main.cpp

00001 #include "mbed.h"
00002 #include "cmsis_os.h"
00003 #include <stdlib.h>
00004 #include <stdio.h>
00005 #include <iostream>
00006 #include <string>
00007 #include <ctype.h>
00008 
00009 RawSerial pc(USBTX,USBRX);
00010 RawSerial XBEE(p37,p31);
00011 PwmOut pwm(p27);
00012 AnalogIn pot(p15);
00013 
00014 #define ZERO (float)0.01
00015 #define BAUD_RATE (int)115200
00016 
00017 float pot_value = 0.0;
00018 bool slave_manual = false;
00019 bool xbee_read_done = false;
00020 bool xbee_decode_done = false;
00021 //string received = ""; // May need to delete
00022 string sent = "";
00023 string slaveMode = "";
00024 char xbeeBuffer [8] = {};
00025 int sDimAmt = 0;
00026 int sTemp = 0;
00027 int data [6] = {};
00028 
00029 // XBEE Receive thread
00030 void xbee_receive(void const *args)
00031 {
00032     while(1)
00033     {
00034         while(XBEE.readable())
00035         {
00036             int i = 0;
00037             char temp;
00038             temp = XBEE.getc();
00039             xbeeBuffer[i] = temp;
00040             i = i+1;
00041             osDelay(10);
00042         }
00043         xbee_read_done = true;
00044         pc.printf(xbeeBuffer); // DEBUG
00045     }
00046 }
00047 
00048 // XBEE Decode thread
00049 void xbee_decode(void const *args)
00050 {
00051     while(1)
00052     {
00053         if(xbee_read_done)
00054         {
00055             xbee_read_done = false; // Reset flag
00056             
00057             for (int i = 0; i < 6; i++)
00058             {
00059                 data[i] = (int)xbeeBuffer[i+2]-48;
00060             }
00061             
00062             sDimAmt = (data[0]*100)+(data[1]*10)+(data[2]); //Data 0:2 is the 3 digit percentiloe for Master
00063             sTemp = (data[3]*100)+(data[4]*10)+(data[5]);
00064             pc.printf("SLave dim amount: %03d\n\r", sDimAmt);
00065             xbee_decode_done = true;
00066         }
00067         osDelay(10);
00068     }
00069 }
00070 
00071 // XBEE Action thread
00072 void xbee_action(void const *args)
00073 {
00074     while(1)
00075     {
00076         pot_value = pot.read();
00077         if(pot_value > ZERO)
00078         {
00079             slave_manual = true;
00080             pwm.write(pot_value);
00081             slaveMode = "M";
00082         }
00083         else if (pot_value < ZERO)
00084         {
00085             slave_manual = false;
00086             slaveMode = "A";
00087         }
00088         
00089         if(xbee_decode_done)
00090         {
00091             xbee_decode_done = false;
00092             sent = "S" + slaveMode;
00093             for(int i = 0; i < 6; i++)
00094             {
00095                 sent += xbeeBuffer[i+2]-48;
00096             }
00097             pc.printf("%s", sent);
00098         }
00099         osDelay(10);
00100     }
00101 }
00102 
00103 osThreadDef(xbee_receive, osPriorityNormal, DEFAULT_STACK_SIZE);
00104 osThreadDef(xbee_decode, osPriorityNormal, DEFAULT_STACK_SIZE);
00105 osThreadDef(xbee_action, osPriorityNormal, DEFAULT_STACK_SIZE);
00106 
00107 int main ()
00108 {
00109     osThreadCreate(osThread(xbee_receive),NULL);
00110     osThreadCreate(osThread(xbee_decode),NULL);
00111     osThreadCreate(osThread(xbee_action),NULL);
00112     pc.baud(BAUD_RATE);
00113     XBEE.baud(BAUD_RATE);
00114     while(1)
00115     {
00116         osDelay(30);
00117     }
00118 }
00119