Diff: main_GOOD.cpp.h

Revision:

7:54984d031243

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main_GOOD.cpp.h	Wed Feb 10 12:52:55 2016 +0000
@@ -0,0 +1,452 @@
+/**
+ ******************************************************************************
+ * @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);
+
+}