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Diff: main.cpp
- Revision:
- 9:dc81d8ee4a97
- Parent:
- 8:6f2b7f9b0d0d
diff -r 6f2b7f9b0d0d -r dc81d8ee4a97 main.cpp --- a/main.cpp Tue Jan 17 02:09:22 2017 +0000 +++ b/main.cpp Tue Feb 14 04:11:07 2017 +0000 @@ -1,202 +1,98 @@ -#include "mbed.h" -#include "header.h" - -Serial pc(USBTX, USBRX); -SPI spi(p11, p12, p13); -DigitalOut cs(p14); -I2C i2c(p28, p27); -PwmOut led1(LED1); +#include "xbee.h" +#include "Accelerometer.h" +#include "IO_p15.h" +#include "config.h" -void calculer_angle(char bufferAngle[], int accZ) -{ - float angle = abs(cos(static_cast<float>(moyenne_mobile(accZ)*90/64)*PI/180)*90); - int angleInt = (int)(angle*100); - - // reset buffer - bufferAngle[0] = '0'; - bufferAngle[1] = '0'; - bufferAngle[2] = '0'; - bufferAngle[3] = '0'; - - signed char pos = 3; - while (angleInt > 1 && pos >= 0) - { - bufferAngle[pos] = angleInt % 10; - angleInt = angleInt / 10; - pos--; - } -} - -void uart_init() -{ - pc.printf("uart before\n"); - - *PCONP |= 0x02000000; // Turn ON PCUART3 - *PCLKSEL1 |= 0x00040000; // Set PCLK_UART3 to 01 (CLK / 1) - *PINSEL0 &= ~0x00000003; // Turn Off TxD3 P0.0 - *PINSEL0 |= 0x00000002; // Enable TxD3 P0.0 - *U3FCR |= 0x00000007; // Reset Tx, Reset Rx, Enable FIFO - *U3LCR |= 0x00000083; // Enable DLAB, 8-bit char length - *U3DLM |= 0x00000000; // DLMSB ; Baud rate - *U3DLL |= 0x00000060; // DLLSB ; Baud rate - *U3LCR &= ~0x00000080; // Turn off DLAB - - pc.printf("uart init()\n"); -} +//#define __DEBUG__ +#ifdef __DEBUG__ +Serial pc(USBTX, USBRX, 9600); +#endif +PwmOut led1(LED1); +//--------------------------------------------------------------// +// APP stuff : tableau de pointeur de fonctions +//--------------------------------------------------------------// +#define NB_FUNCTIONS 2 +void func_accel(CArray*); +void func_button(CArray*); +void (*functions[NB_FUNCTIONS])(CArray*) = {func_accel, func_button}; +//--------------------------------------------------------------// int main() { - int addrChip = 0x3A; - char buffer[3] = {0,0,0}; + DigitalOut RESET(p8); + Serial XBee(p13, p14, 9600); - SetClockAndMode(250000, 0); - change_dots(0x02); + // Selon le lab, reset le Xbee + RESET = 0; + wait_ms(400); + RESET = 1; + +#ifdef __DEBUG__ + pc.format(8, SerialBase::None, 1); +#endif + XBee.format(8, SerialBase::None, 1); + + CArray DATA_TO_SEND; - //Activer l'accéléromètre pour lecture 8 bits - char activation[2] = {0x2A, 0x03}; - char fullScale[2] = {0x0E, 0x00}; - char resultat[4] = {'0','0','0','0'}; - i2c.write(addrChip, activation, 2, true); - i2c.write(addrChip, fullScale, 2, true); + // Addresse spéciale pour le coordinateur + for (int j = 0; j < 8; j++) + DATA_TO_SEND._64bit.bit[j] = 0; + DATA_TO_SEND._16bit.bit[0] = 0xFF; + DATA_TO_SEND._16bit.bit[1] = 0xFE; + + DATA_TO_SEND._FrameType = 0x10; // Transmit Request + + // options pour l'envoie au coordinateur + DATA_TO_SEND.options = new char[2]; + DATA_TO_SEND.options[0] = 0; // broadcast + DATA_TO_SEND.options[1] = 0; // other options + DATA_TO_SEND.opt_size = 2; + + bool IsInitialized = false; + char InitBytes = 0; while(1) - { - //Aller lire les valeurs d'accélération - buffer[0] = 0x01; - i2c.write(addrChip, buffer, 1, true); - i2c.read(addrChip, buffer, 3); - - calculer_angle(resultat, buffer[2]); + { + if (IsInitialized) + { + for (char i = 0; i < NB_FUNCTIONS; i++) + { + DATA_TO_SEND._ptr = NULL; + + (*functions[i])(&DATA_TO_SEND); + + if (DATA_TO_SEND._ptr != NULL) + { + led1 = !led1; + send(&XBee, &DATA_TO_SEND); +#ifdef __DEBUG__ + send(&pc, &DATA_TO_SEND); // debug only +#endif + delete DATA_TO_SEND._ptr; + } + } + wait_ms( 1000 / SENSOR_FREQUENCY_HZ); + } + if (XBee.readable()) + { +#ifdef __DEBUG__ + pc.putc(XBee.getc()); +#endif + InitBytes++; + if (InitBytes == 6) + { + IsInitialized = true; + setPAN(&XBee, PAN_ID); +#ifdef __DEBUG__ + setPAN(&pc, PAN_ID); +#endif + } + } - chip_select(false); - write_to_7segment(resultat[0],resultat[1],resultat[2],resultat[3]); - chip_select(true); - wait(0.1); - } -} - -void SetClockAndMode(int Speed, char Mode) -{ - if (IS_USING_SPI) - { - spi.format(8,Mode); - spi.frequency(Speed); - } - else - { - uart_init(); - } -} - -void write_uart(unsigned char value) -{ pc.printf("%d - ", reverse(value)); - *U3THR = reverse(value); // Data to send ; LSB first - *U3TER |= 0x80; // Enable TXEn - //*U3TER &= ~0x80; // Disable TXEn -} - -// inverse bit order -unsigned char reverse(unsigned char b) -{ - b = (b & 0xF0) >> 4 | (b & 0x0F) << 4; - b = (b & 0xCC) >> 2 | (b & 0x33) << 2; - b = (b & 0xAA) >> 1 | (b & 0x55) << 1; - return b; -} - -// function to change displayed dots -void change_dots(char dot) -{ - if (IS_USING_SPI) - { - spi.write(0x77); - spi.write(dot); - } - else - { - write_uart(0x77); - write_uart(dot); - } -} - -void ResetCursor() -{ - if (IS_USING_SPI) - { - spi.write(0x79); - spi.write(0); - } - else - { - write_uart(0x79); - write_uart(0); +#ifdef __DEBUG__ + if (pc.readable()) + { + XBee.putc(pc.getc()); + } +#endif } -} - -// function used to write numbers to all four digits -void write_to_7segment(char d1, char d2, char d3, char d4) -{ - ResetCursor(); - if (IS_USING_SPI) - { - spi.write(d1); - spi.write(d2); - spi.write(d3); - spi.write(d4); - } - else - { - write_uart(d1); - write_uart(d2); - write_uart(d3); - write_uart(d4); - pc.printf("\n"); - } -} - -void chip_select(bool bSet) -{ - if (IS_USING_SPI) - { - if (!bSet) - { - wait_us(25); - } - cs = bSet; - if (bSet) - { - wait_us(25); - } - } -} - -// function used to calculate and return the new value of a moving average -int moyenne_mobile(int newData) -{ - int sum = 0; - MovingAverage.buffer[MovingAverage.cursor] = newData; - MovingAverage.cursor++; - if (MovingAverage.cursor >= MOVING_AVG_SIZE) - { - MovingAverage.cursor = 0; - MovingAverage.bFilled = true; - } - - if (MovingAverage.bFilled) - { - for (int i = 0; i < MOVING_AVG_SIZE; i++) - { - sum += MovingAverage.buffer[i]; - } - sum = sum / MOVING_AVG_SIZE; - } - else - { - for (int i = 0; i < MovingAverage.cursor; i++) - { - sum += MovingAverage.buffer[i]; - } - sum = sum / MovingAverage.cursor; - } - - return sum; } \ No newline at end of file