File content as of revision 1:d3e12393b71d:

/*

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 "RST.h"
#include "ble/BLE.h"
#include "StateMachine.h"
#include <Gap.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 MyASSERT(cond , serialpc, errVal) assert_error_app((bool)cond, serialpc, (uint16_t)errVal, __LINE__, __FILE__)
#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 uint32_t GlobalTime = 1;
Ticker periodicCommandRST;
Ticker periodicCommandPID;
static float PIDGlobalCommand = 0;
static float RSTGlobalCommand = 0;
static const float GlobalSamplingTime = 0.5;
//static const float DecodeTime = 0.1;

static uint8_t rx_buf[TXRX_BUF_LEN];
static uint8_t rx_len=0;
static States sm_states;

bool g_bIsConnected = false;
bool g_bIsAdvertising = false;
bool g_bConnDisabled = false;

bool apply_PIDCommand = false;
bool apply_RSTCommand = false;

DigitalOut myled(LED1);
AnalogIn input(P0_4);
PwmOut output(D4);

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 connectionCallback(const Gap::ConnectionCallbackParams_t *params)
{
    pc.printf("Connected \r\n");
    g_bIsConnected = true;
    g_bIsAdvertising = false;
    g_bConnDisabled = false;
}

void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
{
    pc.printf("Disconnected \r\n");
    pc.printf("Restart advertising \r\n");
    ble.startAdvertising();
    g_bIsConnected = false;
    g_bConnDisabled = true;
}

void connectionUpdate(conn_update option)
{
    switch(option)
    {
        case start_advertising:
        {
            g_bIsAdvertising = true;
            g_bIsConnected = true;
            g_bConnDisabled = false;
            pc.printf("Start advertising \n");
            ble.startAdvertising(); 
            break;
        }
        case stop_advertising:
        {
            g_bIsAdvertising = false;
            g_bIsConnected = true;
            g_bConnDisabled = false;
            pc.printf("Stop advertising \n");
            break;
        }
        case stop_connection:
        {
            pc.printf("All stop \n");
            g_bIsAdvertising = false;  
            g_bConnDisabled = true;
            g_bIsConnected = false;
            break;
        }
        case connected:
        {
            pc.printf("Connected \n");
            g_bIsConnected = true;
            g_bConnDisabled = false;
            g_bIsAdvertising = false;
            
        }
    }
    
}

void sendMsg(const uint8_t *buf, uint16_t length)
{
    ble.updateCharacteristicValue(rxCharacteristic.getValueAttribute().getHandle(), buf, length);
}

void WriteBuffer(char* myBuf)
{
    uint16_t bytesRead = 20;
    sendMsg((uint8_t *)myBuf, bytesRead);
}


void computeCommand()
{
      static PIDClass PID(0.05,0.02,0.01,0.6);
      //float out;
      
      if(apply_PIDCommand){
        float out = PID.ComputeCommand(input.read());
        PIDGlobalCommand = out;
      }else
      {
        PIDGlobalCommand = 0;    
      }
}

void computeRSTCommand()
{
        static RST_aditionalData PolinomialGrades;
        PolinomialGrades.gradR = 3;
        PolinomialGrades.gradT = 4;
        PolinomialGrades.gradS = 5;
        PolinomialGrades.setpoint = 0.8;
        static uint8_t R_pol[10] = {1,2,3,3,0,0,0,0,0,0};
        static uint8_t T_pol[10] = {1,3,2,3,5,0,0,0,0,0};
        static uint8_t S_pol[10] = {1,5,3,2,1,5,0,0,0,0};
        static RST new_RST((float*)R_pol, (float*)T_pol, (float*)S_pol, PolinomialGrades);
      if(apply_RSTCommand)
      { 
        float out = new_RST.ComputeCommand(input.read());
        RSTGlobalCommand = out;
      }else
      {
        RSTGlobalCommand = 0;
      }
}

void decode(uint8_t* buf)
{
    char myBuf[TXRX_BUF_LEN];
    switch(buf[0])
    {
        case 'P':
        {
            sprintf(myBuf,"command=%2f", PIDGlobalCommand);
            WriteBuffer(myBuf);
        }
        case 'm':
        {
            sprintf(myBuf,"ReadADC=%2f",input.read());
            WriteBuffer(myBuf);
        }
        case 'R':
        {
            sprintf(myBuf,"RSTcommand=%2f", RSTGlobalCommand);
            WriteBuffer(myBuf);    
        }
        case 's':
        {
            sprintf(myBuf,"Safe mode=%2f", PIDGlobalCommand);
            WriteBuffer(myBuf);    
        }
        default:
        {
            sprintf(myBuf,"Default Case %d", 0);
            WriteBuffer(myBuf);
        }     
    }
}

void decode_state_machine()
{
   char buf; 
   switch(sm_states)
   {
       case shut_down:
       {
            //do nothing
            apply_PIDCommand = false;
            apply_RSTCommand = false;
            break;
       }
       case safe_state:
       {
            apply_PIDCommand = false;
            apply_RSTCommand = false;
            buf = 's';
            decode((uint8_t*)buf);
            break;    
       }
       case monitoring:
       {
            apply_PIDCommand = false;
            apply_RSTCommand = false;
            buf = 'm';
            decode((uint8_t*)buf);
            break;    
       }
       case local_control_PID:
       {
            apply_PIDCommand = true;
            apply_RSTCommand = false;
            buf = 'P';
            decode((uint8_t*)buf);
            break;   
       }
       case local_control_RST:
       {
             apply_PIDCommand = false;
             apply_RSTCommand = true;
             buf = 'R';
             decode((uint8_t*)buf);
             break;   
       }
   }         
}

void conn_state_machine(uint8_t *letter, uint8_t *letter_2)
{
    switch(letter[0]){
        case 'a':
        {
            connectionUpdate(start_advertising);
            sm_states = safe_state;
            break;
        }
        case 'c':
        {
            connectionUpdate(connected);
            switch(letter_2[0])
            {
                case 'm':
                {
                    sm_states = monitoring;
                    break;    
                }
                case 'P':
                {
                    sm_states = local_control_PID;
                    break;    
                }
                case 'R':
                {
                    sm_states = local_control_RST;
                    break;    
                }
                case 'r':
                {
                    sm_states = remote_control;
                    break;    
                }
            }
            break; 
        }
        case 's':
        {
            connectionUpdate(stop_advertising);
            sm_states = safe_state;    
        }
        case 'd':
        {
            connectionUpdate(stop_connection);
            sm_states = shut_down;    
        }
    }
}

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);
        //decode();
        //WriteBuffer(GlobalCommand);
        conn_state_machine(&buf[0], &buf[1]);
    }
}

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.onConnection(connectionCallback);
    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(); 
    //periodicActions.attach(&returnCommand, GlobalTime);
    periodicCommandPID.attach(&computeCommand, GlobalSamplingTime);
    pc.printf("Advertising Start \r\n");
    while(1)
    { 
        decode_state_machine();
        ble.waitForEvent(); 
    }
}