Diff: main.cpp

Revision:

4:1d3d071a4c2c

Parent:

2:013921c26f43

Child:

5:76fb6b783487

--- a/main.cpp	Fri Jan 22 14:28:13 2016 +0000
+++ b/main.cpp	Tue Jan 26 13:29:53 2016 +0000
@@ -2,14 +2,14 @@
  ******************************************************************************
  * @file    main.cpp
  * @author  Fabio Brembilla
- * @version V1.0.0
- * @date    December 1st, 2015
+ * @version V2.0.0
+ * @date    January 22th, 2016
  * @brief   SunTracker + RemoteControl Vertical Application
  *          This application use IHM01A1, 6180XA1, IKS01A1, IDB0XA1 expansion boards
  ******************************************************************************
  * @attention
- *  
- * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * <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:
@@ -35,12 +35,12 @@
  *
  ******************************************************************************
  */
- 
+
 /* Includes ------------------------------------------------------------------*/
- 
+
 /* mbed specific header files. */
 #include "mbed.h"
- 
+
 /* Helper header files. */
 #include "DevSPI.h"
 #include "DevI2C.h"
@@ -56,6 +56,12 @@
 #include <stdio.h>
 #include <assert.h>
 
+/* Calibration files. */
+#include "MotionFX_Manager.h" // Need for osxMFX_calibFactor
+
+/* BlueTooth Custom Service files. */
+#include "CustomSunTrackerService.h"
+
 /* Definitions ---------------------------------------------------------------*/
 
 #define SET_ACC 400     // Set Motor Acceleration
@@ -100,29 +106,35 @@
 /* Instance mems IKS01A1. */
 static X_NUCLEO_IKS01A1 *mems=X_NUCLEO_IKS01A1::Instance(&dev_i2c);
 MotionSensor *accelerometer = mems->GetAccelerometer();
-   
-void DISP_ExecLoopBody(void){};
+
+void DISP_ExecLoopBody(void) {};
 
 AnalogIn analog_read_A1(A1);
 
-InterruptIn mybutton(USER_BUTTON); 
+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; }
-    
+
+    if (start>0) {
+        Display++;
+    }
+    if (Display>2) {
+        Display=0;
+    }
+    if (start==0) {
+        start=1;
+    }
+
 }
 
 /* Initialization ------------------------------------------------------------*/
 
 bool Initialization(void)
 {
-  
+
     /* Initializing Babybear Component. */
     status=board->InitBoard();
     if(status)
@@ -131,24 +143,24 @@
     // 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_l=board->sensor_left->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
     status_r=board->sensor_right->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
-      
+
     /* Initializing Motor Control 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 ----------------------------------------------------------*/
@@ -163,9 +175,15 @@
 
     diff = abs(babybear);
 
-    if (babybear>0) { left=0; right=1; }
-    if (babybear<0) { left=1; right=0; }
- 
+    if (babybear>0) {
+        left=0;
+        right=1;
+    }
+    if (babybear<0) {
+        left=1;
+        right=0;
+    }
+
 }
 
 /* Measure_Accelerometer -----------------------------------------------------*/
@@ -177,62 +195,97 @@
 
     diff = abs(acc_data[0]);
 
-    if (acc_data[0]>0) { left=0; right=1; }
-    if (acc_data[0]<0) { left=1; right=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)
-    {
+    //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"); }
-        }   
-      
+            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; }
-        
+        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; }
-        } 
+            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); }
+        if (pos>0) {
+            motor->GoTo(STOP);
+        }
+        if (pos<0) {
+            motor->GoTo(-STOP);
+        }
     }
-    
+
     // Stop Motor
-    if (diff<=TOLLERANCE) {  
+    if (diff<=TOLLERANCE) {
         motor->HardStop();
-        if (Display==0) { strcpy(DisplayStr,"----"); }
-        if (Display==2) { strcpy(DisplayStr,"E  3"); }  
+        if (Display==0) {
+            strcpy(DisplayStr,"----");
+        }
+        if (Display==2) {
+            strcpy(DisplayStr,"E  3");
+        }
         dir=0;
         changedir=0;
     }
-  
+
 }
 
 /* Measure_SolarPanel --------------------------------------------------------*/
@@ -245,48 +298,52 @@
     //printf("Measure = %.0f mV\r\n", measure);
     //board->display->DisplayDigit("A", 0);
 
-    if (Display==1) { sprintf(DisplayStr, "%.0f", measure); }  
-    
-    board->display->DisplayString(DisplayStr, 4); 
+    if (Display==1) {
+        sprintf(DisplayStr, "%.0f", measure);
+    }
+
+    board->display->DisplayString(DisplayStr, 4);
 
 }
 
 /* Main ----------------------------------------------------------------------*/
 
 int main()
-{ 
-  
-    Initialization();    
-    
+{
+
+    Initialization();
+
     mybutton.fall(&User_Button_Pressed);
-    
+
     /* Printing to the console. */
     printf("SunTracker by Fabio Brembilla\r\n\n");
- 
+
     /* 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);
-    
+
     /* Loop until push User Button to Set 0 Point. */
     strcpy(DisplayStr,"pusH");
-    while(start<1)
-    {
+    while(start<1) {
         board->display->DisplayString(DisplayStr, 4);
     }
-    
+
     /* Main Loop. */
-    while(true)
-    {
-        if (Display==0 | Display==1)    { Measure_Babybear(); }   
-        if (Display==2)                 { Measure_Accelerometer(); }   
-       
+    while(true) {
+        if (Display==0 | Display==1)    {
+            Measure_Babybear();
+        }
+        if (Display==2)                 {
+            Measure_Accelerometer();
+        }
+
         Control_Motor();
         Measure_SolarPanel();
     }
-    
+
     status_l=board->sensor_left->StopMeasurement(als_continuous_polling);
     status_r=board->sensor_right->StopMeasurement(als_continuous_polling);
-    
+
 }