Suad Suljic
commit_cell_locker
Dependencies: MPU6050_SIM5320_TEST
Fork of
KOPIRANO_cell_locker
by 
Suad Suljic
Diff: main.cpp
- Revision:
- 1:75966605a6a3
- Parent:
- 0:203cf529f52a
- Child:
- 2:aabc92901e25
--- a/main.cpp Thu Sep 14 16:50:16 2017 +0000
+++ b/main.cpp Fri Nov 10 15:35:26 2017 +0000
@@ -1,191 +1,425 @@
#include "mbed.h"
-#include "SDFileSystem.h"
-#include "SIM5320.h"
#include "MPU6050.h"
-#include "SensorBoards.h"
-#include "WakeUp.h"
+#include "I2Cdev.h"
+#include <CaseFsm.h>
+#include <CaseEvents.h>
+#include <Fsm.h>
+#include <Events.h>
+#include "MFRC522.h"
+
+#include "log.h"
+#include "DataLogger.h"
+
+#define CURRENT_TIME 1510164886
+
+#define SPI_MOSI PA_7
+#define SPI_MISO PA_6
+#define SPI_SCK PA_5
+#define SPI_CS PA_8
+
+
+
+
+int cbx[20];
+int cby[20];
+int cbz[20];
+
+
+ Log mojlog;
+ DataLogger <Log> mojlogger;
+ // mojlogger.print();
+ // mojlogger.savelog(mojlog);
+ // mojlogger.print();
-uint8_t write_sd_buffer[12];
-void create_sensor_data(uint8_t *write_sd_buffer, uint8_t *sensor_board_readings, uint8_t b_id, uint8_t s_id);
-//SIM5320 sim5320(PA_9,PA_10);
-DigitalOut SIM5320_PWR(PA_1);
-DigitalOut SIM_PWR_KEY(PA_15);
-InterruptIn mpuInterrupt(PB_6);
-uint8_t sensor_board_readings[4];
-bool test = false;
-// MOSI, MISO, SCLK, CS, name
-SDFileSystem sd(PA_7, PA_6, PA_5, PA_4, "sd");
+DigitalOut rfidpower(PA_12);
+
+int x=0;
+
+DigitalOut led1(LED1);
+//Serial pc(USBTX,USBRX);
+
+bool XnegMD, XposMD, YnegMD, YposMD, ZnegMD, ZposMD;
+int8_t threshold;
+bool zero_detect;
+float temp;
+
+//void flip(){test=1;}
+Fsm* motionFsm;
+CaseFsm* caseFsm;
+SwitchPosition switchPosition;
+RFIDEvent rfidEvent;
+TimerEnd timerEnd;
+Move move;
+Stop stop;
+uint8_t print=0;
+//#include "PinDetect.h"
+
+InterruptIn button1(PD_2);
+InterruptIn button2(PC_11);
+InterruptIn button3(PC_10);
+InterruptIn button4(PC_12);//PRINT
+
+
+InterruptIn mpuInterrupt(PB_5);
-int go_to_sleep = 0;
+volatile uint8_t test = 0;
+volatile uint8_t mot=0;
+
+bool flag = false;
+bool DeviceIsFull = false;
+
+void button1PressedCallback()
+{
+ // printf("button1\n");
+ caseFsm->handle(switchPosition);
+}
+
+void button2PressedCallback()
+{
+ //printf("button2\n");
+ caseFsm->handle(rfidEvent);
+
+}
+void button3PressedCallback()
+{
+ //printf("button3\n");
+ caseFsm->handle(timerEnd);
+
+}
+
+void button4PressedCallback()
+{
+ print=1;
+
+}
+
void mpuInterruptCallback()
{
- test=!test;
-
-}
-void rtc_wakeup()
-{
- go_to_sleep = 1;
+ test=1;
}
+
MPU6050 mpu;
+uint8_t nomotion=0;
+uint8_t motionlogged=0;
+
+void getXYZMotions()
+{
+ wait(0.1);
+ uint8_t motionByte = mpu.readThisByte(MPU6050_RA_MOT_DETECT_STATUS);
+ // motionLog.motionByte = motionByte;
+ //motionLog.timeStamp = time(NULL);
+ //mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+ uint8_t b;
+ bool zero = false;
+ char x,y,z;
+ int mx=0;
+ int my=0;
+ int mz=0;
+ x=y=z='0';
+ for(int i = 0; i<=7; i++) {
+ b = motionByte & (1<<i);
+ if(i==0 && b==1) {
+ //time_t sec = time(NULL);
+ //printf("Current time is: %s\r\n", ctime(&sec));
+ zero = true;
+ printf("ZERO MOTION detected.\r\n");
+ //pc.printf(" %c %c %c | ",x,y,z);
+ //pc.printf("%d;%d;%d;%d;%d;%d ZERO DETECTED\r\n",ax,ay,az,gx,gy,gz);
+ }
+ if(i==1 && b==2) {
+ printf("This should not happen :).\r\n");
+ }
+ if(i==6 && b==64) {
+ x='+';
+ mx=1;
+ printf("X POSITIVE motion detected.\r\n");
+ }
+ if(i==7 && b==128) {
+ x='-';
+ mx=1;
+ printf("X NEGATIVE motion detected.\r\n");
+ }
+ if(i==4 && b==16) {
+ y='+';
+ my=1;
+ printf("Y POSITIVE motion detected.\r\n");
+ }
+ if(i==5 && b==32) {
+ y='-';
+ my=1;
+ printf("Y NEGATIVE motion detected.\r\n");
+ }
+ if(i==2 && b==4) {
+ z='+';
+ mz=1;
+ printf("Z POSITIVE motion detected.\r\n");
+ }
+ if(i==3 && b==8) {
+ z='-';
+ mz=1;
+ printf("Z NEGATIVE motion detected.\r\n");
+ }
+ }
+ printf("%d %d %d\r\n",mx,my,mz);
+
+ if(mx==0 && my==0 && mz==0) {
+ nomotion++;
+ if(nomotion==3 && motionlogged==0) {
+ printf("SAVE NO motion\n");
+ //motionFsm->handle(stop);
+ mojlog.setLog(900,0,0,900);
+ mojlogger.savelog(mojlog);
+ motionlogged=1;
+ nomotion=0;
+ }
+ }
+
+ else if(motionlogged==1) {
+ printf("SAVE motion\n");
+ motionlogged=0;
+ //motionFsm->handle(move);
+ mojlog.setLog(2222,0,1,2222);
+ mojlogger.savelog(mojlog);
+ nomotion=0;
+ }
+
+
+
+
+
+
+
+
+}
+
+
+
+
+
+
+
+MFRC522 RfChip(SPI_MOSI, SPI_MISO, SPI_SCK, SPI_CS, PB_4);
+
int main()
{
-/////////////////////////////////////////////////MPU_DEEP_SLEEP_WAKEUP////////////////////////////
-/*
+
+ rfidpower=1;
+
+
+
+ CaseFsm caseF;
+ caseFsm = &caseF;
+
+ //mpuInterrupt.mode(PullUp);
+ button1.mode(PullUp);
+ button2.mode(PullUp);
+ button3.mode(PullUp);
+ button4.mode(PullUp); //print
+ button4.fall(button4PressedCallback);
+ button3.fall(button3PressedCallback);
+ button2.fall(button2PressedCallback);
+ button1.fall(&button1PressedCallback);
+
+ //mpuInterrupt.fall(mpuInterruptCallback);
+
+ RfChip.PCD_Init();
+ wait(0.2);
+
+
+
+
+
+
+ ////////////////////MPU INTERUPT RADI//////////////////////////////////////
+
mpuInterrupt.fall(mpuInterruptCallback);
- wait(2);
+ wait(0.2);
mpu.calibrate(accelBias, gyroBias);
mpu.initialize();
mpu.setSleepEnabled(0);
- wait(2);
+ wait(0.2);
mpu.setIntFreefallEnabled(1);
- mpu.setIntZeroMotionEnabled(0);
+ mpu.setIntZeroMotionEnabled(1);
mpu.setIntMotionEnabled(1);
printf("Setting mpu parameters...\r\n");
mpu.setMotionDetectionThreshold(1);
mpu.setMotionDetectionDuration(15);
+ mpu.setZeroMotionDetectionThreshold(1);
+ mpu.setZeroMotionDetectionDuration(5);
- while(1){
- printf("sleep\r\n");
- deepsleep();
- if(test){
- wait(1);
- printf("Desio se motion\r\n");
- test = 0;
- }
- }
-*/
-
-///////////////////////////////////////////////////////////////////////////////////////////
-
- // wait(3);
- // SIM5320_PWR = 1;
- // SIM_PWR_KEY = 1;
- // wait(1);
- // SIM_PWR_KEY = 0;
- /*
- wait(25);
+
+ /////////////////////////////////////////////////////////////////////////////
+ /*
+ mpu.calibrate(accelBias, gyroBias);
+ mpu.initialize();
+ mpu.setSleepEnabled(0);
+ mpu.setIntDMPEnabled(1);
+
+ uint8_t pinValue = mpu.getIntEnabled();
+ printf("Is int enabled? : %d\n", pinValue);
+ printf("MPU6050 testing connection \n");
+
+
wait(2);
- printf("Starting...\r\n");
- printf("Starting...\r\n");
- printf("Starting...\r\n");
- printf("Starting...\r\n");
- sim5320.sendCommand("AT+CNUM",2);
- printf("Checking credit balance...\r\n");
- sim5320.sendCommand("AT+CUSD=1, \"*100#\",15",5);
- //Testing GPS
-
- sim5320.enableGPS(true);
- wait(30);
-
- //Gettting GPS location
- sim5320.sendCommand("AT+CGPSINFO",2);
- sim5320.sendCommand("AT+CGPSINFO",2);
- sim5320.sendCommand("AT+CGPSINFO",2);
+ bool mpu6050TestResult = mpu.testConnection();
+ if(mpu6050TestResult) {
+ printf("MPU6050 test passed \n");
+ } else {
+ printf("MPU6050 test failed \n");
+ }
+ mpu.setIntEnabled(1);
+ //mpu.setIntFreefallEnabled(1);
+ //mpu.setIntZeroMotionEnabled(0);
+ //mpu.setIntMotionEnabled(1);
+ mpu.setDHPFMode(1);
- //Testing network connection and disconnection
- sim5320.connect("active.bhmobile.ba","","");
- wait(2);
- if(sim5320.disconnect()) {
- printf("Disconnected\r\n");
- }
+ //*******************************************************************************************************************************
+
+ printf("\n\n\n");
+ uint8_t motionDetectionThreshold = mpu.getMotionDetectionThreshold();
+ //printf("MPU6050 motion detection threshold is: %d \r\n", motionDetectionThreshold);
+ //printf("MPU6050 set motion detection threshold to 2\r\n");
+ mpu.setMotionDetectionThreshold(1);
+ motionDetectionThreshold = mpu.getMotionDetectionThreshold();
+ //printf("MPU6050 motion detection threshold now is: %d \r\n", motionDetectionThreshold);
+ printf("Motion detection threshold is: %d \r\n", motionDetectionThreshold);
+ uint8_t motionDetectionDuration = mpu.getMotionDetectionDuration();
+ //printf("MPU6050 motion detection duration is: %d \r\n", motionDetectionDuration);
+ //printf("MPU6050 set motion detection duration to 40\r\n");
+ mpu.setMotionDetectionDuration(20);
+ motionDetectionDuration = mpu.getMotionDetectionDuration();
+ //printf("MPU6050 motion detection duration now is: %d \r\n", motionDetectionDuration);
+ printf("Motion detection duration is: %d \r\n", motionDetectionDuration);
+
+ //*******************************************************************************************************************************
- else {
- printf("Still connected or error occured!\r\n");
- }
+ //printf("\n\n\n");
+ uint8_t zeroMotionDetectionThreshold = mpu.getZeroMotionDetectionThreshold();
+ //printf("MPU6050 zero motion detection threshold is: %d \r\n", zeroMotionDetectionThreshold);
+ //printf("MPU6050 set zero motion detection threshold to 2\r\n");
+ mpu.setZeroMotionDetectionThreshold(2);
+ zeroMotionDetectionThreshold = mpu.getZeroMotionDetectionThreshold();
+ //printf("MPU6050 zero motion detection threshold now is: %d \r\n", zeroMotionDetectionThreshold);
+ printf("Zero motion detection threshold is: %d \r\n", zeroMotionDetectionThreshold);
+ //printf("\n\n\n");
+ int8_t zeroMotionDetectionDuration = mpu.getZeroMotionDetectionDuration();
+ //printf("MPU6050 zero motion detection duration is: %d \r\n", zeroMotionDetectionDuration);
+ //printf("MPU6050 set zero motion detection duration to 1\r\n");
+ mpu.setZeroMotionDetectionDuration(1);
+ zeroMotionDetectionDuration = mpu.getZeroMotionDetectionDuration();
+ //printf("MPU6050 zero motion detection duration now is: %d \r\n", zeroMotionDetectionDuration);
+ printf("Zero motion detection duration is: %d \r\n", zeroMotionDetectionDuration);
+
+ //*******************************************************************************************************************************
+
+ //printf("\n\n\n");
+ int8_t freefallDetectionThreshold = mpu.getFreefallDetectionThreshold();
+ //printf("MPU6050 freefall motion detection threshold is: %d \r\n", freefallDetectionThreshold);
+ //printf("MPU6050 set freefall motion detection threshold to 40\r\n");
+ //mpu.setFreefallDetectionThreshold(2);
+ freefallDetectionThreshold = mpu.getFreefallDetectionThreshold();
+ //printf("MPU6050 freefall motion detection threshold now is: %d \r\n", freefallDetectionThreshold);
+ printf("Freefall motion detection threshold is: %d \r\n", freefallDetectionThreshold);
+ //printf("\n\n\n");
+ int8_t freefallDetectionDuration = mpu.getFreefallDetectionDuration();
+ //printf("MPU6050 freefall motion detection duration is: %d \r\n", freefallDetectionDuration);
+ //printf("MPU6050 set freefall motion detection duration to 40\r\n");
+ //mpu.setFreefallDetectionDuration(40);
+ freefallDetectionDuration = mpu.getFreefallDetectionDuration();
+ //printf("MPU6050 freefall motion detection duration now is: %d \r\n", freefallDetectionDuration);
+ printf("Freefall motion detection duration is: %d \r\n", freefallDetectionDuration);
+ printf("\n\n\n");
+ printf("MPU6050 test\n\n");
+
+
+ //*******************************************************************************************************************************
+ */
while(1) {
- wait(1);
- sim5320.sendCommand("AT",1);
- }
- */
-
-
-
-/////////////////////////////////////////////////RTC_DEEP_SLEEP_WAKEUP////////////////////////////
- /*
- set_time(1495040081); // Set RTC time to Wed, 28 Oct 2009 11:35:37
- WakeUp::attach(&rtc_wakeup);
- WakeUp::calibrate();
- while (1) {
- WakeUp::set_ms(5000);
- time_t seconds = time(NULL);
- printf("Time = %s\n", ctime(&seconds));
- wait(1);
- printf("sleep\n");
- deepsleep();
- if (go_to_sleep == 1) {
- wait(1);
- printf("Wake_up\n");
- go_to_sleep=0;
+
+ if(test==1) {
+ wait(0.2);
+ test = 0;
+ getXYZMotions();
+ //mot=2;
}
- }
-*/
-////////////////////////////////////////////////////////////////////////////////////////////////
+
+
+
+ if(print==1) {
+ mojlogger.print();
+ print=0;
+ }
-//////////////////////////////////////////////CODE FOR SENDOR_BOARDS////////////////////////////////////////////////////////////////
- /*
- uint8_t IDBuffer[8];
- uint8_t IDMeasure[4];
- float measure=0.0;
- float measure2=0.0;
-
+//printf("caseFsm->DeviceInFullState()=%d\n",caseFsm->DeviceInFullState());
+ //This goes into caseFsm, but for now we are testing in main.cpp
+ if(caseFsm->DeviceInFullState()) {
+ printf("Waiting 5 seconds for RFID event...\r\n");
+ while (caseFsm->DeviceInFullState()) {
+ // Look for new cards
+
+
+ if ( ! RfChip.PICC_IsNewCardPresent()) {
+ wait_ms(500);
+ printf("!RfChip.PICC_IsNewCardPresent()\n");
+ continue;
+ }
+
+ // Select one of the cards
+ if ( ! RfChip.PICC_ReadCardSerial()) {
+ printf("!RfChip.PICC_ReadCardSerial()\n");
+ wait_ms(500);
+ continue;
+ }
- SensorBoards B1;
- B1.getSensorReadings(0x4a,0x10,IDMeasure);
- printf("number_of__boards= %d\n",B1.numberOfBoards);
- B1.sensorBoardScanner();
- printf("SnesorBoardAdress= %d\n",B1.boards[0].I2CAddress);
- B1.getSensorNumbers();
- printf("SensorBoardsensors= %d\n",B1.boards[0].numberOfSensors);
- B1.getSensorIDs();
- printf("SensorBoardIDs=%d %d \n",B1.boards[0].sensorIDs[0],B1.boards[0].sensorIDs[1]);
-
- B1.getSensorReadings(0x4a,0x10,IDMeasure);
-
- for(int k=0; k<1; k++) {
- printf("broj senzora %d \n",B1.boards[k].numberOfSensors);
- for(int i=0; i<B1.boards[k].numberOfSensors; i++){
- B1.getSensorReadings(B1.boards[k].I2CAddress,B1.boards[k].sensorIDs[i],IDMeasure);
- printf("measure=%d %d %d %d keaj\n",IDMeasure[0],IDMeasure[1],IDMeasure[2],IDMeasure[3]);
- //create_sensor_data(write_sd_buffer,IDMeasure,B1.boards[k].I2CAddress,B1.boards[k].sensorIDs[i]);
+ // Print Card UID
+ printf("Card UID: ");
+ for (uint8_t i = 0; i < RfChip.uid.size; i++) {
+ rfidEvent.uid[i] = RfChip.uid.uidByte[i];
+ printf("%X ", RfChip.uid.uidByte[i]);
}
+ rfidEvent.size = RfChip.uid.size;
+ printf("\n\r");
+
+ // Print Card type
+ uint8_t piccType = RfChip.PICC_GetType(RfChip.uid.sak);
+ printf("PICC Type: %s \n\r", RfChip.PICC_GetTypeName(piccType));
+ wait_ms(1000);
+ rfidEvent.cardType = piccType;
+ //phone inserted
+ caseFsm->handle(rfidEvent);
+ printf("_%d_\n",caseFsm->DeviceInPhoneDetectedState());
+ if(caseFsm->DeviceInPhoneDetectedState()) {
+ wait(0.3);
+ x++;
+ printf("snimi\n");
+ mojlog.setLog(600,1,0,600);
+ mojlogger.savelog(mojlog);
+ ;//LOGOVATI INSERTED
+
+ }
+
+ }
+ if(caseFsm->DeviceInDeviceEmptyState()) {
+ wait(0.3);
+ printf("ne snimi\n");
+ x++; //LOGOVATI REMOVED
+ mojlog.setLog(400,0,0,400);
+ mojlogger.savelog(mojlog);
+ }
}
- for(int i=0;i<12;i++)
- printf("_%d\n",write_sd_buffer[i]);
- */
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-
-
-return 0;
-}
-void create_sensor_data(uint8_t *write_sd_buffer, uint8_t *sensor_board_readings, uint8_t b_id, uint8_t s_id)
-{
- //pcf8563_read(&rtc);
- write_sd_buffer[0]=0;
- write_sd_buffer[1]=1;
- write_sd_buffer[2]=2;
- write_sd_buffer[3]=3;
- write_sd_buffer[4]=4;
- write_sd_buffer[5] =b_id; //sensor boaard id
- write_sd_buffer[6] =s_id; //sensor id
- write_sd_buffer[7] =sensor_board_readings[3]; //sensor reading
- write_sd_buffer[8] =sensor_board_readings[2]; //sensor reading
- write_sd_buffer[9] =sensor_board_readings[1]; //sensor reading
- write_sd_buffer[10]=sensor_board_readings[0]; //sensor reading
- write_sd_buffer[11]=0xFF;
- write_sd_buffer[12]=0xFF;
+ }
}
\ No newline at end of file