Revision 44:94870081aece, committed 2018-06-18

Comitter:

mglmx

Date:

Mon Jun 18 13:51:39 2018 +0000

Parent:

43:346a1f4144cd

Parent:

42:b445252a772a

Child:

45:d589318238bf

Commit message:

Merged (replaced) with previous commit. Sensors should be detected(not tested) and NAC and AFC implemented(needs to add same logic for LR train)

Changed in this revision

--- a/main.cpp.orig	Mon Jun 18 13:42:48 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,640 +0,0 @@
-#include "mbed.h"
-#include "TextLCD.h"
-#include "MCP23017.h"
-#include <string>
-#include <iostream>
-#include <vector>
-
-using namespace std;
-
- 
-/******PINS AND DECLARATIONS*******/
-
-//------PINS
-
-//SWITCHES p5 - p8
-DigitalIn switch1(p5);
-DigitalIn switch2(p6);
-DigitalIn switch3(p7);
-DigitalIn switch4(p8);
-
-//RAIL SENSORS - INT0,INT1
-//INT0 - p9
-InterruptIn int0(p9);
-//INT1 - p10
-InterruptIn int1(p10);
-
-///p11
-///p12
-
-//M0 - p13
-DigitalIn d21stat(p13);     //Sensor right of the station
-//M1 - p14
-DigitalIn d22stat(p14);     //Sensor left of the station
-//M2 - p15
-DigitalIn station(p15); //Sensor in the middle of the station
-
-//p16
-//p17
-
-//BUZZER - p18
-DigitalOut buzz(p18); // buzz=0 doesn't beep, buzz=1 beeps
-
-//POTENTIOMETER - p19
-AnalogIn pot(p19);  //Gives float value pot.read(). Convert analog input to V with f*3.3
-
-//DAT - p20
-DigitalOut Track(p20); //Digital output bit used to drive track power via H-bridge
-
-//LCD SCREEN - p21, p22, p23, p24, p25, p26
-TextLCD lcd(p22,p21,p23,p24,p25,p26); // RS, E, A4, A5, A6, A7 // ldc.cls() to clear and printf(String up to 16char)
-
-///p27
-///p28
-I2C i2c(p28,p27);
-
-//LED1 - p29
-DigitalOut redled(p29);
-//LED2 - p30
-DigitalOut greenled(p30);
-
-//MBED LEDS
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
-DigitalOut led3(LED3);
-
-//MCP
-MCP23017 *mcp;
-
-
-//------GLOBAL VARS
-
-//......SENSOR POSITION VARS
-
-#define D0 0
-#define D1 1
-#define D2 2
-#define D3 3
-#define D4 4
-#define D5 5
-#define D6 6
-#define D7 7
-#define D8 8
-#define D9 9
-#define D10 10
-#define D11 11
-#define D12 12
-#define D13 13
-#define D21 14
-#define D22 15
-
-/**
-*
-*Position class.
-*
-*@position - 
-*@previous_cw - 
-*@previous_ccw - 
-*
-*Position(int) - 
-*
-*get_pos() - 
-*get_prev_cw() - 
-*get_ccw() - 
-*add_prev_cw() - 
-*add_ccw() - 
-*
-**/
-class Position{
-    private:
-        int position; 
-        vector <int> previous_cw;
-        vector <int> previous_ccw;
-    public:
-        Position(int p){
-            position = p;
-        }
-        
-        int get_pos(){
-            return position;    
-        }
-
-        vector <int> get_prev_cw(){
-            return previous_cw;    
-        }
-        
-        vector <int> get_prev_ccw(){
-            return previous_ccw;    
-        }
-        
-        void add_prev_cw(int pos){
-            previous_cw.push_back(pos);
-        };
-        
-        void add_prev_ccw(int pos){
-            previous_ccw.push_back(pos);
-        };
-};
-
-//Creation of all the positions. One for every sensor on the table - Position name(mapping)
-
-Position d0(D0);
-Position d1(D1);
-Position d2(D2);
-Position d3(D3);
-Position d4(D4);
-Position d5(D5);
-Position d6(D6);
-Position d7(D7);
-Position d8(D8);
-Position d9(D9);
-Position d10(D10);
-Position d11(D11);
-Position d12(D12);
-Position d13(D13);
-Position d21(D21);
-Position d22(D22);
-
-//Creating a vector with all the positions.
-vector<Position> positions;
-
-
-//.....DCC TRAIN COMMAND VARS
-
-//typical out of box default engine DCC address is 3 (at least for Bachmann trains)
-//Note: A DCC controller can reprogram the address whenever needed
-const unsigned int DCCaddressDR = 0x01; //Address for train 1 DARK-RED
-const unsigned int DCCaddressLR = 0x03; //Address for train 3 LIGHT-RED
-
-//01DCSSSS for speed, D is direction (fwd=1 and rev=0), C is speed(SSSSC) LSB
-const unsigned int DCCinst_forward = 0x68; //forward half speed
-const unsigned int DCCinst_forward_slow = 0x66; //forward half speed
-const unsigned int DCCinst_reverse = 0x48; //reverse half speed
-const unsigned int DCCinst_stop = 0x50;    //stop the train
-
-//100DDDDD for basic headlight functions
-const unsigned int DCC_func_lighton = 0x90; //F0 turns on headlight function
-const unsigned int DCC_func_dimlight = 0x91; //F0 + F1 dims headlight
-
-
-//.....SWITCH COMMAND VARS
-    
-const unsigned int SWBaddress = 0x06; //Address for switch box
-
-//100DDDDD where DDDDD is the switch command and 100 is constant:
-
-//00001(F1 active)-00010(F2 active)-00100(F3 active)-01000(F4 active)
-//Example - 111111 0 00000101 0 10000000 0 10000101 1 - idle
-const unsigned int SWBidle = 0x80; //IDLE - Flip last activated SW.
-const unsigned int SWBflip_1 = 0x81; //Flip SW1
-const unsigned int SWBflip_2 = 0x82; //Flip SW2
-const unsigned int SWBflip_3 = 0x84; //Flip SW3
-const unsigned int SWBflip_4 = 0x88; //Flip SW4
-
-//Starting position and orientation of the trains
-int DR_train_pos = D4;
-bool DR_cw = true;
-
-int LR_train_pos= D10;
-bool LR_cw = true;
-
-
-
-//**************** FUNCTIONS FOR DENVER TRAIN ****************//
-
-
-/**
-*Activates the buzzer for 0.5 seconds.
-**/
-void doBuzz(){
-    
-    buzz = 1;
-    wait(0.5);
-    buzz = 0;    
-}
-
-void init_positions(){
-      
-    
-    d0.add_prev_cw(D1);
-    d0.add_prev_ccw(D13);
-    
-    d1.add_prev_cw(D22);
-    d1.add_prev_ccw(D0);
-    
-    d22.add_prev_cw(D2);
-    d22.add_prev_ccw(D1);
-    
-    d2.add_prev_cw(D21);
-    d2.add_prev_ccw(D22);
-    
-    d21.add_prev_cw(D3);
-    d21.add_prev_cw(D4);
-    d21.add_prev_ccw(D2);
-    
-    d3.add_prev_cw(D9);
-    d3.add_prev_ccw(D21);
-    
-    d4.add_prev_cw(D6);
-    d4.add_prev_ccw(D21);
-    
-    d5.add_prev_cw(D6);
-    d5.add_prev_ccw(D11); 
-    
-    d6.add_prev_cw(D7);
-    d6.add_prev_ccw(D4);
-    d6.add_prev_ccw(D5);
-    
-    d7.add_prev_cw(D8);
-    d7.add_prev_ccw(D6);
-    
-    d8.add_prev_cw(D9);
-    d8.add_prev_cw(D10);
-    d8.add_prev_ccw(D7);
-        
-    d9.add_prev_cw(D3);
-    d9.add_prev_ccw(D8);
-    
-    d10.add_prev_cw(D12);
-    d10.add_prev_ccw(D8);  
-    
-    d11.add_prev_cw(D12);
-    d11.add_prev_ccw(D5);  
-    
-    d12.add_prev_cw(D13);
-    d12.add_prev_ccw(D10); 
-    d12.add_prev_ccw(D11);  
-    
-    d13.add_prev_cw(D0);
-    d13.add_prev_ccw(D12);  
-    
-    //Initialize array with positions
-    positions.push_back(d0);
-    positions.push_back(d1);
-    positions.push_back(d2);
-    positions.push_back(d3);
-    positions.push_back(d4);
-    positions.push_back(d5);
-    positions.push_back(d6);
-    positions.push_back(d7);
-    positions.push_back(d8);
-    positions.push_back(d9);
-    positions.push_back(d10);
-    positions.push_back(d11);    
-    positions.push_back(d12);
-    positions.push_back(d13);
-    positions.push_back(d21);
-    positions.push_back(d22);
-}
-
-/**
-*
-*Here we initialize the mcp that will be used to manage the interrupts.
-*
-**/
-void initialize_mcp(){
-    mcp = new MCP23017(i2c,0x40); //Connect to SCL - p28 and SDA - p27 and MPC I2C address 0x40 
-    
-    mcp->_write(IODIRA, (unsigned char )0xff);
-    mcp->_write(IODIRB, (unsigned char )0xff);
-    mcp->_write(IPOLA, (unsigned char )0x00);
-    mcp->_write(IPOLB, (unsigned char )0x00);
-    mcp->_write(DEFVALA, (unsigned char )0xff);
-    mcp->_write(DEFVALB, (unsigned char )0xff); 
-    mcp->_write(INTCONA, (unsigned char )0xff); 
-    mcp->_write(INTCONB, (unsigned char )0xff); 
-    mcp->_write(IOCONA, (unsigned char )0x2); 
-    mcp->_write(IOCONB, (unsigned char )0x2); 
-    mcp->_write(GPPUA, (unsigned char )0xff); 
-    mcp->_write(GPPUB, (unsigned char )0xff);    
-    
-}
-
-/**
-*
-*/
-
-int get_sensor(unsigned int number,int interrupt){
-    int sensor = -1;
-    
-    for(int i=0; i<8;i++){
-        
-        if(~number & 1<<i){            
-            sensor = i; 
-        }
-    }
-    
-    if(interrupt == 1){
-        sensor+=8; // Sensors caught by interreupt1 are identified from 8 to 15.
-    }
-    return sensor;
-}
-
-void update_train_pos(int sensor){
-    bool found_DR = false;
-    bool found_LR = false;    
-    
-    
-     Position pos = positions[sensor];
-     
-     lcd.cls();
-     lcd.printf("D%d DR:%d",pos.get_pos(),DR_train_pos);      
-     //wait(1);   
-     for(int i = 0; i<pos.get_prev_cw().size();i++){
-            
-            int prev = pos.get_prev_cw()[i];
-            
-            if(DR_train_pos == prev){
-              
-              found_DR = true;
-              DR_train_pos = sensor; //We update the position of the train  
-            }
-            if(LR_train_pos == prev){
-                found_LR = true;
-                LR_train_pos = sensor;   //We update the position of the train  
-            }
-     }
-     
-     if(found_DR){
-        //doBuzz();
-        lcd.cls();
-        lcd.printf("DR is at D%d",DR_train_pos);
-        
-    }
-    if(found_LR){
-        //doBuzz();
-        lcd.cls();
-        lcd.printf("LR is at D%d",LR_train_pos); 
-          
-    }
-    if(!found_DR && !found_LR){
-        lcd.cls();
-        lcd.printf("No train before :(");
-    }
-}
-
-/**
-*
-*Method to catch interrupts 0
-*
-**/
-void on_int0_change(){
-     
-     wait_us(2000);
-     int sensor_data = mcp->_read(INTCAPA);
-     int sensor = get_sensor(sensor_data,0);
-     lcd.cls();
-     lcd.printf("int0 0x%x \n Sensor: %d",sensor_data,sensor);
-     
-     
-     
-     update_train_pos(sensor);
-}
-
-
-
-/**
-*
-*Method to catch interrupts 1
-*
-**/
-void on_int1_change(){
-    
-    wait_us(2000);
-     int sensor_data = mcp->_read(INTCAPB);
-     int sensor = get_sensor(sensor_data,1);
-     lcd.cls();
-     lcd.printf("int1 0x%x \n Sensor: %d",sensor_data,sensor);
-     
-     update_train_pos(sensor);
-}
-
-
-void init() { // Clear current interrupts 
-    mcp->_read(GPIOA); 
-    mcp->_read(GPIOB); // Register callbacks 
-    int0.fall(&on_int0_change); 
-    int1.fall(&on_int1_change); // Enable interrupts on MCP 
-    mcp->_write(GPINTENA, (unsigned char )0xff); 
-    mcp->_write(GPINTENB, (unsigned char )0xff); // Ready to go! 
-  }
-
-
-
-
-/**
-*
-*Print the positions where there is a 0
-*
-**/
-
-void train_pos_update(unsigned int number){
-    
-    /*
-    bitset <sizeof(unsigned int) * 8> n (number);
-    
-    cout << "Binary: " << n << endl;
-    */
-    
-    for(int i=0; i<16;i++){
-        
-        if(~number & 1<<i){
-            
-            cout << "There is a 0 at " << i << endl;
-            pos_trains[1] = pos_trains[0]; 
-            pos_trains[0] = i; 
-        }
-    }
- }
- 
- 
-/**
-*
-*Method to send DCC commands to train and switches.
-*
-*@address - (HEX)Address where the commands will be sent
-*@inst - (HEX)Number of instruction that will be commanded
-*@repeat_count - Number of times the command will be sent
-*
-**/
-void DCC_send_command(unsigned int address, unsigned int inst, unsigned int repeat_count)
-{
-    unsigned __int64 command = 0x0000000000000000; // __int64 is the 64-bit integer type
-    unsigned __int64 temp_command = 0x0000000000000000;
-    unsigned __int64 prefix = 0x3FFF; // 14 "1" bits needed at start
-    unsigned int error = 0x00; //error byte
-    
-    //calculate error detection byte with xor
-    error = address ^ inst;
-    
-    //combine packet bits in basic DCC format
-    command = (prefix<<28)|(address<<19)|(inst<<10)|((error)<<1)|0x01;
-    //printf("\n\r %llx \n\r",command);
-    
-    int i=0;
-    //repeat DCC command lots of times
-    while(i < repeat_count) {
-        
-        temp_command = command;
-        //loops through packet bits encoding and sending out digital pulses for a DCC command
-        for (int j=0; j<64; j++) {
-            
-            if((temp_command&0x8000000000000000)==0) { 
-            //test packet bit
-                //send data for a "0" bit
-                Track=0;
-                wait_us(100);
-                Track=1;
-                wait_us(100);
-                //printf("0011");
-                
-            }else{
-                
-                //send data for a "1"bit
-                Track=0;
-                wait_us(58);
-                Track=1;
-                wait_us(58);
-                //printf("01");
-            }
-            // next bit in packet
-            temp_command = temp_command<<1;
-        }
-        i++;
-    }
-}
-
-
-/**
-*
-*Method to flip the switches
-*
-*@switchId - (1-4)The ID of the switch we want to flip
-*@times - The number of times we want to send the command
-*@activate - True if the switch is going to be activated. False if it needs to go back to rest position.
-*
-**/
-void flipSwitch(int switchId, int times, bool activate=true){
-    
-    unsigned int SWBflip = SWBidle; //IDLE - Flip last activated SW.
-    
-    switch(switchId){
-        case 1:
-            SWBflip = SWBflip_1;     //FLIP SW1
-            break;
-        case 2:
-            SWBflip = SWBflip_2;     //FLIP SW2
-            break;
-        case 3:
-            SWBflip = SWBflip_3;     //FLIP SW3
-            break;
-        case 4:
-            SWBflip = SWBflip_4;     //FLIP SW4
-            break;
-        default:
-            break;    
-    }          
-
-    //Security measure not to burn the switch.
-    if(times <=5){ 
-        DCC_send_command(SWBaddress,SWBflip,times); //Activating switch
-        if(!activate){
-              DCC_send_command(SWBaddress,SWBidle,times);  //Sending IDLE to flip back.
-        }
-     }
-    
-}
-
-
-/**
-*
-*Checks if any of the switches of the box has been activated. 
-*Calls necessary function and displays LCD text.
-*
-**/
-void checkSwitch(){
-    
-    if(switch1 == 1){
-        
-        lcd.cls();
-        lcd.printf("Switch 1 ON - SW1");
-        flipSwitch(1,5);
-        
-     }else if(switch2 == 1){
-        
-            lcd.cls();
-            lcd.printf("Switch 2 ON - SW2");
-            flipSwitch(2,5);
-        
-        }else if(switch3 == 0){
-                
-                lcd.cls();
-                lcd.printf("Switch 3 ON - SW3");
-                flipSwitch(3,5);
-                
-            }else if(switch4 == 0){
-        
-                    lcd.cls();
-                    lcd.printf("Switch 4 ON - IDLE");
-                    flipSwitch(0,5);         
-            }
-    }
-
-
-
-//**************** MAIN PROGRAM FOR DENVER TRAIN ****************//
-
-int main()
-{
-    //RISE FOR INTERRUPTS?? NOT WORKING ATM
-    //int0.rise(&interrupt0);
-    //int1.rise(&interrupt1);
-    
-    //Read and display potentiometer
-    //float f = pot.read();
-    //float vin = f * 3.3;
-    //lcd.printf("vin: %.4f",vin);
-    
-    //0xFFFC     //1111111111111100
-    
-    
-    //Led routine to start main program
-    led1 = 1;
-    wait(0.2);
-    led1 = 0;
-    wait(0.2);
-    led1 = 1;
-    
-    initialize_mcp();   //mcp initialization for interrupts before train running
-    init();
-    init_positions();
-    
-    //Train light routine to start running
-    DCC_send_command(DCCaddressDR,DCC_func_lighton,200); // turn light on full
-    DCC_send_command(DCCaddressDR,DCC_func_dimlight,400); //dim light
-    DCC_send_command(DCCaddressDR,DCC_func_lighton,200);  //light full again
-
-    //LED3 Shows start of route + LCD notif
-    led3 = 1; // Entering the while
-    lcd.cls();
-    lcd.printf("Ready to start");
-    
-    //Demo for stopping at the station
-    while(1) {
-        
-        checkSwitch();  //Checks for switch commands everytime.  
-        
-        if(1==0){
-        //if(station == 1){      //If train is on the sensor at the middle of the station it stops and displays LCD text.
-            
-            lcd.cls();
-            lcd.printf("All aboard\n mind the gap");
-            DCC_send_command(DCCaddressDR,DCCinst_stop,400);  
-            lcd.cls();
-            
-        }else{
-            DCC_send_command(DCCaddressDR,DCCinst_forward,1); // Forward half speed train addres DARK-RED             
-            DCC_send_command(DCCaddressLR,DCCinst_forward,1); // Forward half speed train address LIGHT-RED
-        } 
-    }
-}