Super Vision
/
mbed_sv_firmware
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Dependencies: MODSERIAL USBDevice mbed-rtos mbed
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mbed_sv_firmware_mt
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Super Vision
Diff: main.cpp
- Revision:
- 5:e77529f7ede3
- Parent:
- 4:13e3e375c0d3
- Child:
- 6:2941452a0e6d
--- a/main.cpp Tue Jan 20 22:26:26 2015 +0000
+++ b/main.cpp Wed Jan 21 01:10:59 2015 +0000
@@ -46,11 +46,14 @@
InterruptIn prox_int(PTD7); // Proximity sensor interrupt (active low)
// 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_tx[32];
uint8_t uart_buffer_rx[32]; // buffers for uart (RFID-FE board)
uint8_t uart_buffer_tx[32];
-char i2c_buffer[264]; // buffer for I2C devices - Proximity sensor and EEPROM - up to 256 bytes data payload for EEPROM, up to 4 for proximity
+uint8_t gpio_buffer[32]; // buffer for GPIO messages
+char i2c_buffer[32]; // buffer for I2C devices - Proximity sensor and EEPROM - up to 256 bytes data payload for EEPROM, up to 4 for proximity
int i, j; // index variables
int status = 0x00; // return value
@@ -63,18 +66,28 @@
{
// Set up peripherals
// RFID
- uart.baud(RFIDBAUD); // RFID-FE baud rate
+ uart.baud(RFIDBAUD); // RFID-FE baud rate
- rfid_int = 0; // RFID FE power control (active high)
- rfid_isp = 0; // RFID FE In-System Programming (active high)
- rfid_rst = 1; // RFID FE Reset (active high)
- rfid_pwr = 1; // RFID power switch on USB board (active high for prototype 1, low for all others)
- wait(0.25); // wait 250ms before...
- rfid_rst = 0; // ... taking RFID out of reset
+ rfid_int = 0; // RFID FE power control (active high)
+ rfid_isp = 0; // RFID FE In-System Programming (active high)
+ rfid_rst = 1; // RFID FE Reset (active high)
+ rfid_pwr = 1; // RFID power switch on USB board (active high for prototype 1, low for all others)
+ wait(0.25); // wait 250ms before...
+ rfid_rst = 0; // ... taking RFID out of reset
- // Prox
- i2c.frequency(400000); // I2C speed = 400Kbps
- prox_int.mode(PullUp); // pull up proximity sensor interrupt at MCU
+ // Prox & EEPROM
+ i2c.frequency(400000); // I2C speed = 400Kbps
+ prox_int.mode(PullUp); // pull up proximity sensor interrupt at MCU
+
+ // LEDs // Cycle through the LEDs.
+ led_err.write(LEDON);
+ led_com.write(LEDON);
+ wait(0.5);
+ led_err.write(LEDOFF);
+ wait(0.5);
+ led_com.write(LEDOFF);
+
+
return 0;
@@ -87,45 +100,57 @@
{
bool end_mark = FALSE;
int i;
- uint8_t crcCount = sizeof(uart_buffer_tx); // use tx buffer size to start
+ uint8_t crcCount = sizeof(uart_buffer_tx); // use tx buffer size to start
- uart.txBufferFlush(); // clear out UART buffers
+ uart.txBufferFlush(); // clear out UART buffers
uart.rxBufferFlush();
for (int i = 0; i < sizeof(uart_buffer_tx); i++)
{
- if (!uart.writeable()) return ERR_UART_NOT_WRITEABLE; // if no space in uart, return error
- uart.putc(uart_buffer_tx[i]); // send uart message
+ if (!uart.writeable())
+ {
+ 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
+ if (uart_buffer_tx[i] == 0x7E) // check for rfid end mark in outbound message
{
- crcCount = 2; // two more bytes for CRC
- end_mark = TRUE; // end mark was reached
+ crcCount = 2; // two more bytes for CRC
+ end_mark = TRUE; // end mark was reached
}
- if (crcCount-- == 0) // end of message
+ if (crcCount-- == 0) // end of message
{
- if (end_mark == FALSE) return ERR_UART_NO_TX_ENDMARK; // no end mark detected
+ if (end_mark == FALSE)
+ {
+ led_err.write(LEDON);
+ return ERR_UART_NO_TX_ENDMARK; // no end mark detected
+ }
break;
}
}
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
+ //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
+ 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
+ if (uart_buffer_rx[i] == 0x7E) // check for rfid end mark in inbound message
{
- crcCount = 2; // two more bytes for crc
- end_mark = TRUE; // end mark was reached
+ crcCount = 2; // two more bytes for crc
+ end_mark = TRUE; // end mark was reached
}
- if (crcCount-- == 0) // end of message
+ if (crcCount-- == 0) // end of message
{
- if (end_mark == FALSE) return ERR_UART_NO_RX_ENDMARK;
+ if (end_mark == FALSE)
+ {
+ led_err.write(LEDON);
+ return ERR_UART_NO_RX_ENDMARK;
+ }
break;
}
}
@@ -139,22 +164,48 @@
Multiple registers can be read or written with single prox_msg_rd() or prox_msg_wr(). Location address increments for each byte.
*/
-int prox_msg_wr() // write proximity I2C register
+int prox_msg_wr() // write proximity I2C register
{
int i2c_err;
i2c_err = i2c.write(PROX, &i2c_buffer[3], i2c_buffer[2] + 2, 0);// I2C Address, pointer to buffer, number of bytes (for index + data), stop at end.
- return i2c_err; // 0 = ACK received, 1 = NAK/failure
+ return i2c_err; // 0 = ACK received, 1 = NAK/failure
}
int prox_msg_rd()
{
int i2c_err;
- i2c_err = i2c.write(PROX, &i2c_buffer[3], 2, 1); // I2C Address, pointer to buffer (just the index), index, number of bytes (2 for index), no stop at end.
- i2c_err |= i2c.read(PROX, &i2c_buffer[5], i2c_buffer[2], 0); // I2C Address, pointer to buffer (just the data), number of data bytes, stop at end.
- return i2c_err; // 0 = ACK received, 1 = NAK/failure
+ i2c_err = i2c.write(PROX, &i2c_buffer[3], 2, 1); // I2C Address, pointer to buffer (just the index), index, number of bytes (2 for index), no stop at end.
+ i2c_err |= i2c.read(PROX, &i2c_buffer[5], i2c_buffer[2], 0); // I2C Address, pointer to buffer (just the data), number of data bytes, stop at end.
+ return i2c_err; // 0 = ACK received, 1 = NAK/failure
}
+// 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);
+
+ return ERR_NONE;
+}
+int gpio_wr()
+{
+ 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
+ rfid_isp.write(gpio_buffer[2] && 0x05); // any bit set will write a 0
+ rfid_rst.write(gpio_buffer[2] && 0x10); // any bit set will write a 0
+ rfid_pwr.write(gpio_buffer[2] && 0x20); // any bit set will write a 0
+ return ERR_NONE;
+}
+
+
/*
I2C-EEPROM messages = 0xEE, r/w, number of data bytes, block, address, data bytes, 0x7E, 0xXX, 0xXX - last two are fillers where CRC goes for RFID
@@ -162,166 +213,205 @@
This practically the the same as the proximity calls, except the index/location is only one byte and the block select is part of the I2C address byte.
*/
-int eeprom_msg_wr() // write proximity I2C register
+int eeprom_msg_wr() // write proximity I2C register
{
int i2c_err;
- i2c_err = i2c.write((EEPROM || i2c_buffer[3]), &i2c_buffer[4], i2c_buffer[2] + 1, 0); // I2C Address & block select, pointer to buffer, number of bytes (for address + data), stop at end.
- while (!i2c.write(EEPROM || i2c_buffer[3])); // wait until write is done (EEPROM will ACK = 1 for single byte i2c.write)
- return i2c_err; // 0 = ACK received, 1 = NAK/failure
+ i2c_err = i2c.write((EEPROM || i2c_buffer[3]), &i2c_buffer[4], i2c_buffer[2] + 1, 0);
+ // I2C Address & block select, pointer to buffer, number of bytes (for address + data), stop at end.
+ while (!i2c.write(EEPROM || i2c_buffer[3])); // wait until write is done (EEPROM will ACK = 1 for single byte i2c.write)
+ return i2c_err; // 0 = ACK received, 1 = NAK/failure
}
int eeprom_msg_rd()
{
int i2c_err;
- i2c_err = i2c.write((EEPROM || i2c_buffer[3]), &i2c_buffer[4], 1, 1); // I2C Address & block select, pointer to buffer (just the index), index, number of bytes (for address + data), no stop at end.
- i2c_err |= i2c.read((EEPROM || i2c_buffer[3]), &i2c_buffer[5], i2c_buffer[2], 0); // I2C Address & block select, pointer to buffer (just the data), number of data bytes, stop at end.
- return i2c_err; // 0 = ACK received, 1 = NAK/failure
+ i2c_err = i2c.write((EEPROM || i2c_buffer[3]), &i2c_buffer[4], 1, 1);
+ // I2C Address & block select, pointer to buffer (just the index), index, number of bytes (for address + data), no stop at end.
+ i2c_err |= i2c.read((EEPROM || i2c_buffer[3]), &i2c_buffer[5], i2c_buffer[2], 0);
+ // I2C Address & block select, pointer to buffer (just the data), number of data bytes, stop at end.
+ return i2c_err; // 0 = ACK received, 1 = NAK/failure
}
-int gpio_msg()
-{
- return ERR_NONE;
-}
+
int main()
{
// initialize everything
- wait(3.0); // debug - gives some time to start terminal program and open COM port
+ wait(2.0); // debug - gives some time to start terminal program and open COM port
init_periph();
- //cdc.printf("Starting...\n\r"); // debug
-
- while(!cdc.readable()); // spin here until a message comes in from the host PC
- 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.printf("Starting...\n\r"); // debug
+
+ while(1)
{
- 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
+ led_com.write(LEDOFF); // turn off communication LED
+ while(!cdc.readable()); // spin here until a message comes in from the host PC
+ 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++)
{
- crcCount = 2; // two more bytes for CRC
- end_mark = TRUE; // end mark was reached
- }
- if (crcCount-- == 0) // end of message
- {
- if (end_mark == FALSE) return ERR_UART_NO_TX_ENDMARK; // no end mark detected
- break;
+ 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
+ {
+ crcCount = 2; // two more bytes for CRC
+ end_mark = TRUE; // end mark was reached
+ }
+ if (crcCount-- == 0) // end of message
+ {
+ if (end_mark == FALSE) return ERR_UART_NO_TX_ENDMARK; // no end mark detected
+ break;
+ }
}
- }
- switch(cdc_buffer_rx[0])
- {
- case 0xBB: // RFID-FE
- for (i = 0; i < sizeof(cdc_buffer_rx); i++)
- {
- uart_buffer_tx[i] = cdc_buffer_rx[i]; // copy USB message to UART for RFID
- }
+ switch(cdc_buffer_rx[0])
+ {
+ case 0xBB: // RFID-FE
+ for (i = 0; i < sizeof(cdc_buffer_rx); i++)
+ {
+ uart_buffer_tx[i] = cdc_buffer_rx[i]; // copy USB message to UART for RFID
+ }
+
+ status = rfid_msg(); // send buffer to RFID and get response according to RFID board
- status = rfid_msg(); // send buffer to RFID and get response according to RFID board
+ for (i = 0; i < sizeof(cdc_buffer_tx); i++)
+ {
+ 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_buffer_tx[i] = uart_buffer_rx[i]; // copy RFID response back to USB buffer
- }
+ for (i = 0; i < sizeof(cdc_buffer_tx); i++)
+ {
+ cdc.putc(cdc_buffer_tx[i]); // send message back to PC
+
+ if (cdc_buffer_tx[i] == 0x7E) // check for rfid end mark in outbound message
+ {
+ crcCount = 2; // two more bytes for CRC
+ end_mark = TRUE; // end mark was reached
+ }
+ if (crcCount-- == 0) // end of message
+ {
+ if (end_mark == FALSE) return ERR_CDC_NO_TX_ENDMARK; // no end mark detected
+ break;
+ }
+ }
+ break;
- //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
-
- if (cdc_buffer_tx[i] == 0x7E) // check for rfid end mark in outbound message
+ case 0xCC: // Proximity Sensor
+ //I2C-prox messages = 0xCC, r/w, number of data bytes, index, data bytes, 0x7E, 0xXX, 0xXX - last two are fillers where CRC goes for RFID
+ for (i = 0; i < sizeof(cdc_buffer_rx); i++)
{
- crcCount = 2; // two more bytes for CRC
- end_mark = TRUE; // end mark was reached
+ i2c_buffer[i] = cdc_buffer_rx[i]; // copy USB message to buffer for I2C
}
- if (crcCount-- == 0) // end of message
+
+ if (i2c_buffer[1] == 1) // I2C read = 1
+ status = prox_msg_rd(); // read the requested data
+ else if (i2c_buffer[1] == 0) // I2C write = 0
+ status = prox_msg_wr(); // send buffer to proximity sensor and get response
+
+ for (i = 0; i < sizeof(cdc_buffer_tx); i++)
{
- if (end_mark == FALSE) return ERR_CDC_NO_TX_ENDMARK; // no end mark detected
- break;
+ cdc_buffer_tx[i] = i2c_buffer[i]; // copy prox response back to USB buffer
}
- }
- break;
- case 0xCC:
- //I2C-prox messages = 0xCC, r/w, number of data bytes, index, data bytes, 0x7E, 0xXX, 0xXX - last two are fillers where CRC goes for RFID // Proximity Sensor
- for (i = 0; i < sizeof(cdc_buffer_rx); i++)
- {
- i2c_buffer[i] = cdc_buffer_rx[i]; // copy USB message to buffer for I2C
- }
- if (i2c_buffer[1] == 1) // I2C read = 1
- status = prox_msg_rd(); // read the requested data
- else if (i2c_buffer[1] == 0) // I2C write = 0
- status = prox_msg_wr(); // send buffer to proximity sensor and get response
+ for (i = 0; i < sizeof(cdc_buffer_tx); i++)
+ {
+ cdc.putc(cdc_buffer_tx[i]); // send message back to PC
+
+ if (cdc_buffer_tx[i] == 0x7E) // check for rfid end mark in outbound message
+ {
+ crcCount = 2; // two more bytes for CRC
+ end_mark = TRUE; // end mark was reached
+ }
+ if (crcCount-- == 0) // end of message
+ {
+ if (end_mark == FALSE) return ERR_CDC_NO_TX_ENDMARK; // no end mark detected
+ break;
+ }
+ }
+ break;
- for (i = 0; i < sizeof(cdc_buffer_tx); i++)
- {
- cdc_buffer_tx[i] = i2c_buffer[i]; // copy prox response back to USB buffer
- }
+ 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
+ for (i = 0; i < sizeof(cdc_buffer_rx); i++)
+ {
+ gpio_buffer[i] = cdc_buffer_rx[i]; // copy USB message to buffer for I2C
+ }
- for (i = 0; i < sizeof(cdc_buffer_tx); i++)
- {
- cdc.putc(cdc_buffer_tx[i]); // send message back to PC
-
- if (cdc_buffer_tx[i] == 0x7E) // check for rfid end mark in outbound message
+ if (gpio_buffer[1] == 1) // I2C 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
+
+ for (i = 0; i < sizeof(cdc_buffer_tx); i++)
{
- crcCount = 2; // two more bytes for CRC
- end_mark = TRUE; // end mark was reached
+ cdc_buffer_tx[i] = gpio_buffer[i]; // copy prox response back to USB buffer
}
- if (crcCount-- == 0) // end of message
+
+ for (i = 0; i < sizeof(cdc_buffer_tx); i++)
{
- if (end_mark == FALSE) return ERR_CDC_NO_TX_ENDMARK; // no end mark detected
- break;
+ cdc.putc(cdc_buffer_tx[i]); // send message back to PC
+
+ if (cdc_buffer_tx[i] == 0x7E) // check for rfid end mark in outbound message
+ {
+ crcCount = 2; // two more bytes for CRC
+ end_mark = TRUE; // end mark was reached
+ }
+ if (crcCount-- == 0) // end of message
+ {
+ if (end_mark == FALSE) return ERR_CDC_NO_TX_ENDMARK; // no end mark detected
+ break;
+ }
}
- }
- break;
- case 0xDD: // GPIO (LEDs and RFID-FE control
- gpio_msg();
- break;
- case 0xEE: // Read/write EEPROM
+ break;
+
+ case 0xEE: // Read/write EEPROM
/*
I2C-EEPROM messages = 0xEE, r/w, number of data bytes, block, address, data bytes, 0x7E, 0xXX, 0xXX - last two are fillers where CRC goes for RFID
Multiple registers can be read or written with single eeprom_msg_rd() or eeprom_msg_wr(). Location address increments for each byte.
This practically the the same as the proximity calls, except the index/location is only one byte and the block select is part of the I2C address byte.
*/
- for (i = 0; i < sizeof(cdc_buffer_rx); i++)
- {
- i2c_buffer[i] = cdc_buffer_rx[i]; // copy USB message to buffer for I2C
- }
+ for (i = 0; i < sizeof(cdc_buffer_rx); i++)
+ {
+ i2c_buffer[i] = cdc_buffer_rx[i]; // copy USB message to buffer for I2C
+ }
- if (i2c_buffer[1] == 1) // I2C read = 1
- status = eeprom_msg_rd(); // read the requested data
- else if (i2c_buffer[1] == 0) // I2C write = 0
- status = eeprom_msg_wr(); // write the eeprom location
+ if (i2c_buffer[1] == 1) // I2C read = 1
+ status = gpio_rd(); // read the gpio pins
+ else if (i2c_buffer[1] == 0) // I2C write = 0
+ status = gpio_wr(); // write gpio pins
- for (i = 0; i < sizeof(cdc_buffer_tx); i++)
- {
- cdc_buffer_tx[i] = i2c_buffer[i]; // copy prox response back to USB buffer
- }
+ for (i = 0; i < sizeof(cdc_buffer_tx); i++)
+ {
+ cdc_buffer_tx[i] = i2c_buffer[i]; // copy prox response back to USB buffer
+ }
- for (i = 0; i < sizeof(cdc_buffer_tx); i++)
- {
- cdc.putc(cdc_buffer_tx[i]); // send message back to PC
-
- if (cdc_buffer_tx[i] == 0x7E) // check for rfid end mark in outbound message
+ for (i = 0; i < sizeof(cdc_buffer_tx); i++)
{
- crcCount = 2; // two more bytes for CRC
- end_mark = TRUE; // end mark was reached
- }
- if (crcCount-- == 0) // end of message
- {
- if (end_mark == FALSE) return ERR_CDC_NO_TX_ENDMARK; // no end mark detected
- break;
- }
- } break;
- default:
- return ERR_CDC_BAD_CMD;
+ cdc.putc(cdc_buffer_tx[i]); // send message back to PC
+
+ if (cdc_buffer_tx[i] == 0x7E) // check for rfid end mark in outbound message
+ {
+ crcCount = 2; // two more bytes for CRC
+ end_mark = TRUE; // end mark was reached
+ }
+ if (crcCount-- == 0) // end of message
+ {
+ if (end_mark == FALSE) return ERR_CDC_NO_TX_ENDMARK; // no end mark detected
+ break;
+ }
+ }
+ break;
+ default:
+ return ERR_CDC_BAD_CMD;
+ }
}
}