Diff: source/main.cpp

Revision:

0:f87cdc08dcd1

Child:

1:84935552ca4d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/source/main.cpp	Tue Apr 17 14:59:28 2018 +0000
@@ -0,0 +1,338 @@
+/**
+ *******************************************************************************
+ * @file    main.cpp
+ * @author  Davide Aliprandi, STMicroelectronics
+ * @version V1.0.0
+ * @date    October 31st, 2017
+ * @brief   mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
+ *          Motor Control Expansion Board and the X-NUCLEO-IDB05A1 Bluetooth
+ *          Low energy Expansion Board.
+ *******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright
+ *      notice, this list of conditions and the following disclaimer in the
+ *      documentation and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its
+ *      contributors may be used to endorse or promote products derived from
+ *      this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS 
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ *******************************************************************************
+ */
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* mbed specific header files. */
+#include <events/mbed_events.h>
+#include <mbed.h>
+#include "ble/BLE.h"
+#include "CustomService.h"
+
+/* Helper header files. */
+#include "DevSPI.h"
+
+/* Component specific header files. */
+#include "L6474.h"
+
+
+/* Definitions ---------------------------------------------------------------*/
+
+#define BLE_ADVERTISING_INTERVAL_ms 1000
+#define DELAY_1 100
+
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Blinky LED to indicate system aliveness. */
+//DigitalOut alivenessLED(LED1, 0); //Conflicts with SPI CLK on D13
+
+/* Bluetooth. */
+const static char    DEVICE_NAME[] = "SHUTTER_DEVICE";
+const static uint8_t MANUFACTURER_SPECIFIC_DATA[]= {0x01,0x80,0x00,0x00,0x20,0x00};
+static EventQueue event_queue(/* event count */ 10 * EVENTS_EVENT_SIZE);
+CustomService *custom_service;
+
+/* Initialization parameters. */
+L6474_init_t init = {
+    160,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
+    160,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
+    1600,                             /* Maximum speed in pps. Range: (30..10000]. */
+    800,                              /* Minimum speed in pps. Range: [30..10000). */
+    250,                              /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
+    L6474_OCD_TH_750mA,               /* Overcurrent threshold (OCD_TH register). */
+    L6474_CONFIG_OC_SD_ENABLE,        /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
+    L6474_CONFIG_EN_TQREG_TVAL_USED,  /* Torque regulation method (EN_TQREG field of CONFIG register). */
+    L6474_STEP_SEL_1_8,               /* Step selection (STEP_SEL field of STEP_MODE register). */
+    L6474_SYNC_SEL_1_2,               /* Sync selection (SYNC_SEL field of STEP_MODE register). */
+    L6474_FAST_STEP_12us,             /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
+    L6474_TOFF_FAST_8us,              /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
+    3,                                /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
+    21,                               /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
+    L6474_CONFIG_TOFF_044us,          /* Target Swicthing Period (field TOFF of CONFIG register). */
+    L6474_CONFIG_SR_320V_us,          /* Slew rate (POW_SR field of CONFIG register). */
+    L6474_CONFIG_INT_16MHZ,           /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
+    L6474_ALARM_EN_OVERCURRENT |
+    L6474_ALARM_EN_THERMAL_SHUTDOWN |
+    L6474_ALARM_EN_THERMAL_WARNING |
+    L6474_ALARM_EN_UNDERVOLTAGE |
+    L6474_ALARM_EN_SW_TURN_ON |
+    L6474_ALARM_EN_WRONG_NPERF_CMD    /* Alarm (ALARM_EN register). */
+};
+
+/* Motor Control Component. */
+L6474 *motor;
+
+/* Button event. */
+InterruptIn event(USER_BUTTON);
+
+
+/* Bluetooth related functions -----------------------------------------------*/
+
+void on_disconnection_callback(const Gap::DisconnectionCallbackParams_t *params)
+{
+    (void) params;
+    BLE::Instance().gap().startAdvertising();
+}
+
+void aliveness_callback(void)
+{
+    //alivenessLED = !alivenessLED; /* Do blinky to indicate system aliveness. */
+}
+
+/**
+ * This callback allows the custom service to read updates from the
+ * characteristic.
+ *
+ * @param[in] params
+ *     Information about the characterisitc being updated.
+ */
+void on_data_read_callback(const GattReadCallbackParams *params) {
+    static uint16_t time_stamp = 0;
+
+    if (params->handle == custom_service->getValueHandle()) {
+        /* Getting motor's state. */
+        uint8_t state = (uint8_t) (motor->get_device_state() == INACTIVE ? CustomService::MOTOR_INACTIVE : CustomService::MOTOR_RUNNING); 
+        
+        /* Sending data via bluetooth. */
+        if (BLE::Instance().getGapState().connected) {
+            event_queue.call(Callback<void(uint16_t, uint8_t)>(custom_service, &CustomService::send_state), time_stamp++, state);
+        }
+    }
+}
+        
+/**
+ * This callback allows the custom service to write updates to the
+ * characteristic.
+ *
+ * @param[in] params
+ *     Information about the characterisitc being updated.
+ */
+void on_data_written_callback(const GattWriteCallbackParams *params) {
+    uint32_t steps;
+
+    if (params->handle == custom_service->getValueHandle()) {
+        //printf("--> COMMAND: %d\r\n", ((uint8_t *) (params->data))[0]);
+        switch ((CustomService::motor_command_t) ((uint8_t *) (params->data))[0])
+        {
+            //Stops running with HiZ
+            case CustomService::MOTOR_STOP_RUNNING_WITHOUT_TORQUE:
+                motor->hard_hiz();
+                motor->wait_while_active();
+                break;
+            //Stops running with torque applied
+            case CustomService::MOTOR_STOP_RUNNING_WITH_TORQUE:
+                motor->hard_stop();
+                motor->enable();
+                motor->wait_while_active();
+                break;
+            //Runs forward indefinitely
+            case CustomService::MOTOR_RUN_FORWARD:
+                motor->run(StepperMotor::FWD);
+                break;
+            //Runs backward indefinitely
+            case CustomService::MOTOR_RUN_BACKWARD:
+                motor->run(StepperMotor::BWD);
+                break;
+            //Moves steps forward
+            case CustomService::MOTOR_MOVE_STEPS_FORWARD:
+                steps = ((((uint8_t *) (params->data))[1]) |
+                         (((uint8_t *) (params->data))[2] << 8 ) |
+                         (((uint8_t *) (params->data))[3] << 16) |
+                         (((uint8_t *) (params->data))[4] << 24));
+                motor->move(StepperMotor::FWD, steps);
+                motor->wait_while_active();
+                //printf("--> %d %d %d\r\n", params->len, ((uint8_t *) (params->data))[0], steps);
+                break;
+            //Moves steps backward
+            case CustomService::MOTOR_MOVE_STEPS_BACKWARD:
+                steps = ((((uint8_t *) (params->data))[1]) |
+                         (((uint8_t *) (params->data))[2] << 8 ) |
+                         (((uint8_t *) (params->data))[3] << 16) |
+                         (((uint8_t *) (params->data))[4] << 24));
+                motor->move(StepperMotor::BWD, steps);
+                motor->wait_while_active();
+                //printf("--> %d %d %d\r\n", params->len, ((uint8_t *) (params->data))[0], steps);
+                break;
+            //Other
+            default:
+                break;
+        }
+    }
+}
+
+/**
+ * This function is called when the ble initialization process has failled.
+ */
+void on_ble_init_error_callback(BLE &ble, ble_error_t error)
+{
+    /* Initialization error handling should go here */
+}
+
+/**
+ * Callback triggered when the ble initialization process has finished.
+ */
+void ble_init_complete(BLE::InitializationCompleteCallbackContext *params)
+{
+    BLE& ble   = params->ble;
+    ble_error_t error = params->error;
+
+    if (error != BLE_ERROR_NONE) {
+        /* In case of error, forward the error handling to on_ble_init_error_callback */
+        on_ble_init_error_callback(ble, error);
+        return;
+    }
+
+    /* Ensure that it is the default instance of BLE */
+    if(ble.getInstanceID() != BLE::DEFAULT_INSTANCE) {
+        return;
+    }
+
+    ble.gap().onDisconnection(on_disconnection_callback);
+    ble.gattServer().onDataWritten(on_data_written_callback);
+    ble.gattServer().onDataRead(on_data_read_callback);
+
+    custom_service = new CustomService(ble);
+
+    /* Setup advertising data. */
+    ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
+    ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS, (uint8_t *) CUSTOM_STEPPER_MOTOR_SERVICE_UUID, sizeof(CUSTOM_STEPPER_MOTOR_SERVICE_UUID));
+    ble.gap().accumulateScanResponse(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA, MANUFACTURER_SPECIFIC_DATA, sizeof(MANUFACTURER_SPECIFIC_DATA));
+    ble.gap().accumulateScanResponse(GapAdvertisingData::COMPLETE_LOCAL_NAME, (const uint8_t *) DEVICE_NAME, sizeof(DEVICE_NAME));
+    ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
+    ble.gap().setAdvertisingInterval(BLE_ADVERTISING_INTERVAL_ms);
+    ble.gap().startAdvertising();
+}
+
+void schedule_ble_events_processing(BLE::OnEventsToProcessCallbackContext* context) {
+    BLE &ble = BLE::Instance();
+    event_queue.call(Callback<void()>(&ble, &BLE::processEvents));
+}
+
+
+/* Custom service related functions ------------------------------------------*/
+
+/**
+ * @brief  This is an example of user handler for the flag interrupt.
+ * @param  None
+ * @retval None
+ * @note   If needed, implement it, and then attach and enable it:
+ *           + motor->attach_flag_irq(&flag_irq_handler);
+ *           + motor->enable_flag_irq();
+ *         To disable it:
+ *           + motor->disble_flag_irq();
+ */
+void flag_irq_handler(void)
+{
+    /* Set ISR flag. */
+    motor->isr_flag = TRUE;
+
+    /* Get the value of the status register. */
+    unsigned int status = motor->get_status();
+
+    /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
+    /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */
+    if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) {
+        printf("    WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
+    }
+    
+    /* Reset ISR flag. */
+    motor->isr_flag = FALSE;
+}
+
+
+/* Motor related functions ------------------------------------------*/
+
+void motor_run_callback(void)
+{
+    motor->run(StepperMotor::FWD);
+}
+
+void motor_stop_callback(void)
+{
+    motor->hard_hiz();
+    motor->wait_while_active();
+}
+
+
+/* Main function -------------------------------------------------------------*/
+
+int main()
+{
+    /*----- Initialization. -----*/
+
+    /* Printing to the console. */
+    printf("Motor Node Application Example\r\n\n");
+
+    /* Aliveness callback. */
+    //event_queue.call_every(500, aliveness_callback);
+
+    /* Bluetooth. */
+    BLE &ble = BLE::Instance();
+    ble.onEventsToProcess(schedule_ble_events_processing);
+    ble.init(ble_init_complete);
+    
+    /* Initializing SPI bus. */
+    DevSPI dev_spi(D11, D12, D13);
+
+    /* Initializing Motor Control Component. */
+    /* D7 conflicts with BNRG_RST (when motor changes direction 0-1 BLE resets). */
+    /* Used Morpho PB_2 and made HW wiring. */
+    motor = new L6474(D2, D8, PB_2, D9, D10, dev_spi);
+    if (motor->init(&init) != COMPONENT_OK) {
+        exit(EXIT_FAILURE);
+    }
+
+    /* Attaching and enabling interrupt handlers. */
+    motor->attach_flag_irq(&flag_irq_handler);
+    motor->enable_flag_irq();
+    event.fall(motor_run_callback);
+    event.rise(motor_stop_callback);
+
+    /* Stopping with HiZ. */
+    motor->hard_hiz();
+    motor->wait_while_active();
+
+    /* Start. */
+    event_queue.dispatch_forever();
+
+    return 0;
+}