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CAN to BLE translator - and back
Dependencies: BLE_API CANnucleo X_NUCLEO_IDB0XA1 mbed
Diff: main.cpp
- Revision:
- 6:f85bc6e59111
- Parent:
- 5:9f30eba41c77
- Child:
- 7:b834d20f9aa1
diff -r 9f30eba41c77 -r f85bc6e59111 main.cpp --- a/main.cpp Fri Apr 08 14:30:50 2016 +0000 +++ b/main.cpp Fri Apr 08 14:39:43 2016 +0000 @@ -7,7 +7,12 @@ #define BLE_GATT_CHAR_PROPERTIES_NOTIFY 0x10 -//void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params); +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); @@ -16,6 +21,7 @@ void periodicCallback(void); static volatile bool triggerSensorPolling = false; +Ticker ticker; DigitalOut led(LED_PIN),CAN_show(PC_12); @@ -27,9 +33,28 @@ //const unsigned int TX_ID = 0x11; char shareddata[64][8]= { }; -Ticker ticker; + +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; -Timer timerA; //questo contatoro serve solo per dire: appena è passato un po' di tempo -> esegui +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; @@ -39,7 +64,6 @@ 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 @@ -55,49 +79,42 @@ 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 - BLE::Instance().init(bleInitComplete); - /* - while (true) { - // check for trigger from periodicCallback() - if (triggerSensorPolling && ble.getGapState().connected) { - triggerSensorPolling = false; + 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; - // 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"); + timerA.start(); + can.attach(&onMsgReceived, CAN::RxIrq); // attach 'CAN receive-complete' interrupt handler - } else { - ble.waitForEvent(); // low power wait for event - } - }*/ - - - 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("^"); + if(triggerSensorPolling && ble.getGapState().connected) { + triggerSensorPolling=false; + // printf("^"); + } else { + // printf("v"); + ble.waitForEvent(); } - else { - // printf("v"); - ble.waitForEvent(); - } - + if(ble.gap().getState().connected) { stopTimer=0.2; symbol='!'; } else { stopTimer=3; - // ble.waitForEvent(); + // ble.waitForEvent(); symbol='.'; } @@ -111,16 +128,29 @@ 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 ("%x ",retry); printf("@"); k++; - if(k>1) - k=1; + if(k>lastBleRdPointer) + k=firstBleRdPointer; readValue[0]=k; for(int i=1; i<8; i++) { readValue[i]=shareddata[k][i]; @@ -133,13 +163,6 @@ } } -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; @@ -172,7 +195,8 @@ ticker.attach(periodicCallback, 1); // blink LED every second printf("Starting Loop\r\n"); - + + } void onBleInitError(BLE &ble, ble_error_t error) { @@ -183,26 +207,91 @@ /* Initialization error handling should go here */ } -void periodicCallback(void) +void onMsgReceived(void) +{ + CANmsgAvailable = true; +} +uint8_t CANId2BLESlot(unsigned int id) { - 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 + 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; +} - triggerSensorPolling = 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 } + 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) { @@ -219,5 +308,15 @@ 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; +}