Denver / Mbed 2 deprecated denver_train_proj

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Dependencies:   mbed TextLCD

main.cpp@40:9acc1341456a, 2018-06-14 (annotated)

Committer:
carlosperales95
Date:
Thu Jun 14 13:19:52 2018 +0000
Revision:
40:9acc1341456a
Parent:
39:9cce8f2c50b6
Child:
41:4fa6aa29d1ed
mergepush finally?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mglmx 0:4d06a6a8e785 1 #include "mbed.h"
mglmx 3:fe7010b693a0 2 #include "TextLCD.h"
mglmx 18:aa43bb62e60f 3 #include "MCP23017.h"
mglmx 22:e4153ca757dd 4 #include <string>
mglmx 22:e4153ca757dd 5 #include <iostream>
mglmx 35:cfcfeccb959e 6 #include <vector>
mglmx 35:cfcfeccb959e 7
mglmx 35:cfcfeccb959e 8 using namespace std;
mglmx 18:aa43bb62e60f 9
mglmx 1:0ab26889af9b 10
carlosperales95 7:e2b8461d4f05 11 /******PINS AND DECLARATIONS*******/
carlosperales95 7:e2b8461d4f05 12
carlosperales95 25:a42a1ed4d8e9 13 //------PINS
mglmx 21:e6f1649add39 14
mglmx 21:e6f1649add39 15 //SWITCHES p5 - p8
mglmx 21:e6f1649add39 16 DigitalIn switch1(p5);
mglmx 21:e6f1649add39 17 DigitalIn switch2(p6);
mglmx 21:e6f1649add39 18 DigitalIn switch3(p7);
mglmx 21:e6f1649add39 19 DigitalIn switch4(p8);
carlosperales95 7:e2b8461d4f05 20
carlosperales95 10:2088b1935a93 21 //RAIL SENSORS - INT0,INT1
carlosperales95 7:e2b8461d4f05 22 //INT0 - p9
mglmx 18:aa43bb62e60f 23 InterruptIn int0(p9);
carlosperales95 7:e2b8461d4f05 24 //INT1 - p10
mglmx 18:aa43bb62e60f 25 InterruptIn int1(p10);
carlosperales95 7:e2b8461d4f05 26
carlosperales95 7:e2b8461d4f05 27 ///p11
carlosperales95 7:e2b8461d4f05 28 ///p12
carlosperales95 12:e914ca5cd44b 29
carlosperales95 7:e2b8461d4f05 30 //M0 - p13
mglmx 35:cfcfeccb959e 31 DigitalIn d21stat(p13); //Sensor right of the station
carlosperales95 7:e2b8461d4f05 32 //M1 - p14
mglmx 35:cfcfeccb959e 33 DigitalIn d22stat(p14); //Sensor left of the station
carlosperales95 7:e2b8461d4f05 34 //M2 - p15
carlosperales95 29:559eb2164488 35 DigitalIn station(p15); //Sensor in the middle of the station
carlosperales95 12:e914ca5cd44b 36
carlosperales95 7:e2b8461d4f05 37 //p16
carlosperales95 12:e914ca5cd44b 38 //p17
carlosperales95 12:e914ca5cd44b 39
carlosperales95 11:021210c59a95 40 //BUZZER - p18
carlosperales95 11:021210c59a95 41 DigitalOut buzz(p18); // buzz=0 doesn't beep, buzz=1 beeps
carlosperales95 7:e2b8461d4f05 42
carlosperales95 7:e2b8461d4f05 43 //POTENTIOMETER - p19
carlosperales95 13:dbf1ead12cee 44 AnalogIn pot(p19); //Gives float value pot.read(). Convert analog input to V with f*3.3
carlosperales95 7:e2b8461d4f05 45
carlosperales95 7:e2b8461d4f05 46 //DAT - p20
mglmx 3:fe7010b693a0 47 DigitalOut Track(p20); //Digital output bit used to drive track power via H-bridge
carlosperales95 7:e2b8461d4f05 48
carlosperales95 7:e2b8461d4f05 49 //LCD SCREEN - p21, p22, p23, p24, p25, p26
carlosperales95 11:021210c59a95 50 TextLCD lcd(p22,p21,p23,p24,p25,p26); // RS, E, A4, A5, A6, A7 // ldc.cls() to clear and printf(String up to 16char)
carlosperales95 7:e2b8461d4f05 51
carlosperales95 7:e2b8461d4f05 52 ///p27
carlosperales95 7:e2b8461d4f05 53 ///p28
mglmx 33:24ce12dec157 54 I2C i2c(p28,p27);
carlosperales95 7:e2b8461d4f05 55
carlosperales95 7:e2b8461d4f05 56 //LED1 - p29
mglmx 3:fe7010b693a0 57 DigitalOut redled(p29);
carlosperales95 7:e2b8461d4f05 58 //LED2 - p30
mglmx 3:fe7010b693a0 59 DigitalOut greenled(p30);
carlosperales95 7:e2b8461d4f05 60
carlosperales95 24:1d71dd8778c4 61 //MBED LEDS
mglmx 18:aa43bb62e60f 62 DigitalOut led1(LED1);
mglmx 18:aa43bb62e60f 63 DigitalOut led2(LED2);
mglmx 18:aa43bb62e60f 64 DigitalOut led3(LED3);
mglmx 16:2a2da0e67793 65
mglmx 16:2a2da0e67793 66 //MCP
mglmx 16:2a2da0e67793 67 MCP23017 *mcp;
carlosperales95 12:e914ca5cd44b 68
carlosperales95 24:1d71dd8778c4 69
carlosperales95 25:a42a1ed4d8e9 70 //------GLOBAL VARS
carlosperales95 25:a42a1ed4d8e9 71
carlosperales95 38:b9aba3715682 72 //......SENSOR POSITION VARS
carlosperales95 38:b9aba3715682 73
mglmx 34:c9ab2a987734 74 #define D0 0
mglmx 34:c9ab2a987734 75 #define D1 1
mglmx 34:c9ab2a987734 76 #define D2 2
mglmx 34:c9ab2a987734 77 #define D3 3
mglmx 34:c9ab2a987734 78 #define D4 4
mglmx 34:c9ab2a987734 79 #define D5 5
mglmx 34:c9ab2a987734 80 #define D6 6
mglmx 34:c9ab2a987734 81 #define D7 7
mglmx 34:c9ab2a987734 82 #define D8 8
mglmx 34:c9ab2a987734 83 #define D9 9
mglmx 34:c9ab2a987734 84 #define D10 10
mglmx 34:c9ab2a987734 85 #define D11 11
mglmx 34:c9ab2a987734 86 #define D12 12
mglmx 34:c9ab2a987734 87 #define D13 13
mglmx 34:c9ab2a987734 88 #define D21 14
mglmx 34:c9ab2a987734 89 #define D22 15
mglmx 34:c9ab2a987734 90
carlosperales95 38:b9aba3715682 91 /**
carlosperales95 38:b9aba3715682 92 *
carlosperales95 38:b9aba3715682 93 *Position class.
carlosperales95 38:b9aba3715682 94 *
carlosperales95 38:b9aba3715682 95 *@position -
carlosperales95 38:b9aba3715682 96 *@previous_cw -
carlosperales95 38:b9aba3715682 97 *@previous_ccw -
carlosperales95 38:b9aba3715682 98 *
carlosperales95 38:b9aba3715682 99 *Position(int) -
carlosperales95 38:b9aba3715682 100 *
carlosperales95 38:b9aba3715682 101 *get_pos() -
carlosperales95 38:b9aba3715682 102 *get_prev_cw() -
carlosperales95 38:b9aba3715682 103 *get_ccw() -
carlosperales95 38:b9aba3715682 104 *add_prev_cw() -
carlosperales95 38:b9aba3715682 105 *add_ccw() -
carlosperales95 38:b9aba3715682 106 *
carlosperales95 38:b9aba3715682 107 **/
mglmx 35:cfcfeccb959e 108 class Position{
mglmx 35:cfcfeccb959e 109 private:
mglmx 35:cfcfeccb959e 110 int position;
mglmx 35:cfcfeccb959e 111 vector <int> previous_cw;
mglmx 35:cfcfeccb959e 112 vector <int> previous_ccw;
mglmx 35:cfcfeccb959e 113 public:
mglmx 35:cfcfeccb959e 114 Position(int p){
mglmx 35:cfcfeccb959e 115 position = p;
mglmx 35:cfcfeccb959e 116 }
mglmx 36:9428c72bdd58 117
mglmx 36:9428c72bdd58 118 int get_pos(){
mglmx 36:9428c72bdd58 119 return position;
mglmx 36:9428c72bdd58 120 }
carlosperales95 25:a42a1ed4d8e9 121
mglmx 35:cfcfeccb959e 122 vector <int> get_prev_cw(){
mglmx 35:cfcfeccb959e 123 return previous_cw;
mglmx 35:cfcfeccb959e 124 }
mglmx 35:cfcfeccb959e 125
mglmx 35:cfcfeccb959e 126 vector <int> get_prev_ccw(){
mglmx 35:cfcfeccb959e 127 return previous_ccw;
mglmx 35:cfcfeccb959e 128 }
mglmx 35:cfcfeccb959e 129
mglmx 35:cfcfeccb959e 130 void add_prev_cw(int pos){
mglmx 35:cfcfeccb959e 131 previous_cw.push_back(pos);
mglmx 35:cfcfeccb959e 132 };
mglmx 35:cfcfeccb959e 133
mglmx 35:cfcfeccb959e 134 void add_prev_ccw(int pos){
mglmx 35:cfcfeccb959e 135 previous_ccw.push_back(pos);
mglmx 35:cfcfeccb959e 136 };
mglmx 35:cfcfeccb959e 137 };
mglmx 35:cfcfeccb959e 138
carlosperales95 38:b9aba3715682 139 //Creation of all the positions. One for every sensor on the table - Position name(mapping)
carlosperales95 38:b9aba3715682 140
mglmx 35:cfcfeccb959e 141 Position d0(D0);
mglmx 35:cfcfeccb959e 142 Position d1(D1);
mglmx 35:cfcfeccb959e 143 Position d2(D2);
mglmx 35:cfcfeccb959e 144 Position d3(D3);
mglmx 35:cfcfeccb959e 145 Position d4(D4);
mglmx 35:cfcfeccb959e 146 Position d5(D5);
mglmx 35:cfcfeccb959e 147 Position d6(D6);
mglmx 35:cfcfeccb959e 148 Position d7(D7);
mglmx 35:cfcfeccb959e 149 Position d8(D8);
mglmx 35:cfcfeccb959e 150 Position d9(D9);
mglmx 35:cfcfeccb959e 151 Position d10(D10);
mglmx 35:cfcfeccb959e 152 Position d11(D11);
mglmx 35:cfcfeccb959e 153 Position d12(D12);
mglmx 35:cfcfeccb959e 154 Position d13(D13);
mglmx 35:cfcfeccb959e 155 Position d21(D21);
mglmx 35:cfcfeccb959e 156 Position d22(D22);
mglmx 35:cfcfeccb959e 157
carlosperales95 38:b9aba3715682 158 //Creating a vector with all the positions.
mglmx 35:cfcfeccb959e 159 vector<Position> positions;
mglmx 35:cfcfeccb959e 160
carlosperales95 38:b9aba3715682 161
carlosperales95 25:a42a1ed4d8e9 162 //.....DCC TRAIN COMMAND VARS
carlosperales95 25:a42a1ed4d8e9 163
carlosperales95 25:a42a1ed4d8e9 164 //typical out of box default engine DCC address is 3 (at least for Bachmann trains)
carlosperales95 25:a42a1ed4d8e9 165 //Note: A DCC controller can reprogram the address whenever needed
mglmx 32:e5b732fb8e65 166 const unsigned int DCCaddressDR = 0x01; //Address for train 1 DARK-RED
mglmx 32:e5b732fb8e65 167 const unsigned int DCCaddressLR = 0x03; //Address for train 3 LIGHT-RED
carlosperales95 25:a42a1ed4d8e9 168
carlosperales95 25:a42a1ed4d8e9 169 //01DCSSSS for speed, D is direction (fwd=1 and rev=0), C is speed(SSSSC) LSB
carlosperales95 25:a42a1ed4d8e9 170 const unsigned int DCCinst_forward = 0x68; //forward half speed
mglmx 33:24ce12dec157 171 const unsigned int DCCinst_forward_slow = 0x66; //forward half speed
carlosperales95 25:a42a1ed4d8e9 172 const unsigned int DCCinst_reverse = 0x48; //reverse half speed
carlosperales95 25:a42a1ed4d8e9 173 const unsigned int DCCinst_stop = 0x50; //stop the train
carlosperales95 25:a42a1ed4d8e9 174
carlosperales95 25:a42a1ed4d8e9 175 //100DDDDD for basic headlight functions
carlosperales95 25:a42a1ed4d8e9 176 const unsigned int DCC_func_lighton = 0x90; //F0 turns on headlight function
carlosperales95 25:a42a1ed4d8e9 177 const unsigned int DCC_func_dimlight = 0x91; //F0 + F1 dims headlight
carlosperales95 25:a42a1ed4d8e9 178
carlosperales95 25:a42a1ed4d8e9 179
carlosperales95 25:a42a1ed4d8e9 180 //.....SWITCH COMMAND VARS
carlosperales95 25:a42a1ed4d8e9 181
carlosperales95 25:a42a1ed4d8e9 182 const unsigned int SWBaddress = 0x06; //Address for switch box
carlosperales95 25:a42a1ed4d8e9 183
carlosperales95 25:a42a1ed4d8e9 184 //100DDDDD where DDDDD is the switch command and 100 is constant:
carlosperales95 25:a42a1ed4d8e9 185
carlosperales95 25:a42a1ed4d8e9 186 //00001(F1 active)-00010(F2 active)-00100(F3 active)-01000(F4 active)
carlosperales95 25:a42a1ed4d8e9 187 //Example - 111111 0 00000101 0 10000000 0 10000101 1 - idle
carlosperales95 25:a42a1ed4d8e9 188 const unsigned int SWBidle = 0x80; //IDLE - Flip last activated SW.
carlosperales95 25:a42a1ed4d8e9 189 const unsigned int SWBflip_1 = 0x81; //Flip SW1
carlosperales95 25:a42a1ed4d8e9 190 const unsigned int SWBflip_2 = 0x82; //Flip SW2
carlosperales95 25:a42a1ed4d8e9 191 const unsigned int SWBflip_3 = 0x84; //Flip SW3
carlosperales95 25:a42a1ed4d8e9 192 const unsigned int SWBflip_4 = 0x88; //Flip SW4
carlosperales95 25:a42a1ed4d8e9 193
carlosperales95 40:9acc1341456a 194
mglmx 35:cfcfeccb959e 195 //Starting position and orientation of the trains
mglmx 35:cfcfeccb959e 196 int DR_train_pos = D4;
mglmx 35:cfcfeccb959e 197 bool DR_cw = true;
mglmx 35:cfcfeccb959e 198
mglmx 35:cfcfeccb959e 199 int LR_train_pos= D10;
mglmx 35:cfcfeccb959e 200 bool LR_cw = true;
mglmx 35:cfcfeccb959e 201
mglmx 18:aa43bb62e60f 202
carlosperales95 38:b9aba3715682 203
carlosperales95 38:b9aba3715682 204 //**************** FUNCTIONS FOR DENVER TRAIN ****************//
carlosperales95 38:b9aba3715682 205
carlosperales95 38:b9aba3715682 206
mglmx 22:e4153ca757dd 207 /**
carlosperales95 25:a42a1ed4d8e9 208 *Activates the buzzer for 0.5 seconds.
mglmx 22:e4153ca757dd 209 **/
mglmx 22:e4153ca757dd 210 void doBuzz(){
carlosperales95 25:a42a1ed4d8e9 211
mglmx 22:e4153ca757dd 212 buzz = 1;
mglmx 22:e4153ca757dd 213 wait(0.5);
mglmx 22:e4153ca757dd 214 buzz = 0;
mglmx 22:e4153ca757dd 215 }
mglmx 18:aa43bb62e60f 216
mglmx 35:cfcfeccb959e 217 void init_positions(){
mglmx 36:9428c72bdd58 218
mglmx 35:cfcfeccb959e 219
mglmx 35:cfcfeccb959e 220 d0.add_prev_cw(D1);
mglmx 35:cfcfeccb959e 221 d0.add_prev_ccw(D13);
mglmx 35:cfcfeccb959e 222
mglmx 35:cfcfeccb959e 223 d1.add_prev_cw(D22);
mglmx 35:cfcfeccb959e 224 d1.add_prev_ccw(D0);
mglmx 35:cfcfeccb959e 225
mglmx 35:cfcfeccb959e 226 d22.add_prev_cw(D2);
mglmx 35:cfcfeccb959e 227 d22.add_prev_ccw(D1);
mglmx 35:cfcfeccb959e 228
mglmx 35:cfcfeccb959e 229 d2.add_prev_cw(D21);
mglmx 35:cfcfeccb959e 230 d2.add_prev_ccw(D22);
mglmx 35:cfcfeccb959e 231
mglmx 35:cfcfeccb959e 232 d21.add_prev_cw(D3);
mglmx 35:cfcfeccb959e 233 d21.add_prev_cw(D4);
mglmx 35:cfcfeccb959e 234 d21.add_prev_ccw(D2);
mglmx 35:cfcfeccb959e 235
mglmx 35:cfcfeccb959e 236 d3.add_prev_cw(D9);
mglmx 35:cfcfeccb959e 237 d3.add_prev_ccw(D21);
mglmx 35:cfcfeccb959e 238
mglmx 35:cfcfeccb959e 239 d4.add_prev_cw(D6);
mglmx 35:cfcfeccb959e 240 d4.add_prev_ccw(D21);
mglmx 35:cfcfeccb959e 241
mglmx 35:cfcfeccb959e 242 d5.add_prev_cw(D6);
mglmx 35:cfcfeccb959e 243 d5.add_prev_ccw(D11);
mglmx 35:cfcfeccb959e 244
mglmx 35:cfcfeccb959e 245 d6.add_prev_cw(D7);
mglmx 35:cfcfeccb959e 246 d6.add_prev_ccw(D4);
mglmx 35:cfcfeccb959e 247 d6.add_prev_ccw(D5);
mglmx 35:cfcfeccb959e 248
mglmx 35:cfcfeccb959e 249 d7.add_prev_cw(D8);
mglmx 35:cfcfeccb959e 250 d7.add_prev_ccw(D6);
mglmx 35:cfcfeccb959e 251
mglmx 36:9428c72bdd58 252 d8.add_prev_cw(D9);
mglmx 36:9428c72bdd58 253 d8.add_prev_cw(D10);
mglmx 36:9428c72bdd58 254 d8.add_prev_ccw(D7);
mglmx 36:9428c72bdd58 255
mglmx 35:cfcfeccb959e 256 d9.add_prev_cw(D3);
mglmx 35:cfcfeccb959e 257 d9.add_prev_ccw(D8);
mglmx 35:cfcfeccb959e 258
mglmx 35:cfcfeccb959e 259 d10.add_prev_cw(D12);
mglmx 35:cfcfeccb959e 260 d10.add_prev_ccw(D8);
mglmx 35:cfcfeccb959e 261
mglmx 35:cfcfeccb959e 262 d11.add_prev_cw(D12);
mglmx 35:cfcfeccb959e 263 d11.add_prev_ccw(D5);
mglmx 35:cfcfeccb959e 264
mglmx 35:cfcfeccb959e 265 d12.add_prev_cw(D13);
mglmx 35:cfcfeccb959e 266 d12.add_prev_ccw(D10);
mglmx 35:cfcfeccb959e 267 d12.add_prev_ccw(D11);
mglmx 35:cfcfeccb959e 268
mglmx 35:cfcfeccb959e 269 d13.add_prev_cw(D0);
mglmx 35:cfcfeccb959e 270 d13.add_prev_ccw(D12);
mglmx 36:9428c72bdd58 271
mglmx 36:9428c72bdd58 272 //Initialize array with positions
mglmx 36:9428c72bdd58 273 positions.push_back(d0);
mglmx 36:9428c72bdd58 274 positions.push_back(d1);
mglmx 36:9428c72bdd58 275 positions.push_back(d2);
mglmx 36:9428c72bdd58 276 positions.push_back(d3);
mglmx 36:9428c72bdd58 277 positions.push_back(d4);
mglmx 36:9428c72bdd58 278 positions.push_back(d5);
mglmx 36:9428c72bdd58 279 positions.push_back(d6);
mglmx 36:9428c72bdd58 280 positions.push_back(d7);
mglmx 36:9428c72bdd58 281 positions.push_back(d8);
mglmx 36:9428c72bdd58 282 positions.push_back(d9);
mglmx 36:9428c72bdd58 283 positions.push_back(d10);
mglmx 36:9428c72bdd58 284 positions.push_back(d11);
mglmx 36:9428c72bdd58 285 positions.push_back(d12);
mglmx 36:9428c72bdd58 286 positions.push_back(d13);
mglmx 36:9428c72bdd58 287 positions.push_back(d21);
mglmx 36:9428c72bdd58 288 positions.push_back(d22);
mglmx 35:cfcfeccb959e 289 }
carlosperales95 24:1d71dd8778c4 290
mglmx 22:e4153ca757dd 291 /**
carlosperales95 24:1d71dd8778c4 292 *
carlosperales95 28:71bd4c83c05f 293 *Here we initialize the mcp that will be used to manage the interrupts.
carlosperales95 25:a42a1ed4d8e9 294 *
carlosperales95 24:1d71dd8778c4 295 **/
mglmx 18:aa43bb62e60f 296 void initialize_mcp(){
mglmx 33:24ce12dec157 297 mcp = new MCP23017(i2c,0x40); //Connect to SCL - p28 and SDA - p27 and MPC I2C address 0x40
mglmx 18:aa43bb62e60f 298
mglmx 33:24ce12dec157 299 mcp->_write(IODIRA, (unsigned char )0xff);
mglmx 33:24ce12dec157 300 mcp->_write(IODIRB, (unsigned char )0xff);
mglmx 33:24ce12dec157 301 mcp->_write(IPOLA, (unsigned char )0x00);
mglmx 33:24ce12dec157 302 mcp->_write(IPOLB, (unsigned char )0x00);
mglmx 33:24ce12dec157 303 mcp->_write(DEFVALA, (unsigned char )0xff);
mglmx 33:24ce12dec157 304 mcp->_write(DEFVALB, (unsigned char )0xff);
mglmx 33:24ce12dec157 305 mcp->_write(INTCONA, (unsigned char )0xff);
mglmx 33:24ce12dec157 306 mcp->_write(INTCONB, (unsigned char )0xff);
mglmx 33:24ce12dec157 307 mcp->_write(IOCONA, (unsigned char )0x2);
mglmx 33:24ce12dec157 308 mcp->_write(IOCONB, (unsigned char )0x2);
mglmx 33:24ce12dec157 309 mcp->_write(GPPUA, (unsigned char )0xff);
mglmx 33:24ce12dec157 310 mcp->_write(GPPUB, (unsigned char )0xff);
mglmx 33:24ce12dec157 311
mglmx 18:aa43bb62e60f 312 }
mglmx 18:aa43bb62e60f 313
carlosperales95 24:1d71dd8778c4 314 /**
carlosperales95 24:1d71dd8778c4 315 *
carlosperales95 37:bb15bea420a3 316 *Returns the number of the sensor where the train was detected.
carlosperales95 37:bb15bea420a3 317 *
carlosperales95 37:bb15bea420a3 318 **/
mglmx 34:c9ab2a987734 319 int get_sensor(unsigned int number,int interrupt){
mglmx 34:c9ab2a987734 320 int sensor = -1;
mglmx 34:c9ab2a987734 321
carlosperales95 37:bb15bea420a3 322 for(int i=0; i<8; i++){
mglmx 34:c9ab2a987734 323
mglmx 34:c9ab2a987734 324 if(~number & 1<<i){
mglmx 34:c9ab2a987734 325 sensor = i;
mglmx 34:c9ab2a987734 326 }
mglmx 34:c9ab2a987734 327 }
mglmx 34:c9ab2a987734 328
mglmx 34:c9ab2a987734 329 if(interrupt == 1){
carlosperales95 37:bb15bea420a3 330 sensor+= 8; // Sensors caught by interreupt1 are identified from 8 to 15.
mglmx 34:c9ab2a987734 331 }
mglmx 34:c9ab2a987734 332 return sensor;
mglmx 34:c9ab2a987734 333 }
mglmx 34:c9ab2a987734 334
mglmx 35:cfcfeccb959e 335 void update_train_pos(int sensor){
mglmx 35:cfcfeccb959e 336 bool found_DR = false;
mglmx 36:9428c72bdd58 337 bool found_LR = false;
mglmx 36:9428c72bdd58 338
carlosperales95 37:bb15bea420a3 339 Position pos = positions[sensor];
carlosperales95 37:bb15bea420a3 340 for(int i = 0; i<pos.get_prev_cw().size();i++){
mglmx 35:cfcfeccb959e 341 int prev = pos.get_prev_cw()[i];
carlosperales95 37:bb15bea420a3 342
mglmx 35:cfcfeccb959e 343 if(DR_train_pos == prev){
mglmx 36:9428c72bdd58 344
mglmx 35:cfcfeccb959e 345 found_DR = true;
mglmx 36:9428c72bdd58 346 DR_train_pos = sensor; //We update the position of the train
mglmx 35:cfcfeccb959e 347 }
carlosperales95 37:bb15bea420a3 348
mglmx 35:cfcfeccb959e 349 if(LR_train_pos == prev){
mglmx 35:cfcfeccb959e 350 found_LR = true;
mglmx 36:9428c72bdd58 351 LR_train_pos = sensor; //We update the position of the train
mglmx 35:cfcfeccb959e 352 }
mglmx 35:cfcfeccb959e 353 }
mglmx 35:cfcfeccb959e 354
mglmx 35:cfcfeccb959e 355 if(found_DR){
mglmx 36:9428c72bdd58 356 //doBuzz();
mglmx 35:cfcfeccb959e 357 lcd.cls();
mglmx 35:cfcfeccb959e 358 lcd.printf("DR is at D%d",DR_train_pos);
mglmx 36:9428c72bdd58 359
mglmx 35:cfcfeccb959e 360 }
mglmx 35:cfcfeccb959e 361 if(found_LR){
carlosperales95 40:9acc1341456a 362
carlosperales95 37:bb15bea420a3 363 lcd.cls();
mglmx 35:cfcfeccb959e 364 lcd.printf("LR is at D%d",LR_train_pos);
mglmx 35:cfcfeccb959e 365 }
mglmx 35:cfcfeccb959e 366 if(!found_DR && !found_LR){
mglmx 35:cfcfeccb959e 367 lcd.cls();
mglmx 35:cfcfeccb959e 368 lcd.printf("No train before :(");
mglmx 35:cfcfeccb959e 369 }
mglmx 35:cfcfeccb959e 370 }
mglmx 35:cfcfeccb959e 371
carlosperales95 37:bb15bea420a3 372
mglmx 34:c9ab2a987734 373 /**
mglmx 34:c9ab2a987734 374 *
carlosperales95 25:a42a1ed4d8e9 375 *Method to catch interrupts 0
carlosperales95 25:a42a1ed4d8e9 376 *
carlosperales95 24:1d71dd8778c4 377 **/
mglmx 33:24ce12dec157 378 void on_int0_change(){
carlosperales95 25:a42a1ed4d8e9 379
mglmx 33:24ce12dec157 380 wait_us(2000);
mglmx 33:24ce12dec157 381 int sensor_data = mcp->_read(INTCAPA);
mglmx 34:c9ab2a987734 382 int sensor = get_sensor(sensor_data,0);
mglmx 17:0a657e338356 383 lcd.cls();
mglmx 34:c9ab2a987734 384 lcd.printf("int0 0x%x \n Sensor: %d",sensor_data,sensor);
mglmx 22:e4153ca757dd 385
mglmx 36:9428c72bdd58 386
mglmx 36:9428c72bdd58 387
mglmx 35:cfcfeccb959e 388 update_train_pos(sensor);
mglmx 16:2a2da0e67793 389 }
mglmx 16:2a2da0e67793 390
mglmx 35:cfcfeccb959e 391
mglmx 35:cfcfeccb959e 392
carlosperales95 24:1d71dd8778c4 393 /**
carlosperales95 24:1d71dd8778c4 394 *
carlosperales95 25:a42a1ed4d8e9 395 *Method to catch interrupts 1
carlosperales95 25:a42a1ed4d8e9 396 *
carlosperales95 24:1d71dd8778c4 397 **/
mglmx 33:24ce12dec157 398 void on_int1_change(){
carlosperales95 25:a42a1ed4d8e9 399
mglmx 33:24ce12dec157 400 wait_us(2000);
mglmx 33:24ce12dec157 401 int sensor_data = mcp->_read(INTCAPB);
mglmx 34:c9ab2a987734 402 int sensor = get_sensor(sensor_data,1);
mglmx 33:24ce12dec157 403 lcd.cls();
mglmx 34:c9ab2a987734 404 lcd.printf("int1 0x%x \n Sensor: %d",sensor_data,sensor);
mglmx 35:cfcfeccb959e 405
mglmx 35:cfcfeccb959e 406 update_train_pos(sensor);
mglmx 16:2a2da0e67793 407 }
mglmx 26:5c966a0a3e8e 408
mglmx 26:5c966a0a3e8e 409
mglmx 33:24ce12dec157 410 void init() { // Clear current interrupts
mglmx 33:24ce12dec157 411 mcp->_read(GPIOA);
mglmx 33:24ce12dec157 412 mcp->_read(GPIOB); // Register callbacks
mglmx 33:24ce12dec157 413 int0.fall(&on_int0_change);
mglmx 33:24ce12dec157 414 int1.fall(&on_int1_change); // Enable interrupts on MCP
mglmx 33:24ce12dec157 415 mcp->_write(GPINTENA, (unsigned char )0xff);
mglmx 33:24ce12dec157 416 mcp->_write(GPINTENB, (unsigned char )0xff); // Ready to go!
mglmx 33:24ce12dec157 417 }
mglmx 33:24ce12dec157 418
mglmx 33:24ce12dec157 419
carlosperales95 24:1d71dd8778c4 420 /**
carlosperales95 24:1d71dd8778c4 421 *
carlosperales95 25:a42a1ed4d8e9 422 *Method to send DCC commands to train and switches.
carlosperales95 25:a42a1ed4d8e9 423 *
carlosperales95 25:a42a1ed4d8e9 424 *@address - (HEX)Address where the commands will be sent
carlosperales95 25:a42a1ed4d8e9 425 *@inst - (HEX)Number of instruction that will be commanded
carlosperales95 25:a42a1ed4d8e9 426 *@repeat_count - Number of times the command will be sent
carlosperales95 25:a42a1ed4d8e9 427 *
carlosperales95 24:1d71dd8778c4 428 **/
mglmx 1:0ab26889af9b 429 void DCC_send_command(unsigned int address, unsigned int inst, unsigned int repeat_count)
mglmx 1:0ab26889af9b 430 {
mglmx 1:0ab26889af9b 431 unsigned __int64 command = 0x0000000000000000; // __int64 is the 64-bit integer type
mglmx 1:0ab26889af9b 432 unsigned __int64 temp_command = 0x0000000000000000;
mglmx 1:0ab26889af9b 433 unsigned __int64 prefix = 0x3FFF; // 14 "1" bits needed at start
mglmx 1:0ab26889af9b 434 unsigned int error = 0x00; //error byte
carlosperales95 24:1d71dd8778c4 435
mglmx 1:0ab26889af9b 436 //calculate error detection byte with xor
mglmx 1:0ab26889af9b 437 error = address ^ inst;
carlosperales95 24:1d71dd8778c4 438
mglmx 1:0ab26889af9b 439 //combine packet bits in basic DCC format
mglmx 1:0ab26889af9b 440 command = (prefix<<28)|(address<<19)|(inst<<10)|((error)<<1)|0x01;
mglmx 1:0ab26889af9b 441 //printf("\n\r %llx \n\r",command);
carlosperales95 24:1d71dd8778c4 442
mglmx 1:0ab26889af9b 443 int i=0;
carlosperales95 24:1d71dd8778c4 444 //repeat DCC command lots of times
mglmx 1:0ab26889af9b 445 while(i < repeat_count) {
carlosperales95 24:1d71dd8778c4 446
mglmx 1:0ab26889af9b 447 temp_command = command;
carlosperales95 24:1d71dd8778c4 448 //loops through packet bits encoding and sending out digital pulses for a DCC command
mglmx 1:0ab26889af9b 449 for (int j=0; j<64; j++) {
carlosperales95 24:1d71dd8778c4 450
carlosperales95 24:1d71dd8778c4 451 if((temp_command&0x8000000000000000)==0) {
carlosperales95 24:1d71dd8778c4 452 //test packet bit
mglmx 1:0ab26889af9b 453 //send data for a "0" bit
mglmx 1:0ab26889af9b 454 Track=0;
mglmx 1:0ab26889af9b 455 wait_us(100);
mglmx 1:0ab26889af9b 456 Track=1;
mglmx 1:0ab26889af9b 457 wait_us(100);
mglmx 1:0ab26889af9b 458 //printf("0011");
carlosperales95 24:1d71dd8778c4 459
carlosperales95 24:1d71dd8778c4 460 }else{
carlosperales95 24:1d71dd8778c4 461
mglmx 1:0ab26889af9b 462 //send data for a "1"bit
mglmx 1:0ab26889af9b 463 Track=0;
mglmx 1:0ab26889af9b 464 wait_us(58);
mglmx 1:0ab26889af9b 465 Track=1;
mglmx 1:0ab26889af9b 466 wait_us(58);
mglmx 1:0ab26889af9b 467 //printf("01");
mglmx 1:0ab26889af9b 468 }
mglmx 1:0ab26889af9b 469 // next bit in packet
mglmx 1:0ab26889af9b 470 temp_command = temp_command<<1;
mglmx 1:0ab26889af9b 471 }
mglmx 1:0ab26889af9b 472 i++;
mglmx 0:4d06a6a8e785 473 }
mglmx 0:4d06a6a8e785 474 }
carlosperales95 11:021210c59a95 475
carlosperales95 24:1d71dd8778c4 476
carlosperales95 24:1d71dd8778c4 477 /**
carlosperales95 24:1d71dd8778c4 478 *
carlosperales95 25:a42a1ed4d8e9 479 *Method to flip the switches
carlosperales95 25:a42a1ed4d8e9 480 *
carlosperales95 25:a42a1ed4d8e9 481 *@switchId - (1-4)The ID of the switch we want to flip
carlosperales95 25:a42a1ed4d8e9 482 *@times - The number of times we want to send the command
mglmx 30:293ee760d357 483 *@activate - True if the switch is going to be activated. False if it needs to go back to rest position.
carlosperales95 25:a42a1ed4d8e9 484 *
carlosperales95 24:1d71dd8778c4 485 **/
mglmx 30:293ee760d357 486 void flipSwitch(int switchId, int times, bool activate=true){
mglmx 21:e6f1649add39 487
carlosperales95 25:a42a1ed4d8e9 488 unsigned int SWBflip = SWBidle; //IDLE - Flip last activated SW.
mglmx 21:e6f1649add39 489
mglmx 21:e6f1649add39 490 switch(switchId){
mglmx 21:e6f1649add39 491 case 1:
carlosperales95 25:a42a1ed4d8e9 492 SWBflip = SWBflip_1; //FLIP SW1
mglmx 21:e6f1649add39 493 break;
mglmx 21:e6f1649add39 494 case 2:
carlosperales95 25:a42a1ed4d8e9 495 SWBflip = SWBflip_2; //FLIP SW2
mglmx 21:e6f1649add39 496 break;
mglmx 21:e6f1649add39 497 case 3:
carlosperales95 25:a42a1ed4d8e9 498 SWBflip = SWBflip_3; //FLIP SW3
mglmx 21:e6f1649add39 499 break;
mglmx 21:e6f1649add39 500 case 4:
carlosperales95 25:a42a1ed4d8e9 501 SWBflip = SWBflip_4; //FLIP SW4
mglmx 21:e6f1649add39 502 break;
mglmx 21:e6f1649add39 503 default:
carlosperales95 24:1d71dd8778c4 504 break;
mglmx 21:e6f1649add39 505 }
carlosperales95 11:021210c59a95 506
mglmx 21:e6f1649add39 507 //Security measure not to burn the switch.
mglmx 30:293ee760d357 508 if(times <=5){
mglmx 30:293ee760d357 509 DCC_send_command(SWBaddress,SWBflip,times); //Activating switch
mglmx 30:293ee760d357 510 if(!activate){
mglmx 30:293ee760d357 511 DCC_send_command(SWBaddress,SWBidle,times); //Sending IDLE to flip back.
mglmx 30:293ee760d357 512 }
mglmx 30:293ee760d357 513 }
mglmx 21:e6f1649add39 514
mglmx 21:e6f1649add39 515 }
mglmx 21:e6f1649add39 516
mglmx 22:e4153ca757dd 517
carlosperales95 24:1d71dd8778c4 518 /**
carlosperales95 24:1d71dd8778c4 519 *
carlosperales95 29:559eb2164488 520 *Checks if any of the switches of the box has been activated.
carlosperales95 29:559eb2164488 521 *Calls necessary function and displays LCD text.
carlosperales95 25:a42a1ed4d8e9 522 *
carlosperales95 24:1d71dd8778c4 523 **/
mglmx 21:e6f1649add39 524 void checkSwitch(){
carlosperales95 24:1d71dd8778c4 525
mglmx 22:e4153ca757dd 526 if(switch1 == 1){
carlosperales95 24:1d71dd8778c4 527
mglmx 22:e4153ca757dd 528 lcd.cls();
mglmx 22:e4153ca757dd 529 lcd.printf("Switch 1 ON - SW1");
carlosperales95 25:a42a1ed4d8e9 530 flipSwitch(1,5);
carlosperales95 24:1d71dd8778c4 531
mglmx 22:e4153ca757dd 532 }else if(switch2 == 1){
carlosperales95 24:1d71dd8778c4 533
carlosperales95 24:1d71dd8778c4 534 lcd.cls();
carlosperales95 24:1d71dd8778c4 535 lcd.printf("Switch 2 ON - SW2");
carlosperales95 24:1d71dd8778c4 536 flipSwitch(2,5);
carlosperales95 24:1d71dd8778c4 537
carlosperales95 24:1d71dd8778c4 538 }else if(switch3 == 0){
carlosperales95 24:1d71dd8778c4 539
carlosperales95 24:1d71dd8778c4 540 lcd.cls();
carlosperales95 24:1d71dd8778c4 541 lcd.printf("Switch 3 ON - SW3");
carlosperales95 24:1d71dd8778c4 542 flipSwitch(3,5);
carlosperales95 24:1d71dd8778c4 543
carlosperales95 24:1d71dd8778c4 544 }else if(switch4 == 0){
carlosperales95 24:1d71dd8778c4 545
carlosperales95 24:1d71dd8778c4 546 lcd.cls();
carlosperales95 24:1d71dd8778c4 547 lcd.printf("Switch 4 ON - IDLE");
carlosperales95 24:1d71dd8778c4 548 flipSwitch(0,5);
carlosperales95 24:1d71dd8778c4 549 }
mglmx 22:e4153ca757dd 550 }
mglmx 22:e4153ca757dd 551
carlosperales95 24:1d71dd8778c4 552
carlosperales95 24:1d71dd8778c4 553
carlosperales95 11:021210c59a95 554 //**************** MAIN PROGRAM FOR DENVER TRAIN ****************//
carlosperales95 11:021210c59a95 555
mglmx 1:0ab26889af9b 556 int main()
mglmx 1:0ab26889af9b 557 {
carlosperales95 25:a42a1ed4d8e9 558 //RISE FOR INTERRUPTS?? NOT WORKING ATM
carlosperales95 25:a42a1ed4d8e9 559 //int0.rise(&interrupt0);
carlosperales95 25:a42a1ed4d8e9 560 //int1.rise(&interrupt1);
carlosperales95 25:a42a1ed4d8e9 561
carlosperales95 25:a42a1ed4d8e9 562 //Read and display potentiometer
carlosperales95 25:a42a1ed4d8e9 563 //float f = pot.read();
carlosperales95 25:a42a1ed4d8e9 564 //float vin = f * 3.3;
carlosperales95 25:a42a1ed4d8e9 565 //lcd.printf("vin: %.4f",vin);
carlosperales95 25:a42a1ed4d8e9 566
carlosperales95 25:a42a1ed4d8e9 567 //0xFFFC //1111111111111100
carlosperales95 25:a42a1ed4d8e9 568
carlosperales95 25:a42a1ed4d8e9 569
carlosperales95 25:a42a1ed4d8e9 570 //Led routine to start main program
mglmx 2:f580707c44fa 571 led1 = 1;
mglmx 22:e4153ca757dd 572 wait(0.2);
mglmx 2:f580707c44fa 573 led1 = 0;
mglmx 22:e4153ca757dd 574 wait(0.2);
mglmx 2:f580707c44fa 575 led1 = 1;
mglmx 16:2a2da0e67793 576
carlosperales95 25:a42a1ed4d8e9 577 initialize_mcp(); //mcp initialization for interrupts before train running
mglmx 33:24ce12dec157 578 init();
mglmx 35:cfcfeccb959e 579 init_positions();
mglmx 16:2a2da0e67793 580
carlosperales95 25:a42a1ed4d8e9 581 //Train light routine to start running
mglmx 32:e5b732fb8e65 582 DCC_send_command(DCCaddressDR,DCC_func_lighton,200); // turn light on full
mglmx 32:e5b732fb8e65 583 DCC_send_command(DCCaddressDR,DCC_func_dimlight,400); //dim light
mglmx 32:e5b732fb8e65 584 DCC_send_command(DCCaddressDR,DCC_func_lighton,200); //light full again
mglmx 22:e4153ca757dd 585
carlosperales95 25:a42a1ed4d8e9 586 //LED3 Shows start of route + LCD notif
mglmx 22:e4153ca757dd 587 led3 = 1; // Entering the while
mglmx 22:e4153ca757dd 588 lcd.cls();
mglmx 22:e4153ca757dd 589 lcd.printf("Ready to start");
carlosperales95 19:ff21ba3a4dc5 590
carlosperales95 14:7bb998edd819 591 //Demo for stopping at the station
mglmx 1:0ab26889af9b 592 while(1) {
mglmx 4:50879dfb82d5 593
carlosperales95 25:a42a1ed4d8e9 594 checkSwitch(); //Checks for switch commands everytime.
carlosperales95 25:a42a1ed4d8e9 595
mglmx 33:24ce12dec157 596 if(1==0){
mglmx 33:24ce12dec157 597 //if(station == 1){ //If train is on the sensor at the middle of the station it stops and displays LCD text.
carlosperales95 14:7bb998edd819 598
mglmx 4:50879dfb82d5 599 lcd.cls();
carlosperales95 29:559eb2164488 600 lcd.printf("All aboard\n mind the gap");
mglmx 32:e5b732fb8e65 601 DCC_send_command(DCCaddressDR,DCCinst_stop,400);
carlosperales95 29:559eb2164488 602 lcd.cls();
mglmx 4:50879dfb82d5 603
mglmx 22:e4153ca757dd 604 }else{
mglmx 34:c9ab2a987734 605 DCC_send_command(DCCaddressDR,DCCinst_forward,1); // Forward half speed train addres DARK-RED
mglmx 32:e5b732fb8e65 606 DCC_send_command(DCCaddressLR,DCCinst_forward,1); // Forward half speed train address LIGHT-RED
carlosperales95 25:a42a1ed4d8e9 607 }
mglmx 1:0ab26889af9b 608 }
mglmx 3:fe7010b693a0 609 }