HAN Solarboat
external UI solar on foils
Dependencies: mbed
Fork of
CAN_module_ext_UI
by 
Dannis Brugman
Revision 0:877c5ece70ac, committed 2015-08-11
- Comitter:
- Dannis_mbed
- Date:
- Tue Aug 11 08:46:16 2015 +0000
- Commit message:
- presentation version
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ExtUI.cpp Tue Aug 11 08:46:16 2015 +0000
@@ -0,0 +1,103 @@
+//////////////////////////////////////////////////////////////////////////////////////
+// //
+// File : ExtUI.cpp //
+// Version : 0.1 //
+// Initial : 19 June 2015 //
+// Author : Dany Brugman //
+// Comment : externe UI class //
+// //
+// //
+// Changelog : //
+// Date: Name: Comment: //
+// 19/06/2015 DNB First version //
+// //
+//////////////////////////////////////////////////////////////////////////////////////
+
+//////////////////////////////////////////////////////////////////////////////////////
+// includes //
+//////////////////////////////////////////////////////////////////////////////////////
+#include "ExtUI.h"
+
+//////////////////////////////////////////////////////////////////////////////////////
+// defines //
+//////////////////////////////////////////////////////////////////////////////////////
+#define NEW_HEIGHT 1020
+
+//////////////////////////////////////////////////////////////////////////////////////
+// constructor //
+//////////////////////////////////////////////////////////////////////////////////////
+ExtUI::ExtUI() :
+ heightLeds (p13, p14, p5, p6, p7),
+ Red(p21),
+ Green(p22),
+ Blue(p23),
+ iHeight(1)
+{
+ init();
+};
+
+ExtUI::~ExtUI()
+{
+};
+
+extern CAN CANBus;
+
+
+void ExtUI::init(void)
+{
+ Red.period_ms(10);
+ Green.period_ms(10);
+ Blue.period_ms(10);
+ Red = 0.2f; wait(0.2);
+ Red = 0.0f; Green = 0.2f; wait(0.2);
+ Green = 0.0f; Blue = 0.2f;
+}
+
+uint32_t ExtUI::getTargetHeight(void)
+{
+ return uiTargetHeight;
+}
+
+int ExtUI::setTargetHeight(uint32_t Value)
+{
+ if ((Value % 5 == 0)&&(Value <= 30))
+ {
+ uiTargetHeight = Value;
+ vUpdatextUI();
+ return 1;
+ }
+ else return 0; //error out of range
+}
+
+void ExtUI::heightIncrease(void)
+{
+ if (iHeight !=0) iHeight = getTargetHeight()/5;
+ if (iHeight < 6) iHeight++;
+ cMessage = (char) (iHeight * 5);
+ CANBus.write(CANMessage(NEW_HEIGHT, &cMessage, 1));
+ //setTargetHeight(iHeight * 5);
+ vUpdatextUI();
+ //heightLeds.write(cuLut[iHeight-1]);
+}
+
+void ExtUI::heightDecrease(void)
+{
+ iHeight = getTargetHeight()/5;
+ if (iHeight > 1) iHeight--;
+ cMessage = (char) (iHeight * 5);
+ CANBus.write(CANMessage(NEW_HEIGHT, &cMessage, 1));
+ //setTargetHeight(iHeight * 5);
+ vUpdatextUI();
+ //heightLeds.write(cuLut[iHeight-1]);
+ //printf("iHeight: %i\r\n", iHeight);
+}
+
+void ExtUI::vUpdatextUI(void)
+{
+ iHeight = getTargetHeight()/5;
+ heightLeds.write(cuLut[iHeight-1]);
+}
+
+
+
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ExtUI.h Tue Aug 11 08:46:16 2015 +0000
@@ -0,0 +1,57 @@
+#ifndef EXTUI_H_INCLUDED
+#define EXTUI_H_INCLUDED
+
+#include "mbed.h"
+
+//Solar on Foils display screens
+enum BUTTON_t
+{
+ _EMERG_LANDING = 0, // Initialize screen
+ _STANDBY, // Standby screen
+ _ACTIVE // Active screen
+};
+
+// SOF LUT
+const uint32_t cuLut[6] = {0x00, 0x01, 0x03, 0x07, 0x0F, 0x1F};
+
+class ExtUI
+{
+ private:
+ // Resource
+ BusOut heightLeds;
+
+ PwmOut Red;
+ PwmOut Green;
+ PwmOut Blue;
+
+ // variable
+ BUTTON_t buttonStatus;
+
+ int iHeight;
+ uint32_t uiCounter;
+ uint32_t uiTargetHeight;
+
+ char cMessage;
+
+ bool bError;
+
+ public:
+ // Constructor
+ ExtUI();
+ // Destructor
+ ~ExtUI();
+
+ // Gets
+ uint32_t getTargetHeight(void);
+
+ // Sets
+ int setTargetHeight(uint32_t);
+
+ // Other functions
+ void init(void);
+ void heightIncrease(void);
+ void heightDecrease(void);
+ void vUpdatextUI(void);
+
+};
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PinDetect.h Tue Aug 11 08:46:16 2015 +0000
@@ -0,0 +1,501 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#ifndef AJK_PIN_DETECT_H
+#define AJK_PIN_DETECT_H
+
+#ifndef MBED_H
+#include "mbed.h"
+#endif
+
+#ifndef PINDETECT_PIN_ASSTERED
+#define PINDETECT_PIN_ASSTERED 1
+#endif
+
+#ifndef PINDETECT_SAMPLE_PERIOD
+#define PINDETECT_SAMPLE_PERIOD 20000
+#endif
+
+#ifndef PINDETECT_ASSERT_COUNT
+#define PINDETECT_ASSERT_COUNT 1
+#endif
+
+#ifndef PINDETECT_HOLD_COUNT
+#define PINDETECT_HOLD_COUNT 50
+#endif
+
+namespace AjK {
+
+/** PinDetect adds mechanical switch debouncing to DigitialIn and interrupt callbacks.
+ *
+ * This is done by sampling the specified pin at regular intervals and detecting any
+ * change of state ( 0 -> 1 or 1 -> 0 ). When a state change is detected the attached
+ * callback handler is called. Additionally, if the pin stays in the same state after
+ * a state change for a defined period of time, an extra callback is made allowing a
+ * program to detect when a "key is pressed and held down" rather than a momentary
+ * key/switch press.
+ *
+ * All parameters are customisable which include:-
+ * <ul>
+ * <li> The sampling frequency. </li>
+ * <li> The number of continuous samples until a state change is detected. </li>
+ * <li> The number of continuous samples until a key is assumed held after a state change. </li>
+ * <li> The logic level which is assumed to be asserted (0volts or +volts). </li>
+ * </ul>
+ *
+ * Only callbacks that have been attached will be called by the library.
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "PinDetect.h"
+ *
+ * PinDetect pin( p30 );
+ * DigitialOut led1( LED1 );
+ * DigitialOut led2( LED2 );
+ * DigitialOut led3( LED3 );
+ * DigitialOut led4( LED4 );
+ *
+ * void keyPressed( void ) {
+ * led2 = 1;
+ * led3 = 0;
+ * led4 = 0;
+ * }
+ *
+ * void keyReleased( void ) {
+ * led2 = 0;
+ * led3 = 0;
+ * led4 = 0;
+ * }
+ *
+ * void keyPressedHeld( void ) {
+ * led3 = 1;
+ * }
+ *
+ * void keyReleasedHeld( void ) {
+ * led4 = 1;
+ * }
+ *
+ * int main() {
+ *
+ * pin.mode( PullDown );
+ * pin.attach_asserted( &keyPressed );
+ * pin.attach_deasserted( &keyReleased );
+ * pin.attach_asserted_held( &keyPressedHeld );
+ * pin.attach_deasserted_held( &keyReleasedHeld );
+ *
+ * // Sampling does not begin until you set a frequency.
+ * // The default is 20ms. If you want a different frequency
+ * // then pass the period in microseconds for example, for 10ms :-
+ * // pin.setSampleFrequency( 10000 );
+ * //
+ * pin.setSampleFrequency(); // Defaults to 20ms.
+ *
+ * while( 1 ) {
+ * led1 = !led1;
+ * wait( 0.2 );
+ * }
+ * }
+ * @endcode
+ *
+ * This example will flash led1 in a similar to a standard starting program.
+ *
+ * Applying a "1" (switch on) to pin 30 will switch on led2, removing the "1" to "0"
+ * (switch off) led2 goes out. Holding the "switch" at one for one second will switch
+ * on led3. An unasserted P30 (switched off) will, after one second illuminate led4
+ * when the deasserted calledback is called.
+ *
+ * The above is a very basic introduction. For more details:-
+ * @see example.h
+ */
+class PinDetect {
+
+protected:
+ DigitalIn *_in;
+ Ticker *_ticker;
+ int _prevState;
+ int _currentStateCounter;
+ int _sampleTime;
+ int _assertValue;
+ int _samplesTillAssertReload;
+ int _samplesTillAssert;
+ int _samplesTillHeldReload;
+ int _samplesTillHeld;
+ FunctionPointer _callbackAsserted;
+ FunctionPointer _callbackDeasserted;
+ FunctionPointer _callbackAssertedHeld;
+ FunctionPointer _callbackDeassertedHeld;
+
+ /** initialise class
+ *
+ * @param PinName p is a valid pin that supports DigitalIn
+ * @param PinMode m The mode the DigitalIn should use.
+ */
+ void init(PinName p, PinMode m) {
+ _sampleTime = PINDETECT_SAMPLE_PERIOD;
+ _samplesTillAssert = PINDETECT_ASSERT_COUNT;
+ _samplesTillHeld = 0;
+ _samplesTillAssertReload = PINDETECT_ASSERT_COUNT;
+ _samplesTillHeldReload = PINDETECT_HOLD_COUNT;
+ _assertValue = PINDETECT_PIN_ASSTERED;
+
+ _in = new DigitalIn( p );
+ _in->mode( m );
+ _prevState = _in->read();
+ _ticker = new Ticker;
+ }
+
+public:
+
+ friend class Ticker;
+
+ PinDetect() { error("You must supply a PinName"); }
+
+ /** PinDetect constructor
+ *
+ * By default the PinMode is set to PullDown.
+ *
+ * @see http://mbed.org/handbook/DigitalIn
+ * @param p PinName is a valid pin that supports DigitalIn
+ */
+ PinDetect(PinName p) {
+ init( p, PullDown );
+ }
+
+ /** PinDetect constructor
+ *
+ * @see http://mbed.org/handbook/DigitalIn
+ * @param PinName p is a valid pin that supports DigitalIn
+ * @param PinMode m The mode the DigitalIn should use.
+ */
+ PinDetect(PinName p, PinMode m) {
+ init( p, m );
+ }
+
+ /** PinDetect destructor
+ */
+ ~PinDetect() {
+ if ( _ticker ) delete( _ticker );
+ if ( _in ) delete( _in );
+ }
+
+ /** Set the sampling time in microseconds.
+ *
+ * @param int The time between pin samples in microseconds.
+ */
+ void setSampleFrequency(int i = PINDETECT_SAMPLE_PERIOD) {
+ _sampleTime = i;
+ _prevState = _in->read();
+ _ticker->attach_us( this, &PinDetect::isr, _sampleTime );
+ }
+
+ /** Set the value used as assert.
+ *
+ * Defaults to 1 (ie if pin == 1 then pin asserted).
+ *
+ * @param int New assert value (1 or 0)
+ */
+ void setAssertValue (int i = PINDETECT_PIN_ASSTERED) { _assertValue = i & 1; }
+
+ /** Set the number of continuous samples until assert assumed.
+ *
+ * Defaults to 1 (1 * sample frequency).
+ *
+ * @param int The number of continuous samples until assert assumed.
+ */
+ void setSamplesTillAssert(int i) { _samplesTillAssertReload = i; }
+
+ /** Set the number of continuous samples until held assumed.
+ *
+ * Defaults to 50 * sample frequency.
+ *
+ * @param int The number of continuous samples until held assumed.
+ */
+ void setSamplesTillHeld(int i) { _samplesTillHeldReload = i; }
+
+ /** Set the pin mode.
+ *
+ * @see http://mbed.org/projects/libraries/api/mbed/trunk/DigitalInOut#DigitalInOut.mode
+ * @param PinMode m The mode to pass on to the DigitalIn
+ */
+ void mode(PinMode m) { _in->mode( m ); }
+
+ /** Attach a callback function
+ *
+ * @code
+ *
+ * DigitalOut led1( LED1 );
+ * PinDetect pin( p30 );
+ *
+ * void myCallback( void ) {
+ * led1 = 1;
+ * };
+ *
+ * main() {
+ * pin.attach_asserted( &myCallback );
+ * }
+ *
+ * @endcode
+ *
+ * Call this function when a pin is asserted.
+ * @param function A C function pointer
+ */
+ void attach_asserted(void (*function)(void)) {
+ _callbackAsserted.attach( function );
+ }
+
+ /** Attach a callback object/method
+ *
+ * @code
+ *
+ * class Bar {
+ * public:
+ * void myCallback( void ) { led1 = 1; }
+ * };
+ *
+ * DigitalOut led1( LED1 );
+ * PinDetect pin( p30 );
+ * Bar bar;
+ *
+ * main() {
+ * pin.attach_asserted( &bar, &Bar::myCallback );
+ * }
+ *
+ * @endcode
+ *
+ * Call this function when a pin is asserted.
+ * @param object An object that conatins the callback method.
+ * @param method The method within the object to call.
+ */
+ template<typename T>
+ void attach_asserted(T *object, void (T::*member)(void)) {
+ _callbackAsserted.attach( object, member );
+ }
+
+ /** Attach a callback function
+ *
+ * @code
+ *
+ * DigitalOut led1( LED1 );
+ * PinDetect pin( p30 );
+ *
+ * void myCallback( void ) {
+ * led1 = 0;
+ * };
+ *
+ * main() {
+ * pin.attach_deasserted( &myCallback );
+ * }
+ *
+ * @endcode
+ *
+ * Call this function when a pin is deasserted.
+ * @param function A C function pointer
+ */
+ void attach_deasserted(void (*function)(void)) {
+ _callbackDeasserted.attach( function );
+ }
+
+ /** Attach a callback object/method
+ *
+ * @code
+ *
+ * class Bar {
+ * public:
+ * void myCallback( void ) { led1 = 0; }
+ * };
+ *
+ * DigitalOut led1( LED1 );
+ * PinDetect pin( p30 );
+ * Bar bar;
+ *
+ * main() {
+ * pin.attach_deasserted( &bar, &Bar::myCallback );
+ * }
+ *
+ * @endcode
+ *
+ * Call this function when a pin is deasserted.
+ * @param object An object that conatins the callback method.
+ * @param method The method within the object to call.
+ */
+ template<typename T>
+ void attach_deasserted(T *object, void (T::*member)(void)) {
+ _callbackDeasserted.attach( object, member );
+ }
+
+ /** Attach a callback function
+ *
+ * @code
+ *
+ * DigitalOut led2( LED2 );
+ * PinDetect pin( p30 );
+ *
+ * void myCallback( void ) {
+ * led2 = 1;
+ * };
+ *
+ * main() {
+ * pin.attach_asserted_held( &myCallback );
+ * }
+ *
+ * @endcode
+ *
+ * Call this function when a pin is asserted and held.
+ * @param function A C function pointer
+ */
+ void attach_asserted_held(void (*function)(void)) {
+ _callbackAssertedHeld.attach( function );
+ }
+
+ /** Attach a callback object/method
+ *
+ * @code
+ *
+ * class Bar {
+ * public:
+ * void myCallback( void ) { led2 = 0; }
+ * };
+ *
+ * DigitalOut led2( LED2 );
+ * PinDetect pin( p30 );
+ * Bar bar;
+ *
+ * main() {
+ * pin.attach_asserted_held( &bar, &Bar::myCallback );
+ * }
+ *
+ * @endcode
+ *
+ * Call this function when a pin is asserted and held.
+ * @param object An object that conatins the callback method.
+ * @param method The method within the object to call.
+ */
+ template<typename T>
+ void attach_asserted_held(T *object, void (T::*member)(void)) {
+ _callbackAssertedHeld.attach( object, member );
+ }
+
+ /** Attach a callback function
+ *
+ * @code
+ *
+ * DigitalOut led3( LED3 );
+ * PinDetect pin( p30 );
+ *
+ * void myCallback( void ) {
+ * led3 = 1;
+ * };
+ *
+ * main() {
+ * pin.attach_deasserted_held( &myCallback );
+ * }
+ *
+ * @endcode
+ *
+ * Call this function when a pin is deasserted and held.
+ * @param function A C function pointer
+ */
+ void attach_deasserted_held(void (*function)(void)) {
+ _callbackDeassertedHeld.attach( function );
+ }
+
+ /** Attach a callback object/method
+ *
+ * @code
+ *
+ * class Bar {
+ * public:
+ * void myCallback( void ) { led3 = 0; }
+ * };
+ *
+ * DigitalOut led3( LED3 );
+ * PinDetect pin( p30 );
+ * Bar bar;
+ *
+ * main() {
+ * pin.attach_deasserted_held( &bar, &Bar::myCallback );
+ * }
+ *
+ * @endcode
+ *
+ * Call this function when a pin is deasserted and held.
+ * @param object An object that conatins the callback method.
+ * @param method The method within the object to call.
+ */
+ template<typename T>
+ void attach_deasserted_held(T *object, void (T::*member)(void)) {
+ _callbackDeassertedHeld.attach( object, member );
+ }
+
+ /** operator int()
+ *
+ * Read the value of the pin being sampled.
+ */
+ operator int() { return _in->read(); }
+
+protected:
+ /** The Ticker periodic callback function
+ */
+ void isr(void) {
+ int currentState = _in->read();
+
+ if ( currentState != _prevState ) {
+ if ( _samplesTillAssert == 0 ) {
+ _prevState = currentState;
+ _samplesTillHeld = _samplesTillHeldReload;
+ if ( currentState == _assertValue )
+ _callbackAsserted.call();
+ else
+ _callbackDeasserted.call();
+ }
+ else {
+ _samplesTillAssert--;
+ }
+ }
+ else {
+ _samplesTillAssert = _samplesTillAssertReload;
+ }
+
+ if ( _samplesTillHeld ) {
+ if ( _prevState == currentState ) {
+ _samplesTillHeld--;
+ if ( _samplesTillHeld == 0 ) {
+ if ( currentState == _assertValue )
+ _callbackAssertedHeld.call();
+ else
+ _callbackDeassertedHeld.call();
+ }
+ }
+ else {
+ _samplesTillHeld = 0;
+ }
+ }
+ }
+
+};
+
+}; // namespace AjK ends.
+
+using namespace AjK;
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Aug 11 08:46:16 2015 +0000
@@ -0,0 +1,250 @@
+//////////////////////////////////////////////////////////////////////////////////////
+// //
+// File : main.cpp //
+// Version : 0.1 //
+// Initial : 17 June 2015 //
+// Author : Dany Brugman //
+// Comment : Extern UI using CANbus //
+// //
+// //
+// Changelog : //
+// Date: Name: Comment: //
+// 17/06/2015 DNB First version //
+// //
+//////////////////////////////////////////////////////////////////////////////////////
+
+//////////////////////////////////////////////////////////////////////////////////////
+// includes //
+//////////////////////////////////////////////////////////////////////////////////////
+#include "mbed.h"
+#include "PinDetect.h"
+#include "ExtUI.h"
+
+//////////////////////////////////////////////////////////////////////////////////////
+// defines //
+//////////////////////////////////////////////////////////////////////////////////////
+#define DEVICE_ID 20
+#define ACTIVE_ACK 255
+#define NEW_HEIGHT 1020
+#define REQ_STATUS 2006
+
+//////////////////////////////////////////////////////////////////////////////////////
+// interrupts //
+//////////////////////////////////////////////////////////////////////////////////////
+Ticker ticker;
+Ticker tActiveLedOn;
+Ticker tled2on;
+
+Timeout tActiveLedOff;
+Timeout tled2off;
+
+//////////////////////////////////////////////////////////////////////////////////////
+// port declaration //
+//////////////////////////////////////////////////////////////////////////////////////
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led4(LED4);
+DigitalOut activeLed(p26);
+DigitalOut emergencyLed(p25);
+
+//BusOut heightLeds (p13, p14, p5, p6, p7);
+
+//PwmOut Red(p21);
+//PwmOut Green(p22);
+//PwmOut Blue(p23);
+
+CAN CANBus(p30, p29);
+
+PinDetect SW_UP( p12 );
+PinDetect SW_DWN( p8 );
+PinDetect SW_MFB( p11 );
+
+ExtUI eSOFUI;
+
+Serial debug(USBTX, USBRX);
+
+//////////////////////////////////////////////////////////////////////////////////////
+// global variables //
+//////////////////////////////////////////////////////////////////////////////////////
+char counter = 0;
+char cMessage, cStatus;
+
+int i;
+int iHeight = 0;
+
+//const uint32_t cuLut[6] = {0x00, 0x01, 0x02, 0x04, 0x08, 0x10}; /moved to class
+
+//////////////////////////////////////////////////////////////////////////////////////
+// functions declarations //
+//////////////////////////////////////////////////////////////////////////////////////
+
+
+
+//////////////////////////////////////////////////////////////////////////////////////
+// functions //
+//////////////////////////////////////////////////////////////////////////////////////
+
+
+
+void send()
+{
+ if(CANBus.write(CANMessage(1226, &counter, 1)))
+ {
+ counter++;
+ }
+}
+
+/*void heightIncrease(void)
+{
+ if (iHeight < 5) iHeight++;
+ heightLeds.write(cuLut[iHeight]);
+}
+
+void heightDecrease(void)
+{
+ if (iHeight != 0) iHeight--;
+ heightLeds.write(cuLut[iHeight]);
+}*/
+
+void switchUpPressed(void){
+ eSOFUI.heightIncrease();
+ debug.printf("\033[10;10fTarget height:%i\r\n", eSOFUI.getTargetHeight());
+}
+
+void switchDownPressed(void){
+ eSOFUI.heightDecrease();
+ debug.printf("\033[10;10fTarget height:%i\r\n", eSOFUI.getTargetHeight());
+}
+
+void switchPressed(void){
+ //test();
+ //cMessage = 0xFF;
+ //CANBus.write(CANMessage(100, &cMessage, 1));
+ //debug.printf("Switch pressed: %d \r\n", cMessage);
+}
+
+void switchReleased(void){
+ cMessage = 0x00;
+ CANBus.write(CANMessage(100, &cMessage, 1));
+ //debug.printf("Switch released: %d \r\n", cMessage);
+}
+
+
+
+//////////////////////////////////////////////////////////////////////////////////////
+// Blink functions //
+//////////////////////////////////////////////////////////////////////////////////////
+void tActiveLedOff_cb(void)
+{
+ activeLed = 0;
+}
+
+void tActiveLedOn_cb(void)
+{
+ activeLed = 1;
+ tActiveLedOff.detach();
+ tActiveLedOff.attach(&tActiveLedOff_cb, 0.05);
+}
+
+void tled2off_cb(void)
+{
+ //Green = 0.0f;
+ led1 = 0;
+}
+
+void tled2on_cb(void)
+{
+ //Green = 0.1f;
+ led1 = 1;
+ tled2off.detach();
+ tled2off.attach(&tled2off_cb, 0.05);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////
+// main loop //
+//////////////////////////////////////////////////////////////////////////////////////
+int main() {
+ debug.printf("\033[2J");
+ debug.printf("\033[9;10fDevice ID:%i\r\n", DEVICE_ID);
+
+ activeLed = 1;
+ //Green = 0.2f;
+//////////////////////////////////////////////////////////////////////////////////////
+// schedule led events //
+//////////////////////////////////////////////////////////////////////////////////////
+ tActiveLedOff.attach(&tActiveLedOn_cb, 0.05);
+ tActiveLedOn.attach(&tActiveLedOn_cb, 2);
+ tled2off.attach(&tled2on_cb, 0.05);
+ tled2on.attach(&tled2on_cb, 1);
+//////////////////////////////////////////////////////////////////////////////////////
+// switch interrupts //
+//////////////////////////////////////////////////////////////////////////////////////
+ // MFB switch
+ SW_MFB.mode( PullDown );
+ SW_MFB.attach_asserted( &switchPressed );
+ SW_MFB.attach_deasserted( &switchReleased );
+ SW_MFB.setSampleFrequency(); // Defaults to 20ms.
+ // UP switch
+ SW_UP.mode( PullDown );
+ SW_UP.attach_asserted( &switchUpPressed );
+ SW_UP.setSampleFrequency(); // Defaults to 20ms.
+ // DOWN switch
+ SW_DWN.mode( PullDown );
+ SW_DWN.attach_asserted( &switchDownPressed );
+ SW_DWN.setSampleFrequency(); // Defaults to 20ms.
+
+ //Red.period_ms(10);
+ //Green.period_ms(10);
+ //Blue.period_ms(10);
+
+ CANBus.frequency(250000);
+ CANMessage msg;
+ //char Value;
+
+ //Blue = 0.4f;
+ //Red = 0.4f;
+ //Green = 0.2f;
+
+ while(1)
+ {
+ if(CANBus.read(msg))
+ {
+ switch(msg.id)
+ { // Send system status if MainModule requests
+ case REQ_STATUS:
+ cStatus = 0xFF; // OK
+ if(msg.data[0] == 00) CANBus.write(CANMessage(DEVICE_ID, &cStatus, 1));
+ wait_us(100);
+ break;
+ // process stepper data direction/steps
+ case DEVICE_ID:
+ if(msg.data[0] != 00)
+ {
+ tActiveLedOn.attach(&tActiveLedOn_cb, 0.5);
+ }
+ cStatus = ACTIVE_ACK;
+ CANBus.write(CANMessage(DEVICE_ID, &cStatus, 1)); // reply message received and executed
+ tActiveLedOn.attach(&tActiveLedOn_cb, 2); // indicate active
+ break;
+
+ case NEW_HEIGHT:
+ eSOFUI.setTargetHeight((uint32_t) msg.data[0]);
+
+ // just dump received message (debug)
+ default:
+ debug.printf("Message id: %d\r\n", msg.id);
+ debug.printf("Message length: %d\r\n", msg.len);
+ for (i=0; i < msg.len; i++)
+ {
+ debug.printf("Message %d received: %d\r\n", i, msg.data[i]);
+ }
+ break;
+ }
+ }
+ wait_ms(500);
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////
+// EOF //
+//////////////////////////////////////////////////////////////////////////////////////
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Aug 11 08:46:16 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e