UKESF Headstart Summer School / PsiSwarmLab-ScriptingBased

Modified version of the UKESF lab source which can be carried out with no knowledge of C

Fork of PsiSwarm-Headstart by UKESF Headstart Summer School

i2c.cpp@5:f6be169e465b, 2018-09-14 (annotated)

Committer:
YRL50
Date:
Fri Sep 14 16:00:48 2018 +0000
Revision:
5:f6be169e465b
Parent:
2:c6986ee3c7c5 
Fixing compile warnings

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:d6269d17c8cf 1 /* University of York Robotics Laboratory PsiSwarm Library: I2C Source File
jah128 0:d6269d17c8cf 2 *
jah128 0:d6269d17c8cf 3 * File: i2c.cpp
jah128 0:d6269d17c8cf 4 *
jah128 0:d6269d17c8cf 5 * (C) Dept. Electronics & Computer Science, University of York
jah128 0:d6269d17c8cf 6 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
jah128 0:d6269d17c8cf 7 *
jah128 2:c6986ee3c7c5 8 * PsiSwarm Library Version: 0.41
jah128 0:d6269d17c8cf 9 *
jah128 2:c6986ee3c7c5 10 * March 2016
jah128 0:d6269d17c8cf 11 *
jah128 0:d6269d17c8cf 12 *
jah128 0:d6269d17c8cf 13 */
jah128 0:d6269d17c8cf 14
jah128 0:d6269d17c8cf 15 #include "psiswarm.h"
jah128 0:d6269d17c8cf 16
jah128 0:d6269d17c8cf 17 char gpio_byte0;
jah128 0:d6269d17c8cf 18 char gpio_byte1;
jah128 0:d6269d17c8cf 19 char user_id_set = 0;
jah128 0:d6269d17c8cf 20 char wheel_enc_set = 0;
jah128 0:d6269d17c8cf 21 char switch_set = 0;
jah128 0:d6269d17c8cf 22
jah128 0:d6269d17c8cf 23 char emitter_byte = 0x00;
jah128 0:d6269d17c8cf 24
jah128 0:d6269d17c8cf 25 Timeout update_timeout;
jah128 0:d6269d17c8cf 26
jah128 0:d6269d17c8cf 27 char test;
jah128 0:d6269d17c8cf 28
jah128 0:d6269d17c8cf 29 char get_dc_status()
jah128 0:d6269d17c8cf 30 {
jah128 0:d6269d17c8cf 31 IF_read_aux_ic_data();
jah128 0:d6269d17c8cf 32 return status_dc_in;
jah128 0:d6269d17c8cf 33 }
jah128 0:d6269d17c8cf 34
jah128 0:d6269d17c8cf 35 void IF_set_IR_emitter_output(char emitter, char state)
jah128 0:d6269d17c8cf 36 {
jah128 0:d6269d17c8cf 37 if(emitter <3) {
jah128 0:d6269d17c8cf 38 if(state == 0) {
jah128 0:d6269d17c8cf 39 char shift = 1 << emitter;
jah128 0:d6269d17c8cf 40 emitter_byte &= (0xFF - shift);
jah128 0:d6269d17c8cf 41 }
jah128 0:d6269d17c8cf 42 if(state == 1) {
jah128 0:d6269d17c8cf 43 char shift = 1 << emitter;
jah128 0:d6269d17c8cf 44 emitter_byte |= shift;
jah128 0:d6269d17c8cf 45 }
jah128 0:d6269d17c8cf 46 char data[2];
jah128 0:d6269d17c8cf 47 data [0] = 0x0A; //Write to OLAT register
jah128 0:d6269d17c8cf 48 data [1] = emitter_byte; //GP0-3 are outputs on aux expansion IC
jah128 0:d6269d17c8cf 49 //pc.printf("%c\n", emitter_byte);
jah128 0:d6269d17c8cf 50 primary_i2c.write(AUX_IC_ADDRESS,data,2,false);
jah128 0:d6269d17c8cf 51 }
jah128 0:d6269d17c8cf 52 }
jah128 0:d6269d17c8cf 53
jah128 0:d6269d17c8cf 54 void IF_set_base_LED(char state)
jah128 0:d6269d17c8cf 55 {
jah128 0:d6269d17c8cf 56 if(state == 0) {
jah128 0:d6269d17c8cf 57 emitter_byte &= 0xF7;
jah128 0:d6269d17c8cf 58 } else emitter_byte |= 0x08;
jah128 0:d6269d17c8cf 59 char data[2];
jah128 0:d6269d17c8cf 60 data [0] = 0x0A; //Write to OLAT register
jah128 0:d6269d17c8cf 61 data [1] = emitter_byte; //GP0-3 are outputs on aux expansion IC
jah128 0:d6269d17c8cf 62 primary_i2c.write(AUX_IC_ADDRESS,data,2,false);
jah128 0:d6269d17c8cf 63
jah128 0:d6269d17c8cf 64 }
jah128 0:d6269d17c8cf 65
jah128 0:d6269d17c8cf 66 unsigned short IF_read_IR_adc_value(char adc, char index)
jah128 0:d6269d17c8cf 67 {
jah128 0:d6269d17c8cf 68 char address = ADC1_ADDRESS;
jah128 0:d6269d17c8cf 69 if(adc == 2) address=ADC2_ADDRESS;
jah128 0:d6269d17c8cf 70 // Returns the raw sensor value for the IR sensor defined by index (range 0-7).
jah128 0:d6269d17c8cf 71 short value = 0;
jah128 0:d6269d17c8cf 72 // Read a single value from the ADC
jah128 0:d6269d17c8cf 73 if(index<8) {
jah128 0:d6269d17c8cf 74 char apb[1];
jah128 0:d6269d17c8cf 75 char data[2];
jah128 0:d6269d17c8cf 76 switch(index) {
jah128 0:d6269d17c8cf 77 case 0:
jah128 0:d6269d17c8cf 78 apb[0]=0x80;
jah128 0:d6269d17c8cf 79 break;
jah128 0:d6269d17c8cf 80 case 1:
jah128 0:d6269d17c8cf 81 apb[0]=0x90;
jah128 0:d6269d17c8cf 82 break;
jah128 0:d6269d17c8cf 83 case 2:
jah128 0:d6269d17c8cf 84 apb[0]=0xA0;
jah128 0:d6269d17c8cf 85 break;
jah128 0:d6269d17c8cf 86 case 3:
jah128 0:d6269d17c8cf 87 apb[0]=0xB0;
jah128 0:d6269d17c8cf 88 break;
jah128 0:d6269d17c8cf 89 case 4:
jah128 0:d6269d17c8cf 90 apb[0]=0xC0;
jah128 0:d6269d17c8cf 91 break;
jah128 0:d6269d17c8cf 92 case 5:
jah128 0:d6269d17c8cf 93 apb[0]=0xD0;
jah128 0:d6269d17c8cf 94 break;
jah128 0:d6269d17c8cf 95 case 6:
jah128 0:d6269d17c8cf 96 apb[0]=0xE0;
jah128 0:d6269d17c8cf 97 break;
jah128 0:d6269d17c8cf 98 case 7:
jah128 0:d6269d17c8cf 99 apb[0]=0xF0;
jah128 0:d6269d17c8cf 100 break;
jah128 0:d6269d17c8cf 101 }
jah128 0:d6269d17c8cf 102 primary_i2c.write(address,apb,1,false);
jah128 0:d6269d17c8cf 103 primary_i2c.read(address,data,2,false);
jah128 0:d6269d17c8cf 104 value=((data[0] % 16)<<8)+data[1];
jah128 0:d6269d17c8cf 105 if(value > 4096) value=4096;
jah128 0:d6269d17c8cf 106 value=4096-value;
jah128 0:d6269d17c8cf 107 }
jah128 0:d6269d17c8cf 108 return value;
jah128 0:d6269d17c8cf 109 }
jah128 0:d6269d17c8cf 110
jah128 0:d6269d17c8cf 111 char IF_setup_led_expansion_ic(void)
jah128 0:d6269d17c8cf 112 {
jah128 0:d6269d17c8cf 113 //LED expansion IC is PCA9555
jah128 0:d6269d17c8cf 114 //Address is 0100 001x (0x42) {defined by LED_IC_ADDRESS}
jah128 0:d6269d17c8cf 115 //All 16 entries are outputs as they drive LEDs; the relevant registers are 2&3 (output port registers) and 6&7 (config. registers: a 0=output)
jah128 0:d6269d17c8cf 116 //Message structure: {Address-RW}{Command}{Port 0}{Port 1}
jah128 0:d6269d17c8cf 117 //Command bytes: 00000010 (0x02) = Write to output port
jah128 0:d6269d17c8cf 118 //Command bytes: 00000110 (0x06) = Write to config registers
jah128 0:d6269d17c8cf 119 //Note that for the LEDs, 0 = on, 1 = off
jah128 0:d6269d17c8cf 120 //Port 0 = LED 1:4 Red:Green
jah128 0:d6269d17c8cf 121 //Port 1 = LED 5:8 Red:Green
jah128 0:d6269d17c8cf 122 char data [3];
jah128 0:d6269d17c8cf 123 data [0] = 0x06; //Write config registers
jah128 0:d6269d17c8cf 124 data [1] = 0x00; //All 8 pins in port 0 are outputs (0)
jah128 0:d6269d17c8cf 125 data [2] = 0x00; //All 8 pins in port 1 are outputs (0)
jah128 0:d6269d17c8cf 126 primary_i2c.write(LED_IC_ADDRESS,data,3,false);
jah128 0:d6269d17c8cf 127
jah128 0:d6269d17c8cf 128 //Turn all LEDs on
jah128 0:d6269d17c8cf 129 data [0] = 0x02; //Write to output port
jah128 0:d6269d17c8cf 130 data [1] = 0x00; //Enable LED1-4 (both colours)
jah128 0:d6269d17c8cf 131 data [2] = 0x00; //Enable LED5-8 (both colours)
jah128 0:d6269d17c8cf 132 primary_i2c.write(LED_IC_ADDRESS,data,3,false);
jah128 0:d6269d17c8cf 133
jah128 0:d6269d17c8cf 134 wait(0.05);
jah128 0:d6269d17c8cf 135 //Turn all LEDs off
jah128 0:d6269d17c8cf 136 data [0] = 0x02; //Write to output port
jah128 0:d6269d17c8cf 137 data [1] = 0xFF; //Enable LED1-4 (both colours)
jah128 0:d6269d17c8cf 138 data [2] = 0xFF; //Enable LED5-8 (both colours)
jah128 0:d6269d17c8cf 139 return primary_i2c.write(LED_IC_ADDRESS,data,3,false);
jah128 0:d6269d17c8cf 140 }
jah128 0:d6269d17c8cf 141
jah128 0:d6269d17c8cf 142 //Returns 0 if successful, 1 if test mode button pressed
jah128 0:d6269d17c8cf 143 void IF_setup_gpio_expansion_ic(void)
jah128 0:d6269d17c8cf 144 {
jah128 0:d6269d17c8cf 145 //Main GPIO expansion IC is PCA9555
jah128 0:d6269d17c8cf 146 //Address is 0100 000x (0x40) {defined by GPIO_IC_ADDRESS}
jah128 0:d6269d17c8cf 147 //All 16 entries are inputs; the relevant registers are 0&1 (input port registers), 4&5 (polarity inv. registers) and 6&7 (config. registers: a 0=output)
jah128 0:d6269d17c8cf 148 //Message structure: {Address-RW}{Command}{Port 0}{Port 1}
jah128 0:d6269d17c8cf 149 //Command bytes: 00000010 (0x02) = Write to output port
jah128 0:d6269d17c8cf 150 //Command bytes: 00000110 (0x06) = Write to config registers
jah128 0:d6269d17c8cf 151 //Note that for the LEDs, 0 = on, 1 = off
jah128 0:d6269d17c8cf 152 //Port 0 = PGDL; PGDR; PGDIR; UP; DOWN; LEFT; RIGHT; CENTER
jah128 0:d6269d17c8cf 153 //Port 1 = ENC_LA; ENC_LB; ENC_RA; ENC_RB; ID0; ID1; ID2; ID3
jah128 0:d6269d17c8cf 154 char data [3];
jah128 0:d6269d17c8cf 155 char okay = 1;
jah128 0:d6269d17c8cf 156 data [0] = 0x06; //Write config registers
jah128 0:d6269d17c8cf 157 data [1] = 0xFF; //All 8 pins in port 0 are inputs (1)
jah128 0:d6269d17c8cf 158 data [2] = 0xFF; //All 8 pins in port 1 are inputs (1)
jah128 0:d6269d17c8cf 159 if(primary_i2c.write(GPIO_IC_ADDRESS,data,3,false) != 0) {
jah128 0:d6269d17c8cf 160 system_warnings += 2;
jah128 0:d6269d17c8cf 161 okay = 0;
jah128 0:d6269d17c8cf 162 debug("- WARNING: No I2C acknowledge for main GPIO IC\n");
jah128 0:d6269d17c8cf 163 if(HALT_ON_GPIO_ERROR){
jah128 0:d6269d17c8cf 164 debug("- PROGRAM HALTED. Check that robot is switched on!\n");
jah128 0:d6269d17c8cf 165 while(1){
jah128 0:d6269d17c8cf 166 mbed_led1=1;
jah128 0:d6269d17c8cf 167 mbed_led2=1;
jah128 0:d6269d17c8cf 168 mbed_led3=0;
jah128 0:d6269d17c8cf 169 mbed_led4=0;
jah128 0:d6269d17c8cf 170 wait(0.25);
jah128 0:d6269d17c8cf 171 mbed_led1=0;
jah128 0:d6269d17c8cf 172 mbed_led2=0;
jah128 0:d6269d17c8cf 173 mbed_led3=1;
jah128 0:d6269d17c8cf 174 mbed_led4=1;
jah128 0:d6269d17c8cf 175 wait(0.25);
jah128 0:d6269d17c8cf 176 }
jah128 0:d6269d17c8cf 177 }
jah128 0:d6269d17c8cf 178 }
jah128 0:d6269d17c8cf 179 //Set all inputs to polarity-inverted (so a logic low = 1)
jah128 0:d6269d17c8cf 180 data [0] = 0x04; //Write to polarity inversion ports
jah128 0:d6269d17c8cf 181 data [1] = 0xF8; //Invert polarity of all switch input bits in input port 0 [but not power-good inputs]
jah128 0:d6269d17c8cf 182 data [2] = 0xFF; //Invert polarity of all bits in input port 1
jah128 0:d6269d17c8cf 183 primary_i2c.write(GPIO_IC_ADDRESS,data,3,false);
jah128 0:d6269d17c8cf 184
jah128 0:d6269d17c8cf 185 wait(0.01);
jah128 0:d6269d17c8cf 186
jah128 0:d6269d17c8cf 187 //Read data
jah128 0:d6269d17c8cf 188 char read_data[2];
jah128 0:d6269d17c8cf 189 char command[1]; //Command to read from input port 0
jah128 0:d6269d17c8cf 190 command[0]=0;
jah128 0:d6269d17c8cf 191 primary_i2c.write(GPIO_IC_ADDRESS,command,1,false);
jah128 0:d6269d17c8cf 192 primary_i2c.read(GPIO_IC_ADDRESS,read_data,2,false);
jah128 0:d6269d17c8cf 193 gpio_byte0 = read_data[0];
jah128 0:d6269d17c8cf 194 //char ret_val = (gpio_byte0 & 0xF8) >> 3; //Returns a >0 value if a button is being pushed
jah128 0:d6269d17c8cf 195 gpio_byte1 = read_data[1];
jah128 0:d6269d17c8cf 196 if(okay && testing_voltage_regulators_flag)debug("- Checking 3.3V voltage regulators\n");
jah128 0:d6269d17c8cf 197 IF_parse_gpio_byte0(gpio_byte0);
jah128 0:d6269d17c8cf 198 IF_parse_gpio_byte1(gpio_byte1);
jah128 0:d6269d17c8cf 199 testing_voltage_regulators_flag = 0;
jah128 0:d6269d17c8cf 200 //Setup interrupt handler for GPIO interrupts
jah128 0:d6269d17c8cf 201 gpio_interrupt.mode(PullUp);
jah128 0:d6269d17c8cf 202 gpio_interrupt.rise(&IF_handle_gpio_interrupt);
jah128 0:d6269d17c8cf 203 //pc.printf("%c %c",gpio_byte0,gpio_byte1);
jah128 0:d6269d17c8cf 204
jah128 0:d6269d17c8cf 205 //Secondary GPIO expansion IC is MCP23009
jah128 0:d6269d17c8cf 206 //Address is 0100 111 (0x4E) {defined by AUX_IC_ADDRESS}
jah128 0:d6269d17c8cf 207 //GP0,1,2,3 are outputs for driving infrared emitters and the base LED
jah128 0:d6269d17c8cf 208 //IODIR register wants to be 0xF0 (1=input, 0=output)
jah128 0:d6269d17c8cf 209 data [0] = 0x00; //Write to IODIR register
jah128 0:d6269d17c8cf 210 data [1] = 0xF0; //Set GP0-3 as outputs
jah128 0:d6269d17c8cf 211 primary_i2c.write(AUX_IC_ADDRESS,data,2,false);
jah128 0:d6269d17c8cf 212
jah128 0:d6269d17c8cf 213 if(primary_i2c.write(AUX_IC_ADDRESS,data,2,false) != 0) {
jah128 0:d6269d17c8cf 214 system_warnings += 4;
jah128 0:d6269d17c8cf 215 debug("- WARNING: No I2C acknowledge for aux GPIO IC\n");
jah128 0:d6269d17c8cf 216 }
jah128 0:d6269d17c8cf 217 data [0] = 0x06; //Write to GPPU register
jah128 0:d6269d17c8cf 218 data [1] = 0x3F; //Set GP0-3 as active pull-up outputs and P4,P5 as pull-up inputs
jah128 0:d6269d17c8cf 219 primary_i2c.write(AUX_IC_ADDRESS,data,2,false);
jah128 0:d6269d17c8cf 220
jah128 0:d6269d17c8cf 221 //My interrupt is not so reliable: poll with a 50ms timeout in case interrupts aren't handled
jah128 0:d6269d17c8cf 222 update_timeout.attach_us(&IF_update_gpio_inputs,50000);
jah128 0:d6269d17c8cf 223 //return ret_val;
jah128 0:d6269d17c8cf 224 }
jah128 0:d6269d17c8cf 225
jah128 0:d6269d17c8cf 226 void IF_read_aux_ic_data()
jah128 0:d6269d17c8cf 227 {
jah128 0:d6269d17c8cf 228 //Read the values of the input pins on the auxilliary GPIO expander
jah128 0:d6269d17c8cf 229 char write_data [1];
jah128 0:d6269d17c8cf 230 char read_data [1];
jah128 0:d6269d17c8cf 231 write_data[0] = 0x09;
jah128 0:d6269d17c8cf 232 primary_i2c.write(AUX_IC_ADDRESS,write_data,1,false);
jah128 0:d6269d17c8cf 233 primary_i2c.read(AUX_IC_ADDRESS,read_data,1,false);
jah128 0:d6269d17c8cf 234 char old_charging_state = status_dc_in;
jah128 0:d6269d17c8cf 235 status_dc_in = 1-((read_data[0] & 0x10) >> 4);
jah128 0:d6269d17c8cf 236 if(status_dc_in!=old_charging_state){
jah128 0:d6269d17c8cf 237 if(status_dc_in == 0)debug("No DC input\n");
jah128 0:d6269d17c8cf 238 else debug("DC input to charge pins\n");
jah128 0:d6269d17c8cf 239 }
jah128 0:d6269d17c8cf 240 //pc.printf("Aux IC Data:%X Charge:%d\n",read_data[0],charge_in);
jah128 0:d6269d17c8cf 241 }
jah128 0:d6269d17c8cf 242
jah128 0:d6269d17c8cf 243 void IF_parse_gpio_byte0(char byte)
jah128 0:d6269d17c8cf 244 {
jah128 0:d6269d17c8cf 245 gpio_byte0 = byte;
jah128 0:d6269d17c8cf 246 //GPIO byte zero contains the power line traces and the switch states
jah128 0:d6269d17c8cf 247 char current_switch = ((gpio_byte0 & 0xF8) >> 3);
jah128 0:d6269d17c8cf 248 if(switch_set == 1) {
jah128 0:d6269d17c8cf 249 if(current_switch != switch_byte) {
jah128 0:d6269d17c8cf 250 previous_switch_byte = switch_byte;
jah128 0:d6269d17c8cf 251 switch_byte = current_switch;
jah128 0:d6269d17c8cf 252 event++;
jah128 0:d6269d17c8cf 253 switch_event = 1;
jah128 0:d6269d17c8cf 254 }
jah128 0:d6269d17c8cf 255 } else {
jah128 0:d6269d17c8cf 256 switch_byte = current_switch;
jah128 0:d6269d17c8cf 257 switch_set = 1;
jah128 0:d6269d17c8cf 258 }
jah128 0:d6269d17c8cf 259 if(((gpio_byte0 & 0x01)) != power_good_motor_left){
jah128 0:d6269d17c8cf 260 power_good_motor_left = (gpio_byte0 & 0x01);
jah128 0:d6269d17c8cf 261 if(!power_good_motor_left){
jah128 0:d6269d17c8cf 262 if(testing_voltage_regulators_flag || SHOW_VR_WARNINGS)debug("- WARNING: Voltage regulator left motor low\n");
jah128 0:d6269d17c8cf 263 }
jah128 0:d6269d17c8cf 264 else if(testing_voltage_regulators_flag)debug("- Power good left motor v.reg\n");
jah128 0:d6269d17c8cf 265 }
jah128 0:d6269d17c8cf 266 if(((gpio_byte0 & 0x02) >> 1) != power_good_motor_right){
jah128 0:d6269d17c8cf 267 power_good_motor_right = (gpio_byte0 & 0x02) >> 1;
jah128 0:d6269d17c8cf 268 if(!power_good_motor_right){
jah128 0:d6269d17c8cf 269 if(testing_voltage_regulators_flag || SHOW_VR_WARNINGS)debug("- WARNING: Voltage regulator right motor low\n");
jah128 0:d6269d17c8cf 270 }
jah128 0:d6269d17c8cf 271 else if(testing_voltage_regulators_flag)debug("- Power good right motor v.reg\n");
jah128 0:d6269d17c8cf 272 }
jah128 0:d6269d17c8cf 273 if(((gpio_byte0 & 0x04) >> 2) != power_good_infrared){
jah128 0:d6269d17c8cf 274 power_good_infrared = (gpio_byte0 & 0x04) >> 2;
jah128 0:d6269d17c8cf 275 if(!power_good_infrared){
jah128 0:d6269d17c8cf 276 if(testing_voltage_regulators_flag || SHOW_VR_WARNINGS)debug("- WARNING: Voltage regulator infrared low\n");
jah128 0:d6269d17c8cf 277 }
jah128 0:d6269d17c8cf 278 else if(testing_voltage_regulators_flag)debug("- Power good infrared and aux v.reg\n");
jah128 0:d6269d17c8cf 279 }
jah128 0:d6269d17c8cf 280 if(USE_LED4_FOR_VR_WARNINGS){
jah128 0:d6269d17c8cf 281 mbed_led4 = (!power_good_motor_left || !power_good_motor_right || !power_good_infrared);
jah128 0:d6269d17c8cf 282 }
jah128 0:d6269d17c8cf 283 //Halt the system if settings flag is set and all v-regs are bad [usually this means robot is switched off!]
jah128 0:d6269d17c8cf 284 if(HALT_ON_ALL_VREGS_LOW && !power_good_motor_left && !power_good_motor_right && !power_good_infrared){
jah128 0:d6269d17c8cf 285 debug("- PROGRAM HALTED. Check that robot is switched on!\n");
jah128 0:d6269d17c8cf 286 while(1){
jah128 0:d6269d17c8cf 287 mbed_led1=1;
jah128 0:d6269d17c8cf 288 mbed_led2=0;
jah128 0:d6269d17c8cf 289 mbed_led3=1;
jah128 0:d6269d17c8cf 290 mbed_led4=0;
jah128 0:d6269d17c8cf 291 wait(0.25);
jah128 0:d6269d17c8cf 292 mbed_led1=0;
jah128 0:d6269d17c8cf 293 mbed_led2=1;
jah128 0:d6269d17c8cf 294 mbed_led3=0;
jah128 0:d6269d17c8cf 295 mbed_led4=1;
jah128 0:d6269d17c8cf 296 wait(0.25);
jah128 0:d6269d17c8cf 297 }
jah128 0:d6269d17c8cf 298 }
jah128 0:d6269d17c8cf 299 }
jah128 0:d6269d17c8cf 300
jah128 0:d6269d17c8cf 301 void IF_parse_gpio_byte1(char byte)
jah128 0:d6269d17c8cf 302 {
jah128 0:d6269d17c8cf 303 gpio_byte1 = byte;
jah128 0:d6269d17c8cf 304 //GPIO byte one contains the wheel encoders and the ID switch
jah128 0:d6269d17c8cf 305 char current_id = ((gpio_byte1 & 0xF0)>> 4);
jah128 0:d6269d17c8cf 306 if(user_id_set == 1) {
jah128 0:d6269d17c8cf 307 if(robot_id != current_id) {
jah128 0:d6269d17c8cf 308 previous_robot_id = robot_id;
jah128 0:d6269d17c8cf 309 robot_id = current_id;
jah128 0:d6269d17c8cf 310 event++;
jah128 0:d6269d17c8cf 311 change_id_event = 1;
jah128 0:d6269d17c8cf 312 }
jah128 0:d6269d17c8cf 313 } else {
jah128 0:d6269d17c8cf 314 robot_id = current_id;
jah128 0:d6269d17c8cf 315 user_id_set = 1;
jah128 0:d6269d17c8cf 316 }
jah128 0:d6269d17c8cf 317 char current_encoder = (gpio_byte1 & 0x0F);
jah128 0:d6269d17c8cf 318 if(wheel_enc_set == 1) {
jah128 0:d6269d17c8cf 319 if(wheel_encoder_byte != current_encoder) {
jah128 0:d6269d17c8cf 320 previous_wheel_encoder_byte = wheel_encoder_byte;
jah128 0:d6269d17c8cf 321 wheel_encoder_byte = current_encoder;
jah128 0:d6269d17c8cf 322 event++;
jah128 0:d6269d17c8cf 323 encoder_event = 1;
jah128 0:d6269d17c8cf 324 }
jah128 0:d6269d17c8cf 325 } else {
jah128 0:d6269d17c8cf 326 wheel_encoder_byte = current_encoder;
jah128 0:d6269d17c8cf 327 wheel_enc_set = 1;
jah128 0:d6269d17c8cf 328 }
jah128 0:d6269d17c8cf 329 }
jah128 0:d6269d17c8cf 330
jah128 0:d6269d17c8cf 331 void IF_handle_gpio_interrupt()
jah128 0:d6269d17c8cf 332 {
jah128 0:d6269d17c8cf 333 test = 1-test;
jah128 0:d6269d17c8cf 334 if(USE_LED3_FOR_INTERRUPTS) mbed_led3 = test;
jah128 0:d6269d17c8cf 335 IF_update_gpio_inputs();
jah128 0:d6269d17c8cf 336 }
jah128 0:d6269d17c8cf 337
jah128 0:d6269d17c8cf 338 char IF_is_switch_pressed()
jah128 0:d6269d17c8cf 339 {
jah128 0:d6269d17c8cf 340 //Read data
jah128 0:d6269d17c8cf 341 char data[1];
jah128 0:d6269d17c8cf 342 char command[1] = {0}; //Command to read from input port 0
jah128 0:d6269d17c8cf 343 primary_i2c.write(GPIO_IC_ADDRESS,command,1,false);
jah128 0:d6269d17c8cf 344 primary_i2c.read(GPIO_IC_ADDRESS,data,1,false);
jah128 0:d6269d17c8cf 345 return (data[0] & 0x80); //Returns a 1 if the center button is being pushed
jah128 0:d6269d17c8cf 346 }
jah128 0:d6269d17c8cf 347
jah128 0:d6269d17c8cf 348
jah128 0:d6269d17c8cf 349 char IF_get_switch_state()
jah128 0:d6269d17c8cf 350 {
jah128 0:d6269d17c8cf 351 //Read data
jah128 0:d6269d17c8cf 352 char data[1];
jah128 0:d6269d17c8cf 353 char command[1] = {0}; //Command to read from input port 0
jah128 0:d6269d17c8cf 354 primary_i2c.write(GPIO_IC_ADDRESS,command,1,false);
jah128 0:d6269d17c8cf 355 primary_i2c.read(GPIO_IC_ADDRESS,data,1,false);
jah128 0:d6269d17c8cf 356 return (data[0] & 0xF8) >> 3; //Returns the current switch state
jah128 0:d6269d17c8cf 357 }
jah128 0:d6269d17c8cf 358
jah128 0:d6269d17c8cf 359 void IF_update_gpio_inputs()
jah128 0:d6269d17c8cf 360 {
jah128 0:d6269d17c8cf 361 update_timeout.detach();
jah128 0:d6269d17c8cf 362 //Read data
jah128 0:d6269d17c8cf 363 char data[2];
jah128 0:d6269d17c8cf 364 char command[1] = {0}; //Command to read from input port 0
jah128 0:d6269d17c8cf 365 primary_i2c.write(GPIO_IC_ADDRESS,command,1,false);
jah128 0:d6269d17c8cf 366 primary_i2c.read(GPIO_IC_ADDRESS,data,2,false);
jah128 0:d6269d17c8cf 367 if(data[0]!=gpio_byte0) {
jah128 0:d6269d17c8cf 368 IF_parse_gpio_byte0(data[0]);
jah128 0:d6269d17c8cf 369 }
jah128 0:d6269d17c8cf 370 if(data[1]!=gpio_byte1) {
jah128 0:d6269d17c8cf 371 IF_parse_gpio_byte1(data[1]);
jah128 0:d6269d17c8cf 372 }
jah128 0:d6269d17c8cf 373 update_timeout.attach_us(&IF_update_gpio_inputs,50000);
jah128 0:d6269d17c8cf 374 }
jah128 0:d6269d17c8cf 375
jah128 0:d6269d17c8cf 376
jah128 0:d6269d17c8cf 377 void IF_write_to_led_ic(char byte_0, char byte_1)
jah128 0:d6269d17c8cf 378 {
jah128 0:d6269d17c8cf 379 //Set LEDs
jah128 0:d6269d17c8cf 380 char data[3];
jah128 0:d6269d17c8cf 381 data [0] = 0x02; //Write to output port
jah128 0:d6269d17c8cf 382 data [1] = byte_0;
jah128 0:d6269d17c8cf 383 data [2] = byte_1;
jah128 0:d6269d17c8cf 384 primary_i2c.write(LED_IC_ADDRESS,data,3,false);
jah128 0:d6269d17c8cf 385 }
jah128 0:d6269d17c8cf 386
jah128 0:d6269d17c8cf 387
jah128 0:d6269d17c8cf 388 void IF_setup_temperature_sensor()
jah128 0:d6269d17c8cf 389 {
jah128 0:d6269d17c8cf 390 char data[3];
jah128 0:d6269d17c8cf 391 data[0] = 0x04; //Set critical temp limit
jah128 0:d6269d17c8cf 392 data[1] = TEMPERATURE_CRITICAL_HI;
jah128 0:d6269d17c8cf 393 data[2] = TEMPEARTURE_CRITICAL_LO;
jah128 0:d6269d17c8cf 394 primary_i2c.write(TEMPERATURE_ADDRESS,data,3,false);
jah128 0:d6269d17c8cf 395 data[0] = 0x02; //Set high temp limit
jah128 0:d6269d17c8cf 396 data[1] = TEMPERATURE_HIGH_HI;
jah128 0:d6269d17c8cf 397 data[2] = TEMPEARTURE_HIGH_LO;
jah128 0:d6269d17c8cf 398 primary_i2c.write(TEMPERATURE_ADDRESS,data,3,false);
jah128 0:d6269d17c8cf 399 data[0] = 0x03; //Set low temp limit
jah128 0:d6269d17c8cf 400 data[1] = TEMPERATURE_LOW_HI;
jah128 0:d6269d17c8cf 401 data[2] = TEMPEARTURE_LOW_LO;
jah128 0:d6269d17c8cf 402 primary_i2c.write(TEMPERATURE_ADDRESS,data,3,false);
jah128 0:d6269d17c8cf 403 }
jah128 0:d6269d17c8cf 404
jah128 0:d6269d17c8cf 405 float IF_read_from_temperature_sensor()
jah128 0:d6269d17c8cf 406 {
jah128 0:d6269d17c8cf 407 char command[1] = {0x05}; //Write to Ta Register
jah128 0:d6269d17c8cf 408 char data[3];
jah128 0:d6269d17c8cf 409 signed int temp;
jah128 0:d6269d17c8cf 410 float temperature;
jah128 0:d6269d17c8cf 411 primary_i2c.write(TEMPERATURE_ADDRESS,command,1,false);
jah128 0:d6269d17c8cf 412 primary_i2c.read(TEMPERATURE_ADDRESS,data,2,false);
jah128 0:d6269d17c8cf 413
jah128 0:d6269d17c8cf 414 //Convert the temperature data
jah128 0:d6269d17c8cf 415 //First Check flag bits
jah128 0:d6269d17c8cf 416 char UpperByte = data[0];
jah128 0:d6269d17c8cf 417 char LowerByte = data[1];
jah128 0:d6269d17c8cf 418 if ((UpperByte & 0x80) == 0x80) {
jah128 0:d6269d17c8cf 419 debug("- WARNING: Temperature sensor reports critical temperature\n");
jah128 0:d6269d17c8cf 420 }
jah128 0:d6269d17c8cf 421 if ((UpperByte & 0x40) == 0x40) {
jah128 0:d6269d17c8cf 422 debug("- WARNING: Temperature sensor reports above upper limit\n");
jah128 0:d6269d17c8cf 423 }
jah128 0:d6269d17c8cf 424 if ((UpperByte & 0x20) == 0x20) {
jah128 0:d6269d17c8cf 425 debug("- WARNING: Temperature sensor reports below lower limit\n");
jah128 0:d6269d17c8cf 426 }
jah128 0:d6269d17c8cf 427 UpperByte = UpperByte & 0x1F; //Clear flag bits
jah128 0:d6269d17c8cf 428 if ((UpperByte & 0x10) == 0x10) {
jah128 0:d6269d17c8cf 429 UpperByte = UpperByte & 0x0F; //Clear SIGN
jah128 0:d6269d17c8cf 430 temp = (UpperByte * 256) + LowerByte;
jah128 0:d6269d17c8cf 431 temperature = - (temp / 16.0f);
jah128 0:d6269d17c8cf 432 } else {
jah128 0:d6269d17c8cf 433 temp = (UpperByte * 256) + LowerByte;
jah128 0:d6269d17c8cf 434 temperature = (temp / 16.0f);
jah128 0:d6269d17c8cf 435 }
jah128 0:d6269d17c8cf 436 return temperature;
jah128 0:d6269d17c8cf 437 }