Diff: main.cpp

Revision:

0:b5906c81772b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Feb 05 16:31:58 2017 +0000
@@ -0,0 +1,190 @@
+/*
+
+Copyright (c) 2012-2014 RedBearLab
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
+and associated documentation files (the "Software"), to deal in the Software without restriction, 
+including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 
+and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, 
+subject to the following conditions:
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 
+PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE 
+FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+*/
+
+/*
+ *    The application works with the BLEController iOS/Android App.
+ *    Type something from the Terminal to send
+ *    to the BLEController App or vice verse.
+ *    Characteristics received from App will print on Terminal.
+ */
+ 
+#include "mbed.h"
+#include "BTDevice.hpp"
+#include "ControllerFactory.hpp"
+
+BLE  ble;
+Ticker periodicCommand;
+
+Serial pc(USBTX, USBRX);
+
+BTDevice Nano(ble);
+ControllerFactory Control_Law();
+//Controller c;
+char *old_receive = NULL;
+float R[3] = {0.1,0.4,0.6};
+float S[3] = {0.2,0.1,0.5};
+float T[4] = {0.1,0.7,0.5};
+ControllerParams Parameters;
+
+
+// The Nordic UART Service
+
+/*decode(uint8_t *receive, Controller *c);
+
+void state_machine(uint8_t *receive)
+{
+            switch((char *)receive)
+            {
+                case 'P': 
+                {
+                    Control_Law.createController(&c, P);
+                    Parameters.kp = 0.1;
+                    Control_Law.createControllerParams(&c, P, &Parameters, 0);
+                    c.updateRef(0.5);
+                } 
+                case 'PI':
+                {
+                    Control_Law.createController(&c, PI);    
+                    Parameters.kp = 0.1;
+                    Parameters.ti = 0.3;
+                    Control_Law.createControllerParams(&c, PI, &Parameters, 0);
+                    c.updateRef(0.7);
+                }
+                case 'PID':
+                {
+                    Control_Law.createController(&c, PID);  
+                    Parameters.kp = 0.1;
+                    Parameters.ti = 0.3; 
+                    Parameters.td = 0.15;
+                    Control_Law.createControllerParams(&c, PID, &Parameters, 0);
+                    c.updateRef(0.9);
+                }
+                case 'RST':
+                {
+                    Control_Law.createController(&c, RST);  
+                    Parameters.ordR = sizeof(R)/sizeof(*R);
+                    Parameters.ordS = sizeof(S)/sizeof(*S);
+                    Parameters.ordT = sizeof(T)/sizeof(*T);
+                    Parameters.R = R;
+                    Parameters.S = S;
+                    Parameters.T = T;
+                    Control_Law.createControllerParams(&c, RST, &Parameters, Parameters.ordT);
+                    c.updateRef(1);
+                }
+                case 'delete':
+                {
+                    delete c;  
+                }
+            }    
+        decode_message(&receive, &c);
+}
+
+decode_message(uint8_t *receive, Controller c)
+{
+      switch((char *)receive)
+      {
+            case 'Command':
+            {
+                  Nano.sendMsg((uint8_t *),c.calculateCmd, 16);  
+            }
+      }
+}*/
+
+
+void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
+{
+    pc.printf("Disconnected \r\n");
+    pc.printf("Restart advertising \r\n");
+    ble.startAdvertising();
+}
+
+void WrittenHandler(const GattWriteCallbackParams *Handler)
+{   
+    uint8_t buf[TXRX_BUF_LEN];
+    uint16_t bytesRead, index;
+    
+    if (Handler->handle == txCharacteristic.getValueAttribute().getHandle()) 
+    {
+        ble.readCharacteristicValue(txCharacteristic.getValueAttribute().getHandle(), buf, &bytesRead);
+        memset(txPayload, 0, TXRX_BUF_LEN);
+        memcpy(txPayload, buf, TXRX_BUF_LEN);       
+        //state_machine(&buf);
+    }
+}
+
+void uartCB(void)
+{   
+    while(pc.readable())    
+    {
+        rx_buf[rx_len++] = pc.getc();    
+        if(rx_len>=20 || rx_buf[rx_len-1]=='\0' || rx_buf[rx_len-1]=='\n')
+        {
+            ble.updateCharacteristicValue(rxCharacteristic.getValueAttribute().getHandle(), rx_buf, rx_len); 
+            rx_len = 0;
+            break;
+        }
+    }
+}
+
+int main(void)
+{
+    ble.init();
+    ble.onDisconnection(disconnectionCallback);
+    ble.onDataWritten(WrittenHandler);  
+    
+    pc.baud(9600);
+    pc.printf("SimpleChat Init \r\n");
+    
+    pc.attach( uartCB , pc.RxIrq);
+   // setup advertising 
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
+    ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
+                                    (const uint8_t *)"Gigel", sizeof("Biscuit") - 1);
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
+                                    (const uint8_t *)uart_base_uuid_rev, sizeof(uart_base_uuid));
+    // 100ms; in multiples of 0.625ms. 
+    ble.setAdvertisingInterval(160);
+
+    ble.addService(uartService);
+    
+    ble.startAdvertising(); 
+    pc.printf("Advertising Start \r\n");
+    
+    while(1)
+    {
+        ble.waitForEvent(); 
+    }
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+