Éric Bisson
app3
Fork of
Code_APP1
by 
Louis Beaulieu
Diff: main.cpp
- Revision:
- 9:dc81d8ee4a97
- Parent:
- 8:6f2b7f9b0d0d
--- 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