main.cpp

00001 /* mbed Microcontroller Library
00002  * Copyright (c) 2006-2015 ARM Limited
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 #include <cstdlib>
00017 #include <ctime>
00018 #include <math.h>
00019 #include "mbed.h"
00020 #include "ble/BLE.h"
00021 #include "ble/DiscoveredCharacteristic.h"
00022 #include "ble/DiscoveredService.h"
00023 
00024 BLE        ble;
00025 DigitalOut led(P0_19,1);
00026 DigitalOut myled(P0_8);
00027 DigitalOut neo(P0_6,1);
00028 DigitalOut pin4(P0_4);
00029 DigitalOut pin5(P0_5);
00030 DigitalOut pin15(P0_15);
00031 DigitalOut pin29(P0_29);
00032 
00033 static const unsigned NUM_ROBOTS = 4;
00034 
00035 uint16_t customServiceUUID  = 0xA000;
00036 uint16_t readwriteCharUUID  = 0xA001;
00037 
00038 uint8_t info[NUM_ROBOTS]= {0,0,0,1};
00039 
00040 ReadWriteArrayGattCharacteristic<uint8_t, NUM_ROBOTS> readwriteChar(readwriteCharUUID, info);
00041 
00042 GattCharacteristic *characteristics[] = {&readwriteChar};
00043 
00044 GattService        customService(customServiceUUID, characteristics, sizeof(characteristics) / sizeof(GattCharacteristic *));
00045 
00046 DiscoveredCharacteristic characteristics_discovered;
00047 
00048 uint8_t rgb=1;
00049 uint8_t info_t[NUM_ROBOTS]= {0,};
00050 
00051 void RGB_Show(uint8_t r, uint8_t g, uint8_t b)
00052 {
00053     uint8_t rgb[3] = {g, r, b};
00054     uint8_t *p = rgb;
00055     uint8_t *end = p + 3;
00056     while (p < end) {
00057         uint8_t pix = *p++;
00058         for (uint8_t mask = 0x80; mask; mask >>= 1) {
00059             if (pix & mask) {
00060                 // T1H 760ns
00061                 NRF_GPIO->OUTSET = (1UL << 8);
00062                 NRF_GPIO->OUTSET = (1UL << 8);
00063                 NRF_GPIO->OUTSET = (1UL << 8);
00064                 // T1L 660ns
00065                 NRF_GPIO->OUTCLR = (1UL << 8);
00066             } else {
00067                 // T0H 380ns
00068                 NRF_GPIO->OUTSET = (1UL << 8);
00069                 // T0L 840ns
00070                 NRF_GPIO->OUTCLR = (1UL << 8);
00071                 NRF_GPIO->OUTCLR = (1UL << 8);
00072                 NRF_GPIO->OUTCLR = (1UL << 8);
00073                 NRF_GPIO->OUTCLR = (1UL << 8);
00074             }
00075         }
00076     }
00077     NRF_GPIO->OUTCLR = (1UL << 8);
00078     wait_us(100);
00079 }
00080 
00081 void periodicCallback(void)
00082 {
00083     led=!led;
00084 }
00085 
00086 void advertisementCallback(const Gap::AdvertisementCallbackParams_t *params)
00087 {
00088     
00089 }
00090 
00091 void connectionCallback(const Gap::ConnectionCallbackParams_t *params)
00092 {
00093     printf("adv peerAddr[%02x %02x %02x %02x %02x %02x]\r\n",
00094            params->peerAddr[5], params->peerAddr[4], params->peerAddr[3], params->peerAddr[2], params->peerAddr[1], params->peerAddr[0]);
00095     ble.gap().stopAdvertising();
00096 }
00097 
00098 void onDataWrittenCallback(const GattWriteCallbackParams *params)
00099 {
00100     ble.gap().disconnect(params->connHandle,Gap::REMOTE_USER_TERMINATED_CONNECTION);
00101 }
00102 
00103 void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)
00104 {
00105     printf("Current info : ");
00106     for(int i=0; i<NUM_ROBOTS; i++) {
00107         printf("%u \t",info[i]);
00108     }
00109     printf("\r\n");
00110     
00111     wait(10);
00112     
00113     if(rgb==7) {
00114         rgb = 1;
00115     }else {
00116         rgb++;
00117     }
00118     
00119     info[0] = rgb%2;
00120     info[1] = (rgb>>1)%2;
00121     info[2] = (rgb>>2)%2;
00122     info[3] = 1;
00123     
00124     ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
00125     ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::RABOT_REDBEAR_BLE_NANO, (uint8_t *)info, sizeof(info));
00126     ble.gap().setAdvertisingInterval(59);
00127     ble.gap().startAdvertising();
00128 }
00129 
00130 int main(void)
00131 {   
00132     Ticker ticker;
00133     ticker.attach(periodicCallback, 1);
00134     
00135     info[0] = rgb%2;
00136     info[1] = (rgb>>1)%2;
00137     info[2] = (rgb>>2)%2;
00138     
00139     printf("Source node \r\n");
00140     printf("Current info : ");
00141     for(int i=0; i<NUM_ROBOTS; i++) {
00142         printf("%u \t",info[i]);
00143     }
00144     printf("\r\n");
00145     
00146     ble.init();
00147     ble.gap().onConnection(connectionCallback);
00148     ble.gap().onDisconnection(disconnectionCallback);
00149     ble.gattServer().onDataWritten(onDataWrittenCallback);
00150     ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
00151     ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::RABOT_REDBEAR_BLE_NANO, (uint8_t *)info, sizeof(info));
00152     ble.gap().setAdvertisingInterval(59);
00153     ble.gap().startAdvertising();
00154     
00155     ble.addService(customService);
00156  
00157     while (true) {
00158         ble.waitForEvent();
00159         RGB_Show(info[0],info[1],info[2]);
00160     }
00161 }