CAN to BLE translator - and back
Dependencies: BLE_API CANnucleo X_NUCLEO_IDB0XA1 mbed
main.cpp
- Committer:
- filippomontano
- Date:
- 2016-04-07
- Revision:
- 1:43ff0e4d56cc
- Parent:
- 0:345c72cbcd60
File content as of revision 1:43ff0e4d56cc:
#include "mbed.h" #include "ble/BLE.h" #include "CAN.h" #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); 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); 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; char shareddata[64][8]= { }; uint8_t canWrPointer= 255; uint8_t canRdPointer= 255; uint8_t bleWrPointerA= 255; uint8_t bleRdPointerA= 255; 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 CAN can(PB_8, PB_9); // 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}; 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 *)); volatile bool CANmsgAvailable = false; volatile bool BLExmit = false; int main() { uint8_t j=0; printf("\r\nBoard started\r\n"); led = 1; // turn LED on initCAN(); timerA.start(); timerB.start(); while(1) { if(timerA.read()>=1.0) { timerA.stop(); timerA.reset(); led=!led.read(); timerA.start(); } if(timerB.read()>=0.1) { timerB.stop(); timerB.reset(); if(ble.getGapState().connected) BLExmit=true; 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("\r\n"); canWrPointer=255; } else { printf("CAN message %#x dropped because BLE read\r\n",rxMsg.id); } } if(BLExmit) { BLExmit=false; } } } void initCAN(void) { 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"); } void initBLE(void) { BLE::Instance().init(bleInitComplete); } void bleInitComplete(BLE::InitializationCompleteCallbackContext *params) { 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); } void onBleInitError(BLE &ble, ble_error_t error) { (void)ble; (void)error; /* Initialization error handling should go here */ } void onMsgReceived(void) { CANmsgAvailable = true; } uint8_t CANId2BLESlot(unsigned int id) { uint8_t retval=0; switch(id) { case 0x313: retval=1; break; case 0x314: retval=2; break; case 0x310: retval=3; break; case 0x315: retval=4; break; case 0x111: retval=5; break; case 0x112: retval=6; break; case 0x400: retval=7; break; case 0x450: retval=8; break; case 0x451: retval=9; break; case 0x452: retval=10; break; case 0x453: retval=11; break; case 0x454: retval=12; break; case 0x455: retval=13; break; default: retval=0; break; } return retval; } unsigned int BLESlot2CANId(uint8_t id) { unsigned int retval=0; switch(id) { case 63: retval=0x303; break; case 62: retval=0x304; 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) { /* int terminale=params->len; // check to see what characteristic was written, by handle if(params->handle == writeChar.getValueHandle()) { daerdata[0]=terminale; printf("\n\r Data received: length = %d, data = ",terminale); for(int x=0; x < terminale; x++) { printf("%c",params->data[x]); daerdata[x+1]=params->data[x]; } ble.updateCharacteristicValue(readChar.getValueHandle(),daerdata,terminale+1); }*/ }