Cristi Stoican / Mbed 2 deprecated Migration

dsf

Dependencies:   BLE_API mbed nRF51822

main.cpp@0:b5906c81772b, 2017-02-05 (annotated)

Committer:
stoicancristi
Date:
Sun Feb 05 16:31:58 2017 +0000
Revision:
0:b5906c81772b
BLE

Who changed what in which revision?

UserRevisionLine numberNew contents of line
stoicancristi 0:b5906c81772b 1 /*
stoicancristi 0:b5906c81772b 2
stoicancristi 0:b5906c81772b 3 Copyright (c) 2012-2014 RedBearLab
stoicancristi 0:b5906c81772b 4
stoicancristi 0:b5906c81772b 5 Permission is hereby granted, free of charge, to any person obtaining a copy of this software
stoicancristi 0:b5906c81772b 6 and associated documentation files (the "Software"), to deal in the Software without restriction,
stoicancristi 0:b5906c81772b 7 including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
stoicancristi 0:b5906c81772b 8 and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so,
stoicancristi 0:b5906c81772b 9 subject to the following conditions:
stoicancristi 0:b5906c81772b 10 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
stoicancristi 0:b5906c81772b 11
stoicancristi 0:b5906c81772b 12 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
stoicancristi 0:b5906c81772b 13 INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
stoicancristi 0:b5906c81772b 14 PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE
stoicancristi 0:b5906c81772b 15 FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
stoicancristi 0:b5906c81772b 16 ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
stoicancristi 0:b5906c81772b 17
stoicancristi 0:b5906c81772b 18 */
stoicancristi 0:b5906c81772b 19
stoicancristi 0:b5906c81772b 20 /*
stoicancristi 0:b5906c81772b 21 * The application works with the BLEController iOS/Android App.
stoicancristi 0:b5906c81772b 22 * Type something from the Terminal to send
stoicancristi 0:b5906c81772b 23 * to the BLEController App or vice verse.
stoicancristi 0:b5906c81772b 24 * Characteristics received from App will print on Terminal.
stoicancristi 0:b5906c81772b 25 */
stoicancristi 0:b5906c81772b 26
stoicancristi 0:b5906c81772b 27 #include "mbed.h"
stoicancristi 0:b5906c81772b 28 #include "BTDevice.hpp"
stoicancristi 0:b5906c81772b 29 #include "ControllerFactory.hpp"
stoicancristi 0:b5906c81772b 30
stoicancristi 0:b5906c81772b 31 BLE ble;
stoicancristi 0:b5906c81772b 32 Ticker periodicCommand;
stoicancristi 0:b5906c81772b 33
stoicancristi 0:b5906c81772b 34 Serial pc(USBTX, USBRX);
stoicancristi 0:b5906c81772b 35
stoicancristi 0:b5906c81772b 36 BTDevice Nano(ble);
stoicancristi 0:b5906c81772b 37 ControllerFactory Control_Law();
stoicancristi 0:b5906c81772b 38 //Controller c;
stoicancristi 0:b5906c81772b 39 char *old_receive = NULL;
stoicancristi 0:b5906c81772b 40 float R[3] = {0.1,0.4,0.6};
stoicancristi 0:b5906c81772b 41 float S[3] = {0.2,0.1,0.5};
stoicancristi 0:b5906c81772b 42 float T[4] = {0.1,0.7,0.5};
stoicancristi 0:b5906c81772b 43 ControllerParams Parameters;
stoicancristi 0:b5906c81772b 44
stoicancristi 0:b5906c81772b 45
stoicancristi 0:b5906c81772b 46 // The Nordic UART Service
stoicancristi 0:b5906c81772b 47
stoicancristi 0:b5906c81772b 48 /*decode(uint8_t *receive, Controller *c);
stoicancristi 0:b5906c81772b 49
stoicancristi 0:b5906c81772b 50 void state_machine(uint8_t *receive)
stoicancristi 0:b5906c81772b 51 {
stoicancristi 0:b5906c81772b 52 switch((char *)receive)
stoicancristi 0:b5906c81772b 53 {
stoicancristi 0:b5906c81772b 54 case 'P':
stoicancristi 0:b5906c81772b 55 {
stoicancristi 0:b5906c81772b 56 Control_Law.createController(&c, P);
stoicancristi 0:b5906c81772b 57 Parameters.kp = 0.1;
stoicancristi 0:b5906c81772b 58 Control_Law.createControllerParams(&c, P, &Parameters, 0);
stoicancristi 0:b5906c81772b 59 c.updateRef(0.5);
stoicancristi 0:b5906c81772b 60 }
stoicancristi 0:b5906c81772b 61 case 'PI':
stoicancristi 0:b5906c81772b 62 {
stoicancristi 0:b5906c81772b 63 Control_Law.createController(&c, PI);
stoicancristi 0:b5906c81772b 64 Parameters.kp = 0.1;
stoicancristi 0:b5906c81772b 65 Parameters.ti = 0.3;
stoicancristi 0:b5906c81772b 66 Control_Law.createControllerParams(&c, PI, &Parameters, 0);
stoicancristi 0:b5906c81772b 67 c.updateRef(0.7);
stoicancristi 0:b5906c81772b 68 }
stoicancristi 0:b5906c81772b 69 case 'PID':
stoicancristi 0:b5906c81772b 70 {
stoicancristi 0:b5906c81772b 71 Control_Law.createController(&c, PID);
stoicancristi 0:b5906c81772b 72 Parameters.kp = 0.1;
stoicancristi 0:b5906c81772b 73 Parameters.ti = 0.3;
stoicancristi 0:b5906c81772b 74 Parameters.td = 0.15;
stoicancristi 0:b5906c81772b 75 Control_Law.createControllerParams(&c, PID, &Parameters, 0);
stoicancristi 0:b5906c81772b 76 c.updateRef(0.9);
stoicancristi 0:b5906c81772b 77 }
stoicancristi 0:b5906c81772b 78 case 'RST':
stoicancristi 0:b5906c81772b 79 {
stoicancristi 0:b5906c81772b 80 Control_Law.createController(&c, RST);
stoicancristi 0:b5906c81772b 81 Parameters.ordR = sizeof(R)/sizeof(*R);
stoicancristi 0:b5906c81772b 82 Parameters.ordS = sizeof(S)/sizeof(*S);
stoicancristi 0:b5906c81772b 83 Parameters.ordT = sizeof(T)/sizeof(*T);
stoicancristi 0:b5906c81772b 84 Parameters.R = R;
stoicancristi 0:b5906c81772b 85 Parameters.S = S;
stoicancristi 0:b5906c81772b 86 Parameters.T = T;
stoicancristi 0:b5906c81772b 87 Control_Law.createControllerParams(&c, RST, &Parameters, Parameters.ordT);
stoicancristi 0:b5906c81772b 88 c.updateRef(1);
stoicancristi 0:b5906c81772b 89 }
stoicancristi 0:b5906c81772b 90 case 'delete':
stoicancristi 0:b5906c81772b 91 {
stoicancristi 0:b5906c81772b 92 delete c;
stoicancristi 0:b5906c81772b 93 }
stoicancristi 0:b5906c81772b 94 }
stoicancristi 0:b5906c81772b 95 decode_message(&receive, &c);
stoicancristi 0:b5906c81772b 96 }
stoicancristi 0:b5906c81772b 97
stoicancristi 0:b5906c81772b 98 decode_message(uint8_t *receive, Controller c)
stoicancristi 0:b5906c81772b 99 {
stoicancristi 0:b5906c81772b 100 switch((char *)receive)
stoicancristi 0:b5906c81772b 101 {
stoicancristi 0:b5906c81772b 102 case 'Command':
stoicancristi 0:b5906c81772b 103 {
stoicancristi 0:b5906c81772b 104 Nano.sendMsg((uint8_t *),c.calculateCmd, 16);
stoicancristi 0:b5906c81772b 105 }
stoicancristi 0:b5906c81772b 106 }
stoicancristi 0:b5906c81772b 107 }*/
stoicancristi 0:b5906c81772b 108
stoicancristi 0:b5906c81772b 109
stoicancristi 0:b5906c81772b 110 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
stoicancristi 0:b5906c81772b 111 {
stoicancristi 0:b5906c81772b 112 pc.printf("Disconnected \r\n");
stoicancristi 0:b5906c81772b 113 pc.printf("Restart advertising \r\n");
stoicancristi 0:b5906c81772b 114 ble.startAdvertising();
stoicancristi 0:b5906c81772b 115 }
stoicancristi 0:b5906c81772b 116
stoicancristi 0:b5906c81772b 117 void WrittenHandler(const GattWriteCallbackParams *Handler)
stoicancristi 0:b5906c81772b 118 {
stoicancristi 0:b5906c81772b 119 uint8_t buf[TXRX_BUF_LEN];
stoicancristi 0:b5906c81772b 120 uint16_t bytesRead, index;
stoicancristi 0:b5906c81772b 121
stoicancristi 0:b5906c81772b 122 if (Handler->handle == txCharacteristic.getValueAttribute().getHandle())
stoicancristi 0:b5906c81772b 123 {
stoicancristi 0:b5906c81772b 124 ble.readCharacteristicValue(txCharacteristic.getValueAttribute().getHandle(), buf, &bytesRead);
stoicancristi 0:b5906c81772b 125 memset(txPayload, 0, TXRX_BUF_LEN);
stoicancristi 0:b5906c81772b 126 memcpy(txPayload, buf, TXRX_BUF_LEN);
stoicancristi 0:b5906c81772b 127 //state_machine(&buf);
stoicancristi 0:b5906c81772b 128 }
stoicancristi 0:b5906c81772b 129 }
stoicancristi 0:b5906c81772b 130
stoicancristi 0:b5906c81772b 131 void uartCB(void)
stoicancristi 0:b5906c81772b 132 {
stoicancristi 0:b5906c81772b 133 while(pc.readable())
stoicancristi 0:b5906c81772b 134 {
stoicancristi 0:b5906c81772b 135 rx_buf[rx_len++] = pc.getc();
stoicancristi 0:b5906c81772b 136 if(rx_len>=20 || rx_buf[rx_len-1]=='\0' || rx_buf[rx_len-1]=='\n')
stoicancristi 0:b5906c81772b 137 {
stoicancristi 0:b5906c81772b 138 ble.updateCharacteristicValue(rxCharacteristic.getValueAttribute().getHandle(), rx_buf, rx_len);
stoicancristi 0:b5906c81772b 139 rx_len = 0;
stoicancristi 0:b5906c81772b 140 break;
stoicancristi 0:b5906c81772b 141 }
stoicancristi 0:b5906c81772b 142 }
stoicancristi 0:b5906c81772b 143 }
stoicancristi 0:b5906c81772b 144
stoicancristi 0:b5906c81772b 145 int main(void)
stoicancristi 0:b5906c81772b 146 {
stoicancristi 0:b5906c81772b 147 ble.init();
stoicancristi 0:b5906c81772b 148 ble.onDisconnection(disconnectionCallback);
stoicancristi 0:b5906c81772b 149 ble.onDataWritten(WrittenHandler);
stoicancristi 0:b5906c81772b 150
stoicancristi 0:b5906c81772b 151 pc.baud(9600);
stoicancristi 0:b5906c81772b 152 pc.printf("SimpleChat Init \r\n");
stoicancristi 0:b5906c81772b 153
stoicancristi 0:b5906c81772b 154 pc.attach( uartCB , pc.RxIrq);
stoicancristi 0:b5906c81772b 155 // setup advertising
stoicancristi 0:b5906c81772b 156 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
stoicancristi 0:b5906c81772b 157 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
stoicancristi 0:b5906c81772b 158 ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
stoicancristi 0:b5906c81772b 159 (const uint8_t *)"Gigel", sizeof("Biscuit") - 1);
stoicancristi 0:b5906c81772b 160 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
stoicancristi 0:b5906c81772b 161 (const uint8_t *)uart_base_uuid_rev, sizeof(uart_base_uuid));
stoicancristi 0:b5906c81772b 162 // 100ms; in multiples of 0.625ms.
stoicancristi 0:b5906c81772b 163 ble.setAdvertisingInterval(160);
stoicancristi 0:b5906c81772b 164
stoicancristi 0:b5906c81772b 165 ble.addService(uartService);
stoicancristi 0:b5906c81772b 166
stoicancristi 0:b5906c81772b 167 ble.startAdvertising();
stoicancristi 0:b5906c81772b 168 pc.printf("Advertising Start \r\n");
stoicancristi 0:b5906c81772b 169
stoicancristi 0:b5906c81772b 170 while(1)
stoicancristi 0:b5906c81772b 171 {
stoicancristi 0:b5906c81772b 172 ble.waitForEvent();
stoicancristi 0:b5906c81772b 173 }
stoicancristi 0:b5906c81772b 174 }
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