Filippo Montano
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
--- 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;
}
- }
+ }*/
}