Andrew Louw / Mbed 2 deprecated TrackingMBED

MBED Framework with communication to be tested

Dependencies:   mbed

main.cpp@4:85bc76bb6fdb, 2017-07-23 (annotated)

Committer:
AndrewLouw
Date:
Sun Jul 23 20:29:38 2017 +0000
Revision:
4:85bc76bb6fdb
Parent:
3:5995028595d2 
Republish MBED 145

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AndrewLouw 0:a32d085719df 1 #include "mbed.h"
AndrewLouw 0:a32d085719df 2 #include "PINNAMES.h"
AndrewLouw 0:a32d085719df 3 #include "SPICOMMANDS.h"
AndrewLouw 0:a32d085719df 4 #include "PROTOTYPES.h"
AndrewLouw 3:5995028595d2 5 //#include "CAN_Data.h"
AndrewLouw 3:5995028595d2 6 //#include "CAN_IDs.h"
AndrewLouw 0:a32d085719df 7
AndrewLouw 0:a32d085719df 8 int main() {
AndrewLouw 0:a32d085719df 9
AndrewLouw 0:a32d085719df 10 //main loop variables
AndrewLouw 3:5995028595d2 11 bool Shutdown = false;
AndrewLouw 0:a32d085719df 12 OpModesym OpMode= Setup; //OpMode variable
AndrewLouw 0:a32d085719df 13 Errorsym ErrorFlag = False; //Error flag
AndrewLouw 0:a32d085719df 14
AndrewLouw 0:a32d085719df 15 //angle limits
AndrewLouw 0:a32d085719df 16 const double Upperlimit_Can_on = 0;
AndrewLouw 0:a32d085719df 17 const double Upperlimit_Can_off = 0;
AndrewLouw 0:a32d085719df 18 const double Lowerlimit_Can_on = 100;
AndrewLouw 0:a32d085719df 19 const double Lowerlimit_Can_off = 100;
AndrewLouw 0:a32d085719df 20
AndrewLouw 0:a32d085719df 21 //allocate memorry for data
AndrewLouw 0:a32d085719df 22 float LDR1; //LDR1's value
AndrewLouw 0:a32d085719df 23 float LDR2; //LDR2's value
AndrewLouw 1:e8c5a9654f5f 24
AndrewLouw 3:5995028595d2 25 //spi send and decoded recieve buffers
AndrewLouw 3:5995028595d2 26 uint8_t write_buf [8];
AndrewLouw 3:5995028595d2 27 for (int i=0;i<8;i++){
AndrewLouw 3:5995028595d2 28 write_buf[i] = 0x00;
AndrewLouw 3:5995028595d2 29 }
AndrewLouw 3:5995028595d2 30
AndrewLouw 3:5995028595d2 31 uint8_t decoded_buf[7];
AndrewLouw 3:5995028595d2 32
AndrewLouw 3:5995028595d2 33
AndrewLouw 3:5995028595d2 34
AndrewLouw 1:e8c5a9654f5f 35 float MPPT [5];
AndrewLouw 1:e8c5a9654f5f 36 #define bat_volt MPPT[0]
AndrewLouw 1:e8c5a9654f5f 37 #define bat_current MPPT[1]
AndrewLouw 1:e8c5a9654f5f 38 #define bat_temp MPPT[2]
AndrewLouw 1:e8c5a9654f5f 39 #define bat_status MPPT[3]
AndrewLouw 1:e8c5a9654f5f 40 #define PV_volt MPPT[4]
AndrewLouw 1:e8c5a9654f5f 41
AndrewLouw 2:64443528f6bb 42 uint8_t panel_locations [6]; //the array for actual/desired location of each panel
AndrewLouw 0:a32d085719df 43
AndrewLouw 3:5995028595d2 44 //setup SPI
AndrewLouw 3:5995028595d2 45 printf("spi setup \r\n");
AndrewLouw 3:5995028595d2 46 const int spiBitrate=250000;
AndrewLouw 3:5995028595d2 47 spi.format(8,3);
AndrewLouw 3:5995028595d2 48 spi.frequency(spiBitrate);
AndrewLouw 3:5995028595d2 49 SlaveSelect = 1;
AndrewLouw 3:5995028595d2 50
AndrewLouw 3:5995028595d2 51 wait(2);
AndrewLouw 3:5995028595d2 52
AndrewLouw 0:a32d085719df 53 //main loop.
AndrewLouw 0:a32d085719df 54 while(1){
AndrewLouw 0:a32d085719df 55 if(ErrorFlag==False){
AndrewLouw 0:a32d085719df 56 switch (OpMode){
AndrewLouw 3:5995028595d2 57 case Setup:
AndrewLouw 3:5995028595d2 58 printf("Setup mode \r\n");
AndrewLouw 2:64443528f6bb 59 SlaveSelect = 0;
AndrewLouw 3:5995028595d2 60 //start in correct mode
AndrewLouw 0:a32d085719df 61
AndrewLouw 3:5995028595d2 62 //test region
AndrewLouw 3:5995028595d2 63 write_buf[0] = 0xAA; //message start, AA is a reserved message don't send at any other time
AndrewLouw 3:5995028595d2 64 write_buf[1] = 0xF0; //chip id
AndrewLouw 3:5995028595d2 65 write_buf[2] = 0xA0; //message verb
AndrewLouw 3:5995028595d2 66 write_buf[3] = 0x01; //message noun
AndrewLouw 3:5995028595d2 67
AndrewLouw 3:5995028595d2 68 for (int i=5;i<8;i++){ //spare nouns or verbs
AndrewLouw 3:5995028595d2 69 write_buf[i] = 0xFF;
AndrewLouw 3:5995028595d2 70 }
AndrewLouw 3:5995028595d2 71 printf("begin send \r\n");
AndrewLouw 3:5995028595d2 72 spi_send(write_buf,decoded_buf);
AndrewLouw 3:5995028595d2 73 printf("send exited \r\n");
AndrewLouw 0:a32d085719df 74 StatusLED = 1;
AndrewLouw 3:5995028595d2 75 wait_ms(1000);
AndrewLouw 3:5995028595d2 76 StatusLED = 0;
AndrewLouw 3:5995028595d2 77 wait_ms(1000);
AndrewLouw 3:5995028595d2 78 printf("restarting \r\n");
AndrewLouw 3:5995028595d2 79 // end of test region
AndrewLouw 3:5995028595d2 80
AndrewLouw 3:5995028595d2 81
AndrewLouw 3:5995028595d2 82
AndrewLouw 3:5995028595d2 83 //OpMode = readswitches();
AndrewLouw 0:a32d085719df 84 break;
AndrewLouw 0:a32d085719df 85
AndrewLouw 0:a32d085719df 86 case Canopy_on:
AndrewLouw 3:5995028595d2 87 printf("Canopy_on mode \r\n");
AndrewLouw 0:a32d085719df 88 checkLDR(LDR1,LDR2);
AndrewLouw 0:a32d085719df 89 checkMPPT(MPPT);
AndrewLouw 0:a32d085719df 90 if(shouldmove(MPPT,LDR1,LDR2,Upperlimit_Can_on,Lowerlimit_Can_on,panel_locations)){
AndrewLouw 0:a32d085719df 91 sendlocations(panel_locations);
AndrewLouw 0:a32d085719df 92 }
AndrewLouw 2:64443528f6bb 93 else{
AndrewLouw 1:e8c5a9654f5f 94 wait(120);
AndrewLouw 0:a32d085719df 95 }
AndrewLouw 0:a32d085719df 96 OpMode = readswitches();
AndrewLouw 0:a32d085719df 97 break;
AndrewLouw 0:a32d085719df 98
AndrewLouw 0:a32d085719df 99 case Canopy_off:
AndrewLouw 3:5995028595d2 100 printf("Canopy_off mode \r\n");
AndrewLouw 0:a32d085719df 101 checkLDR(LDR1,LDR2);
AndrewLouw 0:a32d085719df 102 checkMPPT(MPPT);
AndrewLouw 0:a32d085719df 103 if(shouldmove(MPPT,LDR1,LDR2,Upperlimit_Can_off,Lowerlimit_Can_off,panel_locations)){
AndrewLouw 0:a32d085719df 104 sendlocations(panel_locations);
AndrewLouw 0:a32d085719df 105 }
AndrewLouw 0:a32d085719df 106 else{
AndrewLouw 1:e8c5a9654f5f 107 wait(120);
AndrewLouw 0:a32d085719df 108 }
AndrewLouw 0:a32d085719df 109 OpMode = readswitches();
AndrewLouw 0:a32d085719df 110 break;
AndrewLouw 0:a32d085719df 111
AndrewLouw 0:a32d085719df 112 case Manual:
AndrewLouw 3:5995028595d2 113 printf("Manual mode \r\n");
AndrewLouw 2:64443528f6bb 114 //calibration mode - finds upper and lower limits for each panel for the current setup (canopy up or down)
AndrewLouw 1:e8c5a9654f5f 115
AndrewLouw 1:e8c5a9654f5f 116 while(MANUAL_SW){//release the button
AndrewLouw 1:e8c5a9654f5f 117 }
AndrewLouw 1:e8c5a9654f5f 118
AndrewLouw 1:e8c5a9654f5f 119 //panels should be moved to lower limit
AndrewLouw 1:e8c5a9654f5f 120 while(!MANUAL_SW){//then the switch should be pressed again
AndrewLouw 1:e8c5a9654f5f 121 }
AndrewLouw 1:e8c5a9654f5f 122
AndrewLouw 1:e8c5a9654f5f 123 //TODO
AndrewLouw 1:e8c5a9654f5f 124 //panel locations will be read and values stored as lower limit
AndrewLouw 1:e8c5a9654f5f 125
AndrewLouw 1:e8c5a9654f5f 126
AndrewLouw 1:e8c5a9654f5f 127 while(MANUAL_SW){//release the button
AndrewLouw 1:e8c5a9654f5f 128 }
AndrewLouw 1:e8c5a9654f5f 129
AndrewLouw 1:e8c5a9654f5f 130 //then panels should be moved to the upper limit
AndrewLouw 1:e8c5a9654f5f 131 while(!MANUAL_SW){//then the switch should be pressed again
AndrewLouw 1:e8c5a9654f5f 132 }
AndrewLouw 1:e8c5a9654f5f 133
AndrewLouw 1:e8c5a9654f5f 134 //TODO
AndrewLouw 1:e8c5a9654f5f 135 //panel locations will be read and values stored as upper limit
AndrewLouw 1:e8c5a9654f5f 136
AndrewLouw 1:e8c5a9654f5f 137
AndrewLouw 1:e8c5a9654f5f 138 while(MANUAL_SW){//release the button
AndrewLouw 2:64443528f6bb 139 }
AndrewLouw 1:e8c5a9654f5f 140
AndrewLouw 0:a32d085719df 141 break;
AndrewLouw 0:a32d085719df 142
AndrewLouw 0:a32d085719df 143
AndrewLouw 0:a32d085719df 144 case Error:
AndrewLouw 3:5995028595d2 145 printf("Error mode \r\n");
AndrewLouw 0:a32d085719df 146 ErrorFlag = Switch_Error;
AndrewLouw 0:a32d085719df 147 break;
AndrewLouw 0:a32d085719df 148
AndrewLouw 0:a32d085719df 149 default:
AndrewLouw 3:5995028595d2 150 printf("Default mode \r\n");
AndrewLouw 0:a32d085719df 151 OpMode = Error;
AndrewLouw 0:a32d085719df 152 break;
AndrewLouw 0:a32d085719df 153 }
AndrewLouw 0:a32d085719df 154
AndrewLouw 0:a32d085719df 155 }
AndrewLouw 0:a32d085719df 156 else{ //do this if shutting down
AndrewLouw 0:a32d085719df 157 switch (ErrorFlag){
AndrewLouw 0:a32d085719df 158 case False:
AndrewLouw 0:a32d085719df 159 OpMode= Setup;
AndrewLouw 0:a32d085719df 160 break;
AndrewLouw 0:a32d085719df 161
AndrewLouw 0:a32d085719df 162 case Switch_Error:
AndrewLouw 0:a32d085719df 163 OpMode = Canopy_on;
AndrewLouw 0:a32d085719df 164 break;
AndrewLouw 0:a32d085719df 165
AndrewLouw 0:a32d085719df 166 default:
AndrewLouw 0:a32d085719df 167 Shutdown = true;
AndrewLouw 0:a32d085719df 168 break;
AndrewLouw 0:a32d085719df 169 }
AndrewLouw 0:a32d085719df 170 }
AndrewLouw 0:a32d085719df 171 if(Shutdown){
AndrewLouw 0:a32d085719df 172 break;
AndrewLouw 0:a32d085719df 173 }
AndrewLouw 0:a32d085719df 174 }
AndrewLouw 3:5995028595d2 175
AndrewLouw 3:5995028595d2 176 printf("Out of loop \r\n");
AndrewLouw 3:5995028595d2 177
AndrewLouw 0:a32d085719df 178 }
AndrewLouw 0:a32d085719df 179
AndrewLouw 0:a32d085719df 180 OpModesym readswitches(){ //read canopy switches
AndrewLouw 0:a32d085719df 181 if(MANUAL_SW){
AndrewLouw 0:a32d085719df 182 return Manual;
AndrewLouw 0:a32d085719df 183 }
AndrewLouw 0:a32d085719df 184 else{
AndrewLouw 0:a32d085719df 185 if(CANOPY_SW){
AndrewLouw 0:a32d085719df 186 return Canopy_on;
AndrewLouw 0:a32d085719df 187 }
AndrewLouw 0:a32d085719df 188 else{
AndrewLouw 0:a32d085719df 189 return Canopy_off;
AndrewLouw 0:a32d085719df 190 }
AndrewLouw 0:a32d085719df 191 }
AndrewLouw 0:a32d085719df 192 }
AndrewLouw 0:a32d085719df 193 void checkLDR(float &LDR1,float &LDR2){ //get the LDR values
AndrewLouw 0:a32d085719df 194 LDR1 = LDR_SENSE1;
AndrewLouw 0:a32d085719df 195 LDR2 = LDR_SENSE1;
AndrewLouw 0:a32d085719df 196 }
AndrewLouw 1:e8c5a9654f5f 197
AndrewLouw 1:e8c5a9654f5f 198 void checkMPPT(float *MPPT){ //get the MPPT values
AndrewLouw 2:64443528f6bb 199 //TODO
AndrewLouw 0:a32d085719df 200 }
AndrewLouw 0:a32d085719df 201
AndrewLouw 2:64443528f6bb 202 bool shouldmove(float *MPPT,float LDR1,float LDR2,double Upperlimit,double Lowelimit,uint8_t *panel_locations){ //checks if the motors should move based on current location and sensor data
AndrewLouw 0:a32d085719df 203 //TODO
AndrewLouw 1:e8c5a9654f5f 204 //need to use "getlocations"
AndrewLouw 2:64443528f6bb 205 return true;
AndrewLouw 0:a32d085719df 206 }
AndrewLouw 0:a32d085719df 207
AndrewLouw 2:64443528f6bb 208 void getlocations(double Upperlimit, double Lowerlimit,uint8_t *panel_locations){ //update panel locations from actual to desired
AndrewLouw 0:a32d085719df 209 //TODO
AndrewLouw 1:e8c5a9654f5f 210 //update panellocations
AndrewLouw 0:a32d085719df 211 }
AndrewLouw 0:a32d085719df 212
AndrewLouw 2:64443528f6bb 213 void sendlocations(uint8_t *panel_locations){ //transmit the desired locations
AndrewLouw 3:5995028595d2 214 //TODO send useful information get output to be
AndrewLouw 0:a32d085719df 215 }
AndrewLouw 0:a32d085719df 216
AndrewLouw 1:e8c5a9654f5f 217 uint8_t toEncoder(double angle){ //convert angle to encoder value
AndrewLouw 0:a32d085719df 218 //TODO
AndrewLouw 0:a32d085719df 219 }
AndrewLouw 0:a32d085719df 220
AndrewLouw 3:5995028595d2 221 void spi_send(uint8_t write_buf [8],uint8_t decoded_buf[7]){
AndrewLouw 3:5995028595d2 222 uint8_t read_buf [8];
AndrewLouw 3:5995028595d2 223
AndrewLouw 3:5995028595d2 224 SlaveSelect = 0;
AndrewLouw 3:5995028595d2 225 spi.write(0b00000000); //Ensures isoSPI is in ready
AndrewLouw 3:5995028595d2 226 SlaveSelect=1;
AndrewLouw 3:5995028595d2 227
AndrewLouw 3:5995028595d2 228 wait_us(100);
AndrewLouw 3:5995028595d2 229 SlaveSelect = 0;
AndrewLouw 3:5995028595d2 230 wait_us(70);
AndrewLouw 3:5995028595d2 231 for (int i = 0; i < 8; i++) {
AndrewLouw 3:5995028595d2 232 spi.write(write_buf[i]);
AndrewLouw 3:5995028595d2 233 wait_us(60);
AndrewLouw 3:5995028595d2 234 }
AndrewLouw 3:5995028595d2 235
AndrewLouw 3:5995028595d2 236 for (int i = 0; i < 8; i++) {
AndrewLouw 3:5995028595d2 237 read_buf[i] = spi.write(0xFF);
AndrewLouw 3:5995028595d2 238 wait_us(60);
AndrewLouw 3:5995028595d2 239 }
AndrewLouw 3:5995028595d2 240 SlaveSelect=1;
AndrewLouw 3:5995028595d2 241
AndrewLouw 3:5995028595d2 242 uint8_t MSB_byte = read_buf[7];
AndrewLouw 3:5995028595d2 243
AndrewLouw 3:5995028595d2 244 for (int i = 0;i<7;i++){
AndrewLouw 3:5995028595d2 245 if(!(MSB_byte & (0b00000001<<(i)))){
AndrewLouw 3:5995028595d2 246 decoded_buf[i] = read_buf[i]&0b01111111;
AndrewLouw 3:5995028595d2 247 }
AndrewLouw 3:5995028595d2 248 else{
AndrewLouw 3:5995028595d2 249 decoded_buf[i] = read_buf[i];
AndrewLouw 3:5995028595d2 250 }
AndrewLouw 3:5995028595d2 251
AndrewLouw 3:5995028595d2 252
AndrewLouw 3:5995028595d2 253 printf("decoded: %u \r\n",decoded_buf[i]);
AndrewLouw 3:5995028595d2 254 }
AndrewLouw 3:5995028595d2 255 for (int i = 0;i<8;i++){
AndrewLouw 3:5995028595d2 256 printf("read: %u \r\n",read_buf[i]);
AndrewLouw 3:5995028595d2 257 }
AndrewLouw 3:5995028595d2 258
AndrewLouw 3:5995028595d2 259
AndrewLouw 3:5995028595d2 260 wait_us(30);
AndrewLouw 3:5995028595d2 261 printf("msg sent \r\n");
AndrewLouw 3:5995028595d2 262 return;
AndrewLouw 3:5995028595d2 263 }