Diff: main.cpp

Revision:

0:98e98e01a6ce

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Apr 20 03:33:03 2014 +0000
@@ -0,0 +1,200 @@
+#include "mbed.h"
+#include "TFC.h"
+
+#include "common.h"
+#include "Spices.h"
+
+
+void TFC_TickerUpdate()
+{
+    int i;
+ 
+    for(i=0; i<NUM_TFC_TICKERS; i++)
+     {
+        if(TFC_Ticker[i]<0xFFFFFFFF) 
+        {
+            TFC_Ticker[i]++;
+        }
+    }
+}
+
+void DemoProgram()
+{
+  uint32_t i,j,t = 0;
+  float ReadPot0, ReadPot1;
+
+
+  //This Demo program will look at the middle 2 switch to select one of 4 demo modes.
+  //Let's look at the middle 2 switches
+  switch((TFC_GetDIP_Switch()>>1)&0x03)
+  {
+  default:
+  case 0 :
+      //Demo mode 0 just tests the switches and LED's
+      if(TFC_PUSH_BUTTON_0_PRESSED)
+          TFC_BAT_LED0_ON;
+      else
+          TFC_BAT_LED0_OFF;
+      
+      if(TFC_PUSH_BUTTON_1_PRESSED)
+          TFC_BAT_LED3_ON;
+      else
+          TFC_BAT_LED3_OFF;
+      
+      
+/*      if(TFC_GetDIP_Switch()&0x01)
+          TFC_BAT_LED1_ON;
+      else
+          TFC_BAT_LED1_OFF;
+      
+      if(TFC_GetDIP_Switch()&0x08)
+          TFC_BAT_LED2_ON;
+      else
+          TFC_BAT_LED2_OFF; */
+      
+      break;
+          
+  case 1:
+     TFC_HBRIDGE_DISABLE;
+                    
+     // if (TFC_HBRIDGE_ENABLED) {
+        
+    //    TFC_HBRIDGE_ENABLED = false;
+    //  }
+
+      //Demo mode 1 will just move the servos with the on-board potentiometers
+      if(TFC_Ticker[0]>=20) // every 40mS...
+      {
+          TFC_Ticker[0] = 0; //reset the Ticker
+          //update the Servos
+          ReadPot0 = TFC_ReadPot(0);
+          ReadPot1 = TFC_ReadPot(1);
+          TFC_SetServo(0,ReadPot0);
+          TFC_SetServo(1,ReadPot1);
+          TERMINAL_PRINTF("Pot0 = %1.2f\r\n", ReadPot0);
+      //    TERMINAL_PRINTF("Pot1 = %1.2f\r\n", ReadPot1);
+      }
+      //Let's put a pattern on the LEDs
+      if(TFC_Ticker[1] >= 125) // every 250mS... cycle through LEDs
+      {
+          TFC_Ticker[1] = 0;
+          t++;
+          if(t>4)
+          {
+              t=0;
+          }           
+          TFC_SetBatteryLED_Level(t);
+      }
+      
+      TFC_SetMotorPWM(0,0); //Make sure motors are off 
+      TFC_HBRIDGE_DISABLE;
+
+      break;
+      
+  case 2 :
+      TFC_HBRIDGE_ENABLE;
+     
+      ReadPot0 = TFC_ReadPot(0);
+      ReadPot1 = TFC_ReadPot(1);
+ //     TERMINAL_PRINTF("Pot0 = %1.2f\n", ReadPot0);
+ //     TERMINAL_PRINTF("Pot1 = %1.2f\n", ReadPot1);
+      TFC_SetMotorPWM(ReadPot0,ReadPot1);
+              
+      //Let's put a pattern on the LEDs
+      if(TFC_Ticker[1] >= 125)
+          {
+              TFC_Ticker[1] = 0;
+                  t++;
+                  if(t>4)
+                  {
+                      t=0;
+                  }           
+              TFC_SetBatteryLED_Level(t);
+          }
+      break;
+  
+  case 3 :
+      //Demo Mode 3 will be in Freescale Garage Mode.  It will beam data from the Camera to the 
+      //Labview Application
+      //note that there are some issues 
+      if(TFC_Ticker[0]>1000 && TFC_LineScanImageReady>0) // every 2s ...
+          {
+           TFC_Ticker[0] = 0;
+           TFC_LineScanImageReady=0; // must reset to 0 after detecting non-zero
+          
+              if(t==0)
+                  t=4;
+              else
+                  t--;
+              
+               TFC_SetBatteryLED_Level(t);
+              
+               for(i=0;i<8;i++) // print one line worth of data (128) from Camera 0
+               {
+                  for(j=0;j<16;j++)
+                  {
+                       
+                       TERMINAL_PRINTF("0x%X",TFC_LineScanImage0[(i*16)+j]);
+                      
+                       if((i==7) && (j==15))  // when last data reached put in line return
+                           TERMINAL_PRINTF("\r\n",TFC_LineScanImage0[(i*16)+j]);
+                       else
+                           TERMINAL_PRINTF(",",TFC_LineScanImage0[(i*16)+j]);
+                      
+                  }
+                  wait_ms(10);
+               }
+              
+     /*          for(i=0;i<8;i++) // print one line worth of data (128) from Camera 1 ??
+               {
+                    for(j=0;j<16;j++)
+                     {
+                       TERMINAL_PRINTF("0x%X",TFC_LineScanImage1[(i*16)+j]);
+                      
+                       if((i==7) && (j==15))  // when last data reached put in line return
+                           TERMINAL_PRINTF("\r\n",TFC_LineScanImage1[(i*16)+j]);
+                       else
+                           TERMINAL_PRINTF(",",TFC_LineScanImage1[(i*16)+j]);
+                      }   
+                      
+                      wait_ms(10);  
+              }      */                                 
+                  
+          }
+          
+
+
+      break;
+  } // end case
+
+}
+
+ 
+int main()
+{
+    // TERMINAL TYPE  
+    PC.baud(115200); // works with Excel and TeraTerm 
+    //PC.baud(9600); // works with USB Serial Monitor Lite: https://play.google.com/store/apps/details?id=jp.ksksue.app.terminal; doesn't work > 9600
+    TFC_TickerObj.attach_us(&TFC_TickerUpdate,2000); // update ticker array every 2mS (2000 uS)
+   
+    TFC_Init();
+    
+    for(;;)
+    {      
+        //TFC_Task must be called in your main loop.  This keeps certain processing happy (I.E. Serial port queue check)
+        //   TFC_Task();
+
+
+        // If DIP switch 1 is high, then run MCP, else Demo program
+        if(TFC_GetDIP_Switch()&0x01)
+          // Run MCP
+          MasterControlProgram();
+        else      
+          // Run Demo Program
+          DemoProgram();
+ 
+    } // end of infinite for loop
+    
+ 
+}
+