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@18:319a1bb8f837, 2016-04-22 (annotated)

Committer:
fabiombed
Date:
Fri Apr 22 14:40:14 2016 +0000
Revision:
18:319a1bb8f837
Parent:
17:582eba752042
Child:
19:b2c04428ffed
Added ticker for services

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 17:582eba752042 6 * @date April, 2016
fabiombed 12:1e6a1d3a66b5 7 * @brief SunTracker + BLE (Server) 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 14:644f9e7278e9 39 /* Define --------------------------------------------------------------------*/
fabiombed 14:644f9e7278e9 40
fabiombed 14:644f9e7278e9 41 #define FlightSense //6180XA1 Main (remove only for debug)
fabiombed 14:644f9e7278e9 42 #define EasySpin //IHM01A1 Main (remove only for debug)
fabiombed 14:644f9e7278e9 43 #define Sensors //IKS01A1 Option
fabiombed 14:644f9e7278e9 44 #define Ble //IDB0XA1 Option
fabiombed 14:644f9e7278e9 45
fabiombed 0:becf0d313663 46 /* Includes ------------------------------------------------------------------*/
fabiombed 4:1d3d071a4c2c 47
fabiombed 6:4cbf7303b496 48 // Mbed specific header files
fabiombed 0:becf0d313663 49 #include "mbed.h"
fabiombed 4:1d3d071a4c2c 50
fabiombed 6:4cbf7303b496 51 // Helper header files
fabiombed 0:becf0d313663 52 #include "DevSPI.h"
fabiombed 1:8f312c1686b6 53 #include "DevI2C.h"
fabiombed 0:becf0d313663 54
fabiombed 6:4cbf7303b496 55 // Component specific header files
fabiombed 14:644f9e7278e9 56 #ifdef FlightSense
fabiombed 14:644f9e7278e9 57 #include "x_nucleo_6180xa1.h"
fabiombed 14:644f9e7278e9 58 #endif
fabiombed 14:644f9e7278e9 59
fabiombed 14:644f9e7278e9 60 #ifdef EasySpin
fabiombed 14:644f9e7278e9 61 #include "l6474_class.h"
fabiombed 14:644f9e7278e9 62 #endif
fabiombed 14:644f9e7278e9 63
fabiombed 14:644f9e7278e9 64 #ifdef Sensors
fabiombed 14:644f9e7278e9 65 #include "x_nucleo_iks01a1.h"
fabiombed 14:644f9e7278e9 66 #endif
fabiombed 0:becf0d313663 67
fabiombed 6:4cbf7303b496 68 // C header files
fabiombed 1:8f312c1686b6 69 #include <string.h>
fabiombed 1:8f312c1686b6 70 #include <stdlib.h>
fabiombed 1:8f312c1686b6 71 #include <stdio.h>
fabiombed 1:8f312c1686b6 72 #include <assert.h>
fabiombed 0:becf0d313663 73
fabiombed 5:76fb6b783487 74 /* BlueTooth -----------------------------------------------------------------*/
fabiombed 5:76fb6b783487 75
fabiombed 14:644f9e7278e9 76 #ifdef Ble
fabiombed 14:644f9e7278e9 77
fabiombed 5:76fb6b783487 78 #include "debug.h" // Need for PRINTF
fabiombed 14:644f9e7278e9 79 #include "Utils.h" // Need for STORE_LE_16 and STORE_LE_32
fabiombed 5:76fb6b783487 80
fabiombed 17:582eba752042 81 // Not need to re-define it, it is already defined into UUID.h, just use UUID:: when you call it
fabiombed 17:582eba752042 82 //const unsigned LENGTH_OF_LONG_UUID = 16;
fabiombed 17:582eba752042 83 //typedef uint16_t ShortUUIDBytes_t;
fabiombed 17:582eba752042 84 //typedef uint8_t LongUUIDBytes_t[LENGTH_OF_LONG_UUID];
fabiombed 8:144855fe02bd 85
fabiombed 5:76fb6b783487 86 typedef enum ConnectionStatus_t {
fabiombed 5:76fb6b783487 87 DISCONNECTED =0,
fabiombed 5:76fb6b783487 88 CONNECTED =1
fabiombed 8:144855fe02bd 89 } cns_t;
fabiombed 5:76fb6b783487 90
fabiombed 8:144855fe02bd 91 #define BLE_DEV_NAME "SunTracker"
fabiombed 17:582eba752042 92 //#define BLE_DEV_MAC 0xAA,0xBB,0xCC,0xDD,0xEE,0xFF // SERVER address (must be set into CLIENT BLE_peer_address_BE)
fabiombed 17:582eba752042 93 #define BLE_DEV_MAC 0xFD,0x66,0x05,0x13,0xBE,0xBA // Default ST address (must be set into CLIENT BLE_peer_address_BE)
fabiombed 8:144855fe02bd 94 #define BLE_ADVERTISING_INTERVAL 1000
fabiombed 5:76fb6b783487 95
fabiombed 5:76fb6b783487 96 #include "CustomControlService.h"
fabiombed 5:76fb6b783487 97 #include "CustomSensorsService.h"
fabiombed 5:76fb6b783487 98
fabiombed 6:4cbf7303b496 99 static BLE *p_BLEdev = NULL;
fabiombed 7:54984d031243 100 static CustomControlService *p_customcontrolservice = NULL;
fabiombed 7:54984d031243 101 static CustomSensorService *p_customsensorservice = NULL;
fabiombed 7:54984d031243 102
fabiombed 18:319a1bb8f837 103 #define FeatureStatus 0x00000800
fabiombed 18:319a1bb8f837 104 #define FeatureDifference 0x00001000
fabiombed 18:319a1bb8f837 105 #define FeaturePosition 0x00002000
fabiombed 18:319a1bb8f837 106 #define FeatureSunPanel 0x00004000
fabiombed 15:019b8d60c89d 107
fabiombed 14:644f9e7278e9 108 #endif
fabiombed 14:644f9e7278e9 109
fabiombed 0:becf0d313663 110 /* Definitions ---------------------------------------------------------------*/
fabiombed 0:becf0d313663 111
fabiombed 1:8f312c1686b6 112 #define SET_ACC 400 // Set Motor Acceleration
fabiombed 1:8f312c1686b6 113 #define SET_DEC 400 // Set Motor Deceleration
fabiombed 1:8f312c1686b6 114 #define SET_MAX 200 // Set Motor MaxSpeed
fabiombed 1:8f312c1686b6 115 #define SET_MIN 100 // Set Motor MinSpeed
fabiombed 1:8f312c1686b6 116 #define STOP 1000 // Set Motor Stop Position
fabiombed 18:319a1bb8f837 117 #define TOLLERANCE 80 // Tollerance between Left and Right before Start Movement
fabiombed 18:319a1bb8f837 118 #define RANGE_1 250 // Range 1 for Motor Speed
fabiombed 1:8f312c1686b6 119 #define RANGE_2 500 // Range 2 for Motor Speed
fabiombed 18:319a1bb8f837 120 #define TIMEOUT_STA 1 // Timeout for Ticker Status (in second)
fabiombed 18:319a1bb8f837 121 #define TIMEOUT_DIF 0.5 // Timeout for Ticker Difference (in second)
fabiombed 18:319a1bb8f837 122 #define TIMEOUT_POS 0.5 // Timeout for Ticker Position (in second)
fabiombed 18:319a1bb8f837 123 #define TIMEOUT_SUN 0.5 // Timeout for Ticker SunPanel (in second)
fabiombed 0:becf0d313663 124
fabiombed 0:becf0d313663 125 /* Variables -----------------------------------------------------------------*/
fabiombed 0:becf0d313663 126
fabiombed 14:644f9e7278e9 127 int8_t dir=0; // Motor Rotation Direction: 0 = Stop, 1 = Anticlockwise, 2 = Clockwise
fabiombed 14:644f9e7278e9 128 int8_t changedir=0; // Change Direction: 0 = No, 1 = Yes
fabiombed 14:644f9e7278e9 129 int8_t arrest=0; // Arrest: 0 = No, 1 = Yes
fabiombed 15:019b8d60c89d 130 int16_t babybear=0; // Difference (in Lux) between Left and Right
fabiombed 14:644f9e7278e9 131 int32_t acc_data[3]; // Difference of Accelerometer
fabiombed 15:019b8d60c89d 132 int16_t diff=0; // Babybear or Accelerometer difference [--> Send BLE]
fabiombed 15:019b8d60c89d 133 int16_t diff_abs=0; // Abs of Babybear or Accelerometer difference
fabiombed 14:644f9e7278e9 134 int8_t left=0; // Left Command for Rotate Direction
fabiombed 14:644f9e7278e9 135 int8_t right=0; // Right Command for Rotate Direction
fabiombed 15:019b8d60c89d 136 int16_t pos=0; // Motor Position [--> Send BLE]
fabiombed 15:019b8d60c89d 137 int16_t measure=0; // ADC Value from SunPanel [--> Send BLE]
fabiombed 17:582eba752042 138 char DisplayStr[5]; // Display String
fabiombed 17:582eba752042 139 int16_t Status=0; // Status Shown on Display: 0 = Idle, 1 = Motor Speed, 2 = Solar Panel Value, 3 = Manual Control [--> Send BLE]
fabiombed 17:582eba752042 140 int16_t status_bb, status_t, status_b, status_l, status_r; // Babybear Status
fabiombed 17:582eba752042 141 uint16_t TimeStamp=0; // TimeStamp for BLE
fabiombed 18:319a1bb8f837 142 bool tickerSta=false;
fabiombed 18:319a1bb8f837 143 bool tickerDif=false;
fabiombed 18:319a1bb8f837 144 bool tickerPos=false;
fabiombed 18:319a1bb8f837 145 bool tickerSun=false;
fabiombed 1:8f312c1686b6 146
fabiombed 8:144855fe02bd 147 /* Initializations ------------------------------------------------------------*/
fabiombed 8:144855fe02bd 148
fabiombed 8:144855fe02bd 149 // Initializing SPI bus
fabiombed 8:144855fe02bd 150 DevSPI dev_spi(D11, D12, D13);
fabiombed 8:144855fe02bd 151
fabiombed 8:144855fe02bd 152 // Initializing I2C bus
fabiombed 8:144855fe02bd 153 DevI2C dev_i2c(D14, D15);
fabiombed 8:144855fe02bd 154
fabiombed 14:644f9e7278e9 155 #ifdef FlightSense
fabiombed 14:644f9e7278e9 156 // Initializing FlightSense Component 6180XA1
fabiombed 8:144855fe02bd 157 static X_NUCLEO_6180XA1 *board;
fabiombed 8:144855fe02bd 158 MeasureData_t data_sensor_top, data_sensor_bottom, data_sensor_left, data_sensor_right;
fabiombed 14:644f9e7278e9 159 #endif
fabiombed 14:644f9e7278e9 160
fabiombed 14:644f9e7278e9 161 #ifdef EasySpin
fabiombed 14:644f9e7278e9 162 // Initializing EasySpin Component IHM01A1
fabiombed 14:644f9e7278e9 163 static L6474 *motor;
fabiombed 14:644f9e7278e9 164 #endif
fabiombed 14:644f9e7278e9 165
fabiombed 14:644f9e7278e9 166 #ifdef Sensors
fabiombed 14:644f9e7278e9 167 // Initializing Sensors Component IKS01A1
fabiombed 8:144855fe02bd 168 static X_NUCLEO_IKS01A1 *mems;
fabiombed 8:144855fe02bd 169 MotionSensor *accelerometer;
fabiombed 14:644f9e7278e9 170 #endif
fabiombed 8:144855fe02bd 171
fabiombed 8:144855fe02bd 172 InterruptIn mybutton(USER_BUTTON);
fabiombed 8:144855fe02bd 173
fabiombed 14:644f9e7278e9 174 AnalogIn analog_read(PC_3); // A1 Conflict with BLE SPI_CS --> Changed in Morpho PC_3
fabiombed 8:144855fe02bd 175
fabiombed 17:582eba752042 176 /* Update_Status ------------------------------------------------------------*/
fabiombed 17:582eba752042 177
fabiombed 17:582eba752042 178 void Update_Status(int16_t Stat)
fabiombed 17:582eba752042 179 {
fabiombed 17:582eba752042 180
fabiombed 17:582eba752042 181 char State[12]; // Characters into State must be <12 and never =>12 or it crash!!!
fabiombed 17:582eba752042 182 if (Stat==1) strcpy(State,"FlightSense");
fabiombed 17:582eba752042 183 if (Stat==2) strcpy(State,"ADCSunPanel");
fabiombed 17:582eba752042 184 if (Stat==3) strcpy(State,"Sensors");
fabiombed 17:582eba752042 185 printf("\r\n\r\nPUSH Status: %s", State);
fabiombed 17:582eba752042 186
fabiombed 17:582eba752042 187 }
fabiombed 17:582eba752042 188
fabiombed 8:144855fe02bd 189 /* User_Button_Pressed -------------------------------------------------------*/
fabiombed 8:144855fe02bd 190
fabiombed 14:644f9e7278e9 191 void User_Button_Pressed(void)
fabiombed 8:144855fe02bd 192 {
fabiombed 8:144855fe02bd 193
fabiombed 17:582eba752042 194 Status++;
fabiombed 17:582eba752042 195
fabiombed 18:319a1bb8f837 196 //#ifdef Sensors
fabiombed 18:319a1bb8f837 197 #ifdef Ble
fabiombed 17:582eba752042 198 if (Status>3) { Status=1; }
fabiombed 14:644f9e7278e9 199 #else
fabiombed 17:582eba752042 200 if (Status>2) { Status=1; }
fabiombed 14:644f9e7278e9 201 #endif
fabiombed 14:644f9e7278e9 202
fabiombed 17:582eba752042 203 Update_Status(Status);
fabiombed 8:144855fe02bd 204
fabiombed 8:144855fe02bd 205 }
fabiombed 8:144855fe02bd 206
fabiombed 14:644f9e7278e9 207 #ifdef Ble
fabiombed 14:644f9e7278e9 208
fabiombed 9:ca289bf57f52 209 /* Bluetooth CallBack ---------------------------------------------------------*/
fabiombed 9:ca289bf57f52 210
fabiombed 9:ca289bf57f52 211 static void onUpdatesEnabledCallback(GattAttribute::Handle_t handle)
fabiombed 9:ca289bf57f52 212 {
fabiombed 17:582eba752042 213 if (p_customcontrolservice->isCommandHandle(handle)) p_customcontrolservice->enNotify(handle);
fabiombed 17:582eba752042 214
fabiombed 17:582eba752042 215 if (p_customsensorservice->isStatusHandle(handle)) p_customsensorservice->enNotify(handle);
fabiombed 15:019b8d60c89d 216 if (p_customsensorservice->isDifferenceHandle(handle)) p_customsensorservice->enNotify(handle);
fabiombed 15:019b8d60c89d 217 if (p_customsensorservice->isPositionHandle(handle)) p_customsensorservice->enNotify(handle);
fabiombed 15:019b8d60c89d 218 if (p_customsensorservice->isSunpanelHandle(handle)) p_customsensorservice->enNotify(handle);
fabiombed 9:ca289bf57f52 219 }
fabiombed 9:ca289bf57f52 220
fabiombed 9:ca289bf57f52 221 static void onUpdatesDisabledCallback(Gap::Handle_t handle)
fabiombed 9:ca289bf57f52 222 {
fabiombed 17:582eba752042 223 if (p_customcontrolservice->isCommandHandle(handle)) p_customcontrolservice->disNotify(handle);
fabiombed 17:582eba752042 224
fabiombed 17:582eba752042 225 if (p_customsensorservice->isStatusHandle(handle)) p_customsensorservice->disNotify(handle);
fabiombed 15:019b8d60c89d 226 if (p_customsensorservice->isDifferenceHandle(handle)) p_customsensorservice->disNotify(handle);
fabiombed 15:019b8d60c89d 227 if (p_customsensorservice->isPositionHandle(handle)) p_customsensorservice->disNotify(handle);
fabiombed 15:019b8d60c89d 228 if (p_customsensorservice->isSunpanelHandle(handle)) p_customsensorservice->disNotify(handle);
fabiombed 9:ca289bf57f52 229 }
fabiombed 9:ca289bf57f52 230
fabiombed 9:ca289bf57f52 231 static void onDataReadCallback(const GattReadCallbackParams *eventDataP)
fabiombed 9:ca289bf57f52 232 {
fabiombed 18:319a1bb8f837 233
fabiombed 17:582eba752042 234 // if receive a manual Read request
fabiombed 17:582eba752042 235
fabiombed 17:582eba752042 236 if (p_customsensorservice->isStatusHandle(eventDataP->handle))
fabiombed 17:582eba752042 237 {
fabiombed 17:582eba752042 238 printf("\n\r\n\rSend BLE Display Status %d", Status);
fabiombed 17:582eba752042 239 p_customsensorservice->sendEnvStatus(Status, TimeStamp);
fabiombed 17:582eba752042 240
fabiombed 17:582eba752042 241 } else if (p_customsensorservice->isDifferenceHandle(eventDataP->handle)) {
fabiombed 17:582eba752042 242
fabiombed 17:582eba752042 243 printf("\n\rSend BLE Difference %d lux/mems", diff); // Send BLE diff, no diff_abs
fabiombed 17:582eba752042 244 p_customsensorservice->sendEnvDifference(diff, TimeStamp);
fabiombed 17:582eba752042 245
fabiombed 17:582eba752042 246 } else if (p_customsensorservice->isPositionHandle(eventDataP->handle)) {
fabiombed 17:582eba752042 247
fabiombed 17:582eba752042 248 printf("\n\rSend BLE Position %d", pos);
fabiombed 17:582eba752042 249 p_customsensorservice->sendEnvPosition(pos, TimeStamp);
fabiombed 17:582eba752042 250
fabiombed 17:582eba752042 251 } else if (p_customsensorservice->isSunpanelHandle(eventDataP->handle)) {
fabiombed 17:582eba752042 252
fabiombed 17:582eba752042 253 printf("\n\rSend BLE Sunpanel %d mV", measure);
fabiombed 17:582eba752042 254 p_customsensorservice->sendEnvSunpanel(measure, TimeStamp);
fabiombed 17:582eba752042 255
fabiombed 17:582eba752042 256 }
fabiombed 18:319a1bb8f837 257
fabiombed 9:ca289bf57f52 258 }
fabiombed 9:ca289bf57f52 259
fabiombed 14:644f9e7278e9 260 // This Callback happen when it RECEIVE a WRITE
fabiombed 9:ca289bf57f52 261 static void myonDataWriteCallback(const GattWriteCallbackParams *eventDataP)
fabiombed 14:644f9e7278e9 262 {
fabiombed 15:019b8d60c89d 263
fabiombed 17:582eba752042 264 if (p_customcontrolservice->isCommandHandle(eventDataP->handle))
fabiombed 17:582eba752042 265 {
fabiombed 17:582eba752042 266 // From CLIENT it receives a command in this format: Feature (4) + Type (1) + Data (2)
fabiombed 17:582eba752042 267 uint32_t Feature = eventDataP->data[0]<<24 | eventDataP->data[1]<<16 | eventDataP->data[2]<<8 | eventDataP->data[3];
fabiombed 17:582eba752042 268 uint8_t Type = eventDataP->data[4];
fabiombed 17:582eba752042 269 int16_t Data = eventDataP->data[5]<<8 | eventDataP->data[6];
fabiombed 14:644f9e7278e9 270
fabiombed 17:582eba752042 271 //printf("\r\n\r\nmyonDataWriteCallback (Feature %x)", Feature);
fabiombed 17:582eba752042 272 //printf("\r\nmyonDataWriteCallback (Type %x)", Type); // Not Used
fabiombed 17:582eba752042 273 //printf("\r\nmyonDataWriteCallback (Data Hex %x)", Data);
fabiombed 17:582eba752042 274 //printf("\r\nmyonDataWriteCallback (Data Dec %d)", Data);
fabiombed 17:582eba752042 275
fabiombed 17:582eba752042 276 switch(Feature)
fabiombed 17:582eba752042 277 {
fabiombed 17:582eba752042 278 case FeatureStatus:
fabiombed 17:582eba752042 279 printf("\r\n\r\nReceived STATUS %d", Data);
fabiombed 17:582eba752042 280 Status = Data;
fabiombed 17:582eba752042 281 Update_Status(Data);
fabiombed 17:582eba752042 282 break;
fabiombed 17:582eba752042 283
fabiombed 17:582eba752042 284 case FeatureDifference:
fabiombed 17:582eba752042 285 printf("\r\n\r\nReceived DIFF %d", Data);
fabiombed 17:582eba752042 286 diff = Data;
fabiombed 17:582eba752042 287 break;
fabiombed 17:582eba752042 288
fabiombed 17:582eba752042 289 case FeaturePosition:
fabiombed 17:582eba752042 290 break;
fabiombed 17:582eba752042 291
fabiombed 17:582eba752042 292 case FeatureSunPanel:
fabiombed 17:582eba752042 293 break;
fabiombed 17:582eba752042 294
fabiombed 17:582eba752042 295 default:
fabiombed 17:582eba752042 296 break;
fabiombed 17:582eba752042 297 }
fabiombed 15:019b8d60c89d 298 }
fabiombed 15:019b8d60c89d 299
fabiombed 9:ca289bf57f52 300 }
fabiombed 9:ca289bf57f52 301
fabiombed 9:ca289bf57f52 302 static void onConnectionCallback(const Gap::ConnectionCallbackParams_t * connectionParams)
fabiombed 9:ca289bf57f52 303 {
fabiombed 14:644f9e7278e9 304 printf("\r\n\r\nonConnectionCallback (Line %d)", __LINE__);
fabiombed 9:ca289bf57f52 305 }
fabiombed 9:ca289bf57f52 306
fabiombed 9:ca289bf57f52 307 static void onDisconnectionCallback(const Gap::DisconnectionCallbackParams_t * disConnectionReason)
fabiombed 9:ca289bf57f52 308 {
fabiombed 14:644f9e7278e9 309 printf("\r\n\r\nonDisconnectionCallback (Line %d)", __LINE__);
fabiombed 9:ca289bf57f52 310 p_BLEdev->gap().startAdvertising();
fabiombed 9:ca289bf57f52 311 }
fabiombed 9:ca289bf57f52 312
fabiombed 14:644f9e7278e9 313 #endif
fabiombed 14:644f9e7278e9 314
fabiombed 9:ca289bf57f52 315 /* Bluetooth Initialization ---------------------------------------------------*/
fabiombed 9:ca289bf57f52 316
fabiombed 9:ca289bf57f52 317 bool BLE_Initialization(void)
fabiombed 9:ca289bf57f52 318 {
fabiombed 9:ca289bf57f52 319
fabiombed 14:644f9e7278e9 320 #ifdef Ble
fabiombed 14:644f9e7278e9 321
fabiombed 9:ca289bf57f52 322 p_BLEdev = new BLE;
fabiombed 9:ca289bf57f52 323 if (!p_BLEdev) { printf("\r\nBLE Device creation failed\r\n"); }
fabiombed 9:ca289bf57f52 324 const Gap::Address_t BLE_address_BE = {BLE_DEV_MAC};
fabiombed 9:ca289bf57f52 325 p_BLEdev->gap().setAddress(BLEProtocol::AddressType::PUBLIC, BLE_address_BE);
fabiombed 9:ca289bf57f52 326
fabiombed 9:ca289bf57f52 327 p_BLEdev->init();
fabiombed 9:ca289bf57f52 328
fabiombed 9:ca289bf57f52 329 // Set BLE CallBack Functions
fabiombed 9:ca289bf57f52 330 p_BLEdev->gattServer().onUpdatesEnabled(onUpdatesEnabledCallback);
fabiombed 9:ca289bf57f52 331 p_BLEdev->gattServer().onUpdatesDisabled(onUpdatesDisabledCallback);
fabiombed 9:ca289bf57f52 332 p_BLEdev->gattServer().onDataRead(onDataReadCallback);
fabiombed 9:ca289bf57f52 333 p_BLEdev->gattServer().onDataWritten(myonDataWriteCallback);
fabiombed 9:ca289bf57f52 334 p_BLEdev->gap().onConnection(onConnectionCallback);
fabiombed 9:ca289bf57f52 335 p_BLEdev->gap().onDisconnection(onDisconnectionCallback);
fabiombed 9:ca289bf57f52 336 //p_BLEdev->gattServer().onConfirmationReceived(onConfirmationReceivedCallback);
fabiombed 9:ca289bf57f52 337 //p_BLEdev->gattServer().onDataSent(onDataSentCallback);
fabiombed 9:ca289bf57f52 338 //p_BLEdev->gap().onTimeout(onTimeoutCallback);
fabiombed 9:ca289bf57f52 339
fabiombed 9:ca289bf57f52 340 // BLE Services
fabiombed 14:644f9e7278e9 341 p_customcontrolservice = new CustomControlService(*p_BLEdev);
fabiombed 9:ca289bf57f52 342 p_customsensorservice = new CustomSensorService(*p_BLEdev);
fabiombed 9:ca289bf57f52 343
fabiombed 9:ca289bf57f52 344 // Setup BLE Advertising
fabiombed 9:ca289bf57f52 345 const static char DEVICE_NAME[] = BLE_DEV_NAME;
fabiombed 9:ca289bf57f52 346 p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
fabiombed 18:319a1bb8f837 347 uint8_t dat[] = {0x01,0x80,0x00,0x00,0x78,0x00}; // Data Sent during Advertising, must respect a Standard ST
fabiombed 9:ca289bf57f52 348 p_BLEdev->gap().accumulateScanResponse(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA,dat,6);
fabiombed 9:ca289bf57f52 349 p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::UNKNOWN);
fabiombed 9:ca289bf57f52 350 p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
fabiombed 9:ca289bf57f52 351 p_BLEdev->gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
fabiombed 9:ca289bf57f52 352 p_BLEdev->gap().setAdvertisingInterval(BLE_ADVERTISING_INTERVAL);
fabiombed 9:ca289bf57f52 353 p_BLEdev->gap().startAdvertising();
fabiombed 9:ca289bf57f52 354
fabiombed 14:644f9e7278e9 355 printf("Initialization Ble OK (Line %d)\r\n", __LINE__);
fabiombed 14:644f9e7278e9 356
fabiombed 14:644f9e7278e9 357 #endif
fabiombed 14:644f9e7278e9 358
fabiombed 9:ca289bf57f52 359 return true;
fabiombed 9:ca289bf57f52 360
fabiombed 9:ca289bf57f52 361 }
fabiombed 9:ca289bf57f52 362
fabiombed 8:144855fe02bd 363 /* Initialization ------------------------------------------------------------*/
fabiombed 8:144855fe02bd 364
fabiombed 8:144855fe02bd 365 bool Initialization(void)
fabiombed 8:144855fe02bd 366 {
fabiombed 11:b5e23d64d366 367
fabiombed 14:644f9e7278e9 368 dev_i2c.frequency(100000); // Default 100KHz. At 10KHz, 20KHz, 200KHz and 400KHz doesn't work
fabiombed 11:b5e23d64d366 369
fabiombed 11:b5e23d64d366 370 //----
fabiombed 14:644f9e7278e9 371
fabiombed 14:644f9e7278e9 372 #ifdef FlightSense
fabiombed 14:644f9e7278e9 373
fabiombed 14:644f9e7278e9 374 // Initializing FlightSense Component
fabiombed 14:644f9e7278e9 375 board=X_NUCLEO_6180XA1::Instance(&dev_i2c, NC, NC, NC, NC); // NC as Interrupt fixed from FlightSense library 42
fabiombed 14:644f9e7278e9 376
fabiombed 17:582eba752042 377 status_bb=board->InitBoard();
fabiombed 17:582eba752042 378 if(status_bb) VL6180x_ErrLog("Failed to init the board!\n\r");
fabiombed 8:144855fe02bd 379
fabiombed 8:144855fe02bd 380 // Put GPIO not used as Interrupt in Hi-Z
fabiombed 8:144855fe02bd 381 status_t=board->sensor_top->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed 14:644f9e7278e9 382 //status_b=board->sensor_botton->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); Not Present
fabiombed 8:144855fe02bd 383 status_l=board->sensor_left->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed 8:144855fe02bd 384 status_r=board->sensor_right->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed 8:144855fe02bd 385
fabiombed 8:144855fe02bd 386 // Set Babybears
fabiombed 8:144855fe02bd 387 status_l=board->sensor_left->AlsSetAnalogueGain(3);
fabiombed 8:144855fe02bd 388 status_r=board->sensor_right->AlsSetAnalogueGain(3);
fabiombed 8:144855fe02bd 389 status_l=board->sensor_left->StartMeasurement(als_continuous_polling, NULL, NULL, NULL);
fabiombed 8:144855fe02bd 390 status_r=board->sensor_right->StartMeasurement(als_continuous_polling, NULL, NULL, NULL);
fabiombed 8:144855fe02bd 391
fabiombed 14:644f9e7278e9 392 printf("Init FlightSense OK\r\n");
fabiombed 14:644f9e7278e9 393
fabiombed 14:644f9e7278e9 394 #endif
fabiombed 11:b5e23d64d366 395
fabiombed 8:144855fe02bd 396 //----
fabiombed 8:144855fe02bd 397
fabiombed 14:644f9e7278e9 398 #ifdef EasySpin
fabiombed 11:b5e23d64d366 399
fabiombed 14:644f9e7278e9 400 // Initializing EasySpin Component
fabiombed 9:ca289bf57f52 401 motor = new L6474(D2, D8, PB_2, D9, D10, dev_spi); // D7 conflict with BNRG_RST (when motor change direction 0-1 reset BLE)
fabiombed 9:ca289bf57f52 402 // Used Morpho PB_2 and made HW wiring
fabiombed 8:144855fe02bd 403 if (motor->Init(NULL) != COMPONENT_OK)
fabiombed 8:144855fe02bd 404 return false;
fabiombed 8:144855fe02bd 405
fabiombed 16:d69c0d5d5ab2 406 motor->SetStepMode(StepperMotor::STEP_MODE_1_8); // Default is STEP_MODE_1_16
fabiombed 8:144855fe02bd 407
fabiombed 8:144855fe02bd 408 // Set defaults Motor Speed
fabiombed 8:144855fe02bd 409 motor->SetAcceleration(SET_ACC);
fabiombed 8:144855fe02bd 410 motor->SetDeceleration(SET_DEC);
fabiombed 8:144855fe02bd 411 motor->SetMaxSpeed(SET_MAX); // Variable by Light/Mems Sensors
fabiombed 8:144855fe02bd 412 motor->SetMinSpeed(SET_MIN);
fabiombed 8:144855fe02bd 413
fabiombed 14:644f9e7278e9 414 printf("Init EasySpin OK\r\n");
fabiombed 14:644f9e7278e9 415
fabiombed 14:644f9e7278e9 416 #endif
fabiombed 14:644f9e7278e9 417
fabiombed 14:644f9e7278e9 418 //----
fabiombed 14:644f9e7278e9 419
fabiombed 14:644f9e7278e9 420 #ifdef Sensors
fabiombed 11:b5e23d64d366 421
fabiombed 14:644f9e7278e9 422 // Initializing Sensors Component
fabiombed 14:644f9e7278e9 423 mems=X_NUCLEO_IKS01A1::Instance(&dev_i2c);
fabiombed 14:644f9e7278e9 424 accelerometer = mems->GetAccelerometer();
fabiombed 14:644f9e7278e9 425
fabiombed 14:644f9e7278e9 426 printf("Init Sensors OK\r\n");
fabiombed 14:644f9e7278e9 427
fabiombed 14:644f9e7278e9 428 #endif
fabiombed 14:644f9e7278e9 429
fabiombed 14:644f9e7278e9 430 printf("Initialization OK (Line %d)\r\n", __LINE__);
fabiombed 8:144855fe02bd 431 return true;
fabiombed 8:144855fe02bd 432
fabiombed 8:144855fe02bd 433 }
fabiombed 8:144855fe02bd 434
fabiombed 8:144855fe02bd 435 /* Measure_Babybear ----------------------------------------------------------*/
fabiombed 8:144855fe02bd 436
fabiombed 8:144855fe02bd 437 void Measure_Babybear(void)
fabiombed 8:144855fe02bd 438 {
fabiombed 8:144855fe02bd 439
fabiombed 14:644f9e7278e9 440 #ifdef FlightSense
fabiombed 14:644f9e7278e9 441
fabiombed 8:144855fe02bd 442 status_l=board->sensor_left->GetMeasurement(als_continuous_polling, &data_sensor_left);
fabiombed 8:144855fe02bd 443 status_r=board->sensor_right->GetMeasurement(als_continuous_polling, &data_sensor_right);
fabiombed 8:144855fe02bd 444
fabiombed 8:144855fe02bd 445 babybear = data_sensor_right.lux - data_sensor_left.lux;
fabiombed 8:144855fe02bd 446
fabiombed 14:644f9e7278e9 447 diff = babybear;
fabiombed 1:8f312c1686b6 448
fabiombed 14:644f9e7278e9 449 #endif
fabiombed 8:144855fe02bd 450
fabiombed 8:144855fe02bd 451 }
fabiombed 8:144855fe02bd 452
fabiombed 8:144855fe02bd 453 /* Measure_Accelerometer -----------------------------------------------------*/
fabiombed 8:144855fe02bd 454
fabiombed 8:144855fe02bd 455 void Measure_Accelerometer(void)
fabiombed 8:144855fe02bd 456 {
fabiombed 8:144855fe02bd 457
fabiombed 14:644f9e7278e9 458 #ifdef Sensors
fabiombed 14:644f9e7278e9 459
fabiombed 8:144855fe02bd 460 accelerometer->Get_X_Axes(acc_data);
fabiombed 8:144855fe02bd 461
fabiombed 14:644f9e7278e9 462 diff = acc_data[0];
fabiombed 8:144855fe02bd 463
fabiombed 14:644f9e7278e9 464 #endif
fabiombed 8:144855fe02bd 465
fabiombed 8:144855fe02bd 466 }
fabiombed 8:144855fe02bd 467
fabiombed 8:144855fe02bd 468 /* Control_Motor -------------------------------------------------------------*/
fabiombed 8:144855fe02bd 469
fabiombed 8:144855fe02bd 470 void Control_Motor(void)
fabiombed 8:144855fe02bd 471 {
fabiombed 8:144855fe02bd 472
fabiombed 14:644f9e7278e9 473 #ifdef EasySpin
fabiombed 14:644f9e7278e9 474
fabiombed 14:644f9e7278e9 475 diff_abs = abs(diff);
fabiombed 8:144855fe02bd 476
fabiombed 14:644f9e7278e9 477 //printf("Diff: %d lux/mems\n\r", diff_abs);
fabiombed 14:644f9e7278e9 478 motor->SetMaxSpeed(diff_abs);
fabiombed 14:644f9e7278e9 479
fabiombed 14:644f9e7278e9 480 if (diff>0) { left=0; right=1; }
fabiombed 14:644f9e7278e9 481 if (diff<0) { left=1; right=0; }
fabiombed 14:644f9e7278e9 482
fabiombed 14:644f9e7278e9 483 if (diff_abs>TOLLERANCE) {
fabiombed 14:644f9e7278e9 484 if (diff_abs <=RANGE_1)
fabiombed 8:144855fe02bd 485 {
fabiombed 8:144855fe02bd 486 if (left) { strcpy(DisplayStr,"E___"); }
fabiombed 8:144855fe02bd 487 if (right) { strcpy(DisplayStr,"___3"); }
fabiombed 8:144855fe02bd 488 }
fabiombed 14:644f9e7278e9 489 else if (diff_abs >RANGE_1 & diff_abs <=RANGE_2)
fabiombed 8:144855fe02bd 490 {
fabiombed 8:144855fe02bd 491 if (left) { strcpy(DisplayStr,"E==="); }
fabiombed 8:144855fe02bd 492 if (right) { strcpy(DisplayStr,"===3"); }
fabiombed 8:144855fe02bd 493 }
fabiombed 14:644f9e7278e9 494 else if (diff_abs >RANGE_2)
fabiombed 8:144855fe02bd 495 {
fabiombed 8:144855fe02bd 496 if (left) { strcpy(DisplayStr,"E~~~"); }
fabiombed 8:144855fe02bd 497 if (right) { strcpy(DisplayStr,"~~~3"); }
fabiombed 8:144855fe02bd 498 }
fabiombed 8:144855fe02bd 499
fabiombed 8:144855fe02bd 500 // In Case of Change Direction
fabiombed 8:144855fe02bd 501 if (left & dir==2) { changedir=1; }
fabiombed 8:144855fe02bd 502 if (right & dir==1) { changedir=1; }
fabiombed 0:becf0d313663 503
fabiombed 8:144855fe02bd 504 // Run only if Stop or Change Direction
fabiombed 14:644f9e7278e9 505 if (diff_abs>TOLLERANCE & (dir==0 | changedir==1)) {
fabiombed 8:144855fe02bd 506 if (left) { motor->Run(StepperMotor::FWD); dir=1; changedir=0; }
fabiombed 8:144855fe02bd 507 if (right) { motor->Run(StepperMotor::BWD); dir=2; changedir=0; }
fabiombed 14:644f9e7278e9 508 printf("\n\rRUN");
fabiombed 8:144855fe02bd 509 }
fabiombed 8:144855fe02bd 510 }
fabiombed 8:144855fe02bd 511
fabiombed 8:144855fe02bd 512 // Get Motor Position and Control Rotation Block
fabiombed 8:144855fe02bd 513 pos = motor->GetPosition();
fabiombed 8:144855fe02bd 514 if (pos>STOP | pos<-STOP) {
fabiombed 8:144855fe02bd 515 if (pos>0) { motor->GoTo(STOP); }
fabiombed 8:144855fe02bd 516 if (pos<0) { motor->GoTo(-STOP); }
fabiombed 14:644f9e7278e9 517 printf("\n\rGOTO");
fabiombed 8:144855fe02bd 518 }
fabiombed 1:8f312c1686b6 519
fabiombed 8:144855fe02bd 520 // Stop Motor
fabiombed 14:644f9e7278e9 521 if (diff_abs<=TOLLERANCE) {
fabiombed 8:144855fe02bd 522 arrest=1;
fabiombed 17:582eba752042 523 if (Status==1) { strcpy(DisplayStr,"----"); }
fabiombed 17:582eba752042 524 if (Status==3) { strcpy(DisplayStr,"E 3"); }
fabiombed 8:144855fe02bd 525 }
fabiombed 8:144855fe02bd 526
fabiombed 8:144855fe02bd 527 if (arrest==1 && dir!=0 ) { // Stop just one time
fabiombed 8:144855fe02bd 528 motor->HardStop();
fabiombed 8:144855fe02bd 529 dir=0;
fabiombed 8:144855fe02bd 530 changedir=0;
fabiombed 8:144855fe02bd 531 arrest=0;
fabiombed 14:644f9e7278e9 532 printf("\n\rSTOP");
fabiombed 8:144855fe02bd 533 }
fabiombed 8:144855fe02bd 534
fabiombed 14:644f9e7278e9 535 #endif
fabiombed 14:644f9e7278e9 536
fabiombed 8:144855fe02bd 537 }
fabiombed 8:144855fe02bd 538
fabiombed 8:144855fe02bd 539 /* Measure_SolarPanel --------------------------------------------------------*/
fabiombed 8:144855fe02bd 540
fabiombed 8:144855fe02bd 541 void Measure_SolarPanel(void)
fabiombed 8:144855fe02bd 542 {
fabiombed 8:144855fe02bd 543
fabiombed 8:144855fe02bd 544 // AnalogIn: 0V return 0.0 , 3.3V return 1.0
fabiombed 14:644f9e7278e9 545 measure = analog_read.read() * 3300;
fabiombed 8:144855fe02bd 546 //printf("Measure = %.0f mV\r\n", measure);
fabiombed 8:144855fe02bd 547 //board->display->DisplayDigit("A", 0);
fabiombed 8:144855fe02bd 548
fabiombed 17:582eba752042 549 if (Status==2) { sprintf(DisplayStr, "%d", measure); }
fabiombed 14:644f9e7278e9 550
fabiombed 8:144855fe02bd 551 }
fabiombed 1:8f312c1686b6 552
fabiombed 18:319a1bb8f837 553 /* Ticker --------------------------------------------------------------------*/
fabiombed 18:319a1bb8f837 554
fabiombed 18:319a1bb8f837 555 void tickerSta_Callback(void) { tickerSta=true; }
fabiombed 18:319a1bb8f837 556 void tickerDif_Callback(void) { tickerDif=true; }
fabiombed 18:319a1bb8f837 557 void tickerPos_Callback(void) { tickerPos=true; }
fabiombed 18:319a1bb8f837 558 void tickerSun_Callback(void) { tickerSun=true; }
fabiombed 18:319a1bb8f837 559
fabiombed 8:144855fe02bd 560 /* Main ----------------------------------------------------------------------*/
fabiombed 8:144855fe02bd 561
fabiombed 8:144855fe02bd 562 int main()
fabiombed 8:144855fe02bd 563 {
fabiombed 8:144855fe02bd 564
fabiombed 8:144855fe02bd 565 // Printing to the console
fabiombed 14:644f9e7278e9 566 printf("\r\n\r\nSunTracker by Fabio Brembilla\r\n\r\n");
fabiombed 11:b5e23d64d366 567
fabiombed 8:144855fe02bd 568 Initialization();
fabiombed 14:644f9e7278e9 569 BLE_Initialization();
fabiombed 7:54984d031243 570
fabiombed 8:144855fe02bd 571 mybutton.fall(&User_Button_Pressed);
fabiombed 7:54984d031243 572
fabiombed 17:582eba752042 573 #ifdef Ble
fabiombed 18:319a1bb8f837 574 Ticker tickerSta_ticker, tickerDif_ticker, tickerPos_ticker, tickerSun_ticker;
fabiombed 18:319a1bb8f837 575 tickerSta_ticker.attach(tickerSta_Callback, TIMEOUT_STA);
fabiombed 18:319a1bb8f837 576 #endif
fabiombed 18:319a1bb8f837 577
fabiombed 8:144855fe02bd 578 // Loop until push User Button to Set 0 Point
fabiombed 14:644f9e7278e9 579 printf("\r\nWait PUSH Button");
fabiombed 8:144855fe02bd 580 strcpy(DisplayStr,"pusH");
fabiombed 17:582eba752042 581 while(Status==0) {
fabiombed 14:644f9e7278e9 582 #ifdef FlightSense
fabiombed 8:144855fe02bd 583 board->display->DisplayString(DisplayStr, 4);
fabiombed 8:144855fe02bd 584 //printf("%s\n\r", DisplayStr);
fabiombed 17:582eba752042 585 #endif
fabiombed 17:582eba752042 586
fabiombed 17:582eba752042 587 #ifdef Ble
fabiombed 18:319a1bb8f837 588 if (p_customsensorservice->isStatusNotificationEn()) {
fabiombed 18:319a1bb8f837 589 if (tickerSta) {
fabiombed 18:319a1bb8f837 590 tickerSta=false;
fabiombed 18:319a1bb8f837 591 printf("\n\r\n\rSend BLE Display Status %d", Status);
fabiombed 18:319a1bb8f837 592 //p_customsensorservice->sendEnvStatus(Status, TimeStamp);
fabiombed 18:319a1bb8f837 593 p_customsensorservice->updateEnvStatus(Status, TimeStamp);
fabiombed 18:319a1bb8f837 594 }
fabiombed 17:582eba752042 595 }
fabiombed 18:319a1bb8f837 596 p_BLEdev->waitForEvent(); // Without it the CLIENT can't start to communicate
fabiombed 14:644f9e7278e9 597 #endif
fabiombed 8:144855fe02bd 598 }
fabiombed 4:1d3d071a4c2c 599
fabiombed 14:644f9e7278e9 600 printf("\r\n\r\nStart Main Loop");
fabiombed 18:319a1bb8f837 601
fabiombed 18:319a1bb8f837 602 #ifdef Ble
fabiombed 18:319a1bb8f837 603 tickerDif_ticker.attach(tickerDif_Callback, TIMEOUT_DIF);
fabiombed 18:319a1bb8f837 604 tickerPos_ticker.attach(tickerPos_Callback, TIMEOUT_POS);
fabiombed 18:319a1bb8f837 605 tickerSun_ticker.attach(tickerSun_Callback, TIMEOUT_SUN);
fabiombed 18:319a1bb8f837 606 #endif
fabiombed 17:582eba752042 607
fabiombed 14:644f9e7278e9 608 #ifdef EasySpin
fabiombed 14:644f9e7278e9 609 motor->Enable(); // To put the motor on hold by execute CmdEnable
fabiombed 14:644f9e7278e9 610 #endif
fabiombed 10:d154094297ce 611
fabiombed 6:4cbf7303b496 612 // Main Loop
fabiombed 8:144855fe02bd 613 while(true)
fabiombed 8:144855fe02bd 614 {
fabiombed 17:582eba752042 615 if (Status==1 | Status==2) { Measure_Babybear(); }
fabiombed 15:019b8d60c89d 616
fabiombed 15:019b8d60c89d 617 #ifndef Ble // without BLE it uses Accelerometer from SERVER, otherwise receive the value from CLIENT
fabiombed 17:582eba752042 618 if (Status==3) { Measure_Accelerometer(); }
fabiombed 15:019b8d60c89d 619 #endif
fabiombed 15:019b8d60c89d 620
fabiombed 8:144855fe02bd 621 Control_Motor();
fabiombed 8:144855fe02bd 622 Measure_SolarPanel();
fabiombed 14:644f9e7278e9 623
fabiombed 14:644f9e7278e9 624 #ifdef FlightSense
fabiombed 14:644f9e7278e9 625 board->display->DisplayString(DisplayStr, 4);
fabiombed 14:644f9e7278e9 626 //printf("%s\n\r", DisplayStr);
fabiombed 18:319a1bb8f837 627 #endif
fabiombed 17:582eba752042 628
fabiombed 18:319a1bb8f837 629 #ifdef Ble
fabiombed 18:319a1bb8f837 630 if (p_customsensorservice->isStatusNotificationEn()) {
fabiombed 18:319a1bb8f837 631 if (tickerSta) {
fabiombed 18:319a1bb8f837 632 tickerSta=false;
fabiombed 17:582eba752042 633 printf("\n\r\n\rSend BLE Display Status %d", Status);
fabiombed 18:319a1bb8f837 634 //p_customsensorservice->sendEnvStatus(Status, TimeStamp);
fabiombed 18:319a1bb8f837 635 p_customsensorservice->updateEnvStatus(Status, TimeStamp);
fabiombed 18:319a1bb8f837 636 }
fabiombed 18:319a1bb8f837 637 }
fabiombed 18:319a1bb8f837 638 if (p_customsensorservice->isDifferenceNotificationEn()) {
fabiombed 18:319a1bb8f837 639 if (tickerDif) {
fabiombed 18:319a1bb8f837 640 tickerDif=false;
fabiombed 15:019b8d60c89d 641 printf("\n\rSend BLE Difference %d lux/mems", diff); // Send BLE diff, no diff_abs
fabiombed 18:319a1bb8f837 642 //p_customsensorservice->sendEnvDifference(diff, TimeStamp);
fabiombed 18:319a1bb8f837 643 p_customsensorservice->updateEnvDifference(diff, TimeStamp);
fabiombed 18:319a1bb8f837 644 }
fabiombed 18:319a1bb8f837 645 }
fabiombed 18:319a1bb8f837 646 if (p_customsensorservice->isPositionNotificationEn()) {
fabiombed 18:319a1bb8f837 647 if (tickerPos) {
fabiombed 18:319a1bb8f837 648 tickerPos=false;
fabiombed 15:019b8d60c89d 649 printf("\n\rSend BLE Position %d", pos);
fabiombed 18:319a1bb8f837 650 //p_customsensorservice->sendEnvPosition(pos, TimeStamp);
fabiombed 18:319a1bb8f837 651 p_customsensorservice->updateEnvPosition(pos, TimeStamp);
fabiombed 18:319a1bb8f837 652 }
fabiombed 14:644f9e7278e9 653 }
fabiombed 18:319a1bb8f837 654 if (p_customsensorservice->isSunpanelNotificationEn()) {
fabiombed 18:319a1bb8f837 655 if (tickerSun) {
fabiombed 18:319a1bb8f837 656 tickerSun=false;
fabiombed 18:319a1bb8f837 657 printf("\n\rSend BLE SunPanel %d mV", measure);
fabiombed 18:319a1bb8f837 658 //p_customsensorservice->sendEnvSunpanel(measure, TimeStamp);
fabiombed 18:319a1bb8f837 659 p_customsensorservice->updateEnvSunpanel(measure, TimeStamp);
fabiombed 18:319a1bb8f837 660 }
fabiombed 18:319a1bb8f837 661 }
fabiombed 18:319a1bb8f837 662 //diff=0; // To reset it in case from Accelerometer doesn't arrive a future value (is better that Acc. always send a value)
fabiombed 18:319a1bb8f837 663
fabiombed 11:b5e23d64d366 664 p_BLEdev->waitForEvent();
fabiombed 14:644f9e7278e9 665 #endif
fabiombed 17:582eba752042 666
fabiombed 8:144855fe02bd 667 }
fabiombed 4:1d3d071a4c2c 668
fabiombed 8:144855fe02bd 669 //status_l=board->sensor_left->StopMeasurement(als_continuous_polling);
fabiombed 8:144855fe02bd 670 //status_r=board->sensor_right->StopMeasurement(als_continuous_polling);
fabiombed 4:1d3d071a4c2c 671
fabiombed 14:644f9e7278e9 672 }