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Cast tube base station
Dependencies: EALib USBDevice mbed
main.cpp@0:e559b5160d84, 2015-12-16 (annotated)
- Committer:
- BPPearson
- Date:
- Wed Dec 16 19:49:47 2015 +0000
- Revision:
- 0:e559b5160d84
- Child:
- 1:240b94a8d002
First production version - printf's removed and code cleaned
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
BPPearson | 0:e559b5160d84 | 1 | /****************************************************************************** |
BPPearson | 0:e559b5160d84 | 2 | * Includes |
BPPearson | 0:e559b5160d84 | 3 | *****************************************************************************/ |
BPPearson | 0:e559b5160d84 | 4 | #include "mbed.h" |
BPPearson | 0:e559b5160d84 | 5 | #include "XBee.h" |
BPPearson | 0:e559b5160d84 | 6 | #include "USBHID.h" |
BPPearson | 0:e559b5160d84 | 7 | #include "ByteOperations.h" |
BPPearson | 0:e559b5160d84 | 8 | #include "USBHIDProtocol.h" |
BPPearson | 0:e559b5160d84 | 9 | |
BPPearson | 0:e559b5160d84 | 10 | /****************************************************************************** |
BPPearson | 0:e559b5160d84 | 11 | * Typedefs and defines |
BPPearson | 0:e559b5160d84 | 12 | *****************************************************************************/ |
BPPearson | 0:e559b5160d84 | 13 | |
BPPearson | 0:e559b5160d84 | 14 | // define NODE_IS_COORDINATOR if this board should act |
BPPearson | 0:e559b5160d84 | 15 | // as XBee coordinator. Make sure it is undefined if the board |
BPPearson | 0:e559b5160d84 | 16 | // should act as End-Device |
BPPearson | 0:e559b5160d84 | 17 | //#define NODE_IS_COORDINATOR (0) |
BPPearson | 0:e559b5160d84 | 18 | |
BPPearson | 0:e559b5160d84 | 19 | //#define CMD_BTN_MSG (0) |
BPPearson | 0:e559b5160d84 | 20 | //#define CMD_ACK_MSG (1) |
BPPearson | 0:e559b5160d84 | 21 | //#define NUMBER_OF_ZONES 72 |
BPPearson | 0:e559b5160d84 | 22 | //#define ECHO_SERVER_PORT 7 |
BPPearson | 0:e559b5160d84 | 23 | #define VERSION 0x01 |
BPPearson | 0:e559b5160d84 | 24 | #define COMMAND 0 |
BPPearson | 0:e559b5160d84 | 25 | #define DATA 1 |
BPPearson | 0:e559b5160d84 | 26 | |
BPPearson | 0:e559b5160d84 | 27 | #define XBeeDisconnected 0x400 |
BPPearson | 0:e559b5160d84 | 28 | #define MaxTeethExceeded 0x800 |
BPPearson | 0:e559b5160d84 | 29 | |
BPPearson | 0:e559b5160d84 | 30 | // rotational stage modes |
BPPearson | 0:e559b5160d84 | 31 | #define STOPPED 1 |
BPPearson | 0:e559b5160d84 | 32 | #define PARKING 2 |
BPPearson | 0:e559b5160d84 | 33 | #define GOTOMDPOSITION 3 |
BPPearson | 0:e559b5160d84 | 34 | #define DRIVINGTOPOSITION 4 |
BPPearson | 0:e559b5160d84 | 35 | #define STARTROTATING 5 |
BPPearson | 0:e559b5160d84 | 36 | #define ROTATING 6 |
BPPearson | 0:e559b5160d84 | 37 | #define MDSCAN 7 |
BPPearson | 0:e559b5160d84 | 38 | |
BPPearson | 0:e559b5160d84 | 39 | #define MAX_TEETH 384 |
BPPearson | 0:e559b5160d84 | 40 | |
BPPearson | 0:e559b5160d84 | 41 | #define LOW 0 |
BPPearson | 0:e559b5160d84 | 42 | #define HIGH 1 |
BPPearson | 0:e559b5160d84 | 43 | |
BPPearson | 0:e559b5160d84 | 44 | |
BPPearson | 0:e559b5160d84 | 45 | // input/output devices |
BPPearson | 0:e559b5160d84 | 46 | static XBee xbee(P4_22, P4_23, P4_17, P4_19); |
BPPearson | 0:e559b5160d84 | 47 | static DigitalIn indexInputLevel(p10); |
BPPearson | 0:e559b5160d84 | 48 | static DigitalIn zeroInputLevel(p11); |
BPPearson | 0:e559b5160d84 | 49 | static DigitalOut led1(LED1); // led1 + led 2 -> active low |
BPPearson | 0:e559b5160d84 | 50 | static DigitalOut led2(LED2); |
BPPearson | 0:e559b5160d84 | 51 | static DigitalOut led3(LED3); // led3 + led 4 -> active high |
BPPearson | 0:e559b5160d84 | 52 | static DigitalOut led4(LED4); |
BPPearson | 0:e559b5160d84 | 53 | static DigitalOut motorDrive(p12); |
BPPearson | 0:e559b5160d84 | 54 | Serial pc(USBTX, USBRX); // tx, rx |
BPPearson | 0:e559b5160d84 | 55 | Ticker lossOfSignalTimer; |
BPPearson | 0:e559b5160d84 | 56 | Ticker updateLCD; |
BPPearson | 0:e559b5160d84 | 57 | Ticker rotationalControl; |
BPPearson | 0:e559b5160d84 | 58 | Ticker debounceDigInputs; |
BPPearson | 0:e559b5160d84 | 59 | Ticker ledPulseCheck; |
BPPearson | 0:e559b5160d84 | 60 | BusInOut databus(p25, p26, p27, p28, p29, p30, p31, p32); |
BPPearson | 0:e559b5160d84 | 61 | DigitalOut registerSelect(p39); |
BPPearson | 0:e559b5160d84 | 62 | DigitalOut readWrite(p38); |
BPPearson | 0:e559b5160d84 | 63 | DigitalOut readWriteClock(p37); |
BPPearson | 0:e559b5160d84 | 64 | |
BPPearson | 0:e559b5160d84 | 65 | USBHID *hid; |
BPPearson | 0:e559b5160d84 | 66 | HID_REPORT send_report __attribute__((aligned (4))); // Aligned for fast access |
BPPearson | 0:e559b5160d84 | 67 | HID_REPORT recv_report __attribute__((aligned (4))); // Aligned for fast access |
BPPearson | 0:e559b5160d84 | 68 | |
BPPearson | 0:e559b5160d84 | 69 | |
BPPearson | 0:e559b5160d84 | 70 | |
BPPearson | 0:e559b5160d84 | 71 | // local variables |
BPPearson | 0:e559b5160d84 | 72 | float rawTemperature = 0.0; |
BPPearson | 0:e559b5160d84 | 73 | float rawThickness = 0.0; |
BPPearson | 0:e559b5160d84 | 74 | uint32_t position = 0; |
BPPearson | 0:e559b5160d84 | 75 | uint32_t seqNo = 0; |
BPPearson | 0:e559b5160d84 | 76 | uint32_t prevSeqNo = 0; |
BPPearson | 0:e559b5160d84 | 77 | bool xbeeIsUp = false; |
BPPearson | 0:e559b5160d84 | 78 | bool saveProfileToDatabase = false; |
BPPearson | 0:e559b5160d84 | 79 | char inBuff[256]; |
BPPearson | 0:e559b5160d84 | 80 | char outBuff[256]; |
BPPearson | 0:e559b5160d84 | 81 | uint8_t xbeeSigStrength = 0; |
BPPearson | 0:e559b5160d84 | 82 | uint32_t errorFlags = 0; |
BPPearson | 0:e559b5160d84 | 83 | int rotationalMode = STOPPED; |
BPPearson | 0:e559b5160d84 | 84 | int mdPosition = 0; |
BPPearson | 0:e559b5160d84 | 85 | int toothLowCount = 0; |
BPPearson | 0:e559b5160d84 | 86 | int zeroLowCount = 0; |
BPPearson | 0:e559b5160d84 | 87 | int zeroHighCount = 0; |
BPPearson | 0:e559b5160d84 | 88 | int led1Duration = 0; |
BPPearson | 0:e559b5160d84 | 89 | int led2Duration = 0; |
BPPearson | 0:e559b5160d84 | 90 | int led3Duration = 0; |
BPPearson | 0:e559b5160d84 | 91 | int led4Duration = 0; |
BPPearson | 0:e559b5160d84 | 92 | int parkPosition = 0; |
BPPearson | 0:e559b5160d84 | 93 | int indexInputState = HIGH; |
BPPearson | 0:e559b5160d84 | 94 | int zeroInputState = HIGH; |
BPPearson | 0:e559b5160d84 | 95 | |
BPPearson | 0:e559b5160d84 | 96 | |
BPPearson | 0:e559b5160d84 | 97 | void pulseLed(int led, int duration) |
BPPearson | 0:e559b5160d84 | 98 | { |
BPPearson | 0:e559b5160d84 | 99 | |
BPPearson | 0:e559b5160d84 | 100 | switch (led) |
BPPearson | 0:e559b5160d84 | 101 | { |
BPPearson | 0:e559b5160d84 | 102 | case LED1: |
BPPearson | 0:e559b5160d84 | 103 | led1 = 0; // turn on led |
BPPearson | 0:e559b5160d84 | 104 | led1Duration = duration; // set duration |
BPPearson | 0:e559b5160d84 | 105 | break; |
BPPearson | 0:e559b5160d84 | 106 | case LED2: |
BPPearson | 0:e559b5160d84 | 107 | led2 = 0; // turn on led |
BPPearson | 0:e559b5160d84 | 108 | led2Duration = duration; // set duration |
BPPearson | 0:e559b5160d84 | 109 | break; |
BPPearson | 0:e559b5160d84 | 110 | case LED3: |
BPPearson | 0:e559b5160d84 | 111 | led3 = 1; // turn on led |
BPPearson | 0:e559b5160d84 | 112 | led3Duration = duration; // set duration |
BPPearson | 0:e559b5160d84 | 113 | break; |
BPPearson | 0:e559b5160d84 | 114 | case LED4: |
BPPearson | 0:e559b5160d84 | 115 | led4 = 1; // turn on led |
BPPearson | 0:e559b5160d84 | 116 | led4Duration = duration; // set duration |
BPPearson | 0:e559b5160d84 | 117 | break; |
BPPearson | 0:e559b5160d84 | 118 | default: ; |
BPPearson | 0:e559b5160d84 | 119 | } |
BPPearson | 0:e559b5160d84 | 120 | } |
BPPearson | 0:e559b5160d84 | 121 | |
BPPearson | 0:e559b5160d84 | 122 | |
BPPearson | 0:e559b5160d84 | 123 | |
BPPearson | 0:e559b5160d84 | 124 | void ledPulser() |
BPPearson | 0:e559b5160d84 | 125 | { |
BPPearson | 0:e559b5160d84 | 126 | |
BPPearson | 0:e559b5160d84 | 127 | if (led1Duration > 0) |
BPPearson | 0:e559b5160d84 | 128 | { |
BPPearson | 0:e559b5160d84 | 129 | led1Duration--; |
BPPearson | 0:e559b5160d84 | 130 | |
BPPearson | 0:e559b5160d84 | 131 | if (led1Duration == 0) |
BPPearson | 0:e559b5160d84 | 132 | led1 = 1; // turn led off |
BPPearson | 0:e559b5160d84 | 133 | } |
BPPearson | 0:e559b5160d84 | 134 | |
BPPearson | 0:e559b5160d84 | 135 | if (led2Duration > 0) |
BPPearson | 0:e559b5160d84 | 136 | { |
BPPearson | 0:e559b5160d84 | 137 | led2Duration--; |
BPPearson | 0:e559b5160d84 | 138 | |
BPPearson | 0:e559b5160d84 | 139 | if (led2Duration == 0) |
BPPearson | 0:e559b5160d84 | 140 | led2 = 1; // turn led off |
BPPearson | 0:e559b5160d84 | 141 | } |
BPPearson | 0:e559b5160d84 | 142 | |
BPPearson | 0:e559b5160d84 | 143 | if (led3Duration > 0) |
BPPearson | 0:e559b5160d84 | 144 | { |
BPPearson | 0:e559b5160d84 | 145 | led3Duration--; |
BPPearson | 0:e559b5160d84 | 146 | |
BPPearson | 0:e559b5160d84 | 147 | if (led3Duration == 0) |
BPPearson | 0:e559b5160d84 | 148 | led3 = 0; // turn led off |
BPPearson | 0:e559b5160d84 | 149 | } |
BPPearson | 0:e559b5160d84 | 150 | |
BPPearson | 0:e559b5160d84 | 151 | if (led4Duration > 0) |
BPPearson | 0:e559b5160d84 | 152 | { |
BPPearson | 0:e559b5160d84 | 153 | led4Duration--; |
BPPearson | 0:e559b5160d84 | 154 | |
BPPearson | 0:e559b5160d84 | 155 | if (led4Duration == 0) |
BPPearson | 0:e559b5160d84 | 156 | led4 = 0; // turn led off |
BPPearson | 0:e559b5160d84 | 157 | } |
BPPearson | 0:e559b5160d84 | 158 | } |
BPPearson | 0:e559b5160d84 | 159 | |
BPPearson | 0:e559b5160d84 | 160 | |
BPPearson | 0:e559b5160d84 | 161 | |
BPPearson | 0:e559b5160d84 | 162 | |
BPPearson | 0:e559b5160d84 | 163 | |
BPPearson | 0:e559b5160d84 | 164 | |
BPPearson | 0:e559b5160d84 | 165 | void debounceInputs() |
BPPearson | 0:e559b5160d84 | 166 | { |
BPPearson | 0:e559b5160d84 | 167 | |
BPPearson | 0:e559b5160d84 | 168 | |
BPPearson | 0:e559b5160d84 | 169 | if (indexInputLevel == 0) |
BPPearson | 0:e559b5160d84 | 170 | { |
BPPearson | 0:e559b5160d84 | 171 | if (toothLowCount < 5) // times 10 mS for debounce period |
BPPearson | 0:e559b5160d84 | 172 | { |
BPPearson | 0:e559b5160d84 | 173 | toothLowCount++; |
BPPearson | 0:e559b5160d84 | 174 | |
BPPearson | 0:e559b5160d84 | 175 | if (toothLowCount >= 5) |
BPPearson | 0:e559b5160d84 | 176 | { |
BPPearson | 0:e559b5160d84 | 177 | position++; |
BPPearson | 0:e559b5160d84 | 178 | |
BPPearson | 0:e559b5160d84 | 179 | if (position >= MAX_TEETH) |
BPPearson | 0:e559b5160d84 | 180 | { |
BPPearson | 0:e559b5160d84 | 181 | position = 0; |
BPPearson | 0:e559b5160d84 | 182 | errorFlags |= MaxTeethExceeded; |
BPPearson | 0:e559b5160d84 | 183 | } |
BPPearson | 0:e559b5160d84 | 184 | } |
BPPearson | 0:e559b5160d84 | 185 | } |
BPPearson | 0:e559b5160d84 | 186 | } |
BPPearson | 0:e559b5160d84 | 187 | else |
BPPearson | 0:e559b5160d84 | 188 | toothLowCount = 0; |
BPPearson | 0:e559b5160d84 | 189 | |
BPPearson | 0:e559b5160d84 | 190 | if (zeroInputLevel == 0) |
BPPearson | 0:e559b5160d84 | 191 | { |
BPPearson | 0:e559b5160d84 | 192 | if (zeroLowCount < 5) // times 10 mS debounce period |
BPPearson | 0:e559b5160d84 | 193 | { |
BPPearson | 0:e559b5160d84 | 194 | zeroLowCount++; |
BPPearson | 0:e559b5160d84 | 195 | |
BPPearson | 0:e559b5160d84 | 196 | if (zeroLowCount >= 5) |
BPPearson | 0:e559b5160d84 | 197 | { |
BPPearson | 0:e559b5160d84 | 198 | position = 0; // zero position counter |
BPPearson | 0:e559b5160d84 | 199 | } |
BPPearson | 0:e559b5160d84 | 200 | } |
BPPearson | 0:e559b5160d84 | 201 | } |
BPPearson | 0:e559b5160d84 | 202 | else |
BPPearson | 0:e559b5160d84 | 203 | { |
BPPearson | 0:e559b5160d84 | 204 | zeroLowCount = 0; |
BPPearson | 0:e559b5160d84 | 205 | } |
BPPearson | 0:e559b5160d84 | 206 | } |
BPPearson | 0:e559b5160d84 | 207 | |
BPPearson | 0:e559b5160d84 | 208 | |
BPPearson | 0:e559b5160d84 | 209 | |
BPPearson | 0:e559b5160d84 | 210 | |
BPPearson | 0:e559b5160d84 | 211 | static void xbeeDeviceUp(void) |
BPPearson | 0:e559b5160d84 | 212 | { |
BPPearson | 0:e559b5160d84 | 213 | xbeeIsUp = true; |
BPPearson | 0:e559b5160d84 | 214 | } |
BPPearson | 0:e559b5160d84 | 215 | |
BPPearson | 0:e559b5160d84 | 216 | |
BPPearson | 0:e559b5160d84 | 217 | |
BPPearson | 0:e559b5160d84 | 218 | static void xbeeDeviceDown(void) |
BPPearson | 0:e559b5160d84 | 219 | { |
BPPearson | 0:e559b5160d84 | 220 | xbeeIsUp = false; |
BPPearson | 0:e559b5160d84 | 221 | } |
BPPearson | 0:e559b5160d84 | 222 | |
BPPearson | 0:e559b5160d84 | 223 | |
BPPearson | 0:e559b5160d84 | 224 | |
BPPearson | 0:e559b5160d84 | 225 | static void xbeeNodeFound(void) |
BPPearson | 0:e559b5160d84 | 226 | { |
BPPearson | 0:e559b5160d84 | 227 | uint32_t addrHi = 0; |
BPPearson | 0:e559b5160d84 | 228 | uint32_t addrLo = 0; |
BPPearson | 0:e559b5160d84 | 229 | uint8_t rssi = 0; |
BPPearson | 0:e559b5160d84 | 230 | |
BPPearson | 0:e559b5160d84 | 231 | xbee.getRemoteAddress(&addrHi, &addrLo); |
BPPearson | 0:e559b5160d84 | 232 | xbee.getRssi(&rssi); |
BPPearson | 0:e559b5160d84 | 233 | } |
BPPearson | 0:e559b5160d84 | 234 | |
BPPearson | 0:e559b5160d84 | 235 | |
BPPearson | 0:e559b5160d84 | 236 | static void xbeeTxStat(void) |
BPPearson | 0:e559b5160d84 | 237 | { |
BPPearson | 0:e559b5160d84 | 238 | |
BPPearson | 0:e559b5160d84 | 239 | uint8_t frameId = 0; |
BPPearson | 0:e559b5160d84 | 240 | XBee::XBeeTxStatus status = XBee::TxStatusOk; |
BPPearson | 0:e559b5160d84 | 241 | |
BPPearson | 0:e559b5160d84 | 242 | xbee.getTxStatus(&frameId, &status); |
BPPearson | 0:e559b5160d84 | 243 | } |
BPPearson | 0:e559b5160d84 | 244 | |
BPPearson | 0:e559b5160d84 | 245 | |
BPPearson | 0:e559b5160d84 | 246 | |
BPPearson | 0:e559b5160d84 | 247 | static void xbeeDataAvailable(void) |
BPPearson | 0:e559b5160d84 | 248 | { |
BPPearson | 0:e559b5160d84 | 249 | char* data = NULL; |
BPPearson | 0:e559b5160d84 | 250 | uint8_t len = 0; |
BPPearson | 0:e559b5160d84 | 251 | uint32_t addrHi = 0; |
BPPearson | 0:e559b5160d84 | 252 | uint32_t addrLo = 0; |
BPPearson | 0:e559b5160d84 | 253 | |
BPPearson | 0:e559b5160d84 | 254 | xbee.getRemoteAddress(&addrHi, &addrLo); |
BPPearson | 0:e559b5160d84 | 255 | xbee.getData(&data, &len); |
BPPearson | 0:e559b5160d84 | 256 | //xbee.getRssi(&rssi); |
BPPearson | 0:e559b5160d84 | 257 | |
BPPearson | 0:e559b5160d84 | 258 | if (len > 0) { |
BPPearson | 0:e559b5160d84 | 259 | |
BPPearson | 0:e559b5160d84 | 260 | switch(data[0]) |
BPPearson | 0:e559b5160d84 | 261 | { |
BPPearson | 0:e559b5160d84 | 262 | case '1': |
BPPearson | 0:e559b5160d84 | 263 | if (len > 1) |
BPPearson | 0:e559b5160d84 | 264 | { |
BPPearson | 0:e559b5160d84 | 265 | pulseLed( LED4, 5); |
BPPearson | 0:e559b5160d84 | 266 | |
BPPearson | 0:e559b5160d84 | 267 | // get values from data packet |
BPPearson | 0:e559b5160d84 | 268 | // packet format - sprintf(data, "1%5.3f, %5.3f, %5.3f, %5.3f, %4x\n", rawTemperature, rawThickness, filteredTemperature, filteredThickness, errorFlags); |
BPPearson | 0:e559b5160d84 | 269 | sscanf(&data[1], "%f,%f, %x\n", &rawTemperature, &rawThickness, &errorFlags); |
BPPearson | 0:e559b5160d84 | 270 | } |
BPPearson | 0:e559b5160d84 | 271 | break; |
BPPearson | 0:e559b5160d84 | 272 | |
BPPearson | 0:e559b5160d84 | 273 | default: |
BPPearson | 0:e559b5160d84 | 274 | pc.printf("Unknown packet format %d\n", data[0]); |
BPPearson | 0:e559b5160d84 | 275 | } |
BPPearson | 0:e559b5160d84 | 276 | } |
BPPearson | 0:e559b5160d84 | 277 | } |
BPPearson | 0:e559b5160d84 | 278 | |
BPPearson | 0:e559b5160d84 | 279 | |
BPPearson | 0:e559b5160d84 | 280 | |
BPPearson | 0:e559b5160d84 | 281 | static bool xbeeInit() |
BPPearson | 0:e559b5160d84 | 282 | { |
BPPearson | 0:e559b5160d84 | 283 | xbee.registerCallback(xbeeDeviceUp, XBee::CbDeviceUp); |
BPPearson | 0:e559b5160d84 | 284 | |
BPPearson | 0:e559b5160d84 | 285 | xbee.registerCallback(xbeeDeviceDown, XBee::CbDeviceDown); |
BPPearson | 0:e559b5160d84 | 286 | |
BPPearson | 0:e559b5160d84 | 287 | xbee.registerCallback(xbeeNodeFound, XBee::CbNodeFound); |
BPPearson | 0:e559b5160d84 | 288 | |
BPPearson | 0:e559b5160d84 | 289 | xbee.registerCallback(xbeeTxStat, XBee::CbTxStat); |
BPPearson | 0:e559b5160d84 | 290 | |
BPPearson | 0:e559b5160d84 | 291 | xbee.registerCallback(xbeeDataAvailable, XBee::CbDataAvailable); |
BPPearson | 0:e559b5160d84 | 292 | |
BPPearson | 0:e559b5160d84 | 293 | XBee::XBeeError err = xbee.init(XBee::EndDevice, "EAEA"); |
BPPearson | 0:e559b5160d84 | 294 | |
BPPearson | 0:e559b5160d84 | 295 | if (err != XBee::Ok) |
BPPearson | 0:e559b5160d84 | 296 | { |
BPPearson | 0:e559b5160d84 | 297 | return false; |
BPPearson | 0:e559b5160d84 | 298 | } |
BPPearson | 0:e559b5160d84 | 299 | |
BPPearson | 0:e559b5160d84 | 300 | return true; |
BPPearson | 0:e559b5160d84 | 301 | } |
BPPearson | 0:e559b5160d84 | 302 | |
BPPearson | 0:e559b5160d84 | 303 | |
BPPearson | 0:e559b5160d84 | 304 | static void reportInitFailed() |
BPPearson | 0:e559b5160d84 | 305 | { |
BPPearson | 0:e559b5160d84 | 306 | while (true) { |
BPPearson | 0:e559b5160d84 | 307 | wait_ms(200); |
BPPearson | 0:e559b5160d84 | 308 | } |
BPPearson | 0:e559b5160d84 | 309 | } |
BPPearson | 0:e559b5160d84 | 310 | |
BPPearson | 0:e559b5160d84 | 311 | |
BPPearson | 0:e559b5160d84 | 312 | static void ledInit() |
BPPearson | 0:e559b5160d84 | 313 | { |
BPPearson | 0:e559b5160d84 | 314 | led1 = 1; // turn off |
BPPearson | 0:e559b5160d84 | 315 | led2 = 1; // turn off |
BPPearson | 0:e559b5160d84 | 316 | led3 = 0; // turn off |
BPPearson | 0:e559b5160d84 | 317 | led4 = 0; // turn off |
BPPearson | 0:e559b5160d84 | 318 | } |
BPPearson | 0:e559b5160d84 | 319 | |
BPPearson | 0:e559b5160d84 | 320 | |
BPPearson | 0:e559b5160d84 | 321 | void empty_report(HID_REPORT *data){ |
BPPearson | 0:e559b5160d84 | 322 | register uint32_t *p = (uint32_t *)data->data; |
BPPearson | 0:e559b5160d84 | 323 | for( register int i=0; i<((sizeof(HID_REPORT)-1)/4); i++ ){ |
BPPearson | 0:e559b5160d84 | 324 | *p = 0xFFFFFFFF; |
BPPearson | 0:e559b5160d84 | 325 | p++; |
BPPearson | 0:e559b5160d84 | 326 | } |
BPPearson | 0:e559b5160d84 | 327 | } |
BPPearson | 0:e559b5160d84 | 328 | |
BPPearson | 0:e559b5160d84 | 329 | |
BPPearson | 0:e559b5160d84 | 330 | |
BPPearson | 0:e559b5160d84 | 331 | void processUSB() |
BPPearson | 0:e559b5160d84 | 332 | { |
BPPearson | 0:e559b5160d84 | 333 | uint8_t hiPosition; |
BPPearson | 0:e559b5160d84 | 334 | uint8_t loPosition; |
BPPearson | 0:e559b5160d84 | 335 | |
BPPearson | 0:e559b5160d84 | 336 | if(hid->readNB(&recv_report)) //try to read a msg |
BPPearson | 0:e559b5160d84 | 337 | { |
BPPearson | 0:e559b5160d84 | 338 | pulseLed(LED3, 5); // pulse led3 to show USB activity |
BPPearson | 0:e559b5160d84 | 339 | |
BPPearson | 0:e559b5160d84 | 340 | // Data packet received, start parsing |
BPPearson | 0:e559b5160d84 | 341 | int irx=0; |
BPPearson | 0:e559b5160d84 | 342 | int itx=0; |
BPPearson | 0:e559b5160d84 | 343 | |
BPPearson | 0:e559b5160d84 | 344 | send_report.data[itx++] = recv_report.data[0]; |
BPPearson | 0:e559b5160d84 | 345 | |
BPPearson | 0:e559b5160d84 | 346 | switch ( recv_report.data[irx++] ) |
BPPearson | 0:e559b5160d84 | 347 | { |
BPPearson | 0:e559b5160d84 | 348 | case CMD_SYS_CHECK: |
BPPearson | 0:e559b5160d84 | 349 | send_report.data[itx++] = VERSION; |
BPPearson | 0:e559b5160d84 | 350 | break; |
BPPearson | 0:e559b5160d84 | 351 | |
BPPearson | 0:e559b5160d84 | 352 | case CMD_SYS_RESET: |
BPPearson | 0:e559b5160d84 | 353 | empty_report(&recv_report); // Soft reset |
BPPearson | 0:e559b5160d84 | 354 | break; |
BPPearson | 0:e559b5160d84 | 355 | |
BPPearson | 0:e559b5160d84 | 356 | case CMD_CURRENT_VALUES: |
BPPearson | 0:e559b5160d84 | 357 | write_32_to_8(&itx, send_report.data, (uint32_t)(rawTemperature * 1000)); |
BPPearson | 0:e559b5160d84 | 358 | write_32_to_8(&itx, send_report.data, (uint32_t)(rawThickness * 1000)); |
BPPearson | 0:e559b5160d84 | 359 | write_32_to_8(&itx, send_report.data, position); |
BPPearson | 0:e559b5160d84 | 360 | write_32_to_8(&itx, send_report.data, xbeeSigStrength); |
BPPearson | 0:e559b5160d84 | 361 | write_32_to_8(&itx, send_report.data, errorFlags); |
BPPearson | 0:e559b5160d84 | 362 | write_32_to_8(&itx, send_report.data, rotationalMode); |
BPPearson | 0:e559b5160d84 | 363 | break; |
BPPearson | 0:e559b5160d84 | 364 | |
BPPearson | 0:e559b5160d84 | 365 | case PARK_AT_ZERO: |
BPPearson | 0:e559b5160d84 | 366 | parkPosition = MAX_TEETH - 2; // to allow it to slow donw and hit zero |
BPPearson | 0:e559b5160d84 | 367 | rotationalMode = PARKING; |
BPPearson | 0:e559b5160d84 | 368 | break; |
BPPearson | 0:e559b5160d84 | 369 | |
BPPearson | 0:e559b5160d84 | 370 | case PARK_AT_POSITION: |
BPPearson | 0:e559b5160d84 | 371 | hiPosition = recv_report.data[irx++]; |
BPPearson | 0:e559b5160d84 | 372 | loPosition = recv_report.data[irx++]; |
BPPearson | 0:e559b5160d84 | 373 | parkPosition = (hiPosition << 8) + loPosition; |
BPPearson | 0:e559b5160d84 | 374 | |
BPPearson | 0:e559b5160d84 | 375 | parkPosition -= 2; // to allow it to slow down and hit the required position |
BPPearson | 0:e559b5160d84 | 376 | if (parkPosition < 0) |
BPPearson | 0:e559b5160d84 | 377 | parkPosition += MAX_TEETH; |
BPPearson | 0:e559b5160d84 | 378 | rotationalMode = PARKING; |
BPPearson | 0:e559b5160d84 | 379 | break; |
BPPearson | 0:e559b5160d84 | 380 | |
BPPearson | 0:e559b5160d84 | 381 | case MD_SCAN: |
BPPearson | 0:e559b5160d84 | 382 | hiPosition = recv_report.data[irx++]; |
BPPearson | 0:e559b5160d84 | 383 | loPosition = recv_report.data[irx++]; |
BPPearson | 0:e559b5160d84 | 384 | mdPosition = (hiPosition << 8) + loPosition; |
BPPearson | 0:e559b5160d84 | 385 | rotationalMode = GOTOMDPOSITION; |
BPPearson | 0:e559b5160d84 | 386 | break; |
BPPearson | 0:e559b5160d84 | 387 | |
BPPearson | 0:e559b5160d84 | 388 | case ROTATIONAL_SCAN: |
BPPearson | 0:e559b5160d84 | 389 | rotationalMode = STARTROTATING; |
BPPearson | 0:e559b5160d84 | 390 | break; |
BPPearson | 0:e559b5160d84 | 391 | |
BPPearson | 0:e559b5160d84 | 392 | case 0xEE: |
BPPearson | 0:e559b5160d84 | 393 | hid->sendNB(&send_report); |
BPPearson | 0:e559b5160d84 | 394 | break; |
BPPearson | 0:e559b5160d84 | 395 | |
BPPearson | 0:e559b5160d84 | 396 | default: |
BPPearson | 0:e559b5160d84 | 397 | send_report.data[0] = 0xFF; //Failure |
BPPearson | 0:e559b5160d84 | 398 | break; |
BPPearson | 0:e559b5160d84 | 399 | } |
BPPearson | 0:e559b5160d84 | 400 | |
BPPearson | 0:e559b5160d84 | 401 | hid->send(&send_report); // Return command + optional new args |
BPPearson | 0:e559b5160d84 | 402 | |
BPPearson | 0:e559b5160d84 | 403 | empty_report(&recv_report); |
BPPearson | 0:e559b5160d84 | 404 | empty_report(&send_report); |
BPPearson | 0:e559b5160d84 | 405 | } |
BPPearson | 0:e559b5160d84 | 406 | } |
BPPearson | 0:e559b5160d84 | 407 | |
BPPearson | 0:e559b5160d84 | 408 | |
BPPearson | 0:e559b5160d84 | 409 | void checkForLossOfSignal() |
BPPearson | 0:e559b5160d84 | 410 | { |
BPPearson | 0:e559b5160d84 | 411 | |
BPPearson | 0:e559b5160d84 | 412 | xbee.getRssi(&xbeeSigStrength); |
BPPearson | 0:e559b5160d84 | 413 | } |
BPPearson | 0:e559b5160d84 | 414 | |
BPPearson | 0:e559b5160d84 | 415 | |
BPPearson | 0:e559b5160d84 | 416 | |
BPPearson | 0:e559b5160d84 | 417 | void writeToLCD(bool rs, char data) |
BPPearson | 0:e559b5160d84 | 418 | { |
BPPearson | 0:e559b5160d84 | 419 | |
BPPearson | 0:e559b5160d84 | 420 | registerSelect = rs; // set register select pin |
BPPearson | 0:e559b5160d84 | 421 | |
BPPearson | 0:e559b5160d84 | 422 | readWrite = 0; // set read/write pin to write |
BPPearson | 0:e559b5160d84 | 423 | |
BPPearson | 0:e559b5160d84 | 424 | databus.output(); // set bus as output |
BPPearson | 0:e559b5160d84 | 425 | |
BPPearson | 0:e559b5160d84 | 426 | databus = data; // put data onto bus |
BPPearson | 0:e559b5160d84 | 427 | |
BPPearson | 0:e559b5160d84 | 428 | readWriteClock = 1; // pulse read/write clock |
BPPearson | 0:e559b5160d84 | 429 | |
BPPearson | 0:e559b5160d84 | 430 | wait_us(1); |
BPPearson | 0:e559b5160d84 | 431 | |
BPPearson | 0:e559b5160d84 | 432 | readWriteClock = 0; |
BPPearson | 0:e559b5160d84 | 433 | |
BPPearson | 0:e559b5160d84 | 434 | wait_us(1); |
BPPearson | 0:e559b5160d84 | 435 | |
BPPearson | 0:e559b5160d84 | 436 | databus = 0; // clear data bus |
BPPearson | 0:e559b5160d84 | 437 | } |
BPPearson | 0:e559b5160d84 | 438 | |
BPPearson | 0:e559b5160d84 | 439 | |
BPPearson | 0:e559b5160d84 | 440 | |
BPPearson | 0:e559b5160d84 | 441 | char readFromLCD(bool rs) |
BPPearson | 0:e559b5160d84 | 442 | { |
BPPearson | 0:e559b5160d84 | 443 | |
BPPearson | 0:e559b5160d84 | 444 | char data; |
BPPearson | 0:e559b5160d84 | 445 | |
BPPearson | 0:e559b5160d84 | 446 | registerSelect = rs; // set register select pin |
BPPearson | 0:e559b5160d84 | 447 | |
BPPearson | 0:e559b5160d84 | 448 | readWrite = 1; // set read/write pin to read |
BPPearson | 0:e559b5160d84 | 449 | |
BPPearson | 0:e559b5160d84 | 450 | databus.input(); // set bus as input |
BPPearson | 0:e559b5160d84 | 451 | |
BPPearson | 0:e559b5160d84 | 452 | data = databus; // read data from bus |
BPPearson | 0:e559b5160d84 | 453 | |
BPPearson | 0:e559b5160d84 | 454 | readWriteClock = 1; // pulse read/write clock |
BPPearson | 0:e559b5160d84 | 455 | |
BPPearson | 0:e559b5160d84 | 456 | wait_us(10); |
BPPearson | 0:e559b5160d84 | 457 | |
BPPearson | 0:e559b5160d84 | 458 | readWriteClock = 0; |
BPPearson | 0:e559b5160d84 | 459 | |
BPPearson | 0:e559b5160d84 | 460 | return data; |
BPPearson | 0:e559b5160d84 | 461 | } |
BPPearson | 0:e559b5160d84 | 462 | |
BPPearson | 0:e559b5160d84 | 463 | |
BPPearson | 0:e559b5160d84 | 464 | void resetLCD() |
BPPearson | 0:e559b5160d84 | 465 | { |
BPPearson | 0:e559b5160d84 | 466 | } |
BPPearson | 0:e559b5160d84 | 467 | |
BPPearson | 0:e559b5160d84 | 468 | |
BPPearson | 0:e559b5160d84 | 469 | void initLCD(){ |
BPPearson | 0:e559b5160d84 | 470 | |
BPPearson | 0:e559b5160d84 | 471 | readWrite = 0; // set output so we always write to LCD |
BPPearson | 0:e559b5160d84 | 472 | |
BPPearson | 0:e559b5160d84 | 473 | wait_ms(15); // wait 15 ms to allow LCD to initialise |
BPPearson | 0:e559b5160d84 | 474 | |
BPPearson | 0:e559b5160d84 | 475 | writeToLCD(COMMAND, 0x30); // set interface for 8 bit mode |
BPPearson | 0:e559b5160d84 | 476 | |
BPPearson | 0:e559b5160d84 | 477 | wait_ms(5); // give it time |
BPPearson | 0:e559b5160d84 | 478 | |
BPPearson | 0:e559b5160d84 | 479 | writeToLCD(COMMAND, 0x30); // set interface for 8 bit mode again |
BPPearson | 0:e559b5160d84 | 480 | |
BPPearson | 0:e559b5160d84 | 481 | wait_us(100); // give it time |
BPPearson | 0:e559b5160d84 | 482 | |
BPPearson | 0:e559b5160d84 | 483 | writeToLCD(COMMAND, 0x30); // set interface for 8 bit mode again, last one before we can configure the display |
BPPearson | 0:e559b5160d84 | 484 | |
BPPearson | 0:e559b5160d84 | 485 | wait_us(500); // give it time |
BPPearson | 0:e559b5160d84 | 486 | |
BPPearson | 0:e559b5160d84 | 487 | writeToLCD(COMMAND, 0x38); // set interface for 8 bit mode, 2 display lines and 5 x 8 character font |
BPPearson | 0:e559b5160d84 | 488 | |
BPPearson | 0:e559b5160d84 | 489 | wait_us(100); // give it time |
BPPearson | 0:e559b5160d84 | 490 | |
BPPearson | 0:e559b5160d84 | 491 | writeToLCD(COMMAND, 0x08); // display off |
BPPearson | 0:e559b5160d84 | 492 | |
BPPearson | 0:e559b5160d84 | 493 | wait_us(100); // give it time |
BPPearson | 0:e559b5160d84 | 494 | |
BPPearson | 0:e559b5160d84 | 495 | writeToLCD(COMMAND, 0x01); // clear the screen |
BPPearson | 0:e559b5160d84 | 496 | |
BPPearson | 0:e559b5160d84 | 497 | wait_ms(2); // give it time to finish |
BPPearson | 0:e559b5160d84 | 498 | |
BPPearson | 0:e559b5160d84 | 499 | writeToLCD(COMMAND, 0x03); // set entry mode to increment cursor position cursor on write |
BPPearson | 0:e559b5160d84 | 500 | |
BPPearson | 0:e559b5160d84 | 501 | wait_us(100); // give it time to finish |
BPPearson | 0:e559b5160d84 | 502 | |
BPPearson | 0:e559b5160d84 | 503 | writeToLCD(COMMAND, 0x02); // position cursor at home |
BPPearson | 0:e559b5160d84 | 504 | |
BPPearson | 0:e559b5160d84 | 505 | wait_ms(2); // give it time to finish |
BPPearson | 0:e559b5160d84 | 506 | |
BPPearson | 0:e559b5160d84 | 507 | writeToLCD(COMMAND, 0x0C); // display on |
BPPearson | 0:e559b5160d84 | 508 | } |
BPPearson | 0:e559b5160d84 | 509 | |
BPPearson | 0:e559b5160d84 | 510 | |
BPPearson | 0:e559b5160d84 | 511 | |
BPPearson | 0:e559b5160d84 | 512 | |
BPPearson | 0:e559b5160d84 | 513 | void positionCursor(uint8_t x, uint8_t y) |
BPPearson | 0:e559b5160d84 | 514 | { |
BPPearson | 0:e559b5160d84 | 515 | |
BPPearson | 0:e559b5160d84 | 516 | switch (y) |
BPPearson | 0:e559b5160d84 | 517 | { |
BPPearson | 0:e559b5160d84 | 518 | case 0: |
BPPearson | 0:e559b5160d84 | 519 | writeToLCD(COMMAND, 0x80 + 0x00 + x); |
BPPearson | 0:e559b5160d84 | 520 | break; |
BPPearson | 0:e559b5160d84 | 521 | |
BPPearson | 0:e559b5160d84 | 522 | case 1: |
BPPearson | 0:e559b5160d84 | 523 | writeToLCD(COMMAND, 0x80 + 0x40 + x); |
BPPearson | 0:e559b5160d84 | 524 | break; |
BPPearson | 0:e559b5160d84 | 525 | |
BPPearson | 0:e559b5160d84 | 526 | case 2: |
BPPearson | 0:e559b5160d84 | 527 | writeToLCD(COMMAND, 0x80 + 0x14 + x); |
BPPearson | 0:e559b5160d84 | 528 | break; |
BPPearson | 0:e559b5160d84 | 529 | |
BPPearson | 0:e559b5160d84 | 530 | case 3: |
BPPearson | 0:e559b5160d84 | 531 | writeToLCD(COMMAND, 0x80 + 0x54 + x); |
BPPearson | 0:e559b5160d84 | 532 | break; |
BPPearson | 0:e559b5160d84 | 533 | |
BPPearson | 0:e559b5160d84 | 534 | default: |
BPPearson | 0:e559b5160d84 | 535 | writeToLCD(COMMAND, 0x80 + 0x00 + x); |
BPPearson | 0:e559b5160d84 | 536 | } |
BPPearson | 0:e559b5160d84 | 537 | |
BPPearson | 0:e559b5160d84 | 538 | wait_us(50); |
BPPearson | 0:e559b5160d84 | 539 | } |
BPPearson | 0:e559b5160d84 | 540 | |
BPPearson | 0:e559b5160d84 | 541 | |
BPPearson | 0:e559b5160d84 | 542 | |
BPPearson | 0:e559b5160d84 | 543 | void clearLcdScreen() |
BPPearson | 0:e559b5160d84 | 544 | { |
BPPearson | 0:e559b5160d84 | 545 | |
BPPearson | 0:e559b5160d84 | 546 | writeToLCD(COMMAND, 0x01); |
BPPearson | 0:e559b5160d84 | 547 | |
BPPearson | 0:e559b5160d84 | 548 | wait_ms(2); |
BPPearson | 0:e559b5160d84 | 549 | } |
BPPearson | 0:e559b5160d84 | 550 | |
BPPearson | 0:e559b5160d84 | 551 | |
BPPearson | 0:e559b5160d84 | 552 | |
BPPearson | 0:e559b5160d84 | 553 | void displayString(int x, int y, char *str) |
BPPearson | 0:e559b5160d84 | 554 | { |
BPPearson | 0:e559b5160d84 | 555 | |
BPPearson | 0:e559b5160d84 | 556 | positionCursor(x, y); // position cursor |
BPPearson | 0:e559b5160d84 | 557 | |
BPPearson | 0:e559b5160d84 | 558 | for (int i=0; i<strlen(str); i++) // write string to screen |
BPPearson | 0:e559b5160d84 | 559 | { |
BPPearson | 0:e559b5160d84 | 560 | writeToLCD(DATA, str[i]); |
BPPearson | 0:e559b5160d84 | 561 | |
BPPearson | 0:e559b5160d84 | 562 | wait_us(50); |
BPPearson | 0:e559b5160d84 | 563 | } |
BPPearson | 0:e559b5160d84 | 564 | } |
BPPearson | 0:e559b5160d84 | 565 | |
BPPearson | 0:e559b5160d84 | 566 | |
BPPearson | 0:e559b5160d84 | 567 | |
BPPearson | 0:e559b5160d84 | 568 | void updateDisplay() |
BPPearson | 0:e559b5160d84 | 569 | { |
BPPearson | 0:e559b5160d84 | 570 | char lineStr[20]; |
BPPearson | 0:e559b5160d84 | 571 | |
BPPearson | 0:e559b5160d84 | 572 | clearLcdScreen(); |
BPPearson | 0:e559b5160d84 | 573 | |
BPPearson | 0:e559b5160d84 | 574 | sprintf( lineStr, "Thickness %4.2f mm", rawThickness); |
BPPearson | 0:e559b5160d84 | 575 | |
BPPearson | 0:e559b5160d84 | 576 | displayString(0, 0, lineStr); |
BPPearson | 0:e559b5160d84 | 577 | |
BPPearson | 0:e559b5160d84 | 578 | sprintf( lineStr, "Temperature %4.1f C ", rawTemperature); |
BPPearson | 0:e559b5160d84 | 579 | |
BPPearson | 0:e559b5160d84 | 580 | displayString(0, 1, lineStr); |
BPPearson | 0:e559b5160d84 | 581 | |
BPPearson | 0:e559b5160d84 | 582 | sprintf( lineStr, "Sig strength %2d", xbeeSigStrength); |
BPPearson | 0:e559b5160d84 | 583 | |
BPPearson | 0:e559b5160d84 | 584 | displayString(0, 2, lineStr); |
BPPearson | 0:e559b5160d84 | 585 | |
BPPearson | 0:e559b5160d84 | 586 | switch (rotationalMode) |
BPPearson | 0:e559b5160d84 | 587 | { |
BPPearson | 0:e559b5160d84 | 588 | case STOPPED: |
BPPearson | 0:e559b5160d84 | 589 | displayString(0, 3, "Parked"); |
BPPearson | 0:e559b5160d84 | 590 | sprintf( lineStr, "%3d", position); |
BPPearson | 0:e559b5160d84 | 591 | displayString(16, 3, lineStr); |
BPPearson | 0:e559b5160d84 | 592 | break; |
BPPearson | 0:e559b5160d84 | 593 | |
BPPearson | 0:e559b5160d84 | 594 | case PARKING: |
BPPearson | 0:e559b5160d84 | 595 | displayString(0, 3, "Parking"); |
BPPearson | 0:e559b5160d84 | 596 | sprintf( lineStr, "%3d", position); |
BPPearson | 0:e559b5160d84 | 597 | displayString(16, 3, lineStr); |
BPPearson | 0:e559b5160d84 | 598 | break; |
BPPearson | 0:e559b5160d84 | 599 | |
BPPearson | 0:e559b5160d84 | 600 | case GOTOMDPOSITION: |
BPPearson | 0:e559b5160d84 | 601 | displayString(0, 3, "Go to MD pos"); |
BPPearson | 0:e559b5160d84 | 602 | sprintf( lineStr, "%3d", position); |
BPPearson | 0:e559b5160d84 | 603 | displayString(16, 3, lineStr); |
BPPearson | 0:e559b5160d84 | 604 | break; |
BPPearson | 0:e559b5160d84 | 605 | |
BPPearson | 0:e559b5160d84 | 606 | case DRIVINGTOPOSITION: |
BPPearson | 0:e559b5160d84 | 607 | displayString(0, 3, "Go to MD pos"); |
BPPearson | 0:e559b5160d84 | 608 | sprintf( lineStr, "%3d", position); |
BPPearson | 0:e559b5160d84 | 609 | displayString(16, 3, lineStr); |
BPPearson | 0:e559b5160d84 | 610 | break; |
BPPearson | 0:e559b5160d84 | 611 | |
BPPearson | 0:e559b5160d84 | 612 | case STARTROTATING: |
BPPearson | 0:e559b5160d84 | 613 | displayString(0, 3, "Start scan"); |
BPPearson | 0:e559b5160d84 | 614 | sprintf( lineStr, "%3d", position); |
BPPearson | 0:e559b5160d84 | 615 | displayString(16, 3, lineStr); |
BPPearson | 0:e559b5160d84 | 616 | break; |
BPPearson | 0:e559b5160d84 | 617 | |
BPPearson | 0:e559b5160d84 | 618 | case ROTATING: |
BPPearson | 0:e559b5160d84 | 619 | displayString(0, 3, "Scanning"); |
BPPearson | 0:e559b5160d84 | 620 | sprintf( lineStr, "%3d", position); |
BPPearson | 0:e559b5160d84 | 621 | displayString(16, 3, lineStr); |
BPPearson | 0:e559b5160d84 | 622 | break; |
BPPearson | 0:e559b5160d84 | 623 | |
BPPearson | 0:e559b5160d84 | 624 | case MDSCAN: |
BPPearson | 0:e559b5160d84 | 625 | displayString(0, 3, "MD scanning"); |
BPPearson | 0:e559b5160d84 | 626 | sprintf( lineStr, "%3d", position); |
BPPearson | 0:e559b5160d84 | 627 | displayString(16, 3, lineStr); |
BPPearson | 0:e559b5160d84 | 628 | break; |
BPPearson | 0:e559b5160d84 | 629 | |
BPPearson | 0:e559b5160d84 | 630 | default: |
BPPearson | 0:e559b5160d84 | 631 | break; |
BPPearson | 0:e559b5160d84 | 632 | } |
BPPearson | 0:e559b5160d84 | 633 | |
BPPearson | 0:e559b5160d84 | 634 | } |
BPPearson | 0:e559b5160d84 | 635 | |
BPPearson | 0:e559b5160d84 | 636 | |
BPPearson | 0:e559b5160d84 | 637 | void displayDebugMsg(char *str) |
BPPearson | 0:e559b5160d84 | 638 | { |
BPPearson | 0:e559b5160d84 | 639 | |
BPPearson | 0:e559b5160d84 | 640 | clearLcdScreen(); |
BPPearson | 0:e559b5160d84 | 641 | |
BPPearson | 0:e559b5160d84 | 642 | displayString(0, 0, str); |
BPPearson | 0:e559b5160d84 | 643 | } |
BPPearson | 0:e559b5160d84 | 644 | |
BPPearson | 0:e559b5160d84 | 645 | |
BPPearson | 0:e559b5160d84 | 646 | |
BPPearson | 0:e559b5160d84 | 647 | void checkRotationMode() |
BPPearson | 0:e559b5160d84 | 648 | { |
BPPearson | 0:e559b5160d84 | 649 | |
BPPearson | 0:e559b5160d84 | 650 | switch (rotationalMode) |
BPPearson | 0:e559b5160d84 | 651 | { |
BPPearson | 0:e559b5160d84 | 652 | case STOPPED: |
BPPearson | 0:e559b5160d84 | 653 | break; |
BPPearson | 0:e559b5160d84 | 654 | |
BPPearson | 0:e559b5160d84 | 655 | case PARKING: |
BPPearson | 0:e559b5160d84 | 656 | if (motorDrive == 0) |
BPPearson | 0:e559b5160d84 | 657 | motorDrive = 1; |
BPPearson | 0:e559b5160d84 | 658 | |
BPPearson | 0:e559b5160d84 | 659 | if (position == parkPosition) |
BPPearson | 0:e559b5160d84 | 660 | { |
BPPearson | 0:e559b5160d84 | 661 | motorDrive = 0; |
BPPearson | 0:e559b5160d84 | 662 | rotationalMode = STOPPED; |
BPPearson | 0:e559b5160d84 | 663 | } |
BPPearson | 0:e559b5160d84 | 664 | break; |
BPPearson | 0:e559b5160d84 | 665 | |
BPPearson | 0:e559b5160d84 | 666 | case GOTOMDPOSITION: |
BPPearson | 0:e559b5160d84 | 667 | motorDrive = 1; |
BPPearson | 0:e559b5160d84 | 668 | rotationalMode = DRIVINGTOPOSITION; |
BPPearson | 0:e559b5160d84 | 669 | break; |
BPPearson | 0:e559b5160d84 | 670 | |
BPPearson | 0:e559b5160d84 | 671 | case DRIVINGTOPOSITION: |
BPPearson | 0:e559b5160d84 | 672 | if (position == mdPosition) |
BPPearson | 0:e559b5160d84 | 673 | { |
BPPearson | 0:e559b5160d84 | 674 | motorDrive = 0; |
BPPearson | 0:e559b5160d84 | 675 | rotationalMode = MDSCAN; |
BPPearson | 0:e559b5160d84 | 676 | } |
BPPearson | 0:e559b5160d84 | 677 | break; |
BPPearson | 0:e559b5160d84 | 678 | |
BPPearson | 0:e559b5160d84 | 679 | case STARTROTATING: |
BPPearson | 0:e559b5160d84 | 680 | motorDrive = 1; |
BPPearson | 0:e559b5160d84 | 681 | rotationalMode = ROTATING; |
BPPearson | 0:e559b5160d84 | 682 | break; |
BPPearson | 0:e559b5160d84 | 683 | |
BPPearson | 0:e559b5160d84 | 684 | case ROTATING: |
BPPearson | 0:e559b5160d84 | 685 | break; |
BPPearson | 0:e559b5160d84 | 686 | |
BPPearson | 0:e559b5160d84 | 687 | default: |
BPPearson | 0:e559b5160d84 | 688 | break; |
BPPearson | 0:e559b5160d84 | 689 | } |
BPPearson | 0:e559b5160d84 | 690 | } |
BPPearson | 0:e559b5160d84 | 691 | |
BPPearson | 0:e559b5160d84 | 692 | |
BPPearson | 0:e559b5160d84 | 693 | |
BPPearson | 0:e559b5160d84 | 694 | |
BPPearson | 0:e559b5160d84 | 695 | int main() |
BPPearson | 0:e559b5160d84 | 696 | { |
BPPearson | 0:e559b5160d84 | 697 | |
BPPearson | 0:e559b5160d84 | 698 | ledInit(); // initialise leds |
BPPearson | 0:e559b5160d84 | 699 | |
BPPearson | 0:e559b5160d84 | 700 | motorDrive = 0; // set motor drive output to off |
BPPearson | 0:e559b5160d84 | 701 | |
BPPearson | 0:e559b5160d84 | 702 | initLCD(); // initialize the LCD |
BPPearson | 0:e559b5160d84 | 703 | |
BPPearson | 0:e559b5160d84 | 704 | displayDebugMsg("Initializing XBee"); |
BPPearson | 0:e559b5160d84 | 705 | |
BPPearson | 0:e559b5160d84 | 706 | if (!xbeeInit()) { |
BPPearson | 0:e559b5160d84 | 707 | reportInitFailed(); |
BPPearson | 0:e559b5160d84 | 708 | } |
BPPearson | 0:e559b5160d84 | 709 | |
BPPearson | 0:e559b5160d84 | 710 | // Wait until XBee node is reported to be up. |
BPPearson | 0:e559b5160d84 | 711 | // - For End-device this means that the node is associated with a |
BPPearson | 0:e559b5160d84 | 712 | // coordinator |
BPPearson | 0:e559b5160d84 | 713 | // - For a coordinator this means that the node is initialized and ready |
BPPearson | 0:e559b5160d84 | 714 | displayDebugMsg("Connecting to XBee"); |
BPPearson | 0:e559b5160d84 | 715 | |
BPPearson | 0:e559b5160d84 | 716 | while(!xbeeIsUp) |
BPPearson | 0:e559b5160d84 | 717 | { |
BPPearson | 0:e559b5160d84 | 718 | xbee.process(); |
BPPearson | 0:e559b5160d84 | 719 | } |
BPPearson | 0:e559b5160d84 | 720 | |
BPPearson | 0:e559b5160d84 | 721 | displayDebugMsg(" "); // clear display |
BPPearson | 0:e559b5160d84 | 722 | |
BPPearson | 0:e559b5160d84 | 723 | displayDebugMsg("Initialising USB"); |
BPPearson | 0:e559b5160d84 | 724 | |
BPPearson | 0:e559b5160d84 | 725 | static USBHID hid_object(64, 64); // USB Initialize |
BPPearson | 0:e559b5160d84 | 726 | hid = &hid_object; |
BPPearson | 0:e559b5160d84 | 727 | send_report.length = 64; |
BPPearson | 0:e559b5160d84 | 728 | |
BPPearson | 0:e559b5160d84 | 729 | lossOfSignalTimer.attach(&checkForLossOfSignal, 2.0); // check for loss of signal every 2 seconds |
BPPearson | 0:e559b5160d84 | 730 | |
BPPearson | 0:e559b5160d84 | 731 | updateLCD.attach(&updateDisplay, 1.0); |
BPPearson | 0:e559b5160d84 | 732 | |
BPPearson | 0:e559b5160d84 | 733 | rotationalControl.attach(checkRotationMode, 0.05); |
BPPearson | 0:e559b5160d84 | 734 | |
BPPearson | 0:e559b5160d84 | 735 | debounceDigInputs.attach(debounceInputs, 0.01); |
BPPearson | 0:e559b5160d84 | 736 | |
BPPearson | 0:e559b5160d84 | 737 | ledPulseCheck.attach(ledPulser, 0.01); |
BPPearson | 0:e559b5160d84 | 738 | |
BPPearson | 0:e559b5160d84 | 739 | ledInit(); // turn off all leds as initialisation complete |
BPPearson | 0:e559b5160d84 | 740 | |
BPPearson | 0:e559b5160d84 | 741 | while (1) |
BPPearson | 0:e559b5160d84 | 742 | { |
BPPearson | 0:e559b5160d84 | 743 | if (xbeeIsUp) |
BPPearson | 0:e559b5160d84 | 744 | { |
BPPearson | 0:e559b5160d84 | 745 | xbee.process(); |
BPPearson | 0:e559b5160d84 | 746 | |
BPPearson | 0:e559b5160d84 | 747 | processUSB(); |
BPPearson | 0:e559b5160d84 | 748 | |
BPPearson | 0:e559b5160d84 | 749 | wait_ms(2); |
BPPearson | 0:e559b5160d84 | 750 | } |
BPPearson | 0:e559b5160d84 | 751 | else |
BPPearson | 0:e559b5160d84 | 752 | { |
BPPearson | 0:e559b5160d84 | 753 | errorFlags = XBeeDisconnected; // set error flag for no connection to XBee |
BPPearson | 0:e559b5160d84 | 754 | |
BPPearson | 0:e559b5160d84 | 755 | rawTemperature = 0.0; // clear display values |
BPPearson | 0:e559b5160d84 | 756 | rawThickness = 0.0; |
BPPearson | 0:e559b5160d84 | 757 | } |
BPPearson | 0:e559b5160d84 | 758 | } |
BPPearson | 0:e559b5160d84 | 759 | } |