Peng Jing Xuan
0527
Diff: main.cpp
- Revision:
- 60:c0c04325453c
- Parent:
- 59:9bbcc1b368ba
--- a/main.cpp Tue Apr 23 09:45:23 2019 +0000
+++ b/main.cpp Mon May 27 05:38:15 2019 +0000
@@ -1,19 +1,3 @@
-/* WiFi Example
- * Copyright (c) 2018 ARM Limited
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
//MQTT+WIFI
@@ -30,7 +14,8 @@
#include "mbed.h"
#include "TCPSocket.h"
-
+#include "VL53L1X.h"
+#include <string>
#define WIFI_IDW0XX1 2
#if (defined(TARGET_DISCO_L475VG_IOT01A) || defined(TARGET_DISCO_F413ZH))
@@ -52,7 +37,7 @@
MQTT::Message &message = md.message;
logMessage("Message arrived: qos %d, retained %d, dup %d, packetid %d\r\n", message.qos, message.retained, message.dup, message.id);
logMessage("Payload %.*s\r\n", message.payloadlen, (char*)message.payload);
- ++arrivedcount;
+ //++arrivedcount;
}
@@ -146,14 +131,205 @@
// Close the socket to return its memory and bring down the network interface
socket.close();
}
+bool s1_init = true;
+bool s2_init = true;
+bool s3_init = true;
+bool s4_init = true;
+VL53L1X sensor1(PC_1,PC_0, PC_2);
+VL53L1X sensor2(PC_1,PC_0, PC_3);
+VL53L1X sensor3(PC_1,PC_0, PC_4);
+VL53L1X sensor4(PC_1,PC_0, PC_5);
+SPI acc (PA_7,PA_6,PA_5);
+DigitalOut cs(PB_8);
+char buffer[6];
+int16_t data[3];
+float x,y,z,w;
+Timer t;
+AnalogIn analog_value1(PA_2);
+AnalogIn analog_value2(PA_4);
+AnalogIn analog_value3(PB_1);
+AnalogIn analog_value4(PA_3);
+AnalogIn analog_value5(PB_0);
+Serial pc(USBTX,USBRX);
+
+void sensor(void)
+{
+ double meas_a;
+ double meas_a1;
+ double meas_b;
+ double meas_b1;
+ double meas_c;
+ double meas_c1;
+ double meas_d;
+ double meas_d1;
+ double meas_e;
+ double meas_e1;
+ double outputv;
+
+ double D1;
+ double D2;
+ double D3;
+ double D4;
+
+
+
+
+ sensor1.initReading(0x52,50000);
+ sensor2.initReading(0x27,50000);
+ sensor3.initReading(0x35,50000);
+ sensor4.initReading(0x37,50000);
+ sensor1.setDistanceMode(VL53L1X::Short);
+ sensor2.setDistanceMode(VL53L1X::Short);
+ sensor3.setDistanceMode(VL53L1X::Short);
+ sensor4.setDistanceMode(VL53L1X::Short);
+ cs=1;
+ acc.format(8,3);
+ acc.frequency(2000000);
+ cs=0;
+ acc.write(0x31);
+ acc.write(0x0B);
+ cs=1;
+ cs=0;
+ acc.write(0x2D);
+ acc.write(0x08);
+ cs=1;
+
+ D1 = sensor1.readFromOneSensor();
+ wait(0.1);
+ D2 = sensor2.readFromOneSensor();
+ wait(0.1);
+ D3 = sensor3.readFromOneSensor();
+ wait(0.1);
+ D4 = sensor4.readFromOneSensor();
+ wait(0.1);
+
+ cs=0;
+ acc.write(0x80|0x40|0x32);
+ for (int i=0;i<=5;i++)
+ {
+ buffer[i]=acc.write(0x00);
+ }
+ cs= 1;
+ data[0]=buffer[1]<<8|buffer[0];
+ data[1]=buffer[3]<<8|buffer[2];
+ data[2]=buffer[5]<<8|buffer[4];
+ x=0.004*data[0];
+ wait(0.1);
+ y=0.004*data[1];
+ wait(0.1);
+ z=0.004*data[2];
+ wait(0.1);
+ w=atan2(x,y)*(57.4);
+ wait(0.1);
+ meas_a = analog_value1.read();
+ meas_a1 = meas_a * 3*25;
+ meas_b = analog_value2.read();
+ meas_b1 = meas_b * 3*25;
+ meas_c = analog_value3.read();
+ meas_c1 = meas_c * 3*25;
+ meas_d = analog_value4.read();
+ meas_d1 = meas_d * 3*25;
+ meas_e = analog_value5.read();
+ meas_e1 = meas_e * 3*25;
+
+
+
+
+ }
+
int main()
-{
+{
+
+
+ pc.baud (115200) ;
+
+ double meas_a;
+ double meas_a1;
+ double meas_b;
+ double meas_b1;
+ double meas_c;
+ double meas_c1;
+ double meas_d;
+ double meas_d1;
+ double meas_e;
+ double meas_e1;
+ double outputv;
+
+ double D1;
+ double D2;
+ double D3;
+ double D4;
+
+
+
+
+ sensor1.initReading(0x52,50000);
+ sensor2.initReading(0x27,50000);
+ sensor3.initReading(0x35,50000);
+ sensor4.initReading(0x37,50000);
+ sensor1.setDistanceMode(VL53L1X::Short);
+ sensor2.setDistanceMode(VL53L1X::Short);
+ sensor3.setDistanceMode(VL53L1X::Short);
+ sensor4.setDistanceMode(VL53L1X::Short);
+ cs=1;
+ acc.format(8,3);
+ acc.frequency(2000000);
+ cs=0;
+ acc.write(0x31);
+ acc.write(0x0B);
+ cs=1;
+ cs=0;
+ acc.write(0x2D);
+ acc.write(0x08);
+ cs=1;
+
+ D1 = sensor1.readFromOneSensor();
+ wait(0.1);
+ D2 = sensor2.readFromOneSensor();
+ wait(0.1);
+ D3 = sensor3.readFromOneSensor();
+ wait(0.1);
+ D4 = sensor4.readFromOneSensor();
+ wait(0.1);
+
+ cs=0;
+ acc.write(0x80|0x40|0x32);
+ for (int i=0;i<=5;i++)
+ {
+ buffer[i]=acc.write(0x00);
+ }
+ cs= 1;
+ data[0]=buffer[1]<<8|buffer[0];
+ data[1]=buffer[3]<<8|buffer[2];
+ data[2]=buffer[5]<<8|buffer[4];
+ x=0.004*data[0];
+ wait(0.1);
+ y=0.004*data[1];
+ wait(0.1);
+ z=0.004*data[2];
+ wait(0.1);
+ w=atan2(x,y)*(57.4);
+ wait(0.1);
+ meas_a = analog_value1.read();
+ meas_a1 = meas_a * 3*25;
+ meas_b = analog_value2.read();
+ meas_b1 = meas_b * 3*25;
+ meas_c = analog_value3.read();
+ meas_c1 = meas_c * 3*25;
+ meas_d = analog_value4.read();
+ meas_d1 = meas_d * 3*25;
+ meas_e = analog_value5.read();
+ meas_e1 = meas_e * 3*25;
+
+
+
int count = 0;
printf("WiFi example\n\n");
count = scan_demo(&wifi);
+
if (count == 0) {
printf("No WIFI APNs found - can't continue further.\n");
return -1;
@@ -182,7 +358,7 @@
// MQTT Example Start
float version = 0.6;
- char* topic = "test1";
+ char* topic = "192.168.0.164";
logMessage("HelloMQTT: version is %.2f\r\n", version);
@@ -195,7 +371,7 @@
MQTT::Client<MQTTNetwork, Countdown> client(mqttNetwork);
- const char* hostname = "192.168.0.120";
+ const char* hostname = "192.168.0.164";
int port = 1883;
logMessage("Connecting to %s:%d\r\n", hostname, port);
int rc = mqttNetwork.connect(hostname, port);
@@ -212,48 +388,33 @@
if ((rc = client.subscribe(topic, MQTT::QOS2, messageArrived)) != 0)
logMessage("rc from MQTT subscribe is %d\r\n", rc);
-
+
MQTT::Message message;
-
+ //pc.printf("%d,%d,%d,%d,%+1.2f,%+1.2f,%+1.2f,%+1.2f,%1.0f,%1.0f,%1.0f,%1.0f,%1.0f\n\r",
+//sensor1.readFromOneSensor(), sensor2.readFromOneSensor(), sensor3.readFromOneSensor(), sensor4.readFromOneSensor(),
+//x,y,z,w, meas_a1, meas_b1, meas_c1, meas_d1, meas_e1);
// QoS 0
+
char buf[100];
- sprintf(buf, "Hello World! QoS 0 message from app version %f\r\n", version);
- message.qos = MQTT::QOS0;
+ sprintf(buf, "100");
+
+
+ //sprintf(buf, "%d,%d,%d,%d,%+1.2f,%+1.2f,%+1.2f,%+1.2f,%1.0f,%1.0f,%1.0f,%1.0f,%1.0f\n\r",
+//sensor1.readFromOneSensor(), sensor2.readFromOneSensor(), sensor3.readFromOneSensor(), sensor4.readFromOneSensor(),
+//x,y,z,w, meas_a1, meas_b1, meas_c1, meas_d1, meas_e1);
+
+
+
+ message.qos = MQTT::QOS1;
message.retained = false;
message.dup = false;
message.payload = (void*)buf;
message.payloadlen = strlen(buf)+1;
rc = client.publish(topic, message);
- while (arrivedcount < 1)
- client.yield(100);
-
- // QoS 1
- sprintf(buf, "Hello World! QoS 1 message from app version %f\r\n", version);
- message.qos = MQTT::QOS1;
- message.payloadlen = strlen(buf)+1;
- rc = client.publish(topic, message);
- while (arrivedcount < 2)
- client.yield(100);
-
- // QoS 2
- sprintf(buf, "Hello World! QoS 2 message from app version %f\r\n", version);
- message.qos = MQTT::QOS2;
- message.payloadlen = strlen(buf)+1;
- rc = client.publish(topic, message);
- while (arrivedcount < 3)
- client.yield(100);
-
- if ((rc = client.unsubscribe(topic)) != 0)
- logMessage("rc from unsubscribe was %d\r\n", rc);
-
- if ((rc = client.disconnect()) != 0)
- logMessage("rc from disconnect was %d\r\n", rc);
-
- mqttNetwork.disconnect();
-
- logMessage("Version %.2f: finish %d msgs\r\n", version, arrivedcount);
-
- return 0;
-
-
+ client.yield(100);
+
+
+
+
+
}