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main.cpp@21:e6f1649add39, 2018-06-08 (annotated)
- Committer:
- mglmx
- Date:
- Fri Jun 08 10:09:46 2018 +0000
- Revision:
- 21:e6f1649add39
- Parent:
- 20:608ab9bf340d
- Child:
- 22:e4153ca757dd
Switches but errors in code
Who changed what in which revision?
User | Revision | Line number | New 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 | 18:aa43bb62e60f | 4 | |
mglmx | 18:aa43bb62e60f | 5 | |
mglmx | 1:0ab26889af9b | 6 | //mbed DCC Model Train Demo |
mglmx | 1:0ab26889af9b | 7 | |
carlosperales95 | 7:e2b8461d4f05 | 8 | /******PINS AND DECLARATIONS*******/ |
carlosperales95 | 7:e2b8461d4f05 | 9 | |
mglmx | 21:e6f1649add39 | 10 | |
mglmx | 21:e6f1649add39 | 11 | //SWITCHES p5 - p8 |
mglmx | 21:e6f1649add39 | 12 | DigitalIn switch1(p5); |
mglmx | 21:e6f1649add39 | 13 | DigitalIn switch2(p6); |
mglmx | 21:e6f1649add39 | 14 | DigitalIn switch3(p7); |
mglmx | 21:e6f1649add39 | 15 | DigitalIn switch4(p8); |
carlosperales95 | 7:e2b8461d4f05 | 16 | |
carlosperales95 | 10:2088b1935a93 | 17 | //RAIL SENSORS - INT0,INT1 |
carlosperales95 | 7:e2b8461d4f05 | 18 | //INT0 - p9 |
mglmx | 18:aa43bb62e60f | 19 | InterruptIn int0(p9); |
carlosperales95 | 7:e2b8461d4f05 | 20 | //INT1 - p10 |
mglmx | 18:aa43bb62e60f | 21 | InterruptIn int1(p10); |
carlosperales95 | 7:e2b8461d4f05 | 22 | |
carlosperales95 | 7:e2b8461d4f05 | 23 | ///p11 |
carlosperales95 | 7:e2b8461d4f05 | 24 | ///p12 |
carlosperales95 | 12:e914ca5cd44b | 25 | |
carlosperales95 | 7:e2b8461d4f05 | 26 | //M0 - p13 |
carlosperales95 | 7:e2b8461d4f05 | 27 | DigitalIn d21(p13); |
carlosperales95 | 7:e2b8461d4f05 | 28 | //M1 - p14 |
carlosperales95 | 7:e2b8461d4f05 | 29 | DigitalIn d22(p14); |
carlosperales95 | 7:e2b8461d4f05 | 30 | //M2 - p15 |
carlosperales95 | 7:e2b8461d4f05 | 31 | DigitalIn d23(p15); |
carlosperales95 | 12:e914ca5cd44b | 32 | |
carlosperales95 | 7:e2b8461d4f05 | 33 | //p16 |
carlosperales95 | 12:e914ca5cd44b | 34 | //p17 |
carlosperales95 | 12:e914ca5cd44b | 35 | |
carlosperales95 | 11:021210c59a95 | 36 | //BUZZER - p18 |
carlosperales95 | 11:021210c59a95 | 37 | DigitalOut buzz(p18); // buzz=0 doesn't beep, buzz=1 beeps |
carlosperales95 | 7:e2b8461d4f05 | 38 | |
carlosperales95 | 7:e2b8461d4f05 | 39 | //POTENTIOMETER - p19 |
carlosperales95 | 13:dbf1ead12cee | 40 | AnalogIn pot(p19); //Gives float value pot.read(). Convert analog input to V with f*3.3 |
carlosperales95 | 7:e2b8461d4f05 | 41 | |
carlosperales95 | 7:e2b8461d4f05 | 42 | //DAT - p20 |
mglmx | 3:fe7010b693a0 | 43 | DigitalOut Track(p20); //Digital output bit used to drive track power via H-bridge |
carlosperales95 | 7:e2b8461d4f05 | 44 | |
carlosperales95 | 7:e2b8461d4f05 | 45 | //LCD SCREEN - p21, p22, p23, p24, p25, p26 |
carlosperales95 | 11:021210c59a95 | 46 | 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 | 47 | |
carlosperales95 | 7:e2b8461d4f05 | 48 | ///p27 |
carlosperales95 | 7:e2b8461d4f05 | 49 | ///p28 |
carlosperales95 | 7:e2b8461d4f05 | 50 | |
carlosperales95 | 7:e2b8461d4f05 | 51 | //LED1 - p29 |
mglmx | 3:fe7010b693a0 | 52 | DigitalOut redled(p29); |
carlosperales95 | 7:e2b8461d4f05 | 53 | //LED2 - p30 |
mglmx | 3:fe7010b693a0 | 54 | DigitalOut greenled(p30); |
carlosperales95 | 7:e2b8461d4f05 | 55 | |
mglmx | 18:aa43bb62e60f | 56 | DigitalOut led1(LED1); |
mglmx | 18:aa43bb62e60f | 57 | DigitalOut led2(LED2); |
mglmx | 18:aa43bb62e60f | 58 | DigitalOut led3(LED3); |
mglmx | 16:2a2da0e67793 | 59 | |
mglmx | 16:2a2da0e67793 | 60 | //MCP |
mglmx | 16:2a2da0e67793 | 61 | MCP23017 *mcp; |
carlosperales95 | 12:e914ca5cd44b | 62 | |
carlosperales95 | 11:021210c59a95 | 63 | //**************** FUNCTIONS FOR DENVER TRAIN ****************// |
carlosperales95 | 10:2088b1935a93 | 64 | |
mglmx | 18:aa43bb62e60f | 65 | |
mglmx | 18:aa43bb62e60f | 66 | |
mglmx | 18:aa43bb62e60f | 67 | void initialize_mcp(){ |
mglmx | 18:aa43bb62e60f | 68 | mcp = new MCP23017(p28,p27,0x40); //Connect to SCL - p28 and SDA - p27 and MPC I2C address 0x40 |
mglmx | 18:aa43bb62e60f | 69 | |
mglmx | 18:aa43bb62e60f | 70 | mcp->reset(); |
mglmx | 18:aa43bb62e60f | 71 | mcp->writeRegister(0x00, (unsigned char )0xff); |
mglmx | 18:aa43bb62e60f | 72 | mcp->writeRegister(0x01, (unsigned char )0xff); |
mglmx | 18:aa43bb62e60f | 73 | mcp->writeRegister(0x02, (unsigned char )0x00); |
mglmx | 18:aa43bb62e60f | 74 | mcp->writeRegister(0x03, (unsigned char )0x00); |
mglmx | 18:aa43bb62e60f | 75 | mcp->writeRegister(0x04, (unsigned char )0xff); |
mglmx | 18:aa43bb62e60f | 76 | mcp->writeRegister(0x05, (unsigned char )0xff); |
mglmx | 18:aa43bb62e60f | 77 | mcp->writeRegister(0x06, (unsigned char )0xff); |
mglmx | 18:aa43bb62e60f | 78 | mcp->writeRegister(0x07, (unsigned char )0xff); |
mglmx | 18:aa43bb62e60f | 79 | mcp->writeRegister(0x08, (unsigned char )0xff); |
mglmx | 18:aa43bb62e60f | 80 | mcp->writeRegister(0x09, (unsigned char )0xff); |
mglmx | 18:aa43bb62e60f | 81 | mcp->writeRegister(0x0a, (unsigned char )0x42); |
mglmx | 18:aa43bb62e60f | 82 | mcp->writeRegister(0x0b, (unsigned char )0x42); |
mglmx | 18:aa43bb62e60f | 83 | mcp->writeRegister(0x0c, (unsigned char )0x00); |
mglmx | 18:aa43bb62e60f | 84 | mcp->writeRegister(0x0d, (unsigned char )0x00); |
mglmx | 18:aa43bb62e60f | 85 | } |
mglmx | 18:aa43bb62e60f | 86 | |
mglmx | 16:2a2da0e67793 | 87 | void interrupt0(){ |
mglmx | 16:2a2da0e67793 | 88 | int data = mcp->readRegister(GPIO); |
mglmx | 17:0a657e338356 | 89 | lcd.cls(); |
mglmx | 16:2a2da0e67793 | 90 | lcd.printf("int0 %d",data); |
mglmx | 17:0a657e338356 | 91 | buzz = 1; |
mglmx | 17:0a657e338356 | 92 | wait(0.5); |
mglmx | 17:0a657e338356 | 93 | buzz = 0; |
mglmx | 16:2a2da0e67793 | 94 | } |
mglmx | 16:2a2da0e67793 | 95 | |
mglmx | 16:2a2da0e67793 | 96 | void interrupt1(){ |
mglmx | 16:2a2da0e67793 | 97 | int data = mcp->readRegister(GPIO); |
mglmx | 17:0a657e338356 | 98 | lcd.cls(); |
mglmx | 17:0a657e338356 | 99 | lcd.printf("int1 %d",data); |
mglmx | 17:0a657e338356 | 100 | buzz = 1; |
mglmx | 17:0a657e338356 | 101 | wait(0.5); |
mglmx | 17:0a657e338356 | 102 | buzz = 0; |
mglmx | 16:2a2da0e67793 | 103 | } |
mglmx | 5:ce0f66ea12c5 | 104 | |
mglmx | 1:0ab26889af9b | 105 | |
mglmx | 1:0ab26889af9b | 106 | void DCC_send_command(unsigned int address, unsigned int inst, unsigned int repeat_count) |
mglmx | 1:0ab26889af9b | 107 | { |
mglmx | 1:0ab26889af9b | 108 | unsigned __int64 command = 0x0000000000000000; // __int64 is the 64-bit integer type |
mglmx | 1:0ab26889af9b | 109 | unsigned __int64 temp_command = 0x0000000000000000; |
mglmx | 1:0ab26889af9b | 110 | unsigned __int64 prefix = 0x3FFF; // 14 "1" bits needed at start |
mglmx | 1:0ab26889af9b | 111 | unsigned int error = 0x00; //error byte |
mglmx | 1:0ab26889af9b | 112 | //calculate error detection byte with xor |
mglmx | 1:0ab26889af9b | 113 | error = address ^ inst; |
mglmx | 1:0ab26889af9b | 114 | //combine packet bits in basic DCC format |
mglmx | 1:0ab26889af9b | 115 | command = (prefix<<28)|(address<<19)|(inst<<10)|((error)<<1)|0x01; |
mglmx | 1:0ab26889af9b | 116 | //printf("\n\r %llx \n\r",command); |
mglmx | 1:0ab26889af9b | 117 | int i=0; |
mglmx | 1:0ab26889af9b | 118 | //repeat DCC command lots of times |
mglmx | 1:0ab26889af9b | 119 | while(i < repeat_count) { |
mglmx | 1:0ab26889af9b | 120 | temp_command = command; |
mglmx | 1:0ab26889af9b | 121 | //loops through packet bits encoding and sending out digital pulses for a DCC command |
mglmx | 1:0ab26889af9b | 122 | for (int j=0; j<64; j++) { |
mglmx | 1:0ab26889af9b | 123 | if((temp_command&0x8000000000000000)==0) { //test packet bit |
mglmx | 1:0ab26889af9b | 124 | //send data for a "0" bit |
mglmx | 1:0ab26889af9b | 125 | Track=0; |
mglmx | 1:0ab26889af9b | 126 | wait_us(100); |
mglmx | 1:0ab26889af9b | 127 | Track=1; |
mglmx | 1:0ab26889af9b | 128 | wait_us(100); |
mglmx | 1:0ab26889af9b | 129 | //printf("0011"); |
mglmx | 1:0ab26889af9b | 130 | } else { |
mglmx | 1:0ab26889af9b | 131 | //send data for a "1"bit |
mglmx | 1:0ab26889af9b | 132 | Track=0; |
mglmx | 1:0ab26889af9b | 133 | wait_us(58); |
mglmx | 1:0ab26889af9b | 134 | Track=1; |
mglmx | 1:0ab26889af9b | 135 | wait_us(58); |
mglmx | 1:0ab26889af9b | 136 | //printf("01"); |
mglmx | 1:0ab26889af9b | 137 | } |
mglmx | 1:0ab26889af9b | 138 | // next bit in packet |
mglmx | 1:0ab26889af9b | 139 | temp_command = temp_command<<1; |
mglmx | 1:0ab26889af9b | 140 | } |
mglmx | 1:0ab26889af9b | 141 | i++; |
mglmx | 0:4d06a6a8e785 | 142 | } |
mglmx | 0:4d06a6a8e785 | 143 | } |
carlosperales95 | 11:021210c59a95 | 144 | |
mglmx | 21:e6f1649add39 | 145 | void flipSwitch(int switchId, int times){ |
mglmx | 21:e6f1649add39 | 146 | //Command variables for Switches using DCC |
mglmx | 21:e6f1649add39 | 147 | |
mglmx | 21:e6f1649add39 | 148 | unsigned int SWBaddress = 0x06; //address for switch box |
mglmx | 21:e6f1649add39 | 149 | |
mglmx | 21:e6f1649add39 | 150 | ////100DDDDD where DDDDD |
mglmx | 21:e6f1649add39 | 151 | ///00001 to flip the first switch SW1 (F1 active) |
mglmx | 21:e6f1649add39 | 152 | ///00010 to flip the second switch SW2 (F2 active) |
mglmx | 21:e6f1649add39 | 153 | ///00100 to flip the third switch SW3 (F3 active) |
mglmx | 21:e6f1649add39 | 154 | ///01000 to flip the fourth switch SW4 (F4 active) |
mglmx | 21:e6f1649add39 | 155 | //example - 111111 0 00000101 0 10000000 0 10000101 1 - idleç |
mglmx | 21:e6f1649add39 | 156 | |
mglmx | 21:e6f1649add39 | 157 | unsigned int SWBflip = 0x80; //No switches -- idle |
mglmx | 21:e6f1649add39 | 158 | |
mglmx | 21:e6f1649add39 | 159 | switch(switchId){ |
mglmx | 21:e6f1649add39 | 160 | case 1: |
mglmx | 21:e6f1649add39 | 161 | SWBflip = 0x81; //FLIP 1 |
mglmx | 21:e6f1649add39 | 162 | break; |
mglmx | 21:e6f1649add39 | 163 | case 2: |
mglmx | 21:e6f1649add39 | 164 | SWBflip = 0x82; |
mglmx | 21:e6f1649add39 | 165 | break; |
mglmx | 21:e6f1649add39 | 166 | case 3: |
mglmx | 21:e6f1649add39 | 167 | SWBflip = 0x84; |
mglmx | 21:e6f1649add39 | 168 | break; |
mglmx | 21:e6f1649add39 | 169 | case 4: |
mglmx | 21:e6f1649add39 | 170 | SWBflip = 0x90; |
mglmx | 21:e6f1649add39 | 171 | break; |
mglmx | 21:e6f1649add39 | 172 | default: |
mglmx | 21:e6f1649add39 | 173 | break; |
mglmx | 21:e6f1649add39 | 174 | |
mglmx | 21:e6f1649add39 | 175 | } |
carlosperales95 | 11:021210c59a95 | 176 | |
mglmx | 21:e6f1649add39 | 177 | //Security measure not to burn the switch. |
mglmx | 21:e6f1649add39 | 178 | if(times <=5){ |
mglmx | 21:e6f1649add39 | 179 | DCC_send_command(SWBaddress,SWBflip,times); |
mglmx | 21:e6f1649add39 | 180 | } |
mglmx | 21:e6f1649add39 | 181 | |
mglmx | 21:e6f1649add39 | 182 | |
mglmx | 21:e6f1649add39 | 183 | } |
mglmx | 21:e6f1649add39 | 184 | |
mglmx | 21:e6f1649add39 | 185 | void checkSwitch(){ |
mglmx | 21:e6f1649add39 | 186 | if(switch) |
mglmx | 21:e6f1649add39 | 187 | } |
carlosperales95 | 12:e914ca5cd44b | 188 | |
carlosperales95 | 11:021210c59a95 | 189 | //**************** MAIN PROGRAM FOR DENVER TRAIN ****************// |
carlosperales95 | 11:021210c59a95 | 190 | |
mglmx | 1:0ab26889af9b | 191 | int main() |
mglmx | 1:0ab26889af9b | 192 | { |
mglmx | 2:f580707c44fa | 193 | led1 = 1; |
mglmx | 2:f580707c44fa | 194 | wait(0.5); |
mglmx | 2:f580707c44fa | 195 | led1 = 0; |
mglmx | 2:f580707c44fa | 196 | wait(0.5); |
mglmx | 2:f580707c44fa | 197 | led1 = 1; |
mglmx | 16:2a2da0e67793 | 198 | |
mglmx | 16:2a2da0e67793 | 199 | initialize_mcp(); |
mglmx | 16:2a2da0e67793 | 200 | |
mglmx | 18:aa43bb62e60f | 201 | int0.rise(&interrupt0); |
mglmx | 18:aa43bb62e60f | 202 | int1.rise(&interrupt1); |
mglmx | 16:2a2da0e67793 | 203 | |
mglmx | 21:e6f1649add39 | 204 | led2 = 1; |
mglmx | 21:e6f1649add39 | 205 | flipSwitch(1,1); |
mglmx | 21:e6f1649add39 | 206 | wait(0.2); |
mglmx | 21:e6f1649add39 | 207 | led2 = 0; |
mglmx | 21:e6f1649add39 | 208 | wait(0.2); |
mglmx | 21:e6f1649add39 | 209 | |
mglmx | 21:e6f1649add39 | 210 | led2 = 1; |
mglmx | 21:e6f1649add39 | 211 | flipSwitch(2,1); |
mglmx | 21:e6f1649add39 | 212 | wait(0.2) |
mglmx | 21:e6f1649add39 | 213 | led2 = 0; |
mglmx | 21:e6f1649add39 | 214 | |
mglmx | 21:e6f1649add39 | 215 | |
mglmx | 21:e6f1649add39 | 216 | |
mglmx | 21:e6f1649add39 | 217 | |
mglmx | 21:e6f1649add39 | 218 | |
mglmx | 16:2a2da0e67793 | 219 | |
mglmx | 1:0ab26889af9b | 220 | //typical out of box default engine DCC address is 3 (at least for Bachmann trains) |
mglmx | 1:0ab26889af9b | 221 | //Note: A DCC controller can reprogram the address whenever needed |
mglmx | 1:0ab26889af9b | 222 | unsigned int DCCaddress = 0x01; |
mglmx | 1:0ab26889af9b | 223 | //see http://www.nmra.org/standards/DCC/standards_rps/RP-921%202006%20Aug%2021.pdf |
mglmx | 1:0ab26889af9b | 224 | //01DCSSSS for speed, D is direction (fwd=1 and rev=0), C is speed(SSSSC) LSB |
mglmx | 1:0ab26889af9b | 225 | unsigned int DCCinst_forward = 0x68; //forward half speed |
mglmx | 1:0ab26889af9b | 226 | unsigned int DCCinst_reverse = 0x48; //reverse half speed |
mglmx | 4:50879dfb82d5 | 227 | unsigned int DCCinst_stop = 0x50; |
mglmx | 1:0ab26889af9b | 228 | //100DDDDD for basic headlight functions |
mglmx | 1:0ab26889af9b | 229 | unsigned int DCC_func_lighton = 0x90; //F0 turns on headlight function |
mglmx | 1:0ab26889af9b | 230 | unsigned int DCC_func_dimlight = 0x91; //F0 + F1 dims headlight |
mglmx | 1:0ab26889af9b | 231 | // |
mglmx | 1:0ab26889af9b | 232 | //Basic DCC Demo Commands |
mglmx | 1:0ab26889af9b | 233 | DCC_send_command(DCCaddress,DCC_func_lighton,200); // turn light on full |
mglmx | 1:0ab26889af9b | 234 | DCC_send_command(DCCaddress,DCC_func_dimlight,200); //dim light |
mglmx | 1:0ab26889af9b | 235 | DCC_send_command(DCCaddress,DCC_func_lighton,200); //light full again |
carlosperales95 | 14:7bb998edd819 | 236 | |
carlosperales95 | 19:ff21ba3a4dc5 | 237 | |
carlosperales95 | 19:ff21ba3a4dc5 | 238 | |
carlosperales95 | 19:ff21ba3a4dc5 | 239 | |
carlosperales95 | 19:ff21ba3a4dc5 | 240 | |
carlosperales95 | 14:7bb998edd819 | 241 | //Demo for stopping at the station |
mglmx | 1:0ab26889af9b | 242 | while(1) { |
mglmx | 4:50879dfb82d5 | 243 | |
mglmx | 4:50879dfb82d5 | 244 | if(d21 == 1 || d22 == 1 || d23 == 1){ |
carlosperales95 | 14:7bb998edd819 | 245 | |
mglmx | 4:50879dfb82d5 | 246 | lcd.cls(); |
mglmx | 4:50879dfb82d5 | 247 | lcd.printf("Choo Choo station"); |
carlosperales95 | 14:7bb998edd819 | 248 | DCC_send_command(DCCaddress,DCCinst_stop,400); // Stop train address 3 |
mglmx | 4:50879dfb82d5 | 249 | |
mglmx | 21:e6f1649add39 | 250 | }else if(switch1 == 1){ |
mglmx | 21:e6f1649add39 | 251 | switchFlip(1,1); |
mglmx | 21:e6f1649add39 | 252 | |
mglmx | 21:e6f1649add39 | 253 | } |
mglmx | 21:e6f1649add39 | 254 | { |
carlosperales95 | 14:7bb998edd819 | 255 | DCC_send_command(DCCaddress,DCCinst_forward,1); // Forward half speed train address 3 |
mglmx | 4:50879dfb82d5 | 256 | } |
mglmx | 4:50879dfb82d5 | 257 | |
mglmx | 4:50879dfb82d5 | 258 | |
mglmx | 4:50879dfb82d5 | 259 | /* |
mglmx | 3:fe7010b693a0 | 260 | float f = pot.read(); |
mglmx | 3:fe7010b693a0 | 261 | float vin = f * 3.3; |
mglmx | 3:fe7010b693a0 | 262 | |
mglmx | 2:f580707c44fa | 263 | led3 = 1; |
mglmx | 3:fe7010b693a0 | 264 | if(switch1 == 1){ |
mglmx | 3:fe7010b693a0 | 265 | lcd.cls(); |
mglmx | 3:fe7010b693a0 | 266 | lcd.printf("Going forward"); |
mglmx | 3:fe7010b693a0 | 267 | greenled = 0; |
mglmx | 3:fe7010b693a0 | 268 | redled = 1; |
mglmx | 3:fe7010b693a0 | 269 | DCC_send_command(DCCaddress,DCCinst_forward,400); // forward half speed train address 3 |
mglmx | 3:fe7010b693a0 | 270 | lcd.cls(); |
mglmx | 3:fe7010b693a0 | 271 | |
mglmx | 3:fe7010b693a0 | 272 | lcd.printf("vin: %.4f",vin); |
mglmx | 3:fe7010b693a0 | 273 | wait(0.2); |
mglmx | 3:fe7010b693a0 | 274 | |
mglmx | 3:fe7010b693a0 | 275 | }else{ |
mglmx | 3:fe7010b693a0 | 276 | lcd.cls(); |
mglmx | 3:fe7010b693a0 | 277 | lcd.printf("Going backwards"); |
mglmx | 3:fe7010b693a0 | 278 | greenled = 1; |
mglmx | 3:fe7010b693a0 | 279 | redled = 0; |
mglmx | 3:fe7010b693a0 | 280 | DCC_send_command(DCCaddress,DCCinst_reverse,400); // reverse half speed train address 3 |
mglmx | 3:fe7010b693a0 | 281 | lcd.cls(); |
mglmx | 3:fe7010b693a0 | 282 | |
mglmx | 3:fe7010b693a0 | 283 | lcd.printf("vin: %.4f",vin); |
mglmx | 3:fe7010b693a0 | 284 | wait(0.2); |
mglmx | 3:fe7010b693a0 | 285 | |
mglmx | 3:fe7010b693a0 | 286 | } |
mglmx | 4:50879dfb82d5 | 287 | */ |
mglmx | 1:0ab26889af9b | 288 | } |
mglmx | 3:fe7010b693a0 | 289 | } |