File content as of revision 1:ab4c9a0a5374:

#include "LaLaBox.h"

// ---------------- Local global variables --------------
DigitalOut myled(LED1);     // Blinking LED
// -------------------- Motor ---------------------------
Ticker  MotorSystemTick;    // System Callback for Motor
timestamp_t MotorStepTime;  // Time in µs for one motor step
uint32_t    MotorFullTurn;  // Number of step for a complete turn
uint32_t    NumWires;       // Number of Wires
uint32_t    NumSteps;       // Number of Steps = NumWire * MotorFullTurn

enum MotorStateList {   // Define Motor States for the State Machine
    Motor_IDLE = 0,
    Motor_RUN,
    Motor_PAUSE,
    Motor_ZERO,
    Motor_CALIB
    } MotorState = Motor_IDLE;

enum MotorCommandList { // Define Motor State Machine Commands
    k_nop = 0,
    k_wire,
    k_pause,
    k_restart,
    k_stop,
    k_zero
    } MotorCommand;
    
enum MotorDirectionList { // Define Motor Clockwise or Anticlockwise
    d_clock = 0,
    d_anti
    } MotorDir;
    
// --- Sound ---
char *song_happy_birthday = "Happy Birthday Song:d=4,o=5,b=125:16c,32p,32c,32p,8d,32p,8c,32p,8f,32p,e,16p,16c,32p,32c,32p,8d,32p,8c,32p,8g,32p,f,8p,16c,32p,32c,32p,8c6,32p,8a,32p,8f,32p,8e,32p,8d,32p,16a#,32p,32a#,32p,8a,32p,8f,32p,8g,32p,f";
char *song_greensleaves = "Greensleaves:d=4,o=5,b=140:g,2a#,c6,d.6,8d#6,d6,2c6,a,f.,8g,a,2a#,g,g.,8f,g,2a,f,2d,g,2a#,c6,d.6,8e6,d6,2c6,a,f.,8g,a,a#.,8a,g,f#.,8e,f#,2g";
char *song_lightmyfire = "LightMyFire:d=4,o=5,b=140:8b,16g,16a,8b,8d6,8c6,8b,8a,8g,8a,16f,16a,8c6,8f6,16d6,16c6,16a#,16g,8g#,8g,8g#,16g,16a,8b,8c#6,16b,16a,16g,16f,8e,8f,1a,a";
char *song_xfile = "Xfiles:d=4,o=5,b=140:e,b,a,b,d6,2b.";
char *song_christmas ="Christmas:d=4,o=5,b=100:f#,g#,2a#,2a#,d#.,8f,f,f,2f#,2d#,2f#.6,f#,#g,8g#,g#,8a#,b,8c#,c#,2c#,8d#,8f.,8f#.,8f.,d#,f,2f#.,a#,8b.,8b.,8b.,d#,f,2c#.,a#,8b.,8b.,8b.,d#,f,f#,p,g#,g#,g#,8g#,8a#,8g#,f#.,g#,a#,p,c,c,c,8c,8c#,8c,a#.,c,c#,a#,b,a#,a,a#,b,c,";

// --- Define PC_8 as the output of PWM use for Tones -----
Buzzer buzzer(PC_8);

Music* pMusic=0;    //the song
Note la("A#4",50);  //the sound

// --- Define the Foor PINs used for Motor drive -----
DigitalOut MPh3(PA_7);
DigitalOut MPh2(PB_6);
DigitalOut MPh1(PC_7);
DigitalOut MPh0(PA_9);
// --- Motor Variable
int MotorIndex = 0;
// --- Motor Routine
void    StopMotor() // --- Stop Motor
{
        MPh0 = 0;  MPh1 = 0;  MPh2 = 0;  MPh3 = 0;
        MotorIndex = 0;
}
void    StartMotor()
{
        MotorIndex = 0;
        MPh0 = 1;  MPh1 = 0;  MPh2 = 0;   MPh3 = 0;
}
void    RightMotor()    // Move the Motor one step Right
{
    const   int RPh0[4] = {0, 1, 0, 0};
    const   int RPh1[4] = {0, 0, 1, 0};
    const   int RPh2[4] = {0, 0, 0, 1};
    const   int RPh3[4] = {1, 0, 0, 0};
    MPh0 = RPh0[MotorIndex];  MPh1 = RPh1[MotorIndex];  MPh2 = RPh2[MotorIndex];  MPh3 = RPh3[MotorIndex];
    if (MotorIndex<3) MotorIndex++;
    else    MotorIndex = 0;
}
void    LeftMotor()    // Move the Motor one step Right
{
    const   int LPh0[4] = {0, 0, 1, 0};
    const   int LPh1[4] = {0, 1, 0, 0};
    const   int LPh2[4] = {1, 0, 0, 0};
    const   int LPh3[4] = {0, 0, 0, 1};
    MPh0 = LPh0[MotorIndex];  MPh1 = LPh1[MotorIndex];  MPh2 = LPh2[MotorIndex];  MPh3 = LPh3[MotorIndex];
    if (MotorIndex<3) MotorIndex++;
    else    MotorIndex = 0;
}

void    RunMotor()     // Move the Motor in the user direction
{
        if (MotorDir==d_clock) RightMotor();
        else LeftMotor();
}

void ProcessMotorStateMachine()
{
        if (MotorState==Motor_IDLE) {
            uint32_t    led = 0;
            if (MotorCommand == k_wire) {
                // Start the Wiring
                StartMotor();
                led = 1;
                MotorState = Motor_RUN;
                }
            else if (MotorCommand == k_zero) {
                // Start zeroing the Motor
                StartMotor();
                led = 1;
                MotorState = Motor_ZERO;
                }
            MotorCommand = k_nop;
            myled = led;        // LED is on when motor in use
            }
        else if (MotorState==Motor_RUN) {
            // Action always performed in that state
             if (NumSteps>0) {
                RunMotor();
                NumSteps--;
                }
            // Check next state
            if (MotorCommand == k_pause) {
                MotorState = Motor_PAUSE;
                }
            else if ((MotorCommand == k_stop)||(NumSteps<=0)) {
                StopMotor();
                MotorState = Motor_IDLE;
                }
            MotorCommand = k_nop;
            }
        else if (MotorState==Motor_PAUSE) {
            if (MotorCommand == k_stop) {
                StopMotor();
                NumSteps=0;
                MotorState = Motor_IDLE;
                }
            else if (MotorCommand == k_restart) {
                MotorState = Motor_RUN;
                }
            MotorCommand = k_nop;
            }
        else if (MotorState==Motor_ZERO) {
            MotorCommand = k_nop;
            }
}

void TestMotor()    // Just to check that it make a full taurn back and forth
{
    int i;
    StartMotor();
    for (i=0; i<MotorFullTurn; i++) {
        wait(0.005);
        RightMotor();
        }   
    wait(0.5);
    for (i=0; i<MotorFullTurn; i++) {
        wait(0.005);
        LeftMotor();
        }   
    StopMotor();
}
void help() // Display list of Commands
{
    DEBUG("List of commands:\n\r");
    DEBUG(" h --> Help, display list of cammands\n\r");
    DEBUG(" z --> Go to motor zero\n\r");
    DEBUG(" k --> Calibrate motor\n\r");
    DEBUG(" n dddd --> define Number of coils (default=100)\n\r");
    DEBUG(" c --> define Clockwise (default)\n\r");
    DEBUG(" a --> define Anti-clockwise\n\r");
    DEBUG(" m --> Memorise configuration\n\r");
    DEBUG(" l --> List current configuration\n\r");
    DEBUG(" w --> start Wiring the coils\n\r");
    DEBUG(" p --> Pause wiring\n\r");
    DEBUG(" r --> Resume wiring\n\r");
    DEBUG(" s --> Stop (abort) wiring\n\r");
    DEBUG(" [space] --> print remaining Motor steps\n\r");
}

void end_wiring()   // Display message and Play a song when wirring is completed
{
    DEBUG("--- SUCCESS: Coils wiring completed ---\n\r");
    // Play a single Song
    pMusic= new Music(song_lightmyfire);
    pMusic->play(&buzzer);
    buzzer.tone(&la);
    delete(pMusic);
}

int main() {
    myled = 1;      // To see something is alive
    DEBUG("\n\n\r");
    DEBUG("------------------------------------------\n\r"); 
    DEBUG("----- Wire WINDER (fbd38) version 1.0 ----\n\r");
    DEBUG("------------------------------------------\n\r"); 
    help();
    DEBUG("------------------------------------------\n\r"); 
    wait(5);        // Some delay
    myled = 0;      // Real stuff starts here
    //
    // Connect Interrupt routine in which the motor and all the state machine is performed
    //
    MotorDir = d_clock;         // Default direction is clockwise
    MotorState = Motor_IDLE;    // Default state is IDLE
    MotorCommand = k_nop;       // Default command is NOP
    MotorStepTime = 10000;      // value in micro second for one step
    MotorFullTurn = 2140;       // Initial Calibration
    NumSteps = 0;               // Default
    MotorSystemTick.attach_us(&ProcessMotorStateMachine, MotorStepTime);
    //
    while(1) {
        char command;   // Command to execute
        uint32_t TimeToRunSec, TimeToRunMin;
        DEBUG(">> ");
        command = pc_uart.getc();
        DEBUG("%c", command);
        switch (command) {
        case 'h': help(); break;
        case 'z': MotorCommand = k_zero; break;
        case 'k': TestMotor(); break;
        case 'n':
            pc_uart.scanf("%d", &NumWires);
            NumSteps = NumWires*MotorFullTurn;
            TimeToRunSec = (NumSteps * (MotorStepTime / 1000))/1000;
            TimeToRunMin = TimeToRunSec / 60;
            TimeToRunSec %= 60;
            DEBUG("%d  --> Step = %d; Time = %d,%2d (min, sec)\n\r", NumWires, NumSteps, TimeToRunMin, TimeToRunSec);
            break;
        case 'c': MotorDir = d_clock; break;
        case 'a': MotorDir = d_anti;  break;
        case 'm': DEBUG(" [ not ready yet ]\n\r"); break;
        case 'l': DEBUG(" [ not ready yet ]\n\r"); break;
        case 'w': DEBUG(" -- Starting --\n\r"); MotorCommand = k_wire;    break;
        case 'p': DEBUG(" -- Pause    --\n\r"); MotorCommand = k_pause;   break;
        case 'r': DEBUG(" -- Re-Start --\n\r"); MotorCommand = k_restart; break;
        case 's': DEBUG(" -- Stop     --\n\r"); MotorCommand = k_stop;    break;
        case ' ': 
            TimeToRunSec = (NumSteps * (MotorStepTime / 1000))/1000;
            TimeToRunMin = TimeToRunSec / 60;
            TimeToRunSec %= 60;
            DEBUG(" Step to run: %d; Time %d,%2d (min, sec)\n\r", NumSteps, TimeToRunMin, TimeToRunSec); 
            break;
        default : DEBUG("invalid command; use: 'h' for help()");
        }
    }
}