Diff: main.cpp

Revision:

7:54984d031243

Parent:

6:4cbf7303b496

Child:

8:144855fe02bd

--- a/main.cpp	Mon Feb 08 11:12:07 2016 +0000
+++ b/main.cpp	Wed Feb 10 12:52:55 2016 +0000
@@ -85,6 +85,9 @@
 #define BLE_DEV_MAC 0xAA,0xBB,0xCC,0xDD,0xEE,0xFF
 #define BLE_ADVERTISING_INTERVAL 1000
 
+static CustomControlService *p_customcontrolservice = NULL;
+static CustomSensorService  *p_customsensorservice = NULL;
+
 /* Definitions ---------------------------------------------------------------*/
 
 #define SET_ACC 400     // Set Motor Acceleration
@@ -111,222 +114,12 @@
 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
 
-/* ---------------------------------------------------------------------------*/
-
-// Motor Control Component
-static L6474 *motor;
-
-// Initializing SPI bus
-DevSPI dev_spi(D11, D12, D13);
-
-// Initializing I2C bus
-DevI2C dev_i2c(D14, D15);
+/* ---------------------------------------------------------------------------*/  
 
-// Instance board 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;
-    
-// Instance mems 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) {};
+//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 ---------------------------------------------------------*/
 
@@ -352,56 +145,13 @@
 
 static void onConnectionCallback(const Gap::ConnectionCallbackParams_t * connectionParams)
 {
-    
+    printf("onConnectionCallback (Line %d)\r\n", __LINE__);   
 }
 
 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);  
-
-    printf("BLE Init (Line %d)\r\n", __LINE__);
-
-    p_BLEdev->init();
-    
-    printf("BLE Init OK (Line %d)\r\n", __LINE__);
-
-    // 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);
+    printf("onDisconnectionCallback (Line %d)\r\n", __LINE__);
     p_BLEdev->gap().startAdvertising();
-
 }
 
 /* Main ----------------------------------------------------------------------*/
@@ -411,46 +161,100 @@
 
     // 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);
+    // BLE Initialization
+    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);
     
-    printf("Main Initializations OK (Line %d)\r\n", __LINE__);
-    printf("Wait Push Button\r\n");
+    p_BLEdev->init();
+
+    // 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);
+
+    // BLE Services
+    p_customcontrolservice =  new CustomControlService(*p_BLEdev);   
+    p_customsensorservice = new CustomSensorService(*p_BLEdev);
+
+    // BLE Advertising
+    const static char DEVICE_NAME[] = BLE_DEV_NAME;
+    p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
+    uint8_t dat[] = {0x01,0x80,0x00,0xFC,0x00,0x00};  
+    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();
+      
+    printf("BLE_Initialization OK (Line %d)\r\n", __LINE__);
 
-    // 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
-    }
+    // Initializing SPI bus
+    DevSPI dev_spi(D11, D12, D13);
+    
+    // Initializing I2C bus
+    DevI2C dev_i2c(D14, D15);  
+    
+    // Initializing Babybear Component 6180XA1
+    static X_NUCLEO_6180XA1 *board;
+    MeasureData_t data_sensor_left, data_sensor_right;
+    
+    // Initializing Babybear Component
+    //board=X_NUCLEO_6180XA1::Instance(&dev_i2c); // Con questo comando non si blocca quando Connetto il BLE, ma comunque non fuonziona
+    board=X_NUCLEO_6180XA1::Instance(&dev_i2c, NC, NC, NC, NC);
+    //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);
+
+    printf("Initialization OK (Line %d)\r\n", __LINE__);
 
     printf("Start Main Loop\r\n");
 
+    static int INTLOOP=0;
+
     // Main Loop
     while(true) {
-        if (Display==0 | Display==1)    {
-            Measure_Babybear();
+        
+        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);
+        
+        INTLOOP++;
+        if (INTLOOP==100) { p_customsensorservice->sendEnvPosition(rand(),0); INTLOOP=0; }
+          
+        //printf("babybear %d\r\n", diff);
+        
+        sprintf(DisplayStr, "%d", diff);
+        board->display->DisplayString(DisplayStr, 4);
+            
+        //strcpy(DisplayStr,"pusH");
+        //board->display->DisplayString(DisplayStr, 4);
+            
+        p_BLEdev->waitForEvent();
         }
-        if (Display==2)                 {
-            Measure_Accelerometer();
-        }
+}
 
-        Control_Motor();
-        Measure_SolarPanel();
-        
-        p_BLEdev->waitForEvent();
-    }
+// Configuro prima BLE e poi Babybear funziona, ma quando mi collego con il BLE l'app va in crash con il commento.
+// “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”
 
-    //status_l=board->sensor_left->StopMeasurement(als_continuous_polling);
-    //status_r=board->sensor_right->StopMeasurement(als_continuous_polling);
-
-}
+// Configuro prima Babybear e poi BLE non funziona.