CAN to BLE translator - and back
Dependencies: BLE_API CANnucleo X_NUCLEO_IDB0XA1 mbed
main.cpp
- Committer:
- filippomontano
- Date:
- 2016-04-08
- Revision:
- 4:8c2cd88d2545
- Parent:
- 3:5bce2e8d2797
- Child:
- 5:9f30eba41c77
File content as of revision 4:8c2cd88d2545:
#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),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; 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; 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 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,k=firstBleRdPointer; // printf("\r\nBoard started\r\n"); led = 1; // turn LED on 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(); can.attach(&onMsgReceived, CAN::RxIrq); // attach 'CAN receive-complete' interrupt handler while(true) { // if(ble.getGapState().connected) { if(ble.gap().getState().connected) { stopTimer=0.2; symbol='!'; } else { stopTimer=3; ble.waitForEvent(); symbol='.'; } if(timerA.read()>=stopTimer) { // BLExmit=ble.getGapState().connected; BLExmit=ble.gap().getState().connected; timerA.stop(); timerA.reset(); led=!led.read(); printf("%c\r\n",symbol); timerA.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) { for(int i = 0; i < rxMsg.len; i++) { shareddata[j][i]=rxMsg.data[i]; // printf(" %x", rxMsg.data[i]); } // printf("#"); } } 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 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); 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) { 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) { 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; } } }