Super Vision
/
sv_usb_firmware
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Dependencies: MODSERIAL USBDevice_for_Rev_C_HW mbed
Fork of
mbed_sv_firmware_with_init
by 
Bob Recny
Diff: main.cpp
- Revision:
- 19:d3bef4fbab69
- Parent:
- 18:d128c7020292
- Child:
- 22:5707b236cbdb
--- a/main.cpp Mon Mar 02 17:00:37 2015 +0000
+++ b/main.cpp Mon Mar 09 18:55:19 2015 +0000
@@ -13,7 +13,7 @@
#include "mbed.h"
#include "USBSerial.h"
-//#include "MODSERIAL.h"
+#include "MODSERIAL.h"
// Constants
#define LEDON 0 // Low active for LEDs - turns LED on
@@ -46,8 +46,7 @@
// Peripherals
USBSerial cdc; // CDC Class USB<>Serial adapter. Needs custom INF, but uses existing Windows drivers.
-//MODSERIAL uart(PTA2, PTA1); // UART port connected to RFID-FE board
-Serial uart(PTA2, PTA1); // UART port connected to RFID-FE board
+MODSERIAL uart(PTA2, PTA1); // UART port connected to RFID-FE board
I2C i2c(PTB1, PTB0); // I2C port connected to VL6180X and EEPROM - note addresses above)
// GPIO signals
@@ -60,6 +59,10 @@
DigitalIn rfid_hot(PTE0); // RFID over-current detection on USB board power switch (active low)
InterruptIn prox_int(PTD7); // Proximity sensor interrupt (active low)
+DigitalInOut gpio_0(PTC3); // Extra GPIO on LED connector, pin 6
+DigitalInOut gpio_1(PTC4); // Extra GPIO on LED connector, pin 7
+DigitalOut gpio_7(PTA4); // Extra GPIO output on LED connector, pin 3 - pin supports PWM for buzzer, not implemented here
+
// buffers & variables
uint8_t gpio_values = 0x00; // register to read GPIO values
uint8_t cdc_buffer_rx[BUFFERSIZE]; // buffers for cdc (USB-Serial port on PC)
@@ -119,9 +122,9 @@
rfid_rst = 1; // RFID FE Reset (active high)
// rfid_pwr = 1; // RFID power switch on USB board (active high for prototype 1)
rfid_pwr = 0; // RFID power switch on USB board (active low for all others)
- wait(0.35); // wait 250ms before...
+ wait(0.25); // wait 250ms before...
rfid_rst = 0; // ... taking RFID out of reset
- wait(0.35);
+ wait(0.25);
while(!uart.readable()) // wait for RESET message from RFID
{
@@ -131,8 +134,8 @@
wait(0.1);
}
- //uart.txBufferFlush(); // clear out UART buffers
- //uart.rxBufferFlush();
+ uart.txBufferFlush(); // clear out UART buffers
+ uart.rxBufferFlush();
led_err.write(LEDOFF);
@@ -200,41 +203,6 @@
}
/**
- * @name rfid_rd
- * @brief Sends RFID response to CDC
- *
- * RFID reader is connected to the KL25Z UART interface. The host PC will have a USB CDC class COM port device driver.
- * The host PC sends the RFID command over the COM port. Messages destined for the RFID reader (0xBB leading byte) are
- * forwarded as-is to the RFID reader. The reader then responds in kind. All RFID commands are described in the
- * RFID-FE module manual.
-
- * @param [in] uart_buffer_rx - messages from the RFID reader
- *
- * @retval ERR_NONE No error
- * @example
- * BB 00 03 00 01 02 7E 2E C9 = read
- */
-int rfid_rd(void)
-{
- int rfid_len = 0;
-
- led_com.write(LEDON);
- for (i = 0; i < (RFIDLENLOW); i++) // Get first part of message to find out total count
- {
- uart_buffer_rx[i] = uart.getc(); // get a byte from rfid
- }
- rfid_len = ((uart_buffer_rx[i-2]<<8) + (uart_buffer_rx[i-1])); // location of message length for RFID
-
- for (i = RFIDLENLOW; i < (RFIDLENLOW + rfid_len + 3); i++)
- {
- uart_buffer_rx[i] = uart.getc(); // get a byte from rfid
- }
-
- led_com.write(LEDOFF);
- return ERR_NONE;
-}
-
-/**
* @name prox_msg_wr
* @brief Forwards command to VL6180X sensor
*
@@ -319,11 +287,11 @@
* GPIO messages:
* - 0xDD (byte) leading value = 0xDD
* - r/w# (byte) 0 = write, 1 = read
- * - data (byte) see below
+ * - data (2 bytes) see below
* - end_mark (byte) 0x7E
* - dummy (2 bytes) values are don't-care - fillers for RFID CRC bytes
*
- * GPIO data bits:
+ * GPIO data bits - First Byte
* - 0 LED - Error 0 = on, 1 = off
* - 1 LED - Comm state 0 = on, 1 = off
* - 2 RFID interrupt input 0 = off, 1 = on (inverted in h/w)
@@ -333,6 +301,12 @@
* - 6 RFID over-current 0 = overcurrent detected, 1 = OK
* - 7 Proximity interrupt 0 = interrupt, 1 = idle (This pin may not return anything meaningful here. The interrupt is edge triggered).
*
+ * GPIO data bits - Second Byte
+ * - 0 GPIO on pin 6 of LED connector - I/O
+ * - 1 GPIO on pin 7 of LED connector - I/O
+ * - 2-6 - unused bits, output don't care, input read as zero
+ * - 7 GPIO on pin 3 of LED connector - OUTPUT only, inverted logic, open drain with 1K pull-up, read as zero
+ *
* @param [in/out] gpio_buffer - GPIO states
*
* @retval 0 No error
@@ -349,6 +323,15 @@
gpio_buffer[2] |= ((rfid_pwr.read() << 5) & 0x20);
gpio_buffer[2] |= ((rfid_hot.read() << 6) & 0x40);
gpio_buffer[2] |= ((prox_int.read() << 7) & 0x80);
+
+ gpio_buffer[3] = ( gpio_0.read() & 0x01); // read all of the GPIO pins and store in a single byte
+ gpio_buffer[3] |= (( gpio_1.read() << 1) & 0x02); // use of led_com_state allows the led to be ON during this call, but send back the pre-call state.
+ gpio_buffer[3] |= (( 0 << 2) & 0x04); // bits 2-7 not implemented for read
+ gpio_buffer[3] |= (( 0 << 3) & 0x08);
+ gpio_buffer[3] |= (( 0 << 4) & 0x10);
+ gpio_buffer[3] |= (( 0 << 5) & 0x20);
+ gpio_buffer[3] |= (( 0 << 6) & 0x40);
+ gpio_buffer[2] |= (( 0 << 7) & 0x80);
return ERR_NONE;
}
@@ -378,6 +361,12 @@
* - 6 RFID over-current 0 = overcurrent detected, 1 = OK
* - 7 Proximity interrupt 0 = interrupt, 1 = idle (This pin may not return anything meaningful here. The interrupt is edge triggered).
*
+ * GPIO data bits - Second Byte
+ * - 0 GPIO on pin 6 of LED connector - I/O
+ * - 1 GPIO on pin 7 of LED connector - I/O
+ * - 2-6 - unused bits, output don't care, input read as zero
+ * - 7 GPIO on pin 3 of LED connector - OUTPUT only, inverted logic, open drain with 1K pull-up, read as zero
+ *
* @param [in/out] gpio_buffer - GPIO states
*
* @retval 0 No error
@@ -393,12 +382,17 @@
{
led_com_state = LEDOFF;
}
- led_err.write(gpio_buffer[2] & 0x01);
- led_com.write(led_com_state);
+ led_err.write(gpio_buffer[2] & 0x01); // Write GPIO bits - first byte
+ led_com.write(led_com_state); // use of led_com_state allows the led to be ON during this call, but send back the pre-call state.
rfid_int.write(gpio_buffer[2] & 0x04);
rfid_isp.write(gpio_buffer[2] & 0x08);
rfid_rst.write(gpio_buffer[2] & 0x10);
rfid_pwr.write(gpio_buffer[2] & 0x20);
+
+ gpio_0.write(gpio_buffer[3] & 0x01); // Write GPIO bits - second byte
+ gpio_1.write(gpio_buffer[3] & 0x02); // Write GPIO bits - second byte
+ gpio_7.write(gpio_buffer[3] & 0x80); // Write GPIO bits - second byte
+
return ERR_NONE;
}
@@ -517,26 +511,25 @@
cdc_buffer_tx[3] = 0xF0;
cdc.writeBlock(cdc_buffer_tx, 4);
}
-
if (uart.readable()) // message availalbe from rfid
-// while (uart.readable()) // message availalbe from rfid
{
- rfid_rd();
- em_pos = 0;
- for (i = 0; i < sizeof(cdc_buffer_tx); i++)
+ int rfid_len = 0;
+ led_com.write(LEDON);
+ for (i = 0; i < (RFIDLENLOW); i++) // Get first part of message to find out total count
{
- cdc_buffer_tx[i] = uart_buffer_rx[i]; // copy RFID response back to USB buffer
- if (cdc_buffer_tx[i] == 0x7E)
- {
- em_pos = (i + 1); // allows 0x7E to appear in the data payload - uses last one for end-mark
- }
+ uart_buffer_rx[i] = uart.getc(); // get a byte from rfid
+ }
+ rfid_len = ((uart_buffer_rx[i-2]<<8) + (uart_buffer_rx[i-1])); // location of message length for RFID
+ for (i = RFIDLENLOW; i < (RFIDLENLOW + rfid_len + 3); i++)
+ {
+ uart_buffer_rx[i] = uart.getc(); // get a byte from rfid
}
- if (em_pos == 0)
+ for (i = 0; i < (RFIDLENLOW + rfid_len + 3); i++)
{
- led_err.write(LEDON); // end mark never reached
- break;
+ cdc_buffer_tx[i] = uart_buffer_rx[i];
}
- cdc.writeBlock(cdc_buffer_tx, (em_pos + 2));
+ cdc.writeBlock(cdc_buffer_tx, (RFIDLENLOW + rfid_len + 3));
+ led_com.write(LEDOFF);
}
if (usb_irq_state == 1) // message available from PC
{