Filippo Montano
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
--- 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;
+}