CAN to BLE translator - and back
Dependencies: BLE_API CANnucleo X_NUCLEO_IDB0XA1 mbed
main.cpp
- Committer:
- filippomontano
- Date:
- 2016-04-12
- Revision:
- 7:b834d20f9aa1
- Parent:
- 6:f85bc6e59111
File content as of revision 7:b834d20f9aa1:
#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 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 periodicCallback(void); void initMEM(void); void dumpMEM(void); 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"; const static uint16_t uuid16_list[] = {0xFFFF}; static volatile bool triggerSensorPolling = false; uint8_t canWrPointer= 255; uint8_t canRdPointer= 255; uint8_t bleWrPointerA= 255; uint8_t bleRdPointerA= 255; uint8_t bleWrPointerB= 255; uint8_t bleRdPointerB= 255; 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 Ticker ticker; //synchronous counter - IRQ enabled Timer timerA; //unsynchronous counter - no IRQ //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}; WriteOnlyArrayGattCharacteristic<uint8_t, sizeof(writeValue)> writeChar(writeCharUUID, writeValue); GattCharacteristic *characteristics[] = {&readChar, &writeChar}; GattService customService(customServiceUUID, characteristics, sizeof(characteristics) / sizeof(GattCharacteristic *)); uint8_t retry=1; 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=0; int mcan=0; initMEM(); printf("\r\nBoard started\r\n"); led = 1; // turn LED on bleRdLastPointer=lastBleRdPointer; canRdPointer=lastCanRdPointer; BLE::Instance().init(bleInitComplete); CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name //canRdLastPointer=lastCanRdPointer; can.frequency(500000); // set bit rate to 500kbps as S018 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; } else { ble.waitForEvent(); } if(ble.gap().getState().connected) { stopTimer=0.1; } else { stopTimer=1; //stopTimer=5; // ble.waitForEvent(); } if(timerA.read()>=stopTimer) { // BLExmit=ble.getGapState().connected; BLExmit=ble.gap().getState().connected; timerA.stop(); timerA.reset(); led=!led.read(); 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) { 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) { // 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(" %.2x",rxMsg.data[i]); } //printf("\r\n"); } } if(BLExmit) { BLExmit=false; retry++; if(retry==0xff) ble.gap().startAdvertising(); // 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]); } readValue[8]= ++k;; // printf ("> <%.2x ---",readValue[8]); for(int i=9; i<18; i++) { readValue[i]=shareddata[k][i-9]; // printf ("%.2x ",readValue[i]); } // printf (">\n\r"); ble.updateCharacteristicValue(readChar.getValueHandle(), readValue,18); } } } 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 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)); ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); ble.gap().setAdvertisingInterval(1000);// 1000ms ble.gap().startAdvertising(); ble.onDataWritten(writeCharCallback); ble.addService(customService); ticker.detach(); ticker.attach(periodicCallback, 1); // blink LED every second 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; } 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; 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=0x301; break; case 62: retval=0x302; break; case 61: retval=0x303; break; 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 initMEM(void) { 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 dumpMEM(void) { 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"); }