ST / Mbed 2 deprecated SunTracker_BLE

SunTracker_BLE

Dependencies:   BLE_API X_NUCLEO_6180XA1 X_NUCLEO_IDB0XA1 X_NUCLEO_IHM01A1 X_NUCLEO_IKS01A1 mbed

Fork of SunTracker_BLE by ST Expansion SW Team

Overview

The SunTracker is a demo application running on ST Nucleo-F401RE stacking a set of ST X-NUCLEO expansion boards.
Main features provided are:

  • A solar panel follows the light source, orienting the panel in order to achieve the best panel efficiency.
  • Orientation is controlled thanks to a couple of VL6180X FlightSense light sensors mounted on a X-NUCLEO-6180XA1 expansion board and driven by X-NUCLEO-IHM01A1 controlled stepper motor acting as actuator to orientate the panel.
  • The system features a progressive control on the stepper motor in order to modulate the panel rotation speed according to the light angle.
  • The application is also able to control the panel productivity reading the panel voltage through an ADC and proving feedback on the local display.
  • A manual orientation is possible by using the accelerometer on a X-NUCLEO-IKS01A1 expansion board that, according on board tilt, controls the speed and the rotate direction.
  • A remote control is available using a X-NUCLEO-IDB04A1 or a X-NUCLEO-IDB05A1 Bluetooth Low Energy expansion board. Remote control software is here.

/media/uploads/fabiombed/suntracker_server-client.png

Working Status

  • SunTracker has 3 working status visible on FlightSense display and switchable by pressing the User Button:

Status 0 (Idle)

  • Motor: Free Turning
  • Display: Waiting for User Button

Status 1

  • Motor: Driven by Light
  • Display: Direction and Light Intensity = Direction and Motor Speed

Status 2

  • Motor: Driven by Light
  • Display: Solar Panel Efficiency

Status 3

  • Motor: Driven by Accelerometer
  • Display: Direction and Accelerometer Intensity

Server Startup

  • When you plug the power supply, the word ‘PUSH’ is shown on display.
  • You can manually rotate the structure to assign the ‘Zero Point’. Then press the User Button to launch the application.
  • The display will show this status, which means that the structure is oriented to maximize the efficiency of the solar panel.
  • If there is a light displacement, the structure will rotate, left or right, to follow the light source and on display is shown the direction and the speed.
  • You can press the User Button to show the panel efficiency with 4 digits that represent the range from 0v (0000) to 3,3v (3300).
  • Further pressing the User Button you will manual rotate the panel by tilt the Server or Client accelerometer depending by BLE connection.

Client Startup

  • The Client application can remotely control the User Button and the Accelerometer functions.
  • Power on the Client AFTER the Server, it will automatically search for the SunTracker and will establish a BLE connection.
  • The Green Led on Nucleo Client board will be powered on.

Rotation Features

  • It has been implemented a block of rotation to avoid cables twist.
  • The blocking point can be set in the firmware by changing a constant.
  • You can manually rotate the structure to assign the ‘Zero Point’ before press the User Button to launch the application.
  • The system features a progressive control on the stepper motor in order to modulate the rotation speed according to the light or accelerometer angle.

List of Components

SERVER SunTracker_BLE

  • Stepper Motor 400’’ (Part Number 5350401) - To orientate the Mechanical Structure.
  • Solar Panel 0.446w (Part Number 0194127) - To capture sunlight and generate electrical current.
  • Power Supply 12v (Part Number 7262993) - To provide power supply at the Stepper Motor.
  • Flat Cable 6 ways (Part Number 1807010) - To plug VL6180X-SATEL with X-NUCLEO-6180XA1 (60cm length each x2).
  • Cable Connector (Part Number 6737694) - To plug the Flat Cable (x4).
  • Power Connector (Part Number 0487842) - To provide Power Supply to X-NUCLEO-IHM01A1.

CLIENT SunTracker_BLE_Remote

MECHANICAL STRUCTURE

Find here the STL files to print with a 3D printer.

/media/uploads/fabiombed/assembly.png

/media/uploads/fabiombed/mechanical_structure_and_motor_legs.png

FLAT CABLE ASSEMBLY

/media/uploads/fabiombed/flat_cable.png

HARDWARE SETUP

Nucleo ADC + Solar Panel

Connect Solar Panel cables to Nucleo Morpho PC_3 (white) and Nucleo Morpho GND (black). Connect a capacitor 10uF between PC_3 and GND to stabilize its voltage value shown on display.

EasySpin (L6474) + BLE

Hardware conflict between EasySpin DIR1 and BLE Reset, both on same Arduino Pin PA_8. Disconnect PA_8 between EasySpin and Nucleo by fold EasySpin Pin. PB_2 has been configured as EasySpin DIR1 in the firmware . Connect Nucleo Morpho PB_2 to FlightSense Arduino PA_8 by a wire.

FlightSense Satellites

In case of instability with I2C due to long flat cables, solder 4 SMD capacitors 47pF on FlightSense board in parallel between R15, R16, R17, R18 and plug 2 capacitors 15pF between FlightSense Arduino PB_8 and PB_9 to GND pin to cut-off noises over 720 KHz.

Arduino & Morpho Pinout

/media/uploads/fabiombed/arduino_pinout.png /media/uploads/fabiombed/morpho_pinout.png

main.cpp@7:54984d031243, 2016-02-10 (annotated)

Committer:
fabiombed
Date:
Wed Feb 10 12:52:55 2016 +0000
Revision:
7:54984d031243
Parent:
6:4cbf7303b496
Child:
8:144855fe02bd
Only Flightsense and BLE

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fabiombed 0:becf0d313663 1 /**
fabiombed 0:becf0d313663 2 ******************************************************************************
fabiombed 0:becf0d313663 3 * @file main.cpp
fabiombed 1:8f312c1686b6 4 * @author Fabio Brembilla
fabiombed 4:1d3d071a4c2c 5 * @version V2.0.0
fabiombed 6:4cbf7303b496 6 * @date February, 2016
fabiombed 1:8f312c1686b6 7 * @brief SunTracker + RemoteControl Vertical Application
fabiombed 1:8f312c1686b6 8 * This application use IHM01A1, 6180XA1, IKS01A1, IDB0XA1 expansion boards
fabiombed 0:becf0d313663 9 ******************************************************************************
fabiombed 0:becf0d313663 10 * @attention
fabiombed 4:1d3d071a4c2c 11 *
fabiombed 4:1d3d071a4c2c 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
fabiombed 0:becf0d313663 13 *
fabiombed 0:becf0d313663 14 * Redistribution and use in source and binary forms, with or without modification,
fabiombed 0:becf0d313663 15 * are permitted provided that the following conditions are met:
fabiombed 0:becf0d313663 16 * 1. Redistributions of source code must retain the above copyright notice,
fabiombed 0:becf0d313663 17 * this list of conditions and the following disclaimer.
fabiombed 0:becf0d313663 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
fabiombed 0:becf0d313663 19 * this list of conditions and the following disclaimer in the documentation
fabiombed 0:becf0d313663 20 * and/or other materials provided with the distribution.
fabiombed 0:becf0d313663 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
fabiombed 0:becf0d313663 22 * may be used to endorse or promote products derived from this software
fabiombed 0:becf0d313663 23 * without specific prior written permission.
fabiombed 0:becf0d313663 24 *
fabiombed 0:becf0d313663 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
fabiombed 0:becf0d313663 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
fabiombed 0:becf0d313663 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
fabiombed 0:becf0d313663 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
fabiombed 0:becf0d313663 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
fabiombed 0:becf0d313663 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
fabiombed 0:becf0d313663 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
fabiombed 0:becf0d313663 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
fabiombed 0:becf0d313663 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
fabiombed 0:becf0d313663 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
fabiombed 0:becf0d313663 35 *
fabiombed 0:becf0d313663 36 ******************************************************************************
fabiombed 0:becf0d313663 37 */
fabiombed 4:1d3d071a4c2c 38
fabiombed 0:becf0d313663 39 /* Includes ------------------------------------------------------------------*/
fabiombed 4:1d3d071a4c2c 40
fabiombed 6:4cbf7303b496 41 // Mbed specific header files
fabiombed 0:becf0d313663 42 #include "mbed.h"
fabiombed 4:1d3d071a4c2c 43
fabiombed 6:4cbf7303b496 44 // Helper header files
fabiombed 0:becf0d313663 45 #include "DevSPI.h"
fabiombed 1:8f312c1686b6 46 #include "DevI2C.h"
fabiombed 0:becf0d313663 47
fabiombed 6:4cbf7303b496 48 // Component specific header files
fabiombed 1:8f312c1686b6 49 #include "l6474_class.h"
fabiombed 1:8f312c1686b6 50 #include "x_nucleo_6180xa1.h"
fabiombed 0:becf0d313663 51 #include "x_nucleo_iks01a1.h"
fabiombed 0:becf0d313663 52
fabiombed 6:4cbf7303b496 53 // C header files
fabiombed 1:8f312c1686b6 54 #include <string.h>
fabiombed 1:8f312c1686b6 55 #include <stdlib.h>
fabiombed 1:8f312c1686b6 56 #include <stdio.h>
fabiombed 1:8f312c1686b6 57 #include <assert.h>
fabiombed 0:becf0d313663 58
fabiombed 5:76fb6b783487 59 /* BlueTooth -----------------------------------------------------------------*/
fabiombed 5:76fb6b783487 60
fabiombed 5:76fb6b783487 61 #include "debug.h" // Need for PRINTF
fabiombed 5:76fb6b783487 62 #include "Utils.h" // Need for STORE_LE_16 and _32
fabiombed 5:76fb6b783487 63
fabiombed 5:76fb6b783487 64 typedef struct {
fabiombed 5:76fb6b783487 65 int32_t AXIS_X;
fabiombed 5:76fb6b783487 66 int32_t AXIS_Y;
fabiombed 5:76fb6b783487 67 int32_t AXIS_Z;
fabiombed 5:76fb6b783487 68 } AxesRaw_TypeDef;
fabiombed 5:76fb6b783487 69
fabiombed 5:76fb6b783487 70 typedef enum ConnectionStatus_t {
fabiombed 5:76fb6b783487 71 DISCONNECTED =0,
fabiombed 5:76fb6b783487 72 CONNECTED =1
fabiombed 5:76fb6b783487 73 }cns_t;
fabiombed 5:76fb6b783487 74
fabiombed 5:76fb6b783487 75 const unsigned LENGTH_OF_LONG_UUID = 16;
fabiombed 5:76fb6b783487 76 typedef uint16_t ShortUUIDBytes_t;
fabiombed 5:76fb6b783487 77 typedef uint8_t LongUUIDBytes_t[LENGTH_OF_LONG_UUID];
fabiombed 5:76fb6b783487 78
fabiombed 5:76fb6b783487 79 #include "CustomControlService.h"
fabiombed 5:76fb6b783487 80 #include "CustomSensorsService.h"
fabiombed 5:76fb6b783487 81
fabiombed 6:4cbf7303b496 82 static BLE *p_BLEdev = NULL;
fabiombed 5:76fb6b783487 83
fabiombed 6:4cbf7303b496 84 #define BLE_DEV_NAME "SunTracker"
fabiombed 5:76fb6b783487 85 #define BLE_DEV_MAC 0xAA,0xBB,0xCC,0xDD,0xEE,0xFF
fabiombed 6:4cbf7303b496 86 #define BLE_ADVERTISING_INTERVAL 1000
fabiombed 4:1d3d071a4c2c 87
fabiombed 7:54984d031243 88 static CustomControlService *p_customcontrolservice = NULL;
fabiombed 7:54984d031243 89 static CustomSensorService *p_customsensorservice = NULL;
fabiombed 7:54984d031243 90
fabiombed 0:becf0d313663 91 /* Definitions ---------------------------------------------------------------*/
fabiombed 0:becf0d313663 92
fabiombed 1:8f312c1686b6 93 #define SET_ACC 400 // Set Motor Acceleration
fabiombed 1:8f312c1686b6 94 #define SET_DEC 400 // Set Motor Deceleration
fabiombed 1:8f312c1686b6 95 #define SET_MAX 200 // Set Motor MaxSpeed
fabiombed 1:8f312c1686b6 96 #define SET_MIN 100 // Set Motor MinSpeed
fabiombed 1:8f312c1686b6 97 #define STOP 1000 // Set Motor Stop Position
fabiombed 1:8f312c1686b6 98 #define TOLLERANCE 100 // Tollerance between Left and Right before Start Movement
fabiombed 1:8f312c1686b6 99 #define RANGE_1 200 // Range 1 for Motor Speed
fabiombed 1:8f312c1686b6 100 #define RANGE_2 500 // Range 2 for Motor Speed
fabiombed 0:becf0d313663 101
fabiombed 0:becf0d313663 102 /* Variables -----------------------------------------------------------------*/
fabiombed 0:becf0d313663 103
fabiombed 1:8f312c1686b6 104 int16_t dir=0; // Motor Rotation Direction: 0 = Stop, 1 = Anticlockwise, 2 = Clockwise
fabiombed 1:8f312c1686b6 105 int16_t changedir=0; // Change Direction: 0 = No, 1 = Yes
fabiombed 1:8f312c1686b6 106 int16_t babybear=0; // Difference (in Lux) between Left and Right
fabiombed 1:8f312c1686b6 107 int acc_data[3]; // Difference of Accelerometer
fabiombed 1:8f312c1686b6 108 int16_t diff=0; // Abs of Babybear or Accelerometer difference
fabiombed 1:8f312c1686b6 109 int16_t left=0; // Left Command for Rotate Direction
fabiombed 1:8f312c1686b6 110 int16_t right=0; // Right Command for Rotate Direction
fabiombed 1:8f312c1686b6 111 int16_t start=0; // Waiting User Button Push
fabiombed 1:8f312c1686b6 112 int32_t pos=0; // Motor Position
fabiombed 1:8f312c1686b6 113 char DisplayStr[5]; // Status Display
fabiombed 1:8f312c1686b6 114 int16_t Display=0; // Shown on Display: 0 = Motor Speed, 1 = Solar Panel Value, 2 = Manual Control
fabiombed 1:8f312c1686b6 115 int16_t status, status_t, status_b, status_l, status_r; // Babybear Status
fabiombed 1:8f312c1686b6 116
fabiombed 7:54984d031243 117 /* ---------------------------------------------------------------------------*/
fabiombed 1:8f312c1686b6 118
fabiombed 7:54984d031243 119 //void DISP_ExecLoopBody(void) {};
fabiombed 0:becf0d313663 120
fabiombed 6:4cbf7303b496 121 //AnalogIn analog_read(A1); // A1 Conflict with BLE SPI_CS --> Changed in A????
fabiombed 1:8f312c1686b6 122
fabiombed 1:8f312c1686b6 123
fabiombed 5:76fb6b783487 124 /* Bluetooth CallBack ---------------------------------------------------------*/
fabiombed 5:76fb6b783487 125
fabiombed 5:76fb6b783487 126 static void onUpdatesEnabledCallback(GattAttribute::Handle_t handle)
fabiombed 5:76fb6b783487 127 {
fabiombed 5:76fb6b783487 128
fabiombed 5:76fb6b783487 129 }
fabiombed 5:76fb6b783487 130
fabiombed 5:76fb6b783487 131 static void onUpdatesDisabledCallback(Gap::Handle_t handle)
fabiombed 5:76fb6b783487 132 {
fabiombed 5:76fb6b783487 133
fabiombed 5:76fb6b783487 134 }
fabiombed 5:76fb6b783487 135
fabiombed 5:76fb6b783487 136 static void onDataReadCallback(const GattReadCallbackParams *eventDataP)
fabiombed 5:76fb6b783487 137 {
fabiombed 5:76fb6b783487 138
fabiombed 5:76fb6b783487 139 }
fabiombed 5:76fb6b783487 140
fabiombed 5:76fb6b783487 141 static void myonDataWriteCallback(const GattWriteCallbackParams *eventDataP)
fabiombed 5:76fb6b783487 142 {
fabiombed 5:76fb6b783487 143
fabiombed 5:76fb6b783487 144 }
fabiombed 5:76fb6b783487 145
fabiombed 5:76fb6b783487 146 static void onConnectionCallback(const Gap::ConnectionCallbackParams_t * connectionParams)
fabiombed 5:76fb6b783487 147 {
fabiombed 7:54984d031243 148 printf("onConnectionCallback (Line %d)\r\n", __LINE__);
fabiombed 5:76fb6b783487 149 }
fabiombed 5:76fb6b783487 150
fabiombed 5:76fb6b783487 151 static void onDisconnectionCallback(const Gap::DisconnectionCallbackParams_t * disConnectionReason)
fabiombed 5:76fb6b783487 152 {
fabiombed 7:54984d031243 153 printf("onDisconnectionCallback (Line %d)\r\n", __LINE__);
fabiombed 6:4cbf7303b496 154 p_BLEdev->gap().startAdvertising();
fabiombed 5:76fb6b783487 155 }
fabiombed 5:76fb6b783487 156
fabiombed 1:8f312c1686b6 157 /* Main ----------------------------------------------------------------------*/
fabiombed 1:8f312c1686b6 158
fabiombed 1:8f312c1686b6 159 int main()
fabiombed 4:1d3d071a4c2c 160 {
fabiombed 4:1d3d071a4c2c 161
fabiombed 6:4cbf7303b496 162 // Printing to the console
fabiombed 6:4cbf7303b496 163 printf("SunTracker by Fabio Brembilla\r\n\n");
fabiombed 6:4cbf7303b496 164
fabiombed 7:54984d031243 165 // BLE Initialization
fabiombed 7:54984d031243 166 p_BLEdev = new BLE;
fabiombed 7:54984d031243 167 if (!p_BLEdev) { printf("\r\nBLE Device creation failed\r\n"); }
fabiombed 7:54984d031243 168 const Gap::Address_t BLE_address_BE = {BLE_DEV_MAC};
fabiombed 7:54984d031243 169 p_BLEdev->gap().setAddress(BLEProtocol::AddressType::PUBLIC, BLE_address_BE);
fabiombed 6:4cbf7303b496 170
fabiombed 7:54984d031243 171 p_BLEdev->init();
fabiombed 7:54984d031243 172
fabiombed 7:54984d031243 173 // BLE CallBack Functions
fabiombed 7:54984d031243 174 p_BLEdev->gattServer().onUpdatesEnabled(onUpdatesEnabledCallback);
fabiombed 7:54984d031243 175 p_BLEdev->gattServer().onUpdatesDisabled(onUpdatesDisabledCallback);
fabiombed 7:54984d031243 176 p_BLEdev->gattServer().onDataRead(onDataReadCallback);
fabiombed 7:54984d031243 177 p_BLEdev->gattServer().onDataWritten(myonDataWriteCallback);
fabiombed 7:54984d031243 178 p_BLEdev->gap().onConnection(onConnectionCallback);
fabiombed 7:54984d031243 179 p_BLEdev->gap().onDisconnection(onDisconnectionCallback);
fabiombed 7:54984d031243 180
fabiombed 7:54984d031243 181 // BLE Services
fabiombed 7:54984d031243 182 p_customcontrolservice = new CustomControlService(*p_BLEdev);
fabiombed 7:54984d031243 183 p_customsensorservice = new CustomSensorService(*p_BLEdev);
fabiombed 7:54984d031243 184
fabiombed 7:54984d031243 185 // BLE Advertising
fabiombed 7:54984d031243 186 const static char DEVICE_NAME[] = BLE_DEV_NAME;
fabiombed 7:54984d031243 187 p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
fabiombed 7:54984d031243 188 uint8_t dat[] = {0x01,0x80,0x00,0xFC,0x00,0x00};
fabiombed 7:54984d031243 189 p_BLEdev->gap().accumulateScanResponse(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA,dat,6);
fabiombed 7:54984d031243 190 p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::UNKNOWN);
fabiombed 7:54984d031243 191 p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
fabiombed 7:54984d031243 192 p_BLEdev->gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
fabiombed 7:54984d031243 193 p_BLEdev->gap().setAdvertisingInterval(BLE_ADVERTISING_INTERVAL);
fabiombed 7:54984d031243 194 p_BLEdev->gap().startAdvertising();
fabiombed 7:54984d031243 195
fabiombed 7:54984d031243 196 printf("BLE_Initialization OK (Line %d)\r\n", __LINE__);
fabiombed 4:1d3d071a4c2c 197
fabiombed 7:54984d031243 198 // Initializing SPI bus
fabiombed 7:54984d031243 199 DevSPI dev_spi(D11, D12, D13);
fabiombed 7:54984d031243 200
fabiombed 7:54984d031243 201 // Initializing I2C bus
fabiombed 7:54984d031243 202 DevI2C dev_i2c(D14, D15);
fabiombed 7:54984d031243 203
fabiombed 7:54984d031243 204 // Initializing Babybear Component 6180XA1
fabiombed 7:54984d031243 205 static X_NUCLEO_6180XA1 *board;
fabiombed 7:54984d031243 206 MeasureData_t data_sensor_left, data_sensor_right;
fabiombed 7:54984d031243 207
fabiombed 7:54984d031243 208 // Initializing Babybear Component
fabiombed 7:54984d031243 209 //board=X_NUCLEO_6180XA1::Instance(&dev_i2c); // Con questo comando non si blocca quando Connetto il BLE, ma comunque non fuonziona
fabiombed 7:54984d031243 210 board=X_NUCLEO_6180XA1::Instance(&dev_i2c, NC, NC, NC, NC);
fabiombed 7:54984d031243 211 //status=board->InitBoard();
fabiombed 7:54984d031243 212 if(status) VL6180x_ErrLog("Failed to init the board!\n\r");
fabiombed 7:54984d031243 213
fabiombed 7:54984d031243 214 // Put GPIO not used as Interrupt in Hi-Z
fabiombed 7:54984d031243 215 status_t=board->sensor_top->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed 7:54984d031243 216 //status_b=board->sensor_botton->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); No Present
fabiombed 7:54984d031243 217 status_l=board->sensor_left->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed 7:54984d031243 218 status_r=board->sensor_right->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed 7:54984d031243 219
fabiombed 7:54984d031243 220 // Set Babybears
fabiombed 7:54984d031243 221 status_l=board->sensor_left->AlsSetAnalogueGain(3);
fabiombed 7:54984d031243 222 status_r=board->sensor_right->AlsSetAnalogueGain(3);
fabiombed 7:54984d031243 223 status_l=board->sensor_left->StartMeasurement(als_continuous_polling, NULL, NULL, NULL);
fabiombed 7:54984d031243 224 status_r=board->sensor_right->StartMeasurement(als_continuous_polling, NULL, NULL, NULL);
fabiombed 7:54984d031243 225
fabiombed 7:54984d031243 226 printf("Initialization OK (Line %d)\r\n", __LINE__);
fabiombed 4:1d3d071a4c2c 227
fabiombed 6:4cbf7303b496 228 printf("Start Main Loop\r\n");
fabiombed 6:4cbf7303b496 229
fabiombed 7:54984d031243 230 static int INTLOOP=0;
fabiombed 7:54984d031243 231
fabiombed 6:4cbf7303b496 232 // Main Loop
fabiombed 4:1d3d071a4c2c 233 while(true) {
fabiombed 7:54984d031243 234
fabiombed 7:54984d031243 235 status_l=board->sensor_left->GetMeasurement(als_continuous_polling, &data_sensor_left);
fabiombed 7:54984d031243 236 status_r=board->sensor_right->GetMeasurement(als_continuous_polling, &data_sensor_right);
fabiombed 7:54984d031243 237
fabiombed 7:54984d031243 238 babybear = data_sensor_right.lux - data_sensor_left.lux;
fabiombed 7:54984d031243 239
fabiombed 7:54984d031243 240 diff = abs(babybear);
fabiombed 7:54984d031243 241
fabiombed 7:54984d031243 242 INTLOOP++;
fabiombed 7:54984d031243 243 if (INTLOOP==100) { p_customsensorservice->sendEnvPosition(rand(),0); INTLOOP=0; }
fabiombed 7:54984d031243 244
fabiombed 7:54984d031243 245 //printf("babybear %d\r\n", diff);
fabiombed 7:54984d031243 246
fabiombed 7:54984d031243 247 sprintf(DisplayStr, "%d", diff);
fabiombed 7:54984d031243 248 board->display->DisplayString(DisplayStr, 4);
fabiombed 7:54984d031243 249
fabiombed 7:54984d031243 250 //strcpy(DisplayStr,"pusH");
fabiombed 7:54984d031243 251 //board->display->DisplayString(DisplayStr, 4);
fabiombed 7:54984d031243 252
fabiombed 7:54984d031243 253 p_BLEdev->waitForEvent();
fabiombed 4:1d3d071a4c2c 254 }
fabiombed 7:54984d031243 255 }
fabiombed 4:1d3d071a4c2c 256
fabiombed 7:54984d031243 257 // Configuro prima BLE e poi Babybear funziona, ma quando mi collego con il BLE l'app va in crash con il commento.
fabiombed 7:54984d031243 258 // “mbed assertation failed: (hz > 0) && (hz <= 400000), file: C:\Code\git_repo\github\mbed-official\libraries\mbed\targets\hal\TARGET_STM\TARGET_STM32F4\i2c_api.c, line 119”
fabiombed 4:1d3d071a4c2c 259
fabiombed 7:54984d031243 260 // Configuro prima Babybear e poi BLE non funziona.