Diff: main.cpp

Revision:

0:f2130c18e719

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Aug 26 14:52:20 2017 +0000
@@ -0,0 +1,523 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 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.
+ */
+
+#include "mbed.h"
+#include "ble/BLE.h"
+#include "ble/services/UARTService.h"
+
+
+
+DigitalOut  led1(p7);
+DigitalOut  Relay_1A(p28);
+DigitalOut  Relay_1B(p25);
+DigitalOut  Relay_2A(p24);
+DigitalOut  Relay_2B(p23);
+DigitalOut  Relay_3A(p22);
+DigitalOut  Relay_3B(p21);
+DigitalOut  Relay_4A(p9);
+DigitalOut  Relay_4B(p16);
+DigitalOut  Relay_1(p17);
+DigitalOut  Relay_2(p18);
+DigitalOut  Relay_3(p19);
+DigitalOut  Relay_4(p20);
+
+Serial      pc(p10, p11);
+BLEDevice   ble;
+UARTService *uartServicePtr;
+
+//// Other
+#define     ON          0
+#define     OFF         1
+uint8_t g_cmd;
+////////////////////////////////////////////////////////////////////
+void right(void); 
+void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
+{
+    ble.startAdvertising();
+}
+
+void onDataWritten(const GattWriteCallbackParams *params)
+{
+    if ((uartServicePtr != NULL) && (params->handle == uartServicePtr->getTXCharacteristicHandle())) {
+        uint16_t bytesRead = params->len;
+        g_cmd = params->data[0];
+        ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), params->data, bytesRead);
+    }
+}
+
+/////////////////////////////////////////////////////////////////////
+void periodicCallback(void)
+{
+    led1 = !led1;
+}
+//////////////////////////////////////////////////////////////////////
+void right(void)       //su dung motor 1 & 2
+{
+    Relay_1A = 0;
+    Relay_1B = 1;
+    Relay_2A = 0;
+    Relay_2B = 1;
+    Relay_3A = 0; 
+    Relay_3B = 1; 
+    Relay_4A = 0; 
+    Relay_4B = 1; 
+}
+void left(void)     //su dung motor 1 & 2
+{
+    Relay_1A = 1;
+    Relay_1B = 0;
+    Relay_2A = 1;
+    Relay_2B = 0;
+    Relay_3A = 1; 
+    Relay_3B = 0; 
+    Relay_4A = 1; 
+    Relay_4B = 0; 
+}
+void down(void)     //su dung motor 1 & 2
+{
+    Relay_1A = 1; // motor a ben trai, b ben phai 
+    Relay_1B = 0;
+    Relay_2A = 1;  // Motor 1,4 same side. Motor 2,3 sameside 
+    Relay_2B = 0;
+    Relay_3A = 0; 
+    Relay_3B = 1; 
+    Relay_4A = 0; 
+    Relay_4B = 1; 
+}
+void up(void)    //su dung motor 1 & 2
+{
+    Relay_1A = 0;
+    Relay_1B = 1;
+    Relay_2A = 0;
+    Relay_2B = 1;
+    Relay_3A = 1; 
+    Relay_3B = 0; 
+    Relay_4A = 1; 
+    Relay_4B = 0; 
+}
+void stop(void)    //su dung motor 1 & 2
+{
+    Relay_1A = 1;
+    Relay_1B = 1;
+    Relay_2A = 1;
+    Relay_2B = 1;
+    Relay_3A = 1; 
+    Relay_3B = 1; 
+    Relay_4A = 1;
+    Relay_4B = 1; 
+}
+/////////////////////////////////////////
+void motor3_up(void)
+{
+    Relay_3A = 0;
+    Relay_3B = 1;
+}
+void motor3_down(void)
+{
+    Relay_3A = 1;
+    Relay_3B = 0;
+}
+void motor3_stop(void)
+{
+    Relay_3A = 1;
+    Relay_3B = 1;
+}
+/////////////////////////////////////////
+void motor4_up(void)
+{
+    Relay_4A = 0;
+    Relay_4B = 1;
+}
+void motor4_down(void)
+{
+    Relay_4A = 1;
+    Relay_4B = 0;
+}
+void motor4_stop(void)
+{
+    Relay_4A = 1;
+    Relay_4B = 1;
+}
+//////////////////////////////////////////////////////////////////////
+void test_relay(void)
+{
+    Relay_1A = 0; wait(1); Relay_1A = 1; wait(2);
+    Relay_1B = 0; wait(1); Relay_1B = 1; wait(2);
+    Relay_2A = 0; wait(1); Relay_2A = 1; wait(2);
+    Relay_2B = 0; wait(1); Relay_2B = 1; wait(2);
+    Relay_3A = 0; wait(1); Relay_3A = 1; wait(2);
+    Relay_3B = 0; wait(1); Relay_3B = 1; wait(2);
+    Relay_4A = 0; wait(1); Relay_4A = 1; wait(2);
+    Relay_4B = 0; wait(1); Relay_4B = 1; wait(2);
+    Relay_1 = 0;  wait(1); Relay_1 = 1;  wait(2);
+    Relay_2 = 0;  wait(1); Relay_2 = 1;  wait(2);
+    Relay_3 = 0;  wait(1); Relay_3 = 1;  wait(2);
+    Relay_4 = 0;  wait(1); Relay_4 = 1;  wait(2);
+
+    Relay_1 = 0;
+    Relay_2 = 0;
+    Relay_3 = 0;
+    Relay_4 = 0;
+    Relay_1A = 1; Relay_1B = 0;
+    Relay_2A = 1; Relay_2B = 0;
+    Relay_3A = 1; Relay_3B = 0;
+    Relay_4A = 1; Relay_4B = 0;
+    wait(0.5);
+    Relay_1 = 1;
+    Relay_2 = 1;
+    Relay_3 = 1;
+    Relay_4 = 1;
+    Relay_1A = 0; Relay_1B = 1;
+    Relay_2A = 0; Relay_2B = 1;
+    Relay_3A = 0; Relay_3B = 1;
+    Relay_4A = 0; Relay_4B = 1;
+    wait(2);
+}
+
+//////////////////////////////////////////////////////////////////////
+int main(void)
+{
+    //Init hardware
+    led1 = OFF;
+    Relay_1A = 1;
+    Relay_1B = 1;
+    Relay_2A = 1;
+    Relay_2B = 1;
+    Relay_3A = 1;
+    Relay_3B = 1;
+    Relay_4A = 1;
+    Relay_4B = 1;
+    Relay_1 = 1;
+    Relay_2 = 1;
+    Relay_3 = 1;
+    Relay_4 = 1;
+    //Init UART
+    pc.baud(115200);
+    pc.printf("\n\r# tisomitru\n\r");
+    //Init timer
+    Ticker ticker;
+    ticker.attach(periodicCallback, 0.03); //sec
+    //Init BLE
+    ble.init();
+    ble.onDisconnection(disconnectionCallback);
+    ble.onDataWritten(onDataWritten);
+    /* setup advertising */
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
+    ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
+                                     (const uint8_t *)"tisomitru", sizeof("tisomitru") - 1);
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
+                                     (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
+    ble.setAdvertisingInterval(200); /* 1000ms; in multiples of 0.625ms. */
+    ble.startAdvertising();
+    UARTService uartService(ble);
+    uartServicePtr = &uartService;
+
+while (true) {
+        ble.waitForEvent();
+        //test_relay();
+
+        if     (g_cmd == 1) {up();      }
+        else if(g_cmd == 2) {left();    }
+        else if(g_cmd == 3) {down();    }
+        else if(g_cmd == 4) {right();   }
+        else if(g_cmd == 5) {stop();    }
+
+        else if(g_cmd == 6) {
+            Relay_4 = ON; 
+            
+            }
+        else if(g_cmd == 7) {
+             Relay_4 = OFF; 
+             }
+        else if(g_cmd == 8) {motor3_stop();  }
+        else if(g_cmd == 9)  {motor4_up();   }
+        else if(g_cmd == 10) {motor4_down(); }
+        else if(g_cmd == 11) {motor4_stop(); }
+
+        else if(g_cmd == 12) {Relay_1 = ON;  }
+        else if(g_cmd == 13) {Relay_1 = OFF; }
+        else if(g_cmd == 14) {Relay_2 = ON;  }
+        else if(g_cmd == 15) {Relay_2 = OFF; }
+        else if(g_cmd == 16) {Relay_3 = ON;  }
+        else if(g_cmd == 17) {Relay_3 = OFF; }
+        else if(g_cmd == 18) {Relay_4 = ON;  }
+        else if(g_cmd == 19) {Relay_4 = OFF; }
+
+        g_cmd = 0;
+}
+}/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 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.
+ */
+
+#include "mbed.h"
+#include "ble/BLE.h"
+#include "ble/services/UARTService.h"
+
+
+
+DigitalOut  led1(p7);
+DigitalOut  Relay_1A(p28);
+DigitalOut  Relay_1B(p25);
+DigitalOut  Relay_2A(p24);
+DigitalOut  Relay_2B(p23);
+DigitalOut  Relay_3A(p22);
+DigitalOut  Relay_3B(p21);
+DigitalOut  Relay_4A(p9);
+DigitalOut  Relay_4B(p16);
+DigitalOut  Relay_1(p17);
+DigitalOut  Relay_2(p18);
+DigitalOut  Relay_3(p19);
+DigitalOut  Relay_4(p20);
+
+Serial      pc(p10, p11);
+BLEDevice   ble;
+UARTService *uartServicePtr;
+
+//// Other
+#define     ON          0
+#define     OFF         1
+uint8_t g_cmd;
+////////////////////////////////////////////////////////////////////
+void right(void); 
+void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
+{
+    ble.startAdvertising();
+}
+
+void onDataWritten(const GattWriteCallbackParams *params)
+{
+    if ((uartServicePtr != NULL) && (params->handle == uartServicePtr->getTXCharacteristicHandle())) {
+        uint16_t bytesRead = params->len;
+        g_cmd = params->data[0];
+        ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), params->data, bytesRead);
+    }
+}
+
+/////////////////////////////////////////////////////////////////////
+void periodicCallback(void)
+{
+    led1 = !led1;
+}
+//////////////////////////////////////////////////////////////////////
+void right(void)       //su dung motor 1 & 2
+{
+    Relay_1A = 0;
+    Relay_1B = 1;
+    Relay_2A = 0;
+    Relay_2B = 1;
+    Relay_3A = 0; 
+    Relay_3B = 1; 
+    Relay_4A = 0; 
+    Relay_4B = 1; 
+}
+void left(void)     //su dung motor 1 & 2
+{
+    Relay_1A = 1;
+    Relay_1B = 0;
+    Relay_2A = 1;
+    Relay_2B = 0;
+    Relay_3A = 1; 
+    Relay_3B = 0; 
+    Relay_4A = 1; 
+    Relay_4B = 0; 
+}
+void down(void)     //su dung motor 1 & 2
+{
+    Relay_1A = 1; // motor a ben trai, b ben phai 
+    Relay_1B = 0;
+    Relay_2A = 1;  // Motor 1,4 same side. Motor 2,3 sameside 
+    Relay_2B = 0;
+    Relay_3A = 0; 
+    Relay_3B = 1; 
+    Relay_4A = 0; 
+    Relay_4B = 1; 
+}
+void up(void)    //su dung motor 1 & 2
+{
+    Relay_1A = 0;
+    Relay_1B = 1;
+    Relay_2A = 0;
+    Relay_2B = 1;
+    Relay_3A = 1; 
+    Relay_3B = 0; 
+    Relay_4A = 1; 
+    Relay_4B = 0; 
+}
+void stop(void)    //su dung motor 1 & 2
+{
+    Relay_1A = 1;
+    Relay_1B = 1;
+    Relay_2A = 1;
+    Relay_2B = 1;
+    Relay_3A = 1; 
+    Relay_3B = 1; 
+    Relay_4A = 1;
+    Relay_4B = 1; 
+}
+/////////////////////////////////////////
+void motor3_up(void)
+{
+    Relay_3A = 0;
+    Relay_3B = 1;
+}
+void motor3_down(void)
+{
+    Relay_3A = 1;
+    Relay_3B = 0;
+}
+void motor3_stop(void)
+{
+    Relay_3A = 1;
+    Relay_3B = 1;
+}
+/////////////////////////////////////////
+void motor4_up(void)
+{
+    Relay_4A = 0;
+    Relay_4B = 1;
+}
+void motor4_down(void)
+{
+    Relay_4A = 1;
+    Relay_4B = 0;
+}
+void motor4_stop(void)
+{
+    Relay_4A = 1;
+    Relay_4B = 1;
+}
+//////////////////////////////////////////////////////////////////////
+void test_relay(void)
+{
+    Relay_1A = 0; wait(1); Relay_1A = 1; wait(2);
+    Relay_1B = 0; wait(1); Relay_1B = 1; wait(2);
+    Relay_2A = 0; wait(1); Relay_2A = 1; wait(2);
+    Relay_2B = 0; wait(1); Relay_2B = 1; wait(2);
+    Relay_3A = 0; wait(1); Relay_3A = 1; wait(2);
+    Relay_3B = 0; wait(1); Relay_3B = 1; wait(2);
+    Relay_4A = 0; wait(1); Relay_4A = 1; wait(2);
+    Relay_4B = 0; wait(1); Relay_4B = 1; wait(2);
+    Relay_1 = 0;  wait(1); Relay_1 = 1;  wait(2);
+    Relay_2 = 0;  wait(1); Relay_2 = 1;  wait(2);
+    Relay_3 = 0;  wait(1); Relay_3 = 1;  wait(2);
+    Relay_4 = 0;  wait(1); Relay_4 = 1;  wait(2);
+
+    Relay_1 = 0;
+    Relay_2 = 0;
+    Relay_3 = 0;
+    Relay_4 = 0;
+    Relay_1A = 1; Relay_1B = 0;
+    Relay_2A = 1; Relay_2B = 0;
+    Relay_3A = 1; Relay_3B = 0;
+    Relay_4A = 1; Relay_4B = 0;
+    wait(0.5);
+    Relay_1 = 1;
+    Relay_2 = 1;
+    Relay_3 = 1;
+    Relay_4 = 1;
+    Relay_1A = 0; Relay_1B = 1;
+    Relay_2A = 0; Relay_2B = 1;
+    Relay_3A = 0; Relay_3B = 1;
+    Relay_4A = 0; Relay_4B = 1;
+    wait(2);
+}
+
+//////////////////////////////////////////////////////////////////////
+int main(void)
+{
+    //Init hardware
+    led1 = OFF;
+    Relay_1A = 1;
+    Relay_1B = 1;
+    Relay_2A = 1;
+    Relay_2B = 1;
+    Relay_3A = 1;
+    Relay_3B = 1;
+    Relay_4A = 1;
+    Relay_4B = 1;
+    Relay_1 = 1;
+    Relay_2 = 1;
+    Relay_3 = 1;
+    Relay_4 = 1;
+    //Init UART
+    pc.baud(115200);
+    pc.printf("\n\r# tisomitru\n\r");
+    //Init timer
+    Ticker ticker;
+    ticker.attach(periodicCallback, 0.03); //sec
+    //Init BLE
+    ble.init();
+    ble.onDisconnection(disconnectionCallback);
+    ble.onDataWritten(onDataWritten);
+    /* setup advertising */
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
+    ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
+                                     (const uint8_t *)"tisomitru", sizeof("tisomitru") - 1);
+    ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
+                                     (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
+    ble.setAdvertisingInterval(200); /* 1000ms; in multiples of 0.625ms. */
+    ble.startAdvertising();
+    UARTService uartService(ble);
+    uartServicePtr = &uartService;
+
+while (true) {
+        ble.waitForEvent();
+        //test_relay();
+
+        if     (g_cmd == 1) {up();      }
+        else if(g_cmd == 2) {left();    }
+        else if(g_cmd == 3) {down();    }
+        else if(g_cmd == 4) {right();   }
+        else if(g_cmd == 5) {stop();    }
+
+        else if(g_cmd == 6) {
+            Relay_4 = ON; 
+            
+            }
+        else if(g_cmd == 7) {
+             Relay_4 = OFF; 
+             }
+        else if(g_cmd == 8) {motor3_stop();  }
+        else if(g_cmd == 9)  {motor4_up();   }
+        else if(g_cmd == 10) {motor4_down(); }
+        else if(g_cmd == 11) {motor4_stop(); }
+
+        else if(g_cmd == 12) {Relay_1 = ON;  }
+        else if(g_cmd == 13) {Relay_1 = OFF; }
+        else if(g_cmd == 14) {Relay_2 = ON;  }
+        else if(g_cmd == 15) {Relay_2 = OFF; }
+        else if(g_cmd == 16) {Relay_3 = ON;  }
+        else if(g_cmd == 17) {Relay_3 = OFF; }
+        else if(g_cmd == 18) {Relay_4 = ON;  }
+        else if(g_cmd == 19) {Relay_4 = OFF; }
+
+        g_cmd = 0;
+}
+}