Plymouth ELEC351 Group T
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ELEC351
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Plymouth ELEC351 Group T
Diff: main.cpp
- Revision:
- 56:bc5345bc6650
- Parent:
- 55:e0e684531825
- Child:
- 57:aba1296e51b1
--- a/main.cpp Thu May 24 13:31:20 2018 +0000
+++ b/main.cpp Mon Jul 16 10:51:47 2018 +0000
@@ -14,247 +14,11 @@
*/
//Colours Cubelet_Colours_string[];
-int colour_data = 0;
-int temp_colour_data_1 = 0;
-int temp_colour_data_2 = 0;
-int temp_colour_data_3 = 0;
-int temp_colour_data_4 = 0;
-int temp_colour_data_5 = 0;
-int temp_colour_data_6 = 0;
-int temp_colour_data_7 = 0;
-int temp_colour_data_8 = 0;
-int temp_colour_data_9 = 0;
-int SPI_RX_DATA = 0;
-int Cubelet_Colours[9] = {0,0,0,0,0,0,0,0,0};//9 cubelets store colours here
-int Received_data = 0;
-bool Data_from_slave[16] = {0};
-
-//Interrupt service routine for handling the timeout of SW1
-void SW1TimeOutHandler() {
- SW1TimeOut.detach(); //Stop the timeout counter firing
- SW1.fall(&SW1FallingEdge); //Now wait for a falling edge
-}
-//Interrupt service routive for SW2 falling edge (release)
-void SW1FallingEdge() {
- SW1.fall(NULL); //Disable this interrupt
- SW1TimeOut.attach(&SW1TimeOutHandler, SW1_SW2_Timeout_Time); //Start timeout counter
-}
-//Interrupt service routine for handling the timeout of SW2
-void SW2TimeOutHandler() {
- SW2TimeOut.detach(); //Stop the timeout counter firing
- SW2.fall(&SW2FallingEdge); //Now wait for a falling edge
-}
-//Interrupt service routive for SW2 falling edge (release)
-void SW2FallingEdge() {
- SW2.fall(NULL); //Disable this interrupt
- SW2TimeOut.attach(&SW2TimeOutHandler, SW1_SW2_Timeout_Time); //Start timeout counter
-}
-void LCD_Output()
-{
- while(1)
- {
- //Write to the LCD
- }
-}
-void Serial_Commands()
-{
- while(1)
- {
- Serial_Commands_Output(); //Enable Serial Commands
- }
-}
-void LED_Logging()
-{
- while(1)
- {
- Log_Leds(); //Flashes the yellow led to indicate the logging mode
- }
-}
-
-void SPI_INTERFACE()
-{
- //pc.printf("SPI Test \n");
- Thread::wait(1000);
- while(1)
- {
- cs= 0;
- SPI_RX_DATA = spi.write(0xF0);
- wait_us(3);
- cs= 1;
- colour_data = SPI_RX_DATA;
- pc.printf("Received data = %d\n", SPI_RX_DATA);
- Thread::wait(1000);
- }
-}
-Colours convert (int Colour)
-{
- Colours colours_return_value;
- if(Colour == 1)
- {
- colours_return_value = White;
- }
- else if(Colour == 2)
- {
- colours_return_value = Orange;
- }
- else if(Colour == 3)
- {
- colours_return_value = Blue;
- }
- else if(Colour == 4)
- {
- colours_return_value = Red;
- }
- else if(Colour == 5)
- {
- colours_return_value = Green;
- }
- else if(Colour == 6)
- {
- colours_return_value = Yellow;
- }
- return colours_return_value;
-}
-void Store_Cubelet_data()
-{
- if((8 >= colour_data) && (colour_data <= 15))
- {
- temp_colour_data_1 = colour_data - 8;//Result shall be the colour
- Cubelet_Colours[0] = temp_colour_data_1;//Stores the colour value to the mememory map
- //take colour_data postion value and subtract it and you will be left with just the colour
- }
-
- if((16 >= colour_data) && (colour_data <= 23))
- {
- temp_colour_data_2 = colour_data - 16;//Result shall be the colour
- Cubelet_Colours[1] = temp_colour_data_2;//Stores the colour value to the mememory map
- //take colour_data postion value and subtract it and you will be left with just the colour
- }
- if((24 >= colour_data) && (colour_data <= 31))
- {
- temp_colour_data_3 = colour_data - 24;//Result shall be the colour
- Cubelet_Colours[2] = temp_colour_data_3;//Stores the colour value to the mememory map
- //take colour_data postion value and subtract it and you will be left with just the colour
- }
- if((32 >= colour_data) && (colour_data <= 39))
- {
- temp_colour_data_4 = colour_data - 32;//Result shall be the colour
- Cubelet_Colours[3] = temp_colour_data_4;//Stores the colour value to the mememory map
- //take colour_data postion value and subtract it and you will be left with just the colour
- }
- if((40 >= colour_data) && (colour_data <= 47))
- {
- temp_colour_data_5 = colour_data - 40;//Result shall be the colour
- Cubelet_Colours[4] = temp_colour_data_5;//Stores the colour value to the mememory map
- //take colour_data postion value and subtract it and you will be left with just the colour
- }
- if((48 >= colour_data) && (colour_data <= 55))
- {
- temp_colour_data_6 = colour_data - 48;//Result shall be the colour
- Cubelet_Colours[5] = temp_colour_data_6;//Stores the colour value to the mememory map
- //take colour_data postion value and subtract it and you will be left with just the colour
- }
- if((56 >= colour_data) && (colour_data <= 63))
- {
- temp_colour_data_7 = colour_data - 56;//Result shall be the colour
- Cubelet_Colours[6] = temp_colour_data_7;//Stores the colour value to the mememory map
- //take colour_data postion value and subtract it and you will be left with just the colour
- }
- if((64 >= colour_data) && (colour_data <= 71))
- {
- temp_colour_data_8 = colour_data - 64;//Result shall be the colour
- Cubelet_Colours[7] = temp_colour_data_8;//Stores the colour value to the mememory map
- //take colour_data postion value and subtract it and you will be left with just the colour
- }
- if((72 >= colour_data) && (colour_data <= 79))
- {
- temp_colour_data_9 = colour_data - 72;//Result shall be the colour
- Cubelet_Colours[8] = temp_colour_data_9;//Stores the colour value to the mememory map
- //take colour_data postion value and subtract it and you will be left with just the colour
- }
-
-
- if(Cubelet_Colours[5] == 1)//Store data to the white side
- {
- CubeMap[0][0][0] = convert(Cubelet_Colours[0]);
- CubeMap[0][0][1] = convert(Cubelet_Colours[1]);
- CubeMap[0][0][2] = convert(Cubelet_Colours[2]);
- CubeMap[0][1][0] = convert(Cubelet_Colours[3]);
- CubeMap[0][1][1] = convert(Cubelet_Colours[4]);
- CubeMap[0][1][2] = convert(Cubelet_Colours[5]);
- CubeMap[0][2][0] = convert(Cubelet_Colours[6]);
- CubeMap[0][2][1] = convert(Cubelet_Colours[7]);
- CubeMap[0][2][2] = convert(Cubelet_Colours[8]);
- //Store this to the white face
- }
- if(Cubelet_Colours[5] == 2)//Store data to the orange side
- {
- CubeMap[1][0][0] = convert(Cubelet_Colours[0]);
- CubeMap[1][0][1] = convert(Cubelet_Colours[1]);
- CubeMap[1][0][2] = convert(Cubelet_Colours[2]);
- CubeMap[1][1][0] = convert(Cubelet_Colours[3]);
- CubeMap[1][1][1] = convert(Cubelet_Colours[4]);
- CubeMap[1][1][2] = convert(Cubelet_Colours[5]);
- CubeMap[1][2][0] = convert(Cubelet_Colours[6]);
- CubeMap[1][2][1] = convert(Cubelet_Colours[7]);
- CubeMap[1][2][2] = convert(Cubelet_Colours[8]);
- //Store this to the white face
- }
- if(Cubelet_Colours[5] == 3)//Store data to the blue side
- {
- CubeMap[2][0][0] = convert(Cubelet_Colours[0]);
- CubeMap[2][0][1] = convert(Cubelet_Colours[1]);
- CubeMap[2][0][2] = convert(Cubelet_Colours[2]);
- CubeMap[2][1][0] = convert(Cubelet_Colours[3]);
- CubeMap[2][1][1] = convert(Cubelet_Colours[4]);
- CubeMap[2][1][2] = convert(Cubelet_Colours[5]);
- CubeMap[2][2][0] = convert(Cubelet_Colours[6]);
- CubeMap[2][2][1] = convert(Cubelet_Colours[7]);
- CubeMap[2][2][2] = convert(Cubelet_Colours[8]);
- //Store this to the white face
- }
- if(Cubelet_Colours[5] == 4)//Store data to the red side
- {
- CubeMap[3][0][0] = convert(Cubelet_Colours[0]);
- CubeMap[3][0][1] = convert(Cubelet_Colours[1]);
- CubeMap[3][0][2] = convert(Cubelet_Colours[2]);
- CubeMap[3][1][0] = convert(Cubelet_Colours[3]);
- CubeMap[3][1][1] = convert(Cubelet_Colours[4]);
- CubeMap[3][1][2] = convert(Cubelet_Colours[5]);
- CubeMap[3][2][0] = convert(Cubelet_Colours[6]);
- CubeMap[3][2][1] = convert(Cubelet_Colours[7]);
- CubeMap[3][2][2] = convert(Cubelet_Colours[8]);
- //Store this to the white face
- }
- if(Cubelet_Colours[5] == 5)//Store data to the green side
- {
- CubeMap[4][0][0] = convert(Cubelet_Colours[0]);
- CubeMap[4][0][1] = convert(Cubelet_Colours[1]);
- CubeMap[4][0][2] = convert(Cubelet_Colours[2]);
- CubeMap[4][1][0] = convert(Cubelet_Colours[3]);
- CubeMap[4][1][1] = convert(Cubelet_Colours[4]);
- CubeMap[4][1][2] = convert(Cubelet_Colours[5]);
- CubeMap[4][2][0] = convert(Cubelet_Colours[6]);
- CubeMap[4][2][1] = convert(Cubelet_Colours[7]);
- CubeMap[4][2][2] = convert(Cubelet_Colours[8]);
- //Store this to the white face
- }
- if(Cubelet_Colours[5] == 6)//Store data to the yellow side
- {
- CubeMap[5][0][0] = convert(Cubelet_Colours[0]);
- CubeMap[5][0][1] = convert(Cubelet_Colours[1]);
- CubeMap[5][0][2] = convert(Cubelet_Colours[2]);
- CubeMap[5][1][0] = convert(Cubelet_Colours[3]);
- CubeMap[5][1][1] = convert(Cubelet_Colours[4]);
- CubeMap[5][1][2] = convert(Cubelet_Colours[5]);
- CubeMap[5][2][0] = convert(Cubelet_Colours[6]);
- CubeMap[5][2][1] = convert(Cubelet_Colours[7]);
- CubeMap[5][2][2] = convert(Cubelet_Colours[8]);
- //Store this to the white face
- }
-}
+void Serial_Commands(){while(1){Serial_Commands_Output();}}//Enable Serial Commands
+void LED_Logging(){while(1){Log_Leds();}} //Flashes the yellow led to indicate the logging mode
+void SPI_INTERFACE(){while(1){SPI_INTERFACE_SERIAL();}} //Outputs SPI data to serial
void Motor_Control()
{
@@ -297,7 +61,6 @@
}
}
}
-
int main()
{
pc.baud(9600); //Sets the Serial Comms Baud Rate
@@ -315,8 +78,7 @@
t2.start(SPI_INTERFACE);
t3.start(Serial_Commands);
//Interrupts
- SW1.fall(&SW1FallingEdge);
- SW2.fall(&SW2FallingEdge);
+
//Main thread ID
idMain = osThreadGetId(); //CMSIS RTOS call