
+ // }
+ // printf("\r\n");
+ }
+
}
if(CANmsgAvailable) {
@@ -133,32 +151,37 @@
can.read(rxMsg); // read message into Rx message storage
j=CANId2BLESlot(rxMsg.id);
if(j!=bleRdPointerA && j!=bleRdPointerB) {
-
+ // printf("CAN message rcvd %.2x, 0x%.3x \r\n",j,rxMsg.id);
for(int i = 0; i < rxMsg.len; i++) {
shareddata[j][i]=rxMsg.data[i];
- // printf(" %x", rxMsg.data[i]);
+ // printf(" %.2x",rxMsg.data[i]);
}
- // printf("#");
-
+ //printf("\r\n");
}
}
if(BLExmit) {
BLExmit=false;
retry++;
if(retry==0xff) ble.gap().startAdvertising();
- printf ("%x ",retry);
- printf("@");
+ // printf ("%#x ",retry);
k++;
if(k>lastBleRdPointer)
k=firstBleRdPointer;
readValue[0]=k;
+ // printf (" <%.2x ---",readValue[0]);
for(int i=1; i<8; i++) {
readValue[i]=shareddata[k][i];
+ // printf ("%.2x ",readValue[i]);
}
- for(int i=0; i<8; i++) {
- printf ("%x",readValue[i]);
+ readValue[8]= ++k;;
+ // printf ("> <%.2x ---",readValue[8]);
+
+ for(int i=9; i<18; i++) {
+ readValue[i]=shareddata[k][i-9];
+ // printf ("%.2x ",readValue[i]);
}
- ble.updateCharacteristicValue(readChar.getValueHandle(), readValue,9);
+ // printf (">\n\r");
+ ble.updateCharacteristicValue(readChar.getValueHandle(), readValue,18);
}
}
}
@@ -182,7 +205,7 @@
/* Setup primary service. */
/* Setup advertising. */
- printf("Setup of Advertising\r\n");
+ printf("Setup of BLE 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));
@@ -211,6 +234,52 @@
{
CANmsgAvailable = true;
}
+
+void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
+{
+ (void)params;
+ printf("\r\nTarget loss... wait for reconnection \r\n");
+
+ BLE::Instance().gap().startAdvertising(); // restart advertising
+ dumpMEM();
+}
+
+void writeCharCallback(const GattWriteCallbackParams *params)
+{
+
+ uint8_t j=0;
+
+ // check to see what characteristic was written, by handle
+ if(params->handle == writeChar.getValueHandle()) {
+ j= 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;
+ }
+ }
+}
+void periodicCallback(void)
+{
+ if(!ble.getGapState().connected) {
+ printf("? ");
+ ticker.attach(periodicCallback, 1); // blink LED every 5 second
+ } else
+ ticker.attach(periodicCallback, 0.1); // blink LED every second
+
+ triggerSensorPolling = true;
+}
+
uint8_t CANId2BLESlot(unsigned int id)
{
uint8_t retval=0;
@@ -265,58 +334,52 @@
unsigned int retval=0;
switch(id) {
case 63:
+ retval=0x301;
+ break;
+ case 62:
+ retval=0x302;
+ break;
+ case 61:
retval=0x303;
break;
- case 62:
+ case 60:
retval=0x304;
break;
+ case 59:
+ retval=0x101;
+ break;
+ case 58:
+ retval=0x102
+ ;
+ break;
+ case 57:
+ retval=0x040;
+ break;
default:
retval=0x0;
break;
}
return retval;
}
-
-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)
+void initMEM(void)
{
-
- 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;
+ for(int im = 0; im<64; im++) {
+ for (int jm=0; jm<8; jm++) {
+ shareddata[im][jm]=0x00;
}
}
+ for (int jm=0; jm<8; jm++) {
+ kantMsg[jm]=0;
+ }
}
-void periodicCallback(void)
+void dumpMEM(void)
{
- if(!ble.getGapState().connected) {
- printf("? ");
- ticker.attach(periodicCallback, 1); // blink LED every 5 second
- } else
- ticker.attach(periodicCallback, 0.1); // blink LED every second
-
- triggerSensorPolling = true;
+ printf("\r\n --- Memory Dump ---");
+ for(int im = 0; im<64; im++) {
+ printf("\r\n%.2x", im);
+ for (int jm=0; jm<8; jm++) {
+ printf(" %.2x", shareddata[im][jm]);
+ }
+ }
+ printf("\r\n --- End of Dump ---\r\n");
}