Team X / Mbed OS Hexiwear_part

controller

Dependencies:   FXAS21002 FXOS8700 Hexi_KW40Z Hexi_OLED_SSD1351

Fork of Hexi_BLE_Example by Hexiwear

main.cpp@4:f412749d800d, 2017-05-01 (annotated)

Committer:
mikebenq
Date:
Mon May 01 11:18:03 2017 +0000
Revision:
4:f412749d800d
Parent:
3:c2ab3a0de448 
ece4180

Who changed what in which revision?

UserRevisionLine numberNew contents of line
khuang 0:c80666325948 1 #include "mbed.h"
khuang 0:c80666325948 2 #include "Hexi_KW40Z.h"
khuang 0:c80666325948 3 #include "Hexi_OLED_SSD1351.h"
khuang 0:c80666325948 4 #include "OLED_types.h"
khuang 0:c80666325948 5 #include "OpenSans_Font.h"
khuang 0:c80666325948 6 #include "string.h"
mikebenq 4:f412749d800d 7 #include "FXAS21002.h"
mikebenq 4:f412749d800d 8 #include "FXOS8700.h"
khuang 0:c80666325948 9
khuang 0:c80666325948 10 #define LED_ON 0
khuang 0:c80666325948 11 #define LED_OFF 1
mikebenq 4:f412749d800d 12 #define DECLINATION -4.94
mikebenq 4:f412749d800d 13 #define PI 3.14159
cotigac 3:c2ab3a0de448 14
mikebenq 4:f412749d800d 15
khuang 0:c80666325948 16 void StartHaptic(void);
khuang 0:c80666325948 17 void StopHaptic(void const *n);
khuang 1:a0d9eeedb771 18 void txTask(void);
khuang 0:c80666325948 19
khuang 0:c80666325948 20 DigitalOut redLed(LED1,1);
khuang 0:c80666325948 21 DigitalOut greenLed(LED2,1);
khuang 0:c80666325948 22 DigitalOut blueLed(LED3,1);
khuang 0:c80666325948 23 DigitalOut haptic(PTB9);
khuang 0:c80666325948 24
mikebenq 4:f412749d800d 25
mikebenq 4:f412749d800d 26 Serial pc(USBTX, USBRX);
khuang 0:c80666325948 27 /* Define timer for haptic feedback */
khuang 0:c80666325948 28 RtosTimer hapticTimer(StopHaptic, osTimerOnce);
khuang 0:c80666325948 29
khuang 0:c80666325948 30 /* Instantiate the Hexi KW40Z Driver (UART TX, UART RX) */
khuang 0:c80666325948 31 KW40Z kw40z_device(PTE24, PTE25);
khuang 0:c80666325948 32
khuang 0:c80666325948 33 /* Instantiate the SSD1351 OLED Driver */
khuang 0:c80666325948 34 SSD1351 oled(PTB22,PTB21,PTC13,PTB20,PTE6, PTD15); /* (MOSI,SCLK,POWER,CS,RST,DC) */
khuang 0:c80666325948 35
mikebenq 4:f412749d800d 36 /* Instantiate the gyro */
mikebenq 4:f412749d800d 37 FXAS21002 gyro(PTC11,PTC10);
mikebenq 4:f412749d800d 38 FXOS8700 accel(PTC11, PTC10);
mikebenq 4:f412749d800d 39 FXOS8700 mag(PTC11, PTC10);
mikebenq 4:f412749d800d 40 // Storage for the data from the sensor
mikebenq 4:f412749d800d 41 float gyro_data[3]; float gyro_rms=0.0;
mikebenq 4:f412749d800d 42 float accel_data[3]; float accel_rms=0.0;
mikebenq 4:f412749d800d 43 float mag_data[3]; float mag_rms=0.0;
mikebenq 4:f412749d800d 44 float roll,pitch,heading;
mikebenq 4:f412749d800d 45 float new_roll,new_pitch,new_heading;
mikebenq 4:f412749d800d 46 int del_roll,del_pitch;
mikebenq 4:f412749d800d 47 volatile bool flag=false;
mikebenq 4:f412749d800d 48 Timeout timeout;
khuang 1:a0d9eeedb771 49 /*Create a Thread to handle sending BLE Sensor Data */
khuang 1:a0d9eeedb771 50 Thread txThread;
khuang 0:c80666325948 51
khuang 1:a0d9eeedb771 52 /* Text Buffer */
khuang 1:a0d9eeedb771 53 char text[20];
khuang 1:a0d9eeedb771 54
cotigac 3:c2ab3a0de448 55 uint8_t battery = 100;
cotigac 3:c2ab3a0de448 56 uint8_t light = 0;
cotigac 3:c2ab3a0de448 57 uint16_t humidity = 4500;
cotigac 3:c2ab3a0de448 58 uint16_t temperature = 2000;
cotigac 3:c2ab3a0de448 59 uint16_t pressure = 9000;
cotigac 3:c2ab3a0de448 60 uint16_t x = 0;
cotigac 3:c2ab3a0de448 61 uint16_t y = 5000;
cotigac 3:c2ab3a0de448 62 uint16_t z = 10000;
cotigac 3:c2ab3a0de448 63
mikebenq 4:f412749d800d 64 /*Get the new value of roll and pitch*/
mikebenq 4:f412749d800d 65 void get_new_value(){
mikebenq 4:f412749d800d 66 gyro.acquire_gyro_data_dps(gyro_data);
mikebenq 4:f412749d800d 67 accel.acquire_accel_data_g(accel_data);
mikebenq 4:f412749d800d 68 new_roll = atan2(accel_data[2],accel_data[1]);
mikebenq 4:f412749d800d 69 new_pitch = atan2(-accel_data[0],sqrt(accel_data[1]*accel_data[1] + accel_data[2]*accel_data[2]));
mikebenq 4:f412749d800d 70 new_pitch *= 180.0 / PI;
mikebenq 4:f412749d800d 71 new_roll *= 180.0 / PI;
mikebenq 4:f412749d800d 72 new_roll+=180;
mikebenq 4:f412749d800d 73 }
mikebenq 4:f412749d800d 74 /*Click the button to start it*/
mikebenq 4:f412749d800d 75 void Start_Detect(){
mikebenq 4:f412749d800d 76 if(flag==true)
mikebenq 4:f412749d800d 77 return;
mikebenq 4:f412749d800d 78 flag=true;
mikebenq 4:f412749d800d 79 }
khuang 1:a0d9eeedb771 80 /****************************Call Back Functions*******************************/
khuang 0:c80666325948 81 void ButtonRight(void)
khuang 0:c80666325948 82 {
khuang 0:c80666325948 83 StartHaptic();
khuang 0:c80666325948 84 kw40z_device.ToggleAdvertisementMode();
khuang 0:c80666325948 85 }
khuang 0:c80666325948 86
khuang 0:c80666325948 87 void ButtonLeft(void)
khuang 0:c80666325948 88 {
khuang 0:c80666325948 89 StartHaptic();
khuang 0:c80666325948 90 kw40z_device.ToggleAdvertisementMode();
khuang 0:c80666325948 91 }
khuang 0:c80666325948 92
khuang 0:c80666325948 93 void PassKey(void)
khuang 0:c80666325948 94 {
khuang 0:c80666325948 95 StartHaptic();
khuang 0:c80666325948 96 strcpy((char *) text,"PAIR CODE");
khuang 1:a0d9eeedb771 97 oled.TextBox((uint8_t *)text,0,25,95,18);
khuang 0:c80666325948 98
khuang 0:c80666325948 99 /* Display Bond Pass Key in a 95px by 18px textbox at x=0,y=40 */
khuang 0:c80666325948 100 sprintf(text,"%d", kw40z_device.GetPassKey());
khuang 0:c80666325948 101 oled.TextBox((uint8_t *)text,0,40,95,18);
khuang 0:c80666325948 102 }
khuang 1:a0d9eeedb771 103
khuang 1:a0d9eeedb771 104 /***********************End of Call Back Functions*****************************/
khuang 1:a0d9eeedb771 105
khuang 1:a0d9eeedb771 106 /********************************Main******************************************/
khuang 1:a0d9eeedb771 107
khuang 0:c80666325948 108 int main()
khuang 0:c80666325948 109 {
cotigac 3:c2ab3a0de448 110 /* Register callbacks to application functions */
cotigac 3:c2ab3a0de448 111 kw40z_device.attach_buttonLeft(&ButtonLeft);
cotigac 3:c2ab3a0de448 112 kw40z_device.attach_buttonRight(&ButtonRight);
cotigac 3:c2ab3a0de448 113 kw40z_device.attach_passkey(&PassKey);
mikebenq 4:f412749d800d 114 kw40z_device.attach_buttonUp(&Start_Detect);//Click the button to start it
mikebenq 4:f412749d800d 115 gyro.gyro_config();
mikebenq 4:f412749d800d 116 accel.accel_config();
mikebenq 4:f412749d800d 117 mag.mag_config();
khuang 0:c80666325948 118 /* Turn on the backlight of the OLED Display */
khuang 0:c80666325948 119 oled.DimScreenON();
khuang 0:c80666325948 120
khuang 0:c80666325948 121 /* Fills the screen with solid black */
khuang 0:c80666325948 122 oled.FillScreen(COLOR_BLACK);
cotigac 3:c2ab3a0de448 123
cotigac 3:c2ab3a0de448 124 /* Get OLED Class Default Text Properties */
cotigac 3:c2ab3a0de448 125 oled_text_properties_t textProperties = {0};
cotigac 3:c2ab3a0de448 126 oled.GetTextProperties(&textProperties);
khuang 0:c80666325948 127
khuang 0:c80666325948 128 /* Change font color to Blue */
khuang 0:c80666325948 129 textProperties.fontColor = COLOR_BLUE;
khuang 0:c80666325948 130 oled.SetTextProperties(&textProperties);
khuang 0:c80666325948 131
khuang 0:c80666325948 132 /* Display Bluetooth Label at x=17,y=65 */
khuang 0:c80666325948 133 strcpy((char *) text,"BLUETOOTH");
khuang 0:c80666325948 134 oled.Label((uint8_t *)text,17,65);
khuang 0:c80666325948 135
khuang 0:c80666325948 136 /* Change font color to white */
khuang 0:c80666325948 137 textProperties.fontColor = COLOR_WHITE;
khuang 0:c80666325948 138 textProperties.alignParam = OLED_TEXT_ALIGN_CENTER;
khuang 0:c80666325948 139 oled.SetTextProperties(&textProperties);
khuang 0:c80666325948 140
khuang 1:a0d9eeedb771 141 /* Display Label at x=22,y=80 */
khuang 0:c80666325948 142 strcpy((char *) text,"Tap Below");
khuang 0:c80666325948 143 oled.Label((uint8_t *)text,22,80);
khuang 0:c80666325948 144
khuang 1:a0d9eeedb771 145 uint8_t prevLinkState = 0;
cotigac 3:c2ab3a0de448 146 uint8_t currLinkState = 0;
cotigac 3:c2ab3a0de448 147
khuang 1:a0d9eeedb771 148 txThread.start(txTask); /*Start transmitting Sensor Tag Data */
khuang 0:c80666325948 149
khuang 1:a0d9eeedb771 150 while (true)
khuang 1:a0d9eeedb771 151 {
khuang 1:a0d9eeedb771 152 blueLed = !kw40z_device.GetAdvertisementMode(); /*Indicate BLE Advertisment Mode*/
khuang 1:a0d9eeedb771 153 Thread::wait(50);
khuang 1:a0d9eeedb771 154 }
khuang 1:a0d9eeedb771 155 }
khuang 1:a0d9eeedb771 156
khuang 1:a0d9eeedb771 157 /******************************End of Main*************************************/
khuang 1:a0d9eeedb771 158
khuang 1:a0d9eeedb771 159
khuang 1:a0d9eeedb771 160 /* txTask() transmits the sensor data */
khuang 1:a0d9eeedb771 161 void txTask(void){
khuang 1:a0d9eeedb771 162
khuang 1:a0d9eeedb771 163 while (true)
khuang 1:a0d9eeedb771 164 {
khuang 0:c80666325948 165
mikebenq 4:f412749d800d 166 if(flag){
mikebenq 4:f412749d800d 167 kw40z_device.SendSetApplicationMode(GUI_CURRENT_APP_SENSOR_TAG);
mikebenq 4:f412749d800d 168 gyro.acquire_gyro_data_dps(gyro_data);
mikebenq 4:f412749d800d 169 accel.acquire_accel_data_g(accel_data);
mikebenq 4:f412749d800d 170 roll = atan2(accel_data[2],accel_data[1]);
mikebenq 4:f412749d800d 171 pitch = atan2(-accel_data[0],sqrt(accel_data[1]*accel_data[1] + accel_data[2]*accel_data[2]));
mikebenq 4:f412749d800d 172 pitch *= 180.0 / PI;
mikebenq 4:f412749d800d 173 roll *= 180.0 / PI;
mikebenq 4:f412749d800d 174 roll+=180;
mikebenq 4:f412749d800d 175
mikebenq 4:f412749d800d 176 Thread::wait(1000);
mikebenq 4:f412749d800d 177 get_new_value();
mikebenq 4:f412749d800d 178 float cmd;
mikebenq 4:f412749d800d 179
mikebenq 4:f412749d800d 180 if(abs(new_roll-roll)>abs(new_pitch-pitch)){
mikebenq 4:f412749d800d 181 if(new_roll-roll>30)
mikebenq 4:f412749d800d 182 cmd=100;
mikebenq 4:f412749d800d 183 else if(new_roll-roll<-30)
mikebenq 4:f412749d800d 184 cmd=200;
mikebenq 4:f412749d800d 185 else
mikebenq 4:f412749d800d 186 cmd=0;
mikebenq 4:f412749d800d 187 }else if(abs(new_roll-roll)<abs(new_pitch-pitch)){
mikebenq 4:f412749d800d 188 if(new_pitch-pitch>10)
mikebenq 4:f412749d800d 189 cmd=300;
mikebenq 4:f412749d800d 190 else if(new_pitch-pitch<-10)
mikebenq 4:f412749d800d 191 cmd=400;
mikebenq 4:f412749d800d 192 else
mikebenq 4:f412749d800d 193 cmd=0;
mikebenq 4:f412749d800d 194 }else
mikebenq 4:f412749d800d 195 cmd=0;
mikebenq 4:f412749d800d 196 pc.printf("cmd=%f",cmd);
mikebenq 4:f412749d800d 197 kw40z_device.SendTemperature(cmd);
mikebenq 4:f412749d800d 198 Thread::wait(6000);//Make some delay to wait the data upload to the server
mikebenq 4:f412749d800d 199 kw40z_device.SendTemperature(0);//send 0 to the server
mikebenq 4:f412749d800d 200 flag=false;
mikebenq 4:f412749d800d 201 }
mikebenq 4:f412749d800d 202
mikebenq 4:f412749d800d 203 Thread::wait(500);
khuang 0:c80666325948 204 }
khuang 0:c80666325948 205 }
khuang 0:c80666325948 206
khuang 1:a0d9eeedb771 207 void StartHaptic(void) {
khuang 0:c80666325948 208 hapticTimer.start(50);
khuang 0:c80666325948 209 haptic = 1;
khuang 0:c80666325948 210 }
khuang 0:c80666325948 211
khuang 0:c80666325948 212 void StopHaptic(void const *n) {
khuang 0:c80666325948 213 haptic = 0;
khuang 0:c80666325948 214 hapticTimer.stop();
khuang 0:c80666325948 215 }
khuang 1:a0d9eeedb771 216