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
main.cpp
- Committer:
- bob_tpc
- Date:
- 2015-01-22
- Revision:
- 8:3313aa7f9082
- Parent:
- 6:2941452a0e6d
- Child:
- 9:046247707ffb
File content as of revision 8:3313aa7f9082:
#include "mbed.h"
#include "USBSerial.h"
#include "MODSERIAL.h"
#include "InterruptIn.h"
// Constants
#define LEDON 0 // Low active for LEDs - turns LED on
#define LEDOFF 1 // Low active for LEDs - turns LED off
#define TRUE 1
#define FALSE 0
// Error return values
#define ERR_NONE 0 // Success
#define ERR_CDC_BAD_CMD 1 // First byte of PC to USB board needs to be 0xBB, 0xCC, 0xDD or 0xEE;
#define ERR_CDC_NO_TX_ENDMARK 2 // message for no endmark on message to PC
#define ERR_UART_NOT_WRITEABLE 3 // UART has no buffer space
#define ERR_UART_NO_TX_ENDMARK 4 // message for UART has no 0x7E end-mark
#define ERR_UART_NO_RX_ENDMARK 5 // message received from UART has no end-mark
#define ERR_I2C_NOT_WRITEABLE 6 // UART has no buffer space
#define ERR_I2C_NO_TX_ENDMARK 7 // message for UART has no 0x7E end-mark
#define ERR_I2C_NO_RX_ENDMARK 8 // message received from UART has no end-mark
#define ERR_NOT_IMPLEMENTED 255 // method has not yet been implemented
// 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
// 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
I2C i2c(PTB1, PTB0); // I2C port connected to VL6180X and EEPROM - note addresses above)
// GPIO signals
DigitalOut led_err(PTC1); // Red LED shows error condition (active low)
DigitalOut led_com(PTC2); // Yellow LED shows communication activity (active low)
DigitalOut rfid_int(PTD4); // RFID FE power control (active high)
DigitalOut rfid_isp(PTD5); // RFID FE In-System Programming (active high)
DigitalOut rfid_rst(PTD6); // RFID FE Reset (active high)
DigitalOut rfid_pwr(PTE30); // RFID power switch on USB board (active high for prototype 1, low for all others)
DigitalIn rfid_hot(PTE0); // RFID over-current detection on USB board power switch (active low)
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] = {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];
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
int prox_irq(void)
{
return 0;
}
int init_periph(void)
{
// Set up peripherals
// RFID
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
// Prox & EEPROM
i2c.frequency(I2CRATE); // 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;
}
/*
RFID messages are as defined in the RFID-FE manual.
*/
int rfid_msg(void)
{
bool end_mark = FALSE;
int i;
uint8_t crcCount = sizeof(uart_buffer_tx); // use tx buffer size to start
uart.txBufferFlush(); // clear out UART buffers
uart.rxBufferFlush();
for (int i = 0; i < sizeof(uart_buffer_tx); i++)
{
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
{
crcCount = 2; // two more bytes for CRC
end_mark = TRUE; // end mark was reached
}
if (crcCount-- == 0) // end of message
{
if (end_mark == FALSE)
{
led_err.write(LEDON);
return ERR_UART_NO_TX_ENDMARK; // no end mark detected
}
break;
}
}
end_mark = FALSE;
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
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
}
if (crcCount-- == 0) // end of message
{
if (end_mark == FALSE)
{
led_err.write(LEDON);
return ERR_UART_NO_RX_ENDMARK;
}
break;
}
}
return ERR_NONE;
}
/*
I2C-prox messages = 0xCC, r/w#, number of data bytes, index (2 bytes), data bytes, 0x7E, 0xXX, 0xXX - last two are fillers where CRC goes for RFID
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 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
}
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
}
// GPIO messages = 0xDD, r/w#, value, 0x7E, 0xXX, 0xXX - last two are fillers where CRC goes for RFID
int gpio_rd()
{
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.putc(gpio_buffer[2]);
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
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
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.
*/
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
}
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
}
int main()
{
// initialize everything
wait(2.0);
init_periph();
while(1)
{
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
for (i = 0; i < sizeof(cdc_buffer_rx); i++)
{
cdc_buffer_rx[i] = cdc.getc(); // read data from USB side
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
}
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
}
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;
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++)
{
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_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
{
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 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) // GPIO read = 1
status = gpio_rd(); // read the requested data
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 GPIO 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;
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
}
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.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;
}
}
}