Super Vision
/
mbed_sv_firmware
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Dependencies: MODSERIAL USBDevice mbed-rtos mbed
Fork of
mbed_sv_firmware_mt
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Super Vision
Diff: main.cpp
- Revision:
- 6:2941452a0e6d
- Parent:
- 5:e77529f7ede3
- Child:
- 8:3313aa7f9082
--- a/main.cpp Wed Jan 21 01:10:59 2015 +0000
+++ b/main.cpp Thu Jan 22 01:42:02 2015 +0000
@@ -26,6 +26,7 @@
// I2C addresses
#define PROX (0x29 << 1) // default I2C address of VL6180X, shift into upper 7 bits
#define EEPROM (0xA0) // default I2C address of EEPROM, already shifted
+#define I2CRATE 400000 // I2C speed
// UART-RFID baud rate
#define RFIDBAUD 115200 // RFID-FE board default rate = 115.2Kbps
@@ -48,7 +49,7 @@
// buffers & variables
uint8_t gpio_values = 0x00; // register to read GPIO values
-uint8_t cdc_buffer_rx[32]; // buffers for cdc (USB-Serial port on PC)
+uint8_t cdc_buffer_rx[32] = {0xBB, 0x00, 0x03, 0x00, 0x01, 0x02, 0x7E, 0x2E, 0xC9}; // buffers for cdc (USB-Serial port on PC)
uint8_t cdc_buffer_tx[32];
uint8_t uart_buffer_rx[32]; // buffers for uart (RFID-FE board)
uint8_t uart_buffer_tx[32];
@@ -76,7 +77,7 @@
rfid_rst = 0; // ... taking RFID out of reset
// Prox & EEPROM
- i2c.frequency(400000); // I2C speed = 400Kbps
+ i2c.frequency(I2CRATE); // I2C speed = 400Kbps
prox_int.mode(PullUp); // pull up proximity sensor interrupt at MCU
// LEDs // Cycle through the LEDs.
@@ -87,9 +88,6 @@
wait(0.5);
led_com.write(LEDOFF);
-
-
-
return 0;
}
@@ -112,6 +110,7 @@
led_err.write(LEDON);
return ERR_UART_NOT_WRITEABLE; // if no space in uart, return error
}
+
uart.putc(uart_buffer_tx[i]); // send uart message
if (uart_buffer_tx[i] == 0x7E) // check for rfid end mark in outbound message
@@ -131,13 +130,11 @@
}
end_mark = FALSE;
- //wait(0.5); // debug
while(!uart.readable()); // wait for data from rfid
crcCount = sizeof(uart_buffer_rx); // use rx buffer size to start
for (i = 0; i < sizeof(uart_buffer_rx); i++)
{
uart_buffer_rx[i] = uart.getc(); // read a character
-// cdc.printf("%d, 0x%X\n\r", i, uart_buffer_rx[i]); // debug
if (uart_buffer_rx[i] == 0x7E) // check for rfid end mark in inbound message
{
@@ -182,20 +179,28 @@
// GPIO messages = 0xDD, r/w, value, 0x7E, 0xXX, 0xXX - last two are fillers where CRC goes for RFID
int gpio_rd()
{
- gpio_buffer[2] = (led_err.read() && 0x01); // read all of the GPIO pins and store in a single byte
- gpio_buffer[2] |= ((led_com.read() << 1) && 0x02);
- gpio_buffer[2] |= ((rfid_int.read() << 2) && 0x04);
- gpio_buffer[2] |= ((rfid_isp.read() << 3) && 0x08);
- gpio_buffer[2] |= ((rfid_rst.read() << 4) && 0x10);
- gpio_buffer[2] |= ((rfid_pwr.read() << 5) && 0x20);
- gpio_buffer[2] |= ((rfid_hot.read() << 6) && 0x40);
- gpio_buffer[2] |= ((prox_int.read() << 7) && 0x80);
+ led_err.write(LEDON);
+ led_com.write(LEDON);
+rfid_int.write(0);
+rfid_isp.write(0);
+cdc.putc( led_err.read());// && 0x01); // read all of the GPIO pins and store in a single byte
+cdc.putc( led_com.read());// << 1) && 0x02);
+cdc.putc( rfid_int.read());// << 2) && 0x04);
+cdc.putc( rfid_isp.read());// << 3) && 0x08);
+
return ERR_NONE;
}
int gpio_wr()
{
+ cdc.printf("debug");
+ cdc.putc(gpio_buffer[2] && 0x01);
+ cdc.putc(gpio_buffer[2] && 0x02);
+ cdc.putc(gpio_buffer[2] && 0x04);
+ cdc.putc(gpio_buffer[2] && 0x08);
+ cdc.putc(gpio_buffer[2] && 0x10);
+ cdc.putc(gpio_buffer[2] && 0x20);
led_err.write(gpio_buffer[2] && 0x01); // any bit set will write a 0
led_com.write(gpio_buffer[2] && 0x02); // any bit set will write a 0
rfid_int.write(gpio_buffer[2] && 0x04); // any bit set will write a 0
@@ -237,13 +242,12 @@
int main()
{
// initialize everything
+
+ wait(2.0);
- wait(2.0); // debug - gives some time to start terminal program and open COM port
-
init_periph();
- cdc.printf("Starting...\n\r"); // debug
-
+
while(1)
{
led_com.write(LEDOFF); // turn off communication LED
@@ -251,12 +255,9 @@
led_com.write(LEDON); // Message received - turn on LED
bool end_mark = FALSE;
uint8_t crcCount = sizeof(cdc_buffer_rx); // use tx buffer size to start
- //cdc.printf("\n\rCDC Input: "); // debug
for (i = 0; i < sizeof(cdc_buffer_rx); i++)
{
cdc_buffer_rx[i] = cdc.getc(); // read data from USB side
-
- //cdc.printf("%X, ",cdc_buffer_rx[i]); // debug
if (cdc_buffer_rx[i] == 0x7E) // check for rfid end mark in outbound message
{
@@ -285,8 +286,6 @@
cdc_buffer_tx[i] = uart_buffer_rx[i]; // copy RFID response back to USB buffer
}
- //cdc.printf("\n\rRFID Response: "); // debug
-
for (i = 0; i < sizeof(cdc_buffer_tx); i++)
{
cdc.putc(cdc_buffer_tx[i]); // send message back to PC
@@ -339,20 +338,20 @@
break;
case 0xDD: // GPIO (LEDs and RFID-FE control)
- //GPIO messages = 0xDD, r/w, value, 0x7E, 0xXX, 0xXX - last two are fillers where CRC goes for RFID
+ //GPIO messages = 0xDD, r/w#, value, 0x7E, 0xXX, 0xXX - last two are fillers where CRC goes for RFID
for (i = 0; i < sizeof(cdc_buffer_rx); i++)
{
gpio_buffer[i] = cdc_buffer_rx[i]; // copy USB message to buffer for I2C
}
- if (gpio_buffer[1] == 1) // I2C read = 1
+ if (gpio_buffer[1] == 1) // GPIO read = 1
status = gpio_rd(); // read the requested data
- else if (gpio_buffer[1] == 0) // I2C write = 0
- status = gpio_wr(); // send buffer to proximity sensor and get response
+ else if (gpio_buffer[1] == 0) // GPIO write = 0
+ status = gpio_wr(); // send GPIO pin data
for (i = 0; i < sizeof(cdc_buffer_tx); i++)
{
- cdc_buffer_tx[i] = gpio_buffer[i]; // copy prox response back to USB buffer
+ cdc_buffer_tx[i] = gpio_buffer[i]; // copy GPIO response back to USB buffer
}
for (i = 0; i < sizeof(cdc_buffer_tx); i++)