Diff: main.cpp

Revision:

0:1f4d5c5491b8

Child:

1:d3e12393b71d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 24 16:10:48 2016 +0000
@@ -0,0 +1,173 @@
+/*
+
+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 "PID.h"
+#include "ble/BLE.h"
+
+
+#define BLE_UUID_TXRX_SERVICE            0x0000 /**< The UUID of the Nordic UART Service. */
+#define BLE_UUID_TX_CHARACTERISTIC       0x0002 /**< The UUID of the TX Characteristic. */
+#define BLE_UUIDS_RX_CHARACTERISTIC      0x0003 /**< The UUID of the RX Characteristic. */
+
+#define TXRX_BUF_LEN                     20
+
+BLE  ble;
+
+Serial pc(USBTX, USBRX);
+
+
+// The Nordic UART Service
+static const uint8_t uart_base_uuid[] = {0x71, 0x3D, 0, 0, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E};
+static const uint8_t uart_tx_uuid[]   = {0x71, 0x3D, 0, 3, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E};
+static const uint8_t uart_rx_uuid[]   = {0x71, 0x3D, 0, 2, 0x50, 0x3E, 0x4C, 0x75, 0xBA, 0x94, 0x31, 0x48, 0xF1, 0x8D, 0x94, 0x1E};
+static const uint8_t uart_base_uuid_rev[] = {0x1E, 0x94, 0x8D, 0xF1, 0x48, 0x31, 0x94, 0xBA, 0x75, 0x4C, 0x3E, 0x50, 0, 0, 0x3D, 0x71};
+
+
+uint8_t txPayload[TXRX_BUF_LEN] = {0,};
+uint8_t rxPayload[TXRX_BUF_LEN] = {0,};
+
+static uint8_t rx_buf[TXRX_BUF_LEN];
+static uint8_t rx_len=0;
+
+
+GattCharacteristic  txCharacteristic (uart_tx_uuid, txPayload, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
+                                      
+GattCharacteristic  rxCharacteristic (uart_rx_uuid, rxPayload, 1, TXRX_BUF_LEN, GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
+                                      
+GattCharacteristic *uartChars[] = {&txCharacteristic, &rxCharacteristic};
+
+GattService         uartService(uart_base_uuid, uartChars, sizeof(uartChars) / sizeof(GattCharacteristic *));
+
+
+
+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);       
+        pc.printf("WriteHandler \r\n");
+        pc.printf("Length: ");
+        pc.putc(bytesRead);
+        pc.printf("\r\n");
+        pc.printf("Data: ");
+        for(index=0; index<bytesRead; index++)
+        {
+            pc.putc(txPayload[index]);        
+        }
+        pc.printf("\r\n");
+    }
+}
+
+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); 
+            pc.printf("RecHandler \r\n");
+            pc.printf("Length: ");
+            pc.putc(rx_len);
+            pc.printf("\r\n");
+            rx_len = 0;
+            break;
+        }
+    }
+}
+
+DigitalOut myled(LED1);
+AnalogIn input(P0_4);
+PwmOut output(D4);
+
+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("Gigel") - 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");
+    float out = 0;
+    PIDClass PID(5,2,1,100);
+    while(1)
+    { 
+        myled = 1;
+        wait(1);
+        myled = 0;
+        wait(1);
+        out = PID.ComputeCommand(input.read());
+        output.write(out);
+        //ble.waitForEvent(); 
+        pc.printf("Gigel");
+        pc.putc(out);
+    }
+}
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