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CAN to BLE translator - and back
Dependencies: BLE_API CANnucleo X_NUCLEO_IDB0XA1 mbed
Diff: main.cpp
- Revision:
- 5:9f30eba41c77
- Parent:
- 4:8c2cd88d2545
- Child:
- 6:f85bc6e59111
diff -r 8c2cd88d2545 -r 9f30eba41c77 main.cpp --- a/main.cpp Fri Apr 08 13:33:35 2016 +0000 +++ b/main.cpp Fri Apr 08 14:30:50 2016 +0000 @@ -7,17 +7,15 @@ #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 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; + DigitalOut led(LED_PIN),CAN_show(PC_12); @@ -29,29 +27,10 @@ //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 +Ticker ticker; 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 @@ -76,39 +55,55 @@ volatile bool CANmsgAvailable = false; volatile bool BLExmit = false; float stopTimer=2.0; - +uint8_t j=0,k=1; + int main() { - uint8_t j=0,k=firstBleRdPointer; // printf("\r\nBoard started\r\n"); led = 1; // turn LED on - CAN_show=1; + BLE::Instance().init(bleInitComplete); + /* + while (true) { + // check for trigger from periodicCallback() + if (triggerSensorPolling && ble.getGapState().connected) { + triggerSensorPolling = false; - bleRdLastPointer=lastBleRdPointer; - BLE::Instance().init(bleInitComplete); - CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name - CAN_show=0; + // Do blocking calls or whatever is necessary for sensor polling. + // In our case, we simply update the HRM measurement. - //canRdLastPointer=lastCanRdPointer; - can.frequency(500000); // set bit rate to 500kbps as S018 - printf("\r\nCAN started at 500kbps\r\n"); + } else { + ble.waitForEvent(); // low power wait for event + } + }*/ + + timerA.start(); - can.attach(&onMsgReceived, CAN::RxIrq); // attach 'CAN receive-complete' interrupt handler + // can.attach(&onMsgReceived, CAN::RxIrq); // attach 'CAN receive-complete' interrupt handler while(true) { - // if(ble.getGapState().connected) { - if(ble.gap().getState().connected) { + // 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='!'; } else { stopTimer=3; - ble.waitForEvent(); + // ble.waitForEvent(); symbol='.'; } if(timerA.read()>=stopTimer) { - // BLExmit=ble.getGapState().connected; - BLExmit=ble.gap().getState().connected; + // BLExmit=ble.getGapState().connected; + BLExmit=ble.gap().getState().connected; timerA.stop(); timerA.reset(); led=!led.read(); @@ -116,43 +111,35 @@ 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); + if(retry==0xff) ble.gap().startAdvertising(); + printf ("%#x ",retry); printf("@"); k++; - if(k>lastBleRdPointer) - k=firstBleRdPointer; + if(k>1) + k=1; 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]); - } + for(int i=0; i<8; i++) { + printf ("%x",readValue[i]); + } ble.updateCharacteristicValue(readChar.getValueHandle(), readValue,9); - - } } } +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 bleInitComplete(BLE::InitializationCompleteCallbackContext *params) { BLE& ble = params->ble; @@ -166,7 +153,7 @@ if (ble.getInstanceID() != BLE::DEFAULT_INSTANCE) { return; } - + ble.gap().onDisconnection(disconnectionCallback); /* Setup primary service. */ @@ -181,10 +168,11 @@ 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) { @@ -195,91 +183,26 @@ /* Initialization error handling should go here */ } -void onMsgReceived(void) -{ - CANmsgAvailable = true; -} -uint8_t CANId2BLESlot(unsigned int id) +void periodicCallback(void) { - 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; + led = !led; /* Do blinky on LED1 while we're waiting for BLE events */ + /* Note that the periodicCallback() executes in interrupt context, so it is safer to do + * heavy-weight sensor polling from the main thread. */ + 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; } -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()) { + /* 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) { @@ -296,5 +219,5 @@ bleWrPointerA=255; bleWrPointerB=255; } - } + }*/ }