Denver
/
denver_train_proj
Denver trai project
main.cpp
- Committer:
- mglmx
- Date:
- 2018-06-13
- Revision:
- 33:24ce12dec157
- Parent:
- 32:e5b732fb8e65
- Child:
- 34:c9ab2a987734
File content as of revision 33:24ce12dec157:
#include "mbed.h" #include "TextLCD.h" #include "MCP23017.h" #include <string> #include <iostream> //mbed DCC Model Train Demo /******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 d21(p13); //Sensor right of the station //M1 - p14 DigitalIn d22(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 //.....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 //Arrays that will keep track of the position and direction of th trains. //[pos_trains] -1 = not in track / any other number = sensor where the train is at (sensors 1-16) //[dir_trains] -1 = left / 1 = right int pos_trains [2] = {-1,-1}; int dir_trains [2] = {-1,-1}; //**************** FUNCTIONS FOR DENVER TRAIN ****************// /** *Activates the buzzer for 0.5 seconds. **/ void doBuzz(){ buzz = 1; wait(0.5); buzz = 0; } /** * *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); } /** * *Method to catch interrupts 0 * **/ void on_int0_change(){ wait_us(2000); int sensor_data = mcp->_read(INTCAPA); lcd.cls(); lcd.printf("int0 0x%x",sensor_data); } /** * *Method to catch interrupts 1 * **/ void on_int1_change(){ wait_us(2000); int sensor_data = mcp->_read(INTCAPB); lcd.cls(); lcd.printf("int1 0x%x",sensor_data); } 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(); //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_slow,1); // Forward half speed train addres DARK-RED DCC_send_command(DCCaddressLR,DCCinst_forward,1); // Forward half speed train address LIGHT-RED } } }