SunTracker_BLE
Dependencies: BLE_API X_NUCLEO_6180XA1 X_NUCLEO_IDB0XA1 X_NUCLEO_IHM01A1 X_NUCLEO_IKS01A1 mbed
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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.
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 structureis 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 efficiencywith 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
- Nucleo-F401RE platform using a STM32F401RET6 microcontroller.
- X-NUCLEO-IHM01A1 - Stepper motor driver board based on the EasySPIN L6474.
- X-NUCLEO-6180XA1 - 3-in-1 proximity and ambient light sensor board based on ST FlightSense technology.
- VL6180X-SATEL - Satellite boards compatible with X-NUCLEO-6180XA1 board.
- X-NUCLEO-IKS01A1 - Motion MEMS and environmental sensor board.
- X-NUCLEO-IDB04A1 or X-NUCLEO-IDB05A1 - Bluetooth Low Energy Bluetooth low energy evaluation board.
- 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
- Nucleo-F401RE platform using a STM32F401RET6 microcontroller.
- X-NUCLEO-IKS01A1 - Motion MEMS and environmental sensor board.
- X-NUCLEO-IDB04A1 or X-NUCLEO-IDB05A1- Bluetooth Low Energy Bluetooth low energy evaluation board.
MECHANICAL STRUCTURE
Find here the STL files to print with a 3D printer.
FLAT CABLE ASSEMBLY
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
main.cpp@17:582eba752042, 2016-04-19 (annotated)
- Committer:
- fabiombed
- Date:
- Tue Apr 19 08:53:07 2016 +0000
- Revision:
- 17:582eba752042
- Parent:
- 16:d69c0d5d5ab2
- Child:
- 18:319a1bb8f837
Updated to BlueST Protocol
Who changed what in which revision?
User | Revision | Line number | New 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>© 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 | 17:582eba752042 | 103 | #define FeatureStatus 0x00000400 |
fabiombed | 17:582eba752042 | 104 | #define FeatureDifference 0x00000800 |
fabiombed | 17:582eba752042 | 105 | #define FeaturePosition 0x00001000 |
fabiombed | 17:582eba752042 | 106 | #define FeatureSunPanel 0x00002000 |
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 | 1:8f312c1686b6 | 117 | #define TOLLERANCE 100 // Tollerance between Left and Right before Start Movement |
fabiombed | 1:8f312c1686b6 | 118 | #define RANGE_1 200 // Range 1 for Motor Speed |
fabiombed | 1:8f312c1686b6 | 119 | #define RANGE_2 500 // Range 2 for Motor Speed |
fabiombed | 0:becf0d313663 | 120 | |
fabiombed | 0:becf0d313663 | 121 | /* Variables -----------------------------------------------------------------*/ |
fabiombed | 0:becf0d313663 | 122 | |
fabiombed | 14:644f9e7278e9 | 123 | int8_t dir=0; // Motor Rotation Direction: 0 = Stop, 1 = Anticlockwise, 2 = Clockwise |
fabiombed | 14:644f9e7278e9 | 124 | int8_t changedir=0; // Change Direction: 0 = No, 1 = Yes |
fabiombed | 14:644f9e7278e9 | 125 | int8_t arrest=0; // Arrest: 0 = No, 1 = Yes |
fabiombed | 15:019b8d60c89d | 126 | int16_t babybear=0; // Difference (in Lux) between Left and Right |
fabiombed | 14:644f9e7278e9 | 127 | int32_t acc_data[3]; // Difference of Accelerometer |
fabiombed | 15:019b8d60c89d | 128 | int16_t diff=0; // Babybear or Accelerometer difference [--> Send BLE] |
fabiombed | 15:019b8d60c89d | 129 | int16_t diff_abs=0; // Abs of Babybear or Accelerometer difference |
fabiombed | 14:644f9e7278e9 | 130 | int8_t left=0; // Left Command for Rotate Direction |
fabiombed | 14:644f9e7278e9 | 131 | int8_t right=0; // Right Command for Rotate Direction |
fabiombed | 15:019b8d60c89d | 132 | int16_t pos=0; // Motor Position [--> Send BLE] |
fabiombed | 15:019b8d60c89d | 133 | int16_t measure=0; // ADC Value from SunPanel [--> Send BLE] |
fabiombed | 17:582eba752042 | 134 | char DisplayStr[5]; // Display String |
fabiombed | 17:582eba752042 | 135 | 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 | 136 | int16_t status_bb, status_t, status_b, status_l, status_r; // Babybear Status |
fabiombed | 17:582eba752042 | 137 | uint16_t TimeStamp=0; // TimeStamp for BLE |
fabiombed | 1:8f312c1686b6 | 138 | |
fabiombed | 8:144855fe02bd | 139 | /* Initializations ------------------------------------------------------------*/ |
fabiombed | 8:144855fe02bd | 140 | |
fabiombed | 8:144855fe02bd | 141 | // Initializing SPI bus |
fabiombed | 8:144855fe02bd | 142 | DevSPI dev_spi(D11, D12, D13); |
fabiombed | 8:144855fe02bd | 143 | |
fabiombed | 8:144855fe02bd | 144 | // Initializing I2C bus |
fabiombed | 8:144855fe02bd | 145 | DevI2C dev_i2c(D14, D15); |
fabiombed | 8:144855fe02bd | 146 | |
fabiombed | 14:644f9e7278e9 | 147 | #ifdef FlightSense |
fabiombed | 14:644f9e7278e9 | 148 | // Initializing FlightSense Component 6180XA1 |
fabiombed | 8:144855fe02bd | 149 | static X_NUCLEO_6180XA1 *board; |
fabiombed | 8:144855fe02bd | 150 | MeasureData_t data_sensor_top, data_sensor_bottom, data_sensor_left, data_sensor_right; |
fabiombed | 14:644f9e7278e9 | 151 | #endif |
fabiombed | 14:644f9e7278e9 | 152 | |
fabiombed | 14:644f9e7278e9 | 153 | #ifdef EasySpin |
fabiombed | 14:644f9e7278e9 | 154 | // Initializing EasySpin Component IHM01A1 |
fabiombed | 14:644f9e7278e9 | 155 | static L6474 *motor; |
fabiombed | 14:644f9e7278e9 | 156 | #endif |
fabiombed | 14:644f9e7278e9 | 157 | |
fabiombed | 14:644f9e7278e9 | 158 | #ifdef Sensors |
fabiombed | 14:644f9e7278e9 | 159 | // Initializing Sensors Component IKS01A1 |
fabiombed | 8:144855fe02bd | 160 | static X_NUCLEO_IKS01A1 *mems; |
fabiombed | 8:144855fe02bd | 161 | MotionSensor *accelerometer; |
fabiombed | 14:644f9e7278e9 | 162 | #endif |
fabiombed | 8:144855fe02bd | 163 | |
fabiombed | 8:144855fe02bd | 164 | InterruptIn mybutton(USER_BUTTON); |
fabiombed | 8:144855fe02bd | 165 | |
fabiombed | 14:644f9e7278e9 | 166 | AnalogIn analog_read(PC_3); // A1 Conflict with BLE SPI_CS --> Changed in Morpho PC_3 |
fabiombed | 8:144855fe02bd | 167 | |
fabiombed | 17:582eba752042 | 168 | /* Update_Status ------------------------------------------------------------*/ |
fabiombed | 17:582eba752042 | 169 | |
fabiombed | 17:582eba752042 | 170 | void Update_Status(int16_t Stat) |
fabiombed | 17:582eba752042 | 171 | { |
fabiombed | 17:582eba752042 | 172 | |
fabiombed | 17:582eba752042 | 173 | char State[12]; // Characters into State must be <12 and never =>12 or it crash!!! |
fabiombed | 17:582eba752042 | 174 | if (Stat==1) strcpy(State,"FlightSense"); |
fabiombed | 17:582eba752042 | 175 | if (Stat==2) strcpy(State,"ADCSunPanel"); |
fabiombed | 17:582eba752042 | 176 | if (Stat==3) strcpy(State,"Sensors"); |
fabiombed | 17:582eba752042 | 177 | printf("\r\n\r\nPUSH Status: %s", State); |
fabiombed | 17:582eba752042 | 178 | |
fabiombed | 17:582eba752042 | 179 | } |
fabiombed | 17:582eba752042 | 180 | |
fabiombed | 8:144855fe02bd | 181 | /* User_Button_Pressed -------------------------------------------------------*/ |
fabiombed | 8:144855fe02bd | 182 | |
fabiombed | 14:644f9e7278e9 | 183 | void User_Button_Pressed(void) |
fabiombed | 8:144855fe02bd | 184 | { |
fabiombed | 8:144855fe02bd | 185 | |
fabiombed | 17:582eba752042 | 186 | Status++; |
fabiombed | 17:582eba752042 | 187 | |
fabiombed | 14:644f9e7278e9 | 188 | #ifdef Sensors |
fabiombed | 17:582eba752042 | 189 | if (Status>3) { Status=1; } |
fabiombed | 14:644f9e7278e9 | 190 | #else |
fabiombed | 17:582eba752042 | 191 | if (Status>2) { Status=1; } |
fabiombed | 14:644f9e7278e9 | 192 | #endif |
fabiombed | 14:644f9e7278e9 | 193 | |
fabiombed | 17:582eba752042 | 194 | Update_Status(Status); |
fabiombed | 8:144855fe02bd | 195 | |
fabiombed | 8:144855fe02bd | 196 | } |
fabiombed | 8:144855fe02bd | 197 | |
fabiombed | 14:644f9e7278e9 | 198 | #ifdef Ble |
fabiombed | 14:644f9e7278e9 | 199 | |
fabiombed | 9:ca289bf57f52 | 200 | /* Bluetooth CallBack ---------------------------------------------------------*/ |
fabiombed | 9:ca289bf57f52 | 201 | |
fabiombed | 9:ca289bf57f52 | 202 | static void onUpdatesEnabledCallback(GattAttribute::Handle_t handle) |
fabiombed | 9:ca289bf57f52 | 203 | { |
fabiombed | 17:582eba752042 | 204 | if (p_customcontrolservice->isCommandHandle(handle)) p_customcontrolservice->enNotify(handle); |
fabiombed | 17:582eba752042 | 205 | |
fabiombed | 17:582eba752042 | 206 | if (p_customsensorservice->isStatusHandle(handle)) p_customsensorservice->enNotify(handle); |
fabiombed | 15:019b8d60c89d | 207 | if (p_customsensorservice->isDifferenceHandle(handle)) p_customsensorservice->enNotify(handle); |
fabiombed | 15:019b8d60c89d | 208 | if (p_customsensorservice->isPositionHandle(handle)) p_customsensorservice->enNotify(handle); |
fabiombed | 15:019b8d60c89d | 209 | if (p_customsensorservice->isSunpanelHandle(handle)) p_customsensorservice->enNotify(handle); |
fabiombed | 9:ca289bf57f52 | 210 | } |
fabiombed | 9:ca289bf57f52 | 211 | |
fabiombed | 9:ca289bf57f52 | 212 | static void onUpdatesDisabledCallback(Gap::Handle_t handle) |
fabiombed | 9:ca289bf57f52 | 213 | { |
fabiombed | 17:582eba752042 | 214 | if (p_customcontrolservice->isCommandHandle(handle)) p_customcontrolservice->disNotify(handle); |
fabiombed | 17:582eba752042 | 215 | |
fabiombed | 17:582eba752042 | 216 | if (p_customsensorservice->isStatusHandle(handle)) p_customsensorservice->disNotify(handle); |
fabiombed | 15:019b8d60c89d | 217 | if (p_customsensorservice->isDifferenceHandle(handle)) p_customsensorservice->disNotify(handle); |
fabiombed | 15:019b8d60c89d | 218 | if (p_customsensorservice->isPositionHandle(handle)) p_customsensorservice->disNotify(handle); |
fabiombed | 15:019b8d60c89d | 219 | if (p_customsensorservice->isSunpanelHandle(handle)) p_customsensorservice->disNotify(handle); |
fabiombed | 9:ca289bf57f52 | 220 | } |
fabiombed | 9:ca289bf57f52 | 221 | |
fabiombed | 9:ca289bf57f52 | 222 | static void onDataReadCallback(const GattReadCallbackParams *eventDataP) |
fabiombed | 9:ca289bf57f52 | 223 | { |
fabiombed | 17:582eba752042 | 224 | /* |
fabiombed | 17:582eba752042 | 225 | // if receive a manual Read request |
fabiombed | 17:582eba752042 | 226 | |
fabiombed | 17:582eba752042 | 227 | if (p_customsensorservice->isStatusHandle(eventDataP->handle)) |
fabiombed | 17:582eba752042 | 228 | { |
fabiombed | 17:582eba752042 | 229 | printf("\n\r\n\rSend BLE Display Status %d", Status); |
fabiombed | 17:582eba752042 | 230 | p_customsensorservice->sendEnvStatus(Status, TimeStamp); |
fabiombed | 17:582eba752042 | 231 | |
fabiombed | 17:582eba752042 | 232 | } else if (p_customsensorservice->isDifferenceHandle(eventDataP->handle)) { |
fabiombed | 17:582eba752042 | 233 | |
fabiombed | 17:582eba752042 | 234 | printf("\n\rSend BLE Difference %d lux/mems", diff); // Send BLE diff, no diff_abs |
fabiombed | 17:582eba752042 | 235 | p_customsensorservice->sendEnvDifference(diff, TimeStamp); |
fabiombed | 17:582eba752042 | 236 | |
fabiombed | 17:582eba752042 | 237 | } else if (p_customsensorservice->isPositionHandle(eventDataP->handle)) { |
fabiombed | 17:582eba752042 | 238 | |
fabiombed | 17:582eba752042 | 239 | printf("\n\rSend BLE Position %d", pos); |
fabiombed | 17:582eba752042 | 240 | p_customsensorservice->sendEnvPosition(pos, TimeStamp); |
fabiombed | 17:582eba752042 | 241 | |
fabiombed | 17:582eba752042 | 242 | } else if (p_customsensorservice->isSunpanelHandle(eventDataP->handle)) { |
fabiombed | 17:582eba752042 | 243 | |
fabiombed | 17:582eba752042 | 244 | printf("\n\rSend BLE Sunpanel %d mV", measure); |
fabiombed | 17:582eba752042 | 245 | p_customsensorservice->sendEnvSunpanel(measure, TimeStamp); |
fabiombed | 17:582eba752042 | 246 | |
fabiombed | 17:582eba752042 | 247 | } |
fabiombed | 17:582eba752042 | 248 | */ |
fabiombed | 9:ca289bf57f52 | 249 | } |
fabiombed | 9:ca289bf57f52 | 250 | |
fabiombed | 14:644f9e7278e9 | 251 | // This Callback happen when it RECEIVE a WRITE |
fabiombed | 9:ca289bf57f52 | 252 | static void myonDataWriteCallback(const GattWriteCallbackParams *eventDataP) |
fabiombed | 14:644f9e7278e9 | 253 | { |
fabiombed | 15:019b8d60c89d | 254 | |
fabiombed | 17:582eba752042 | 255 | if (p_customcontrolservice->isCommandHandle(eventDataP->handle)) |
fabiombed | 17:582eba752042 | 256 | { |
fabiombed | 17:582eba752042 | 257 | // From CLIENT it receives a command in this format: Feature (4) + Type (1) + Data (2) |
fabiombed | 17:582eba752042 | 258 | uint32_t Feature = eventDataP->data[0]<<24 | eventDataP->data[1]<<16 | eventDataP->data[2]<<8 | eventDataP->data[3]; |
fabiombed | 17:582eba752042 | 259 | uint8_t Type = eventDataP->data[4]; |
fabiombed | 17:582eba752042 | 260 | int16_t Data = eventDataP->data[5]<<8 | eventDataP->data[6]; |
fabiombed | 14:644f9e7278e9 | 261 | |
fabiombed | 17:582eba752042 | 262 | //printf("\r\n\r\nmyonDataWriteCallback (Feature %x)", Feature); |
fabiombed | 17:582eba752042 | 263 | //printf("\r\nmyonDataWriteCallback (Type %x)", Type); // Not Used |
fabiombed | 17:582eba752042 | 264 | //printf("\r\nmyonDataWriteCallback (Data Hex %x)", Data); |
fabiombed | 17:582eba752042 | 265 | //printf("\r\nmyonDataWriteCallback (Data Dec %d)", Data); |
fabiombed | 17:582eba752042 | 266 | |
fabiombed | 17:582eba752042 | 267 | switch(Feature) |
fabiombed | 17:582eba752042 | 268 | { |
fabiombed | 17:582eba752042 | 269 | case FeatureStatus: |
fabiombed | 17:582eba752042 | 270 | printf("\r\n\r\nReceived STATUS %d", Data); |
fabiombed | 17:582eba752042 | 271 | Status = Data; |
fabiombed | 17:582eba752042 | 272 | Update_Status(Data); |
fabiombed | 17:582eba752042 | 273 | break; |
fabiombed | 17:582eba752042 | 274 | |
fabiombed | 17:582eba752042 | 275 | case FeatureDifference: |
fabiombed | 17:582eba752042 | 276 | printf("\r\n\r\nReceived DIFF %d", Data); |
fabiombed | 17:582eba752042 | 277 | diff = Data; |
fabiombed | 17:582eba752042 | 278 | break; |
fabiombed | 17:582eba752042 | 279 | |
fabiombed | 17:582eba752042 | 280 | case FeaturePosition: |
fabiombed | 17:582eba752042 | 281 | break; |
fabiombed | 17:582eba752042 | 282 | |
fabiombed | 17:582eba752042 | 283 | case FeatureSunPanel: |
fabiombed | 17:582eba752042 | 284 | break; |
fabiombed | 17:582eba752042 | 285 | |
fabiombed | 17:582eba752042 | 286 | default: |
fabiombed | 17:582eba752042 | 287 | break; |
fabiombed | 17:582eba752042 | 288 | } |
fabiombed | 15:019b8d60c89d | 289 | } |
fabiombed | 15:019b8d60c89d | 290 | |
fabiombed | 9:ca289bf57f52 | 291 | } |
fabiombed | 9:ca289bf57f52 | 292 | |
fabiombed | 9:ca289bf57f52 | 293 | static void onConnectionCallback(const Gap::ConnectionCallbackParams_t * connectionParams) |
fabiombed | 9:ca289bf57f52 | 294 | { |
fabiombed | 14:644f9e7278e9 | 295 | printf("\r\n\r\nonConnectionCallback (Line %d)", __LINE__); |
fabiombed | 9:ca289bf57f52 | 296 | } |
fabiombed | 9:ca289bf57f52 | 297 | |
fabiombed | 9:ca289bf57f52 | 298 | static void onDisconnectionCallback(const Gap::DisconnectionCallbackParams_t * disConnectionReason) |
fabiombed | 9:ca289bf57f52 | 299 | { |
fabiombed | 14:644f9e7278e9 | 300 | printf("\r\n\r\nonDisconnectionCallback (Line %d)", __LINE__); |
fabiombed | 9:ca289bf57f52 | 301 | p_BLEdev->gap().startAdvertising(); |
fabiombed | 9:ca289bf57f52 | 302 | } |
fabiombed | 9:ca289bf57f52 | 303 | |
fabiombed | 14:644f9e7278e9 | 304 | #endif |
fabiombed | 14:644f9e7278e9 | 305 | |
fabiombed | 9:ca289bf57f52 | 306 | /* Bluetooth Initialization ---------------------------------------------------*/ |
fabiombed | 9:ca289bf57f52 | 307 | |
fabiombed | 9:ca289bf57f52 | 308 | bool BLE_Initialization(void) |
fabiombed | 9:ca289bf57f52 | 309 | { |
fabiombed | 9:ca289bf57f52 | 310 | |
fabiombed | 14:644f9e7278e9 | 311 | #ifdef Ble |
fabiombed | 14:644f9e7278e9 | 312 | |
fabiombed | 9:ca289bf57f52 | 313 | p_BLEdev = new BLE; |
fabiombed | 9:ca289bf57f52 | 314 | if (!p_BLEdev) { printf("\r\nBLE Device creation failed\r\n"); } |
fabiombed | 9:ca289bf57f52 | 315 | const Gap::Address_t BLE_address_BE = {BLE_DEV_MAC}; |
fabiombed | 9:ca289bf57f52 | 316 | p_BLEdev->gap().setAddress(BLEProtocol::AddressType::PUBLIC, BLE_address_BE); |
fabiombed | 9:ca289bf57f52 | 317 | |
fabiombed | 9:ca289bf57f52 | 318 | p_BLEdev->init(); |
fabiombed | 9:ca289bf57f52 | 319 | |
fabiombed | 9:ca289bf57f52 | 320 | // Set BLE CallBack Functions |
fabiombed | 9:ca289bf57f52 | 321 | p_BLEdev->gattServer().onUpdatesEnabled(onUpdatesEnabledCallback); |
fabiombed | 9:ca289bf57f52 | 322 | p_BLEdev->gattServer().onUpdatesDisabled(onUpdatesDisabledCallback); |
fabiombed | 9:ca289bf57f52 | 323 | p_BLEdev->gattServer().onDataRead(onDataReadCallback); |
fabiombed | 9:ca289bf57f52 | 324 | p_BLEdev->gattServer().onDataWritten(myonDataWriteCallback); |
fabiombed | 9:ca289bf57f52 | 325 | p_BLEdev->gap().onConnection(onConnectionCallback); |
fabiombed | 9:ca289bf57f52 | 326 | p_BLEdev->gap().onDisconnection(onDisconnectionCallback); |
fabiombed | 9:ca289bf57f52 | 327 | //p_BLEdev->gattServer().onConfirmationReceived(onConfirmationReceivedCallback); |
fabiombed | 9:ca289bf57f52 | 328 | //p_BLEdev->gattServer().onDataSent(onDataSentCallback); |
fabiombed | 9:ca289bf57f52 | 329 | //p_BLEdev->gap().onTimeout(onTimeoutCallback); |
fabiombed | 9:ca289bf57f52 | 330 | |
fabiombed | 9:ca289bf57f52 | 331 | // BLE Services |
fabiombed | 14:644f9e7278e9 | 332 | p_customcontrolservice = new CustomControlService(*p_BLEdev); |
fabiombed | 9:ca289bf57f52 | 333 | p_customsensorservice = new CustomSensorService(*p_BLEdev); |
fabiombed | 9:ca289bf57f52 | 334 | |
fabiombed | 9:ca289bf57f52 | 335 | // Setup BLE Advertising |
fabiombed | 9:ca289bf57f52 | 336 | const static char DEVICE_NAME[] = BLE_DEV_NAME; |
fabiombed | 9:ca289bf57f52 | 337 | p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE); |
fabiombed | 9:ca289bf57f52 | 338 | uint8_t dat[] = {0x01,0x80,0x00,0xFC,0x00,0x00}; |
fabiombed | 9:ca289bf57f52 | 339 | p_BLEdev->gap().accumulateScanResponse(GapAdvertisingData::MANUFACTURER_SPECIFIC_DATA,dat,6); |
fabiombed | 9:ca289bf57f52 | 340 | p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::UNKNOWN); |
fabiombed | 9:ca289bf57f52 | 341 | p_BLEdev->gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME)); |
fabiombed | 9:ca289bf57f52 | 342 | p_BLEdev->gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); |
fabiombed | 9:ca289bf57f52 | 343 | p_BLEdev->gap().setAdvertisingInterval(BLE_ADVERTISING_INTERVAL); |
fabiombed | 9:ca289bf57f52 | 344 | p_BLEdev->gap().startAdvertising(); |
fabiombed | 9:ca289bf57f52 | 345 | |
fabiombed | 14:644f9e7278e9 | 346 | printf("Initialization Ble OK (Line %d)\r\n", __LINE__); |
fabiombed | 14:644f9e7278e9 | 347 | |
fabiombed | 14:644f9e7278e9 | 348 | #endif |
fabiombed | 14:644f9e7278e9 | 349 | |
fabiombed | 9:ca289bf57f52 | 350 | return true; |
fabiombed | 9:ca289bf57f52 | 351 | |
fabiombed | 9:ca289bf57f52 | 352 | } |
fabiombed | 9:ca289bf57f52 | 353 | |
fabiombed | 8:144855fe02bd | 354 | /* Initialization ------------------------------------------------------------*/ |
fabiombed | 8:144855fe02bd | 355 | |
fabiombed | 8:144855fe02bd | 356 | bool Initialization(void) |
fabiombed | 8:144855fe02bd | 357 | { |
fabiombed | 11:b5e23d64d366 | 358 | |
fabiombed | 14:644f9e7278e9 | 359 | dev_i2c.frequency(100000); // Default 100KHz. At 10KHz, 20KHz, 200KHz and 400KHz doesn't work |
fabiombed | 11:b5e23d64d366 | 360 | |
fabiombed | 11:b5e23d64d366 | 361 | //---- |
fabiombed | 14:644f9e7278e9 | 362 | |
fabiombed | 14:644f9e7278e9 | 363 | #ifdef FlightSense |
fabiombed | 14:644f9e7278e9 | 364 | |
fabiombed | 14:644f9e7278e9 | 365 | // Initializing FlightSense Component |
fabiombed | 14:644f9e7278e9 | 366 | board=X_NUCLEO_6180XA1::Instance(&dev_i2c, NC, NC, NC, NC); // NC as Interrupt fixed from FlightSense library 42 |
fabiombed | 14:644f9e7278e9 | 367 | |
fabiombed | 17:582eba752042 | 368 | status_bb=board->InitBoard(); |
fabiombed | 17:582eba752042 | 369 | if(status_bb) VL6180x_ErrLog("Failed to init the board!\n\r"); |
fabiombed | 8:144855fe02bd | 370 | |
fabiombed | 8:144855fe02bd | 371 | // Put GPIO not used as Interrupt in Hi-Z |
fabiombed | 8:144855fe02bd | 372 | status_t=board->sensor_top->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); |
fabiombed | 14:644f9e7278e9 | 373 | //status_b=board->sensor_botton->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); Not Present |
fabiombed | 8:144855fe02bd | 374 | status_l=board->sensor_left->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); |
fabiombed | 8:144855fe02bd | 375 | status_r=board->sensor_right->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); |
fabiombed | 8:144855fe02bd | 376 | |
fabiombed | 8:144855fe02bd | 377 | // Set Babybears |
fabiombed | 8:144855fe02bd | 378 | status_l=board->sensor_left->AlsSetAnalogueGain(3); |
fabiombed | 8:144855fe02bd | 379 | status_r=board->sensor_right->AlsSetAnalogueGain(3); |
fabiombed | 8:144855fe02bd | 380 | status_l=board->sensor_left->StartMeasurement(als_continuous_polling, NULL, NULL, NULL); |
fabiombed | 8:144855fe02bd | 381 | status_r=board->sensor_right->StartMeasurement(als_continuous_polling, NULL, NULL, NULL); |
fabiombed | 8:144855fe02bd | 382 | |
fabiombed | 14:644f9e7278e9 | 383 | printf("Init FlightSense OK\r\n"); |
fabiombed | 14:644f9e7278e9 | 384 | |
fabiombed | 14:644f9e7278e9 | 385 | #endif |
fabiombed | 11:b5e23d64d366 | 386 | |
fabiombed | 8:144855fe02bd | 387 | //---- |
fabiombed | 8:144855fe02bd | 388 | |
fabiombed | 14:644f9e7278e9 | 389 | #ifdef EasySpin |
fabiombed | 11:b5e23d64d366 | 390 | |
fabiombed | 14:644f9e7278e9 | 391 | // Initializing EasySpin Component |
fabiombed | 9:ca289bf57f52 | 392 | 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 | 393 | // Used Morpho PB_2 and made HW wiring |
fabiombed | 8:144855fe02bd | 394 | if (motor->Init(NULL) != COMPONENT_OK) |
fabiombed | 8:144855fe02bd | 395 | return false; |
fabiombed | 8:144855fe02bd | 396 | |
fabiombed | 16:d69c0d5d5ab2 | 397 | motor->SetStepMode(StepperMotor::STEP_MODE_1_8); // Default is STEP_MODE_1_16 |
fabiombed | 8:144855fe02bd | 398 | |
fabiombed | 8:144855fe02bd | 399 | // Set defaults Motor Speed |
fabiombed | 8:144855fe02bd | 400 | motor->SetAcceleration(SET_ACC); |
fabiombed | 8:144855fe02bd | 401 | motor->SetDeceleration(SET_DEC); |
fabiombed | 8:144855fe02bd | 402 | motor->SetMaxSpeed(SET_MAX); // Variable by Light/Mems Sensors |
fabiombed | 8:144855fe02bd | 403 | motor->SetMinSpeed(SET_MIN); |
fabiombed | 8:144855fe02bd | 404 | |
fabiombed | 14:644f9e7278e9 | 405 | printf("Init EasySpin OK\r\n"); |
fabiombed | 14:644f9e7278e9 | 406 | |
fabiombed | 14:644f9e7278e9 | 407 | #endif |
fabiombed | 14:644f9e7278e9 | 408 | |
fabiombed | 14:644f9e7278e9 | 409 | //---- |
fabiombed | 14:644f9e7278e9 | 410 | |
fabiombed | 14:644f9e7278e9 | 411 | #ifdef Sensors |
fabiombed | 11:b5e23d64d366 | 412 | |
fabiombed | 14:644f9e7278e9 | 413 | // Initializing Sensors Component |
fabiombed | 14:644f9e7278e9 | 414 | mems=X_NUCLEO_IKS01A1::Instance(&dev_i2c); |
fabiombed | 14:644f9e7278e9 | 415 | accelerometer = mems->GetAccelerometer(); |
fabiombed | 14:644f9e7278e9 | 416 | |
fabiombed | 14:644f9e7278e9 | 417 | printf("Init Sensors OK\r\n"); |
fabiombed | 14:644f9e7278e9 | 418 | |
fabiombed | 14:644f9e7278e9 | 419 | #endif |
fabiombed | 14:644f9e7278e9 | 420 | |
fabiombed | 14:644f9e7278e9 | 421 | printf("Initialization OK (Line %d)\r\n", __LINE__); |
fabiombed | 8:144855fe02bd | 422 | return true; |
fabiombed | 8:144855fe02bd | 423 | |
fabiombed | 8:144855fe02bd | 424 | } |
fabiombed | 8:144855fe02bd | 425 | |
fabiombed | 8:144855fe02bd | 426 | /* Measure_Babybear ----------------------------------------------------------*/ |
fabiombed | 8:144855fe02bd | 427 | |
fabiombed | 8:144855fe02bd | 428 | void Measure_Babybear(void) |
fabiombed | 8:144855fe02bd | 429 | { |
fabiombed | 8:144855fe02bd | 430 | |
fabiombed | 14:644f9e7278e9 | 431 | #ifdef FlightSense |
fabiombed | 14:644f9e7278e9 | 432 | |
fabiombed | 8:144855fe02bd | 433 | status_l=board->sensor_left->GetMeasurement(als_continuous_polling, &data_sensor_left); |
fabiombed | 8:144855fe02bd | 434 | status_r=board->sensor_right->GetMeasurement(als_continuous_polling, &data_sensor_right); |
fabiombed | 8:144855fe02bd | 435 | |
fabiombed | 8:144855fe02bd | 436 | babybear = data_sensor_right.lux - data_sensor_left.lux; |
fabiombed | 8:144855fe02bd | 437 | |
fabiombed | 14:644f9e7278e9 | 438 | diff = babybear; |
fabiombed | 1:8f312c1686b6 | 439 | |
fabiombed | 14:644f9e7278e9 | 440 | #endif |
fabiombed | 8:144855fe02bd | 441 | |
fabiombed | 8:144855fe02bd | 442 | } |
fabiombed | 8:144855fe02bd | 443 | |
fabiombed | 8:144855fe02bd | 444 | /* Measure_Accelerometer -----------------------------------------------------*/ |
fabiombed | 8:144855fe02bd | 445 | |
fabiombed | 8:144855fe02bd | 446 | void Measure_Accelerometer(void) |
fabiombed | 8:144855fe02bd | 447 | { |
fabiombed | 8:144855fe02bd | 448 | |
fabiombed | 14:644f9e7278e9 | 449 | #ifdef Sensors |
fabiombed | 14:644f9e7278e9 | 450 | |
fabiombed | 8:144855fe02bd | 451 | accelerometer->Get_X_Axes(acc_data); |
fabiombed | 8:144855fe02bd | 452 | |
fabiombed | 14:644f9e7278e9 | 453 | diff = acc_data[0]; |
fabiombed | 8:144855fe02bd | 454 | |
fabiombed | 14:644f9e7278e9 | 455 | #endif |
fabiombed | 8:144855fe02bd | 456 | |
fabiombed | 8:144855fe02bd | 457 | } |
fabiombed | 8:144855fe02bd | 458 | |
fabiombed | 8:144855fe02bd | 459 | /* Control_Motor -------------------------------------------------------------*/ |
fabiombed | 8:144855fe02bd | 460 | |
fabiombed | 8:144855fe02bd | 461 | void Control_Motor(void) |
fabiombed | 8:144855fe02bd | 462 | { |
fabiombed | 8:144855fe02bd | 463 | |
fabiombed | 14:644f9e7278e9 | 464 | #ifdef EasySpin |
fabiombed | 14:644f9e7278e9 | 465 | |
fabiombed | 14:644f9e7278e9 | 466 | diff_abs = abs(diff); |
fabiombed | 8:144855fe02bd | 467 | |
fabiombed | 14:644f9e7278e9 | 468 | //printf("Diff: %d lux/mems\n\r", diff_abs); |
fabiombed | 14:644f9e7278e9 | 469 | motor->SetMaxSpeed(diff_abs); |
fabiombed | 14:644f9e7278e9 | 470 | |
fabiombed | 14:644f9e7278e9 | 471 | if (diff>0) { left=0; right=1; } |
fabiombed | 14:644f9e7278e9 | 472 | if (diff<0) { left=1; right=0; } |
fabiombed | 14:644f9e7278e9 | 473 | |
fabiombed | 14:644f9e7278e9 | 474 | if (diff_abs>TOLLERANCE) { |
fabiombed | 14:644f9e7278e9 | 475 | if (diff_abs <=RANGE_1) |
fabiombed | 8:144855fe02bd | 476 | { |
fabiombed | 8:144855fe02bd | 477 | if (left) { strcpy(DisplayStr,"E___"); } |
fabiombed | 8:144855fe02bd | 478 | if (right) { strcpy(DisplayStr,"___3"); } |
fabiombed | 8:144855fe02bd | 479 | } |
fabiombed | 14:644f9e7278e9 | 480 | else if (diff_abs >RANGE_1 & diff_abs <=RANGE_2) |
fabiombed | 8:144855fe02bd | 481 | { |
fabiombed | 8:144855fe02bd | 482 | if (left) { strcpy(DisplayStr,"E==="); } |
fabiombed | 8:144855fe02bd | 483 | if (right) { strcpy(DisplayStr,"===3"); } |
fabiombed | 8:144855fe02bd | 484 | } |
fabiombed | 14:644f9e7278e9 | 485 | else if (diff_abs >RANGE_2) |
fabiombed | 8:144855fe02bd | 486 | { |
fabiombed | 8:144855fe02bd | 487 | if (left) { strcpy(DisplayStr,"E~~~"); } |
fabiombed | 8:144855fe02bd | 488 | if (right) { strcpy(DisplayStr,"~~~3"); } |
fabiombed | 8:144855fe02bd | 489 | } |
fabiombed | 8:144855fe02bd | 490 | |
fabiombed | 8:144855fe02bd | 491 | // In Case of Change Direction |
fabiombed | 8:144855fe02bd | 492 | if (left & dir==2) { changedir=1; } |
fabiombed | 8:144855fe02bd | 493 | if (right & dir==1) { changedir=1; } |
fabiombed | 0:becf0d313663 | 494 | |
fabiombed | 8:144855fe02bd | 495 | // Run only if Stop or Change Direction |
fabiombed | 14:644f9e7278e9 | 496 | if (diff_abs>TOLLERANCE & (dir==0 | changedir==1)) { |
fabiombed | 8:144855fe02bd | 497 | if (left) { motor->Run(StepperMotor::FWD); dir=1; changedir=0; } |
fabiombed | 8:144855fe02bd | 498 | if (right) { motor->Run(StepperMotor::BWD); dir=2; changedir=0; } |
fabiombed | 14:644f9e7278e9 | 499 | printf("\n\rRUN"); |
fabiombed | 8:144855fe02bd | 500 | } |
fabiombed | 8:144855fe02bd | 501 | } |
fabiombed | 8:144855fe02bd | 502 | |
fabiombed | 8:144855fe02bd | 503 | // Get Motor Position and Control Rotation Block |
fabiombed | 8:144855fe02bd | 504 | pos = motor->GetPosition(); |
fabiombed | 8:144855fe02bd | 505 | if (pos>STOP | pos<-STOP) { |
fabiombed | 8:144855fe02bd | 506 | if (pos>0) { motor->GoTo(STOP); } |
fabiombed | 8:144855fe02bd | 507 | if (pos<0) { motor->GoTo(-STOP); } |
fabiombed | 14:644f9e7278e9 | 508 | printf("\n\rGOTO"); |
fabiombed | 8:144855fe02bd | 509 | } |
fabiombed | 1:8f312c1686b6 | 510 | |
fabiombed | 8:144855fe02bd | 511 | // Stop Motor |
fabiombed | 14:644f9e7278e9 | 512 | if (diff_abs<=TOLLERANCE) { |
fabiombed | 8:144855fe02bd | 513 | arrest=1; |
fabiombed | 17:582eba752042 | 514 | if (Status==1) { strcpy(DisplayStr,"----"); } |
fabiombed | 17:582eba752042 | 515 | if (Status==3) { strcpy(DisplayStr,"E 3"); } |
fabiombed | 8:144855fe02bd | 516 | } |
fabiombed | 8:144855fe02bd | 517 | |
fabiombed | 8:144855fe02bd | 518 | if (arrest==1 && dir!=0 ) { // Stop just one time |
fabiombed | 8:144855fe02bd | 519 | motor->HardStop(); |
fabiombed | 8:144855fe02bd | 520 | dir=0; |
fabiombed | 8:144855fe02bd | 521 | changedir=0; |
fabiombed | 8:144855fe02bd | 522 | arrest=0; |
fabiombed | 14:644f9e7278e9 | 523 | printf("\n\rSTOP"); |
fabiombed | 8:144855fe02bd | 524 | } |
fabiombed | 8:144855fe02bd | 525 | |
fabiombed | 14:644f9e7278e9 | 526 | #endif |
fabiombed | 14:644f9e7278e9 | 527 | |
fabiombed | 8:144855fe02bd | 528 | } |
fabiombed | 8:144855fe02bd | 529 | |
fabiombed | 8:144855fe02bd | 530 | /* Measure_SolarPanel --------------------------------------------------------*/ |
fabiombed | 8:144855fe02bd | 531 | |
fabiombed | 8:144855fe02bd | 532 | void Measure_SolarPanel(void) |
fabiombed | 8:144855fe02bd | 533 | { |
fabiombed | 8:144855fe02bd | 534 | |
fabiombed | 8:144855fe02bd | 535 | // AnalogIn: 0V return 0.0 , 3.3V return 1.0 |
fabiombed | 14:644f9e7278e9 | 536 | measure = analog_read.read() * 3300; |
fabiombed | 8:144855fe02bd | 537 | //printf("Measure = %.0f mV\r\n", measure); |
fabiombed | 8:144855fe02bd | 538 | //board->display->DisplayDigit("A", 0); |
fabiombed | 8:144855fe02bd | 539 | |
fabiombed | 17:582eba752042 | 540 | if (Status==2) { sprintf(DisplayStr, "%d", measure); } |
fabiombed | 14:644f9e7278e9 | 541 | |
fabiombed | 8:144855fe02bd | 542 | } |
fabiombed | 1:8f312c1686b6 | 543 | |
fabiombed | 8:144855fe02bd | 544 | /* Main ----------------------------------------------------------------------*/ |
fabiombed | 8:144855fe02bd | 545 | |
fabiombed | 8:144855fe02bd | 546 | int main() |
fabiombed | 8:144855fe02bd | 547 | { |
fabiombed | 8:144855fe02bd | 548 | |
fabiombed | 8:144855fe02bd | 549 | // Printing to the console |
fabiombed | 14:644f9e7278e9 | 550 | printf("\r\n\r\nSunTracker by Fabio Brembilla\r\n\r\n"); |
fabiombed | 11:b5e23d64d366 | 551 | |
fabiombed | 8:144855fe02bd | 552 | Initialization(); |
fabiombed | 14:644f9e7278e9 | 553 | BLE_Initialization(); |
fabiombed | 7:54984d031243 | 554 | |
fabiombed | 8:144855fe02bd | 555 | mybutton.fall(&User_Button_Pressed); |
fabiombed | 7:54984d031243 | 556 | |
fabiombed | 17:582eba752042 | 557 | #ifdef Ble |
fabiombed | 17:582eba752042 | 558 | static int INTLOOP=0; |
fabiombed | 17:582eba752042 | 559 | #endif |
fabiombed | 17:582eba752042 | 560 | |
fabiombed | 8:144855fe02bd | 561 | // Loop until push User Button to Set 0 Point |
fabiombed | 14:644f9e7278e9 | 562 | printf("\r\nWait PUSH Button"); |
fabiombed | 8:144855fe02bd | 563 | strcpy(DisplayStr,"pusH"); |
fabiombed | 17:582eba752042 | 564 | while(Status==0) { |
fabiombed | 14:644f9e7278e9 | 565 | #ifdef FlightSense |
fabiombed | 8:144855fe02bd | 566 | board->display->DisplayString(DisplayStr, 4); |
fabiombed | 8:144855fe02bd | 567 | //printf("%s\n\r", DisplayStr); |
fabiombed | 17:582eba752042 | 568 | #endif |
fabiombed | 17:582eba752042 | 569 | |
fabiombed | 17:582eba752042 | 570 | #ifdef Ble |
fabiombed | 17:582eba752042 | 571 | /* |
fabiombed | 17:582eba752042 | 572 | INTLOOP++; |
fabiombed | 17:582eba752042 | 573 | if (INTLOOP==100) |
fabiombed | 17:582eba752042 | 574 | { |
fabiombed | 17:582eba752042 | 575 | p_customsensorservice->sendEnvStatus(Status, TimeStamp); |
fabiombed | 17:582eba752042 | 576 | p_customsensorservice->sendEnvDifference(diff, TimeStamp); |
fabiombed | 17:582eba752042 | 577 | p_customsensorservice->sendEnvPosition(pos, TimeStamp); |
fabiombed | 17:582eba752042 | 578 | p_customsensorservice->sendEnvSunpanel(measure, TimeStamp); |
fabiombed | 17:582eba752042 | 579 | INTLOOP=0; |
fabiombed | 17:582eba752042 | 580 | } |
fabiombed | 17:582eba752042 | 581 | */ |
fabiombed | 17:582eba752042 | 582 | //p_BLEdev->waitForEvent(); // Without it the CLIENT can't start to communicate |
fabiombed | 14:644f9e7278e9 | 583 | #endif |
fabiombed | 8:144855fe02bd | 584 | } |
fabiombed | 4:1d3d071a4c2c | 585 | |
fabiombed | 14:644f9e7278e9 | 586 | printf("\r\n\r\nStart Main Loop"); |
fabiombed | 17:582eba752042 | 587 | INTLOOP=0; |
fabiombed | 17:582eba752042 | 588 | |
fabiombed | 14:644f9e7278e9 | 589 | #ifdef EasySpin |
fabiombed | 14:644f9e7278e9 | 590 | motor->Enable(); // To put the motor on hold by execute CmdEnable |
fabiombed | 14:644f9e7278e9 | 591 | #endif |
fabiombed | 10:d154094297ce | 592 | |
fabiombed | 6:4cbf7303b496 | 593 | // Main Loop |
fabiombed | 8:144855fe02bd | 594 | while(true) |
fabiombed | 8:144855fe02bd | 595 | { |
fabiombed | 17:582eba752042 | 596 | if (Status==1 | Status==2) { Measure_Babybear(); } |
fabiombed | 15:019b8d60c89d | 597 | |
fabiombed | 15:019b8d60c89d | 598 | #ifndef Ble // without BLE it uses Accelerometer from SERVER, otherwise receive the value from CLIENT |
fabiombed | 17:582eba752042 | 599 | if (Status==3) { Measure_Accelerometer(); } |
fabiombed | 15:019b8d60c89d | 600 | #endif |
fabiombed | 15:019b8d60c89d | 601 | |
fabiombed | 8:144855fe02bd | 602 | Control_Motor(); |
fabiombed | 8:144855fe02bd | 603 | Measure_SolarPanel(); |
fabiombed | 14:644f9e7278e9 | 604 | |
fabiombed | 14:644f9e7278e9 | 605 | #ifdef FlightSense |
fabiombed | 14:644f9e7278e9 | 606 | board->display->DisplayString(DisplayStr, 4); |
fabiombed | 14:644f9e7278e9 | 607 | //printf("%s\n\r", DisplayStr); |
fabiombed | 14:644f9e7278e9 | 608 | #endif |
fabiombed | 14:644f9e7278e9 | 609 | |
fabiombed | 14:644f9e7278e9 | 610 | #ifdef Ble |
fabiombed | 17:582eba752042 | 611 | |
fabiombed | 11:b5e23d64d366 | 612 | INTLOOP++; |
fabiombed | 14:644f9e7278e9 | 613 | if (INTLOOP==100) |
fabiombed | 15:019b8d60c89d | 614 | { |
fabiombed | 17:582eba752042 | 615 | //if (p_customsensorservice->isStatusNotificationEn()) { |
fabiombed | 17:582eba752042 | 616 | printf("\n\r\n\rSend BLE Display Status %d", Status); |
fabiombed | 17:582eba752042 | 617 | p_customsensorservice->sendEnvStatus(Status, TimeStamp); |
fabiombed | 17:582eba752042 | 618 | //p_customsensorservice->updateEnvStatus(Status, TimeStamp)); |
fabiombed | 15:019b8d60c89d | 619 | //} |
fabiombed | 15:019b8d60c89d | 620 | //if (p_customsensorservice->isDifferenceNotificationEn()) { |
fabiombed | 15:019b8d60c89d | 621 | printf("\n\rSend BLE Difference %d lux/mems", diff); // Send BLE diff, no diff_abs |
fabiombed | 17:582eba752042 | 622 | p_customsensorservice->sendEnvDifference(diff, TimeStamp); |
fabiombed | 17:582eba752042 | 623 | //p_customsensorservice->updateEnvDifference(diff, TimeStamp)); |
fabiombed | 15:019b8d60c89d | 624 | //} |
fabiombed | 15:019b8d60c89d | 625 | //if (p_customsensorservice->isPositionNotificationEn()) { |
fabiombed | 15:019b8d60c89d | 626 | printf("\n\rSend BLE Position %d", pos); |
fabiombed | 17:582eba752042 | 627 | p_customsensorservice->sendEnvPosition(pos, TimeStamp); |
fabiombed | 17:582eba752042 | 628 | //p_customsensorservice->updateEnvPosition(pos, TimeStamp)); |
fabiombed | 15:019b8d60c89d | 629 | //} |
fabiombed | 15:019b8d60c89d | 630 | //if (p_customsensorservice->isSunpanelNotificationEn()) { |
fabiombed | 15:019b8d60c89d | 631 | printf("\n\rSend BLE Sunpanel %d mV", measure); |
fabiombed | 17:582eba752042 | 632 | p_customsensorservice->sendEnvSunpanel(measure, TimeStamp); |
fabiombed | 17:582eba752042 | 633 | //p_customsensorservice->updateEnvSunpanel(measure, TimeStamp)); |
fabiombed | 15:019b8d60c89d | 634 | //} |
fabiombed | 14:644f9e7278e9 | 635 | INTLOOP=0; |
fabiombed | 17:582eba752042 | 636 | //diff=0; // To reset it in case from Mems don't arrive a future value |
fabiombed | 14:644f9e7278e9 | 637 | } |
fabiombed | 17:582eba752042 | 638 | |
fabiombed | 11:b5e23d64d366 | 639 | p_BLEdev->waitForEvent(); |
fabiombed | 14:644f9e7278e9 | 640 | #endif |
fabiombed | 17:582eba752042 | 641 | |
fabiombed | 8:144855fe02bd | 642 | } |
fabiombed | 4:1d3d071a4c2c | 643 | |
fabiombed | 8:144855fe02bd | 644 | //status_l=board->sensor_left->StopMeasurement(als_continuous_polling); |
fabiombed | 8:144855fe02bd | 645 | //status_r=board->sensor_right->StopMeasurement(als_continuous_polling); |
fabiombed | 4:1d3d071a4c2c | 646 | |
fabiombed | 14:644f9e7278e9 | 647 | } |