Code final de la cellule du RC de réception, celle-ci est connectée en Bluetooth à l'autre cellule et en BLE à l'application Android.
Dependencies: mbed SimpleBLE X_NUCLEO_IDB0XA1 LIS3DH_spi
main.cpp
- Committer:
- Nthnthj
- Date:
- 2020-01-22
- Revision:
- 9:504c19ac8bba
- Parent:
- 7:f5e10b18984d
- Child:
- 10:9911eb25b6a7
File content as of revision 9:504c19ac8bba:
//Includes #include "mbed.h" #include "SimpleBLE.h" #include "LIS3DH.h" #include "stdlib.h" //Accelerometer #define MOSI PC_12 #define MISO PC_11 #define CS PC_5 #define SCLK PC_10 //Bluetooth hc05-6 #define TX D0 #define RX D1 //Init simpleBLE SimpleBLE ble("ObCP_Roller_Catcher2"); // GPIO set //Interrupt input InterruptIn user1(PC_13); //User1 InterruptIn boutton1(D3); //Bouton 1 shield InterruptIn boutton2(D4); //Bouton 2 shield InterruptIn event(A0); //Passage dans la porte laser //Création du Timer Timer timer; //Sorties numériques DigitalOut led1(D14); DigitalOut transistor(D6); //PWM output PwmOut PWMoutput(PB_1); //Main PWM output PwmOut Green(PC_8); //PWM Red LED PwmOut Red(PC_6); //PWM Green LED PwmOut Blue(PC_9); //PWM Blue LED //Création des variables float flag = 0; bool flag2=false; int c; int temps1; int tref; char message ; float end,begin; int temps2 =0; //Init accelerometer LIS3DH acc(MOSI, MISO, SCLK, CS, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_2G); //Création des liaisons série (pc et bluetooth hc-05) //Serial pc(USBTX, USBRX); Serial BT(USBTX,USBRX); // Characteristics pour affiche sur l'appli Android via BLE SimpleChar<float> compteur = ble.readOnly_float(0xA000, 0xA003); SimpleChar<float> Temps = ble.readOnly_float(0xA000, 0xA004); SimpleChar<float> Temps2 = ble.readOnly_float(0xA000, 0xA007); void envoi(char message) { BT.printf("%c\n", message); // pc.printf("Message envoye \r\n"); } void resetUpdate(float rst) { // pc.printf("reset"); message = 'R'; envoi(message); timer.reset(); tref=timer.read_ms(); } // Changement de mode de course ou changements couleur led void LEDupdate(uint32_t newColor) { // read individual bytes uint8_t* channels = (uint8_t*)&newColor; // cast to float, as PwmOut expects a value between 0.0f and 1.0f Red = static_cast<float>(channels[0]) / 255.0f; Green = static_cast<float>(channels[1]) / 255.0f; Blue = static_cast<float>(channels[2]) / 255.0f; flag = static_cast<float>(channels[3]); // pc.printf("%f\n",flag); if(flag == 1) { // pc.printf("Mode duo actif"); message = 'D'; envoi(message); timer.reset(); flag2=true; }else if(flag == 0) { // pc.printf("Mode solo actif "); message = 'S'; // pc.printf("%c ",message); envoi(message); timer.reset(); flag2=false; } } void pressed2(){ led1 = !led1; temps2 = timer.read_ms(); // pc.printf("Temps calcule, %i \r\n",temps2); if(flag2==false){ Temps=(temps2-temps1)/1000.0f; // pc.printf("Temps1 ; %i", temps1); // pc.printf("Temps de course ; %i", temps2-temps1); }else{ // pc.printf("Temps parcours2 : %i \n",temps2-tref); // pc.printf("Temps parcours1 : %i \n", temps1-tref); Temps = (temps1-tref)/1000.0f; Temps2 = (temps2-tref)/1000.0f; } } // When characteristic PWM output changing void PWMupdate(uint8_t pwmvalue) { // cast to float, as PwmOut expects a value between 0.0f and 1.0f PWMoutput = static_cast<float>(pwmvalue) / 255.0f; } // When characteristic input changing void Accupdate() { //accX = float(short((acc.read_reg(LIS3DH_OUT_X_H) << 8) | acc.read_reg(LIS3DH_OUT_X_L))) * 0.001F / 15; //accY = float(short((acc.read_reg(LIS3DH_OUT_Y_H) << 8) | acc.read_reg(LIS3DH_OUT_Y_L))) * 0.001F / 15; //accZ = float(short((acc.read_reg(LIS3DH_OUT_Z_H) << 8) | acc.read_reg(LIS3DH_OUT_Z_L))) * 0.001F / 15; //Temps=15.68; } // Characteritic PWM LED RGB SimpleChar<uint32_t> color = ble.writeOnly_u32(0x6200, 0x6201, &LEDupdate); // Characteristic PWM output SimpleChar<uint8_t> pwmout = ble.writeOnly_u8(0xA000, 0xA001, &PWMupdate); SimpleChar<float> reset = ble.writeOnly_float(0xA000, 0xA005, &resetUpdate); SimpleChar<float> depart_course = ble.writeOnly_float(0xA000, 0xA006, &resetUpdate); void skater_d() { if(flag==false) { //printf("Ligne de depart coupee solo \n"); if( flag == false) { //printf("Depart skate \n"); begin = timer.read_ms(); compteur=100; //pc.printf(" skater lance %.0f \n", begin); flag = true; } else if(flag == true) { //printf("erreur \n"); //pc.printf(" Temps du skater : %.0f \n", end-begin); flag = false; } } else if(flag==true) { //printf("Ligne d'arrivee coupee \n"); if( flag == false ) { //printf("arrivee coupe sans depart\n"); flag = true; } else if(flag == true ) { //printf("Arrivee skate \n"); end = timer.read_ms(); //Temps = end-begin; compteur=200; //wait(1); //pc.printf(" Temps du skater : %.0f \n", end-begin); flag = false; } } } //Main program void RXevent (){ //timer.start(); //c=BT.getc(); if(BT.readable()){ BT.scanf("%i", &temps1); //wait(1); } // pc.printf(" Message recu :%i \n", temps1); // !!!!!!!!!!!!!!!Ca marche pas sans ça !!!!!!!!!!! //temps2 = timer.read_ms(); //Temps= temps2-temps1; //pc.printf("Temps calcule, %i \r\n",Temps); } int main(int, char**) { transistor=1; ble.start(); //Ticker t; //t.attach(&Accupdate, 15.0f); timer.start(); BT.attach(&RXevent); user1.fall(&pressed2); //boutton1.fall(&pressed); //boutton2.fall(&pressed); event.fall(&pressed2); //char Buffer[10]; while (1) { ble.waitForEvent(); /* pc.printf("%f\n",flag); if(flag == 1 && flag2==false){ pc.printf("Mode duo actif"); }else if(flag == 0 && flag2==false){ pc.printf("Mode solo actif "); message = 0; pc.printf("%i ",message); envoi(message); timer.start(); flag2=true; } */ //if(BT.readable()){ //pc.printf("Je recois"); //BT.attach(&RXevent); // c=BT.getc(); //pc.printf("%i ",c); //BT.scanf("%s",&Buffer); //pc.printf("%i\n",c); //compteur = c; //} //else { // pc.printf("bof"); //} } } //blablabla