ST / Mbed OS Node_BLE_StepperMotor_Device

Bluetooth Low Energy and Stepper Motor enabled device, compatible with the BlueST Protocol.

Dependencies:   X_NUCLEO_IHM01A1

Bluetooth Low Energy and Stepper Motor enabled device, compatible with the BlueST Protocol.

source/main.cpp@2:b51fb6efcd55, 2018-08-06 (annotated)

Committer:
Davidroid
Date:
Mon Aug 06 09:59:56 2018 +0000
Revision:
2:b51fb6efcd55
Parent:
1:84935552ca4d 
Correct Custom Service UUID

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:f87cdc08dcd1 1 /**
Davidroid 0:f87cdc08dcd1 2 *******************************************************************************
Davidroid 0:f87cdc08dcd1 3 * @file main.cpp
Davidroid 0:f87cdc08dcd1 4 * @author Davide Aliprandi, STMicroelectronics
Davidroid 0:f87cdc08dcd1 5 * @version V1.0.0
Davidroid 0:f87cdc08dcd1 6 * @date October 31st, 2017
Davidroid 0:f87cdc08dcd1 7 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
Davidroid 0:f87cdc08dcd1 8 * Motor Control Expansion Board and the X-NUCLEO-IDB05A1 Bluetooth
Davidroid 0:f87cdc08dcd1 9 * Low energy Expansion Board.
Davidroid 0:f87cdc08dcd1 10 *******************************************************************************
Davidroid 0:f87cdc08dcd1 11 * @attention
Davidroid 0:f87cdc08dcd1 12 *
Davidroid 0:f87cdc08dcd1 13 * <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
Davidroid 0:f87cdc08dcd1 14 *
Davidroid 0:f87cdc08dcd1 15 * Redistribution and use in source and binary forms, with or without
Davidroid 0:f87cdc08dcd1 16 * modification, are permitted provided that the following conditions are met:
Davidroid 0:f87cdc08dcd1 17 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:f87cdc08dcd1 18 * this list of conditions and the following disclaimer.
Davidroid 0:f87cdc08dcd1 19 * 2. Redistributions in binary form must reproduce the above copyright
Davidroid 0:f87cdc08dcd1 20 * notice, this list of conditions and the following disclaimer in the
Davidroid 0:f87cdc08dcd1 21 * documentation and/or other materials provided with the distribution.
Davidroid 0:f87cdc08dcd1 22 * 3. Neither the name of STMicroelectronics nor the names of its
Davidroid 0:f87cdc08dcd1 23 * contributors may be used to endorse or promote products derived from
Davidroid 0:f87cdc08dcd1 24 * this software without specific prior written permission.
Davidroid 0:f87cdc08dcd1 25 *
Davidroid 0:f87cdc08dcd1 26 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:f87cdc08dcd1 27 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:f87cdc08dcd1 28 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
Davidroid 0:f87cdc08dcd1 29 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS
Davidroid 0:f87cdc08dcd1 30 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
Davidroid 0:f87cdc08dcd1 31 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
Davidroid 0:f87cdc08dcd1 32 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
Davidroid 0:f87cdc08dcd1 33 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
Davidroid 0:f87cdc08dcd1 34 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
Davidroid 0:f87cdc08dcd1 35 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
Davidroid 0:f87cdc08dcd1 36 * POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:f87cdc08dcd1 37 *
Davidroid 0:f87cdc08dcd1 38 *******************************************************************************
Davidroid 0:f87cdc08dcd1 39 */
Davidroid 0:f87cdc08dcd1 40
Davidroid 0:f87cdc08dcd1 41
Davidroid 0:f87cdc08dcd1 42 /* Includes ------------------------------------------------------------------*/
Davidroid 0:f87cdc08dcd1 43
Davidroid 0:f87cdc08dcd1 44 /* mbed specific header files. */
Davidroid 0:f87cdc08dcd1 45 #include <events/mbed_events.h>
Davidroid 0:f87cdc08dcd1 46 #include <mbed.h>
Davidroid 0:f87cdc08dcd1 47 #include "ble/BLE.h"
Davidroid 0:f87cdc08dcd1 48 #include "CustomService.h"
Davidroid 0:f87cdc08dcd1 49
Davidroid 0:f87cdc08dcd1 50 /* Helper header files. */
Davidroid 0:f87cdc08dcd1 51 #include "DevSPI.h"
Davidroid 0:f87cdc08dcd1 52
Davidroid 0:f87cdc08dcd1 53 /* Component specific header files. */
Davidroid 0:f87cdc08dcd1 54 #include "L6474.h"
Davidroid 0:f87cdc08dcd1 55
Davidroid 0:f87cdc08dcd1 56
Davidroid 0:f87cdc08dcd1 57 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:f87cdc08dcd1 58
Davidroid 0:f87cdc08dcd1 59 #define BLE_ADVERTISING_INTERVAL_ms 1000
Davidroid 0:f87cdc08dcd1 60 #define DELAY_1 100
Davidroid 0:f87cdc08dcd1 61
Davidroid 0:f87cdc08dcd1 62
Davidroid 0:f87cdc08dcd1 63 /* Variables -----------------------------------------------------------------*/
Davidroid 0:f87cdc08dcd1 64
Davidroid 0:f87cdc08dcd1 65 /* Blinky LED to indicate system aliveness. */
Davidroid 0:f87cdc08dcd1 66 //DigitalOut alivenessLED(LED1, 0); //Conflicts with SPI CLK on D13
Davidroid 0:f87cdc08dcd1 67
Davidroid 0:f87cdc08dcd1 68 /* Bluetooth. */
Davidroid 1:84935552ca4d 69 const static char DEVICE_NAME[] = "MOTOR_DEVICE";
Davidroid 0:f87cdc08dcd1 70 const static uint8_t MANUFACTURER_SPECIFIC_DATA[]= {0x01,0x80,0x00,0x00,0x20,0x00};
Davidroid 0:f87cdc08dcd1 71 static EventQueue event_queue(/* event count */ 10 * EVENTS_EVENT_SIZE);
Davidroid 0:f87cdc08dcd1 72 CustomService *custom_service;
Davidroid 0:f87cdc08dcd1 73
Davidroid 0:f87cdc08dcd1 74 /* Initialization parameters. */
Davidroid 0:f87cdc08dcd1 75 L6474_init_t init = {
Davidroid 0:f87cdc08dcd1 76 160, /* Acceleration rate in pps^2. Range: (0..+inf). */
Davidroid 0:f87cdc08dcd1 77 160, /* Deceleration rate in pps^2. Range: (0..+inf). */
Davidroid 0:f87cdc08dcd1 78 1600, /* Maximum speed in pps. Range: (30..10000]. */
Davidroid 0:f87cdc08dcd1 79 800, /* Minimum speed in pps. Range: [30..10000). */
Davidroid 0:f87cdc08dcd1 80 250, /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
Davidroid 0:f87cdc08dcd1 81 L6474_OCD_TH_750mA, /* Overcurrent threshold (OCD_TH register). */
Davidroid 0:f87cdc08dcd1 82 L6474_CONFIG_OC_SD_ENABLE, /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
Davidroid 0:f87cdc08dcd1 83 L6474_CONFIG_EN_TQREG_TVAL_USED, /* Torque regulation method (EN_TQREG field of CONFIG register). */
Davidroid 0:f87cdc08dcd1 84 L6474_STEP_SEL_1_8, /* Step selection (STEP_SEL field of STEP_MODE register). */
Davidroid 0:f87cdc08dcd1 85 L6474_SYNC_SEL_1_2, /* Sync selection (SYNC_SEL field of STEP_MODE register). */
Davidroid 0:f87cdc08dcd1 86 L6474_FAST_STEP_12us, /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
Davidroid 0:f87cdc08dcd1 87 L6474_TOFF_FAST_8us, /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
Davidroid 0:f87cdc08dcd1 88 3, /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
Davidroid 0:f87cdc08dcd1 89 21, /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
Davidroid 0:f87cdc08dcd1 90 L6474_CONFIG_TOFF_044us, /* Target Swicthing Period (field TOFF of CONFIG register). */
Davidroid 0:f87cdc08dcd1 91 L6474_CONFIG_SR_320V_us, /* Slew rate (POW_SR field of CONFIG register). */
Davidroid 0:f87cdc08dcd1 92 L6474_CONFIG_INT_16MHZ, /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
Davidroid 0:f87cdc08dcd1 93 L6474_ALARM_EN_OVERCURRENT |
Davidroid 0:f87cdc08dcd1 94 L6474_ALARM_EN_THERMAL_SHUTDOWN |
Davidroid 0:f87cdc08dcd1 95 L6474_ALARM_EN_THERMAL_WARNING |
Davidroid 0:f87cdc08dcd1 96 L6474_ALARM_EN_UNDERVOLTAGE |
Davidroid 0:f87cdc08dcd1 97 L6474_ALARM_EN_SW_TURN_ON |
Davidroid 0:f87cdc08dcd1 98 L6474_ALARM_EN_WRONG_NPERF_CMD /* Alarm (ALARM_EN register). */
Davidroid 0:f87cdc08dcd1 99 };
Davidroid 0:f87cdc08dcd1 100
Davidroid 0:f87cdc08dcd1 101 /* Motor Control Component. */
Davidroid 0:f87cdc08dcd1 102 L6474 *motor;
Davidroid 0:f87cdc08dcd1 103
Davidroid 0:f87cdc08dcd1 104 /* Button event. */
Davidroid 0:f87cdc08dcd1 105 InterruptIn event(USER_BUTTON);
Davidroid 0:f87cdc08dcd1 106
Davidroid 0:f87cdc08dcd1 107
Davidroid 0:f87cdc08dcd1 108 /* Bluetooth related functions -----------------------------------------------*/
Davidroid 0:f87cdc08dcd1 109
Davidroid 0:f87cdc08dcd1 110 void on_disconnection_callback(const Gap::DisconnectionCallbackParams_t *params)
Davidroid 0:f87cdc08dcd1 111 {
Davidroid 0:f87cdc08dcd1 112 (void) params;
Davidroid 0:f87cdc08dcd1 113 BLE::Instance().gap().startAdvertising();
Davidroid 0:f87cdc08dcd1 114 }
Davidroid 0:f87cdc08dcd1 115
Davidroid 0:f87cdc08dcd1 116 void aliveness_callback(void)
Davidroid 0:f87cdc08dcd1 117 {
Davidroid 0:f87cdc08dcd1 118 //alivenessLED = !alivenessLED; /* Do blinky to indicate system aliveness. */
Davidroid 0:f87cdc08dcd1 119 }
Davidroid 0:f87cdc08dcd1 120
Davidroid 0:f87cdc08dcd1 121 /**
Davidroid 0:f87cdc08dcd1 122 * This callback allows the custom service to read updates from the
Davidroid 0:f87cdc08dcd1 123 * characteristic.
Davidroid 0:f87cdc08dcd1 124 *
Davidroid 0:f87cdc08dcd1 125 * @param[in] params
Davidroid 0:f87cdc08dcd1 126 * Information about the characterisitc being updated.
Davidroid 0:f87cdc08dcd1 127 */
Davidroid 0:f87cdc08dcd1 128 void on_data_read_callback(const GattReadCallbackParams *params) {
Davidroid 0:f87cdc08dcd1 129 static uint16_t time_stamp = 0;
Davidroid 0:f87cdc08dcd1 130
Davidroid 0:f87cdc08dcd1 131 if (params->handle == custom_service->getValueHandle()) {
Davidroid 0:f87cdc08dcd1 132 /* Getting motor's state. */
Davidroid 0:f87cdc08dcd1 133 uint8_t state = (uint8_t) (motor->get_device_state() == INACTIVE ? CustomService::MOTOR_INACTIVE : CustomService::MOTOR_RUNNING);
Davidroid 0:f87cdc08dcd1 134
Davidroid 0:f87cdc08dcd1 135 /* Sending data via bluetooth. */
Davidroid 0:f87cdc08dcd1 136 if (BLE::Instance().getGapState().connected) {
Davidroid 0:f87cdc08dcd1 137 event_queue.call(Callback<void(uint16_t, uint8_t)>(custom_service, &CustomService::send_state), time_stamp++, state);
Davidroid 0:f87cdc08dcd1 138 }
Davidroid 0:f87cdc08dcd1 139 }
Davidroid 0:f87cdc08dcd1 140 }
Davidroid 1:84935552ca4d 141
Davidroid 0:f87cdc08dcd1 142 /**
Davidroid 0:f87cdc08dcd1 143 * This callback allows the custom service to write updates to the
Davidroid 0:f87cdc08dcd1 144 * characteristic.
Davidroid 0:f87cdc08dcd1 145 *
Davidroid 0:f87cdc08dcd1 146 * @param[in] params
Davidroid 0:f87cdc08dcd1 147 * Information about the characterisitc being updated.
Davidroid 0:f87cdc08dcd1 148 */
Davidroid 0:f87cdc08dcd1 149 void on_data_written_callback(const GattWriteCallbackParams *params) {
Davidroid 2:b51fb6efcd55 150 uint32_t steps = 3000;
Davidroid 0:f87cdc08dcd1 151
Davidroid 0:f87cdc08dcd1 152 if (params->handle == custom_service->getValueHandle()) {
Davidroid 0:f87cdc08dcd1 153 //printf("--> COMMAND: %d\r\n", ((uint8_t *) (params->data))[0]);
Davidroid 0:f87cdc08dcd1 154 switch ((CustomService::motor_command_t) ((uint8_t *) (params->data))[0])
Davidroid 0:f87cdc08dcd1 155 {
Davidroid 0:f87cdc08dcd1 156 //Stops running with HiZ
Davidroid 0:f87cdc08dcd1 157 case CustomService::MOTOR_STOP_RUNNING_WITHOUT_TORQUE:
Davidroid 2:b51fb6efcd55 158 //printf("--> %d %d\r\n", params->len, ((uint8_t *) (params->data))[0]);
Davidroid 0:f87cdc08dcd1 159 motor->hard_hiz();
Davidroid 0:f87cdc08dcd1 160 motor->wait_while_active();
Davidroid 0:f87cdc08dcd1 161 break;
Davidroid 0:f87cdc08dcd1 162 //Stops running with torque applied
Davidroid 0:f87cdc08dcd1 163 case CustomService::MOTOR_STOP_RUNNING_WITH_TORQUE:
Davidroid 2:b51fb6efcd55 164 //printf("--> %d %d\r\n", params->len, ((uint8_t *) (params->data))[0]);
Davidroid 0:f87cdc08dcd1 165 motor->hard_stop();
Davidroid 0:f87cdc08dcd1 166 motor->enable();
Davidroid 0:f87cdc08dcd1 167 motor->wait_while_active();
Davidroid 0:f87cdc08dcd1 168 break;
Davidroid 0:f87cdc08dcd1 169 //Runs forward indefinitely
Davidroid 0:f87cdc08dcd1 170 case CustomService::MOTOR_RUN_FORWARD:
Davidroid 2:b51fb6efcd55 171 //printf("--> %d %d\r\n", params->len, ((uint8_t *) (params->data))[0]);
Davidroid 0:f87cdc08dcd1 172 motor->run(StepperMotor::FWD);
Davidroid 0:f87cdc08dcd1 173 break;
Davidroid 0:f87cdc08dcd1 174 //Runs backward indefinitely
Davidroid 0:f87cdc08dcd1 175 case CustomService::MOTOR_RUN_BACKWARD:
Davidroid 2:b51fb6efcd55 176 //printf("--> %d %d\r\n", params->len, ((uint8_t *) (params->data))[0]);
Davidroid 0:f87cdc08dcd1 177 motor->run(StepperMotor::BWD);
Davidroid 0:f87cdc08dcd1 178 break;
Davidroid 0:f87cdc08dcd1 179 //Moves steps forward
Davidroid 0:f87cdc08dcd1 180 case CustomService::MOTOR_MOVE_STEPS_FORWARD:
Davidroid 0:f87cdc08dcd1 181 steps = ((((uint8_t *) (params->data))[1]) |
Davidroid 0:f87cdc08dcd1 182 (((uint8_t *) (params->data))[2] << 8 ) |
Davidroid 0:f87cdc08dcd1 183 (((uint8_t *) (params->data))[3] << 16) |
Davidroid 0:f87cdc08dcd1 184 (((uint8_t *) (params->data))[4] << 24));
Davidroid 2:b51fb6efcd55 185 //printf("--> %d %d %d", params->len, ((uint8_t *) (params->data))[0], steps);
Davidroid 0:f87cdc08dcd1 186 motor->move(StepperMotor::FWD, steps);
Davidroid 0:f87cdc08dcd1 187 motor->wait_while_active();
Davidroid 0:f87cdc08dcd1 188 break;
Davidroid 0:f87cdc08dcd1 189 //Moves steps backward
Davidroid 0:f87cdc08dcd1 190 case CustomService::MOTOR_MOVE_STEPS_BACKWARD:
Davidroid 0:f87cdc08dcd1 191 steps = ((((uint8_t *) (params->data))[1]) |
Davidroid 0:f87cdc08dcd1 192 (((uint8_t *) (params->data))[2] << 8 ) |
Davidroid 0:f87cdc08dcd1 193 (((uint8_t *) (params->data))[3] << 16) |
Davidroid 0:f87cdc08dcd1 194 (((uint8_t *) (params->data))[4] << 24));
Davidroid 2:b51fb6efcd55 195 //printf("--> %d %d %d", params->len, ((uint8_t *) (params->data))[0], steps);
Davidroid 0:f87cdc08dcd1 196 motor->move(StepperMotor::BWD, steps);
Davidroid 0:f87cdc08dcd1 197 motor->wait_while_active();
Davidroid 0:f87cdc08dcd1 198 break;
Davidroid 0:f87cdc08dcd1 199 //Other
Davidroid 0:f87cdc08dcd1 200 default:
Davidroid 0:f87cdc08dcd1 201 break;
Davidroid 0:f87cdc08dcd1 202 }
Davidroid 0:f87cdc08dcd1 203 }
Davidroid 0:f87cdc08dcd1 204 }
Davidroid 0:f87cdc08dcd1 205
Davidroid 0:f87cdc08dcd1 206 /**
Davidroid 0:f87cdc08dcd1 207 * This function is called when the ble initialization process has failled.
Davidroid 0:f87cdc08dcd1 208 */
Davidroid 0:f87cdc08dcd1 209 void on_ble_init_error_callback(BLE &ble, ble_error_t error)
Davidroid 0:f87cdc08dcd1 210 {
Davidroid 0:f87cdc08dcd1 211 /* Initialization error handling should go here */
Davidroid 0:f87cdc08dcd1 212 }
Davidroid 0:f87cdc08dcd1 213
Davidroid 0:f87cdc08dcd1 214 /**
Davidroid 0:f87cdc08dcd1 215 * Callback triggered when the ble initialization process has finished.
Davidroid 0:f87cdc08dcd1 216 */
Davidroid 0:f87cdc08dcd1 217 void ble_init_complete(BLE::InitializationCompleteCallbackContext *params)
Davidroid 0:f87cdc08dcd1 218 {
Davidroid 0:f87cdc08dcd1 219 BLE& ble = params->ble;
Davidroid 0:f87cdc08dcd1 220 ble_error_t error = params->error;
Davidroid 0:f87cdc08dcd1 221
Davidroid 0:f87cdc08dcd1 222 if (error != BLE_ERROR_NONE) {
Davidroid 0:f87cdc08dcd1 223 /* In case of error, forward the error handling to on_ble_init_error_callback */
Davidroid 0:f87cdc08dcd1 224 on_ble_init_error_callback(ble, error);
Davidroid 0:f87cdc08dcd1 225 return;
Davidroid 0:f87cdc08dcd1 226 }
Davidroid 0:f87cdc08dcd1 227
Davidroid 0:f87cdc08dcd1 228 /* Ensure that it is the default instance of BLE */
Davidroid 0:f87cdc08dcd1 229 if(ble.getInstanceID() != BLE::DEFAULT_INSTANCE) {
Davidroid 0:f87cdc08dcd1 230 return;
Davidroid 0:f87cdc08dcd1 231 }
Davidroid 0:f87cdc08dcd1 232
Davidroid 0:f87cdc08dcd1 233 ble.gap().onDisconnection(on_disconnection_callback);
Davidroid 0:f87cdc08dcd1 234 ble.gattServer().onDataWritten(on_data_written_callback);
Davidroid 0:f87cdc08dcd1 235 ble.gattServer().onDataRead(on_data_read_callback);
Davidroid 0:f87cdc08dcd1 236
Davidroid 0:f87cdc08dcd1 237 custom_service = new CustomService(ble);
Davidroid 0:f87cdc08dcd1 238
Davidroid 0:f87cdc08dcd1 239 /* Setup advertising data. */
Davidroid 0:f87cdc08dcd1 240 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
Davidroid 2:b51fb6efcd55 241 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS, (uint8_t *) CUSTOM_SERVICE_UUID, sizeof(CUSTOM_SERVICE_UUID));
Davidroid 0:f87cdc08dcd1 242 ble.gap().accumulateScanResponse(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA, MANUFACTURER_SPECIFIC_DATA, sizeof(MANUFACTURER_SPECIFIC_DATA));
Davidroid 1:84935552ca4d 243 ble.gap().accumulateScanResponse(GapAdvertisingData::COMPLETE_LOCAL_NAME, (const uint8_t *) DEVICE_NAME, sizeof(DEVICE_NAME) - 1);
Davidroid 0:f87cdc08dcd1 244 ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
Davidroid 0:f87cdc08dcd1 245 ble.gap().setAdvertisingInterval(BLE_ADVERTISING_INTERVAL_ms);
Davidroid 0:f87cdc08dcd1 246 ble.gap().startAdvertising();
Davidroid 0:f87cdc08dcd1 247 }
Davidroid 0:f87cdc08dcd1 248
Davidroid 0:f87cdc08dcd1 249 void schedule_ble_events_processing(BLE::OnEventsToProcessCallbackContext* context) {
Davidroid 0:f87cdc08dcd1 250 BLE &ble = BLE::Instance();
Davidroid 0:f87cdc08dcd1 251 event_queue.call(Callback<void()>(&ble, &BLE::processEvents));
Davidroid 0:f87cdc08dcd1 252 }
Davidroid 0:f87cdc08dcd1 253
Davidroid 0:f87cdc08dcd1 254
Davidroid 0:f87cdc08dcd1 255 /* Custom service related functions ------------------------------------------*/
Davidroid 0:f87cdc08dcd1 256
Davidroid 0:f87cdc08dcd1 257 /**
Davidroid 0:f87cdc08dcd1 258 * @brief This is an example of user handler for the flag interrupt.
Davidroid 0:f87cdc08dcd1 259 * @param None
Davidroid 0:f87cdc08dcd1 260 * @retval None
Davidroid 0:f87cdc08dcd1 261 * @note If needed, implement it, and then attach and enable it:
Davidroid 0:f87cdc08dcd1 262 * + motor->attach_flag_irq(&flag_irq_handler);
Davidroid 0:f87cdc08dcd1 263 * + motor->enable_flag_irq();
Davidroid 0:f87cdc08dcd1 264 * To disable it:
Davidroid 0:f87cdc08dcd1 265 * + motor->disble_flag_irq();
Davidroid 0:f87cdc08dcd1 266 */
Davidroid 0:f87cdc08dcd1 267 void flag_irq_handler(void)
Davidroid 0:f87cdc08dcd1 268 {
Davidroid 0:f87cdc08dcd1 269 /* Set ISR flag. */
Davidroid 0:f87cdc08dcd1 270 motor->isr_flag = TRUE;
Davidroid 0:f87cdc08dcd1 271
Davidroid 0:f87cdc08dcd1 272 /* Get the value of the status register. */
Davidroid 0:f87cdc08dcd1 273 unsigned int status = motor->get_status();
Davidroid 0:f87cdc08dcd1 274
Davidroid 0:f87cdc08dcd1 275 /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
Davidroid 0:f87cdc08dcd1 276 /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */
Davidroid 0:f87cdc08dcd1 277 if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) {
Davidroid 0:f87cdc08dcd1 278 printf(" WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
Davidroid 0:f87cdc08dcd1 279 }
Davidroid 0:f87cdc08dcd1 280
Davidroid 0:f87cdc08dcd1 281 /* Reset ISR flag. */
Davidroid 0:f87cdc08dcd1 282 motor->isr_flag = FALSE;
Davidroid 0:f87cdc08dcd1 283 }
Davidroid 0:f87cdc08dcd1 284
Davidroid 0:f87cdc08dcd1 285
Davidroid 0:f87cdc08dcd1 286 /* Motor related functions ------------------------------------------*/
Davidroid 0:f87cdc08dcd1 287
Davidroid 0:f87cdc08dcd1 288 void motor_run_callback(void)
Davidroid 0:f87cdc08dcd1 289 {
Davidroid 0:f87cdc08dcd1 290 motor->run(StepperMotor::FWD);
Davidroid 0:f87cdc08dcd1 291 }
Davidroid 0:f87cdc08dcd1 292
Davidroid 0:f87cdc08dcd1 293 void motor_stop_callback(void)
Davidroid 0:f87cdc08dcd1 294 {
Davidroid 0:f87cdc08dcd1 295 motor->hard_hiz();
Davidroid 0:f87cdc08dcd1 296 motor->wait_while_active();
Davidroid 0:f87cdc08dcd1 297 }
Davidroid 0:f87cdc08dcd1 298
Davidroid 0:f87cdc08dcd1 299
Davidroid 0:f87cdc08dcd1 300 /* Main function -------------------------------------------------------------*/
Davidroid 0:f87cdc08dcd1 301
Davidroid 0:f87cdc08dcd1 302 int main()
Davidroid 0:f87cdc08dcd1 303 {
Davidroid 0:f87cdc08dcd1 304 /*----- Initialization. -----*/
Davidroid 0:f87cdc08dcd1 305
Davidroid 0:f87cdc08dcd1 306 /* Printing to the console. */
Davidroid 0:f87cdc08dcd1 307 printf("Motor Node Application Example\r\n\n");
Davidroid 0:f87cdc08dcd1 308
Davidroid 0:f87cdc08dcd1 309 /* Aliveness callback. */
Davidroid 0:f87cdc08dcd1 310 //event_queue.call_every(500, aliveness_callback);
Davidroid 0:f87cdc08dcd1 311
Davidroid 0:f87cdc08dcd1 312 /* Bluetooth. */
Davidroid 0:f87cdc08dcd1 313 BLE &ble = BLE::Instance();
Davidroid 0:f87cdc08dcd1 314 ble.onEventsToProcess(schedule_ble_events_processing);
Davidroid 0:f87cdc08dcd1 315 ble.init(ble_init_complete);
Davidroid 0:f87cdc08dcd1 316
Davidroid 0:f87cdc08dcd1 317 /* Initializing SPI bus. */
Davidroid 0:f87cdc08dcd1 318 DevSPI dev_spi(D11, D12, D13);
Davidroid 0:f87cdc08dcd1 319
Davidroid 0:f87cdc08dcd1 320 /* Initializing Motor Control Component. */
Davidroid 0:f87cdc08dcd1 321 /* D7 conflicts with BNRG_RST (when motor changes direction 0-1 BLE resets). */
Davidroid 0:f87cdc08dcd1 322 /* Used Morpho PB_2 and made HW wiring. */
Davidroid 0:f87cdc08dcd1 323 motor = new L6474(D2, D8, PB_2, D9, D10, dev_spi);
Davidroid 0:f87cdc08dcd1 324 if (motor->init(&init) != COMPONENT_OK) {
Davidroid 0:f87cdc08dcd1 325 exit(EXIT_FAILURE);
Davidroid 0:f87cdc08dcd1 326 }
Davidroid 0:f87cdc08dcd1 327
Davidroid 0:f87cdc08dcd1 328 /* Attaching and enabling interrupt handlers. */
Davidroid 0:f87cdc08dcd1 329 motor->attach_flag_irq(&flag_irq_handler);
Davidroid 0:f87cdc08dcd1 330 motor->enable_flag_irq();
Davidroid 0:f87cdc08dcd1 331 event.fall(motor_run_callback);
Davidroid 0:f87cdc08dcd1 332 event.rise(motor_stop_callback);
Davidroid 0:f87cdc08dcd1 333
Davidroid 0:f87cdc08dcd1 334 /* Stopping with HiZ. */
Davidroid 0:f87cdc08dcd1 335 motor->hard_hiz();
Davidroid 0:f87cdc08dcd1 336 motor->wait_while_active();
Davidroid 0:f87cdc08dcd1 337
Davidroid 0:f87cdc08dcd1 338 /* Start. */
Davidroid 0:f87cdc08dcd1 339 event_queue.dispatch_forever();
Davidroid 0:f87cdc08dcd1 340
Davidroid 0:f87cdc08dcd1 341 return 0;
Davidroid 0:f87cdc08dcd1 342 }