Diff: main_GOOD.cpp.h

Revision:

8:144855fe02bd

Parent:

7:54984d031243

Child:

9:ca289bf57f52

--- a/main_GOOD.cpp.h	Wed Feb 10 12:52:55 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,452 +0,0 @@
-/**
- ******************************************************************************
- * @file    main.cpp
- * @author  Fabio Brembilla
- * @version V2.0.0
- * @date    February, 2016
- * @brief   SunTracker + RemoteControl Vertical Application
- *          This application use IHM01A1, 6180XA1, IKS01A1, IDB0XA1 expansion boards
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2016 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 BE 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 "mbed.h"
-
-// Helper header files
-#include "DevSPI.h"
-#include "DevI2C.h"
-
-// Component specific header files
-#include "l6474_class.h"
-#include "x_nucleo_6180xa1.h"
-#include "x_nucleo_iks01a1.h"
-
-// C header files
-#include <string.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <assert.h>
-
-/* BlueTooth -----------------------------------------------------------------*/
-
-#include "debug.h" // Need for PRINTF
-#include "Utils.h" // Need for STORE_LE_16 and _32
-
-typedef struct {
-    int32_t AXIS_X;
-    int32_t AXIS_Y;
-    int32_t AXIS_Z;
-} AxesRaw_TypeDef;
-
-typedef enum ConnectionStatus_t {
-    DISCONNECTED    =0,
-    CONNECTED       =1
-}cns_t;
-
-const unsigned   LENGTH_OF_LONG_UUID = 16;
-typedef uint16_t ShortUUIDBytes_t;
-typedef uint8_t  LongUUIDBytes_t[LENGTH_OF_LONG_UUID];
-
-#include "CustomControlService.h"
-#include "CustomSensorsService.h"
-
-static BLE *p_BLEdev = NULL;
-
-#define BLE_DEV_NAME "SunTracker"
-#define BLE_DEV_MAC 0xAA,0xBB,0xCC,0xDD,0xEE,0xFF
-#define BLE_ADVERTISING_INTERVAL 1000
-
-/* Definitions ---------------------------------------------------------------*/
-
-#define SET_ACC 400     // Set Motor Acceleration
-#define SET_DEC 400     // Set Motor Deceleration
-#define SET_MAX 200     // Set Motor MaxSpeed
-#define SET_MIN 100     // Set Motor MinSpeed
-#define STOP 1000       // Set Motor Stop Position
-#define TOLLERANCE 100  // Tollerance between Left and Right before Start Movement
-#define RANGE_1 200     // Range 1 for Motor Speed
-#define RANGE_2 500     // Range 2 for Motor Speed
-
-/* Variables -----------------------------------------------------------------*/
-
-int16_t dir=0;          // Motor Rotation Direction: 0 = Stop, 1 = Anticlockwise, 2 = Clockwise
-int16_t changedir=0;    // Change Direction: 0 = No, 1 = Yes
-int16_t babybear=0;     // Difference (in Lux) between Left and Right
-int acc_data[3];        // Difference of Accelerometer
-int16_t diff=0;         // Abs of Babybear or Accelerometer difference
-int16_t left=0;         // Left Command for Rotate Direction
-int16_t right=0;        // Right Command for Rotate Direction
-int16_t start=0;        // Waiting User Button Push
-int32_t pos=0;          // Motor Position
-char DisplayStr[5];     // Status Display
-int16_t Display=0;      // Shown on Display: 0 = Motor Speed, 1 = Solar Panel Value, 2 = Manual Control
-int16_t status, status_t, status_b, status_l, status_r; // Babybear Status
-
-/* ---------------------------------------------------------------------------*/
-
-// Initializing SPI bus
-DevSPI dev_spi(D11, D12, D13);
-
-// Initializing I2C bus
-DevI2C dev_i2c(D14, D15);  
-
-// Initializing Motor Component IHM01A1
-static L6474 *motor;
-
-// Initializing Babybear Component 6180XA1
-//static X_NUCLEO_6180XA1 *board=X_NUCLEO_6180XA1::Instance(&dev_i2c, NC, NC, NC, NC);
-//MeasureData_t data_sensor_top, data_sensor_bottom, data_sensor_left, data_sensor_right;
-static X_NUCLEO_6180XA1 *board;
-MeasureData_t data_sensor_top, data_sensor_bottom, data_sensor_left, data_sensor_right;
-    
-// Initializing MEMS Component IKS01A1
-//static X_NUCLEO_IKS01A1 *mems=X_NUCLEO_IKS01A1::Instance(&dev_i2c);
-//MotionSensor *accelerometer = mems->GetAccelerometer();
-static X_NUCLEO_IKS01A1 *mems;
-MotionSensor *accelerometer;
-
-void DISP_ExecLoopBody(void) {};
-
-//AnalogIn analog_read(A1); // A1 Conflict with BLE SPI_CS --> Changed in A????
-
-InterruptIn mybutton(USER_BUTTON);
-
-/* User_Button_Pressed -------------------------------------------------------*/
-
-void User_Button_Pressed()
-{
-
-    if (start>0) {
-        Display++;
-    }
-    if (Display>2) {
-        Display=0;
-    }
-    if (start==0) {
-        start=1;
-    }
-    
-    printf("PUSH Display %d Start %d\r\n", Display, start);
-
-}
-
-/* Initialization ------------------------------------------------------------*/
-
-bool Initialization(void)
-{
-  
-    // Initializing MEMS Component
-    mems=X_NUCLEO_IKS01A1::Instance(&dev_i2c);
-    accelerometer = mems->GetAccelerometer();
-   
-//----
-
-    // Initializing Babybear Component
-    board=X_NUCLEO_6180XA1::Instance(&dev_i2c, NC, NC, NC, NC);
-
-/* FABIO
-    status=board->InitBoard();
-    if(status) VL6180x_ErrLog("Failed to init the board!\n\r");
-*/
-
-    // Put GPIO not used as Interrupt in Hi-Z
-    status_t=board->sensor_top->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
-    //status_b=board->sensor_botton->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); No Present
-    status_l=board->sensor_left->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
-    status_r=board->sensor_right->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
-    
-    // Set Babybears
-    status_l=board->sensor_left->AlsSetAnalogueGain(3);
-    status_r=board->sensor_right->AlsSetAnalogueGain(3);
-    status_l=board->sensor_left->StartMeasurement(als_continuous_polling, NULL, NULL, NULL);
-    status_r=board->sensor_right->StartMeasurement(als_continuous_polling, NULL, NULL, NULL);
-
-//----
-
-    // Initializing Motor Component
-    motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
-    if (motor->Init(NULL) != COMPONENT_OK)
-        return false;
-
-    motor->SetStepMode(STEP_MODE_1_8);  // Default is STEP_MODE_1_16
-
-    // Set defaults Motor Speed
-    motor->SetAcceleration(SET_ACC);
-    motor->SetDeceleration(SET_DEC);
-    motor->SetMaxSpeed(SET_MAX);        // Variable by Light/Mems Sensors
-    motor->SetMinSpeed(SET_MIN);
-
-    return true;
-
-}
-
-/* Measure_Babybear ----------------------------------------------------------*/
-
-void Measure_Babybear(void)
-{
-
-    status_l=board->sensor_left->GetMeasurement(als_continuous_polling, &data_sensor_left);
-    status_r=board->sensor_right->GetMeasurement(als_continuous_polling, &data_sensor_right);
-
-    babybear = data_sensor_right.lux - data_sensor_left.lux;
-
-    diff = abs(babybear);
-
-    if (babybear>0) {
-        left=0;
-        right=1;
-    }
-    if (babybear<0) {
-        left=1;
-        right=0;
-    }
-
-}
-
-/* Measure_Accelerometer -----------------------------------------------------*/
-
-void Measure_Accelerometer(void)
-{
-
-    accelerometer->Get_X_Axes(acc_data);
-
-    diff = abs(acc_data[0]);
-
-    if (acc_data[0]>0) {
-        left=0;
-        right=1;
-    }
-    if (acc_data[0]<0) {
-        left=1;
-        right=0;
-    }
-
-}
-
-/* Control_Motor -------------------------------------------------------------*/
-
-void Control_Motor(void)
-{
-
-    //printf("Diff: %d lux/mems\n\r", diff);
-    motor->SetMaxSpeed(diff);
-
-    if (diff>TOLLERANCE) {
-        if (diff <=RANGE_1)
-        {
-            if (left)  { strcpy(DisplayStr,"E___"); }
-            if (right) { strcpy(DisplayStr,"___3"); }
-        }
-        else if (diff >RANGE_1 & diff <=RANGE_2)
-        {
-            if (left)  { strcpy(DisplayStr,"E==="); }
-            if (right) { strcpy(DisplayStr,"===3"); }
-        }
-        else if (diff >RANGE_2)
-        {
-            if (left)  { strcpy(DisplayStr,"E~~~"); }
-            if (right) { strcpy(DisplayStr,"~~~3"); }
-        }
-
-        // In Case of Change Direction
-        if (left & dir==2)  { changedir=1; }
-        if (right & dir==1) { changedir=1; }
-
-        // Run only if Stop or Change Direction
-        if (diff>TOLLERANCE & (dir==0 | changedir==1)) {
-            if (left)   { motor->Run(StepperMotor::FWD); dir=1; changedir=0; }
-            if (right)  { motor->Run(StepperMotor::BWD); dir=2; changedir=0; }
-        }
-    }
-
-    // Get Motor Position and Control Rotation Block
-    pos = motor->GetPosition();
-    if (pos>STOP | pos<-STOP) {
-        if (pos>0) { motor->GoTo(STOP); }
-        if (pos<0) { motor->GoTo(-STOP); }
-        printf("GOTO\n\r"); // Without this command, the motor remain in stop
-    }
-
-    // Stop Motor
-    if (diff<=TOLLERANCE) { // It continues to send the command to stop the motor. Think to do it just one time
-        motor->HardStop();
-        if (Display==0) { strcpy(DisplayStr,"----"); }
-        if (Display==2) { strcpy(DisplayStr,"E  3"); }
-        dir=0;
-        changedir=0;
-        //printf("STOP\n\r");
-    }
-
-}
-
-/* Measure_SolarPanel --------------------------------------------------------*/
-
-void Measure_SolarPanel(void)
-{
-
-    // AnalogIn: 0V return 0.0 , 3.3V return 1.0
-//    float measure = analog_read.read() * 3300;
-    float measure = 0;
-    //printf("Measure = %.0f mV\r\n", measure);
-    //board->display->DisplayDigit("A", 0);
-
-    if (Display==1) {
-        sprintf(DisplayStr, "%.0f", measure);
-    }
-
-    board->display->DisplayString(DisplayStr, 4);
-    printf("%s\n\r", DisplayStr);
-
-}
-
-/* Bluetooth CallBack ---------------------------------------------------------*/
-
-static void onUpdatesEnabledCallback(GattAttribute::Handle_t handle)
-{
-    
-}
-
-static void onUpdatesDisabledCallback(Gap::Handle_t handle)
-{
-    
-}
-
-static void onDataReadCallback(const GattReadCallbackParams *eventDataP)
-{
-    
-}
-
-static void myonDataWriteCallback(const GattWriteCallbackParams *eventDataP)
-{
-    
-}
-
-static void onConnectionCallback(const Gap::ConnectionCallbackParams_t * connectionParams)
-{
-    
-}
-
-static void onDisconnectionCallback(const Gap::DisconnectionCallbackParams_t * disConnectionReason)
-{
-    
-}
-
-/* Bluetooth Initialization ---------------------------------------------------*/
-
-void BLE_Initialization(void)
-{
-
-    p_BLEdev = new BLE;
-    if (!p_BLEdev) { printf("\r\nBLE Device creation failed\r\n"); }
-    const Gap::Address_t BLE_address_BE = {BLE_DEV_MAC};        
-    p_BLEdev->gap().setAddress(BLEProtocol::AddressType::PUBLIC, BLE_address_BE);
-    
-    p_BLEdev->init();
-
-    // Set BLE CallBack Functions
-    p_BLEdev->gattServer().onUpdatesEnabled(onUpdatesEnabledCallback);
-    p_BLEdev->gattServer().onUpdatesDisabled(onUpdatesDisabledCallback);
-    p_BLEdev->gattServer().onDataRead(onDataReadCallback);
-    p_BLEdev->gattServer().onDataWritten(myonDataWriteCallback);
-    p_BLEdev->gap().onConnection(onConnectionCallback);
-    p_BLEdev->gap().onDisconnection(onDisconnectionCallback);
-    //p_BLEdev->gattServer().onConfirmationReceived(onConfirmationReceivedCallback);    
-    //p_BLEdev->gattServer().onDataSent(onDataSentCallback);    
-    //p_BLEdev->gap().onTimeout(onTimeoutCallback);
-
-    // Setup BLE Advertising
-    const static char DEVICE_NAME[] = BLE_DEV_NAME;
-    p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
-    #ifdef USE_SENSOR_FUSION_LIB        
-    uint8_t dat[] = {0x01,0x80,0x00,0xFC,0x01,0x80};
-    #else
-    uint8_t dat[] = {0x01,0x80,0x00,0xFC,0x00,0x00};
-    #endif      
-    p_BLEdev->gap().accumulateScanResponse(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA,dat,6);    
-    p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::UNKNOWN);
-    p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
-    p_BLEdev->gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
-    p_BLEdev->gap().setAdvertisingInterval(BLE_ADVERTISING_INTERVAL);
-    p_BLEdev->gap().startAdvertising();
-
-}
-
-/* Main ----------------------------------------------------------------------*/
-
-int main()
-{
-
-    // Printing to the console
-    printf("SunTracker by Fabio Brembilla\r\n\n");
-
-    Initialization();
-
-    printf("Initialization OK (Line %d)\r\n", __LINE__);    
-    
-    BLE_Initialization();
-        
-    printf("BLE_Initialization OK (Line %d)\r\n", __LINE__);
-        
-    mybutton.fall(&User_Button_Pressed);
-    
-    printf("Main Initializations OK (Line %d)\r\n", __LINE__);
-    printf("Wait Push Button\r\n");
-
-    // Loop until push User Button to Set 0 Point
-    strcpy(DisplayStr,"pusH");
-    while(start<1) {
-        board->display->DisplayString(DisplayStr, 4);
-        printf("%s\n\r", DisplayStr);
-        //wait(0.1); // Need one command otherwise remain always in loop
-    }
-
-    printf("Start Main Loop\r\n");
-
-    // Main Loop
-    while(true) {
-        if (Display==0 | Display==1)    {
-            Measure_Babybear();
-        }
-        if (Display==2)                 {
-            Measure_Accelerometer();
-        }
-
-        Control_Motor();
-        Measure_SolarPanel();
-        
-        p_BLEdev->waitForEvent();
-    }
-
-    //status_l=board->sensor_left->StopMeasurement(als_continuous_polling);
-    //status_r=board->sensor_right->StopMeasurement(als_continuous_polling);
-
-}