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An example driving an LED through a BLE service using ST BlueNRG native drivers
Dependencies: BLE_API X_NUCLEO_IDB0XA1 X_NUCLEO_IHM02A1 mbed
Fork of BLE_LED_IDB0XA1 by
Revision 9:66938f196868, committed 2018-02-04
- Comitter:
- yong304
- Date:
- Sun Feb 04 08:49:24 2018 +0000
- Parent:
- 7:126b141a8c86
- Commit message:
- smart phone app control stepper motor via bluetooth low energy
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Feb 01 07:55:42 2018 +0000 +++ b/main.cpp Sun Feb 04 08:49:24 2018 +0000 @@ -20,15 +20,18 @@ /* Helper header files. */ #include "DevSPI.h" -void call(); +void FWD(); +void BWD(); +void LEFT(); +void RIGHT(); /* Expansion Board specific header files. */ #include "XNucleoIHM02A1.h" #include "mbed.h" #include "ble/BLE.h" #include "LEDService.h" -#include "BlueNRGDevice.h" -int temp,add ; + + /* Definitions ---------------------------------------------------------------*/ /* Number of movements per revolution. */ @@ -43,12 +46,14 @@ #define DELAY_2 2000 #define DELAY_3 5000 - +#ifdef TARGET_STM32F401 + DevSPI dev_spi(PB_15, PB_14, PB_13); +#else + DevSPI dev_spi(PB_15, PB_14, PB_13); +#endif + /* Variables -----------------------------------------------------------------*/ -/* Motor Control Expansion Board. */ -XNucleoIHM02A1 *x_nucleo_ihm02a1; - /* Initialization parameters of the motors connected to the expansion board. */ L6470_init_t init[L6470DAISYCHAINSIZE] = { /* First Motor. */ @@ -108,6 +113,10 @@ } }; + +/* Motor Control Expansion Board. */ +XNucleoIHM02A1* x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi); + DigitalOut actuatedLED(LED2); const static char DEVICE_NAME[] = "mydevice"; // CHANGE NAME static const uint16_t uuid16_list[] = {LEDService::LED_SERVICE_UUID}; // GATT ATTRIBUTE UUID @@ -129,30 +138,12 @@ void onDataWrittenCallback(const GattWriteCallbackParams *params) { if ((params->handle == ledServicePtr->getValueHandle()) && (params->len == 1)) { - /* switch( *(params->data)){ - case 0: - actuatedLED=0 ; - wait(1) ; - actuatedLED=1 ; - wait(1) ; - actuatedLED=0 ; - break ; - case 1: - actuatedLED=1 ; - wait(1) ; - actuatedLED=0 ; - wait(1) ; - actuatedLED=1 ; - break ; - } */ if ( *(params->data)== 0x00 ) { - actuatedLED=1 ; - call(); - - } - else if (*(params->data)== 0x01) - { + actuatedLED=0 ; + wait(0.5) ; + actuatedLED=1 ; + wait(0.5) ; actuatedLED=0 ; wait(0.5) ; actuatedLED=1 ; @@ -162,26 +153,25 @@ actuatedLED=1 ; wait(0.5) ; actuatedLED=0 ; - + } + else if (*(params->data)== 0x01) + { + actuatedLED=1 ; + FWD(); } else if (*(params->data)== 0x02) { actuatedLED=1 ; - wait(0.5) ; - actuatedLED=0 ; - wait(0.5) ; + BWD(); + } + else if (*(params->data)== 0x03) { actuatedLED=1 ; + RIGHT(); } - else if (*(params->data)== 0x03) { - actuatedLED=1 ; - wait(0.5) ; - actuatedLED=0 ; - wait(0.5) ; + else if (*(params->data)== 0x04) { actuatedLED=1 ; - wait(0.5) ; - actuatedLED=0 ; - wait(0.5) ; - actuatedLED=1 ; + LEFT(); } + } @@ -242,296 +232,86 @@ } -void call() +void FWD() { -/*----- Initialization. -----*/ -/* Initializing SPI bus. */ - - -#ifdef TARGET_STM32F401 - DevSPI dev_spi(PB_15, PB_14, PB_13); -#else - DevSPI dev_spi(PB_15, PB_14, PB_13); -#endif - - /* Initializing Motor Control Expansion Board. */ - x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi); /* Building a list of motor control components. */ L6470 **motors = x_nucleo_ihm02a1->get_components(); - motors[0]->set_home(); - /* Waiting. */ - wait_ms(DELAY_1); + motors[0]->set_home(); + + /* Getting the current position. */ + int position = motors[0]->get_position(); + + /* Preparing each motor to perform a run at a specified speed. */ + for (int m = 0; m < L6470DAISYCHAINSIZE; m++) { + motors[m]->prepare_move(StepperMotor::FWD, 25600); + } + + /* Performing the action on each motor at the same time. */ + x_nucleo_ihm02a1->perform_prepared_actions(); + + /* Waiting while active. */ + motors[0]->wait_while_active(); +} + +void BWD() +{ + + /* Building a list of motor control components. */ + L6470 **motors = x_nucleo_ihm02a1->get_components(); + motors[0]->set_home(); /* Getting the current position. */ int position = motors[0]->get_position(); - /* Printing to the console. */ - printf("--> Getting the current position: %d\r\n", position); - - /* Waiting. */ - wait_ms(DELAY_1); - - /* Printing to the console. */ - printf("--> Moving forward %d steps.\r\n", STEPS_1); - - /* Moving. */ - motors[0]->move(StepperMotor::FWD, STEPS_1); - - /* Waiting while active. */ - motors[0]->wait_while_active(); - - /* Getting the current position. */ - position = motors[0]->get_position(); - - /* Printing to the console. */ - printf("--> Getting the current position: %d\r\n", position); - - /* Printing to the console. */ - printf("--> Marking the current position.\r\n"); - - /* Marking the current position. */ - motors[0]->set_mark(); - - /* Waiting. */ - wait_ms(DELAY_1); - - /* Printing to the console. */ - printf("--> Moving backward %d steps.\r\n", STEPS_2); - - /* Moving. */ - motors[0]->move(StepperMotor::BWD, STEPS_2); - - /* Waiting while active. */ - motors[0]->wait_while_active(); - - /* Waiting. */ - wait_ms(DELAY_1); - - /* Getting the current position. */ - position = motors[0]->get_position(); - - /* Printing to the console. */ - printf("--> Getting the current position: %d\r\n", position); - - /* Waiting. */ - wait_ms(DELAY_1); - - /* Printing to the console. */ - printf("--> Going to marked position.\r\n"); - - /* Going to marked position. */ - motors[0]->go_mark(); - - /* Waiting while active. */ - motors[0]->wait_while_active(); - - /* Waiting. */ - wait_ms(DELAY_1); - - /* Getting the current position. */ - position = motors[0]->get_position(); - - /* Printing to the console. */ - printf("--> Getting the current position: %d\r\n", position); - - /* Waiting. */ - wait_ms(DELAY_1); - - /* Printing to the console. */ - printf("--> Going to home position.\r\n"); - - /* Going to home position. */ - motors[0]->go_home(); - - /* Waiting while active. */ - motors[0]->wait_while_active(); - - /* Waiting. */ - wait_ms(DELAY_1); - - /* Getting the current position. */ - position = motors[0]->get_position(); - - /* Printing to the console. */ - printf("--> Getting the current position: %d\r\n", position); - - /* Waiting. */ - wait_ms(DELAY_1); - - /* Printing to the console. */ - printf("--> Halving the microsteps.\r\n"); - - /* Halving the microsteps. */ - init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel); - if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel)) { - printf(" Step Mode not allowed.\r\n"); - } - - /* Waiting. */ - wait_ms(DELAY_1); - - /* Printing to the console. */ - printf("--> Setting home position.\r\n"); - - /* Setting the home position. */ - motors[0]->set_home(); - - /* Waiting. */ - wait_ms(DELAY_1); - - /* Getting the current position. */ - position = motors[0]->get_position(); - - /* Printing to the console. */ - printf("--> Getting the current position: %d\r\n", position); - - /* Waiting. */ - wait_ms(DELAY_1); - - /* Printing to the console. */ - printf("--> Moving forward %d steps.\r\n", STEPS_1); - - /* Moving. */ - motors[0]->move(StepperMotor::FWD, STEPS_1); - - /* Waiting while active. */ - motors[0]->wait_while_active(); - - /* Getting the current position. */ - position = motors[0]->get_position(); - - /* Printing to the console. */ - printf("--> Getting the current position: %d\r\n", position); - - /* Printing to the console. */ - printf("--> Marking the current position.\r\n"); - - /* Marking the current position. */ - motors[0]->set_mark(); - - /* Waiting. */ - wait_ms(DELAY_2); - - - /*----- Running together for a certain amount of time. -----*/ - - /* Printing to the console. */ - printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000); - - /* Preparing each motor to perform a run at a specified speed. */ + /* Preparing each motor to perform a run at a specified speed. */ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) { - motors[m]->prepare_run(StepperMotor::BWD, 400); + motors[m]->prepare_move(StepperMotor::BWD, 25600); } /* Performing the action on each motor at the same time. */ x_nucleo_ihm02a1->perform_prepared_actions(); - - /* Waiting. */ - wait_ms(DELAY_3); - - - /*----- Increasing the speed while running. -----*/ - - /* Preparing each motor to perform a run at a specified speed. */ - for (int m = 0; m < L6470DAISYCHAINSIZE; m++) { - motors[m]->prepare_get_speed(); - } - - /* Performing the action on each motor at the same time. */ - uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions(); - - /* Printing to the console. */ - printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]); - - /* Printing to the console. */ - printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000); - - /* Preparing each motor to perform a run at a specified speed. */ - for (int m = 0; m < L6470DAISYCHAINSIZE; m++) { - motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1); - } + + /* Waiting while active. */ + motors[0]->wait_while_active(); +} +void LEFT() +{ - /* Performing the action on each motor at the same time. */ - results = x_nucleo_ihm02a1->perform_prepared_actions(); - - /* Waiting. */ - wait_ms(DELAY_3); - - /* Preparing each motor to perform a run at a specified speed. */ - for (int m = 0; m < L6470DAISYCHAINSIZE; m++) { - motors[m]->prepare_get_speed(); - } - - /* Performing the action on each motor at the same time. */ - results = x_nucleo_ihm02a1->perform_prepared_actions(); + /* Building a list of motor control components. */ + L6470 **motors = x_nucleo_ihm02a1->get_components(); + motors[0]->set_home(); - /* Printing to the console. */ - printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]); - - /* Waiting. */ - wait_ms(DELAY_1); - + /* Getting the current position. */ + int position = motors[0]->get_position(); - /*----- Hard Stop. -----*/ - - /* Printing to the console. */ - printf("--> Hard Stop.\r\n"); - - /* Preparing each motor to perform a hard stop. */ - for (int m = 0; m < L6470DAISYCHAINSIZE; m++) { - motors[m]->prepare_hard_stop(); - } + /* Preparing each motor to perform a run at a specified speed. */ + motors[0]->prepare_move(StepperMotor::FWD, 25600); + motors[1]->prepare_move(StepperMotor::BWD, 25600); /* Performing the action on each motor at the same time. */ x_nucleo_ihm02a1->perform_prepared_actions(); - - /* Waiting. */ - wait_ms(DELAY_2); - - - /*----- Doing a full revolution on each motor, one after the other. -----*/ - - /* Printing to the console. */ - printf("--> Doing a full revolution on each motor, one after the other.\r\n"); - - /* Doing a full revolution on each motor, one after the other. */ - for (int m = 0; m < L6470DAISYCHAINSIZE; m++) { - for (int i = 0; i < MPR_1; i++) { - /* Computing the number of steps. */ - int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1); + + /* Waiting while active. */ + motors[0]->wait_while_active(); +} +void RIGHT() +{ - /* Moving. */ - motors[m]->move(StepperMotor::FWD, steps); - - /* Waiting while active. */ - motors[m]->wait_while_active(); - - /* Waiting. */ - wait_ms(DELAY_1); - } - } + /* Building a list of motor control components. */ + L6470 **motors = x_nucleo_ihm02a1->get_components(); + motors[0]->set_home(); - /* Waiting. */ - wait_ms(DELAY_2); - - - /*----- High Impedance State. -----*/ + /* Getting the current position. */ + int position = motors[0]->get_position(); - /* Printing to the console. */ - printf("--> High Impedance State.\r\n"); - - /* Preparing each motor to set High Impedance State. */ - for (int m = 0; m < L6470DAISYCHAINSIZE; m++) { - motors[m]->prepare_hard_hiz(); - } + /* Preparing each motor to perform a run at a specified speed. */ + motors[1]->prepare_move(StepperMotor::FWD, 25600); + motors[0]->prepare_move(StepperMotor::BWD, 25600); /* Performing the action on each motor at the same time. */ x_nucleo_ihm02a1->perform_prepared_actions(); - - /* Waiting. */ - wait_ms(DELAY_2); - - nCS_ = 0 ; - } - + + /* Waiting while active. */ + motors[0]->wait_while_active(); +} \ No newline at end of file