Brian Pearson
Cast tube base station
Dependencies: EALib USBDevice mbed
Diff: main.cpp
- Revision:
- 0:e559b5160d84
- Child:
- 1:240b94a8d002
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Dec 16 19:49:47 2015 +0000
@@ -0,0 +1,759 @@
+/******************************************************************************
+ * Includes
+ *****************************************************************************/
+#include "mbed.h"
+#include "XBee.h"
+#include "USBHID.h"
+#include "ByteOperations.h"
+#include "USBHIDProtocol.h"
+
+/******************************************************************************
+ * Typedefs and defines
+ *****************************************************************************/
+
+// define NODE_IS_COORDINATOR if this board should act
+// as XBee coordinator. Make sure it is undefined if the board
+// should act as End-Device
+//#define NODE_IS_COORDINATOR (0)
+
+//#define CMD_BTN_MSG (0)
+//#define CMD_ACK_MSG (1)
+//#define NUMBER_OF_ZONES 72
+//#define ECHO_SERVER_PORT 7
+#define VERSION 0x01
+#define COMMAND 0
+#define DATA 1
+
+#define XBeeDisconnected 0x400
+#define MaxTeethExceeded 0x800
+
+// rotational stage modes
+#define STOPPED 1
+#define PARKING 2
+#define GOTOMDPOSITION 3
+#define DRIVINGTOPOSITION 4
+#define STARTROTATING 5
+#define ROTATING 6
+#define MDSCAN 7
+
+#define MAX_TEETH 384
+
+#define LOW 0
+#define HIGH 1
+
+
+// input/output devices
+static XBee xbee(P4_22, P4_23, P4_17, P4_19);
+static DigitalIn indexInputLevel(p10);
+static DigitalIn zeroInputLevel(p11);
+static DigitalOut led1(LED1); // led1 + led 2 -> active low
+static DigitalOut led2(LED2);
+static DigitalOut led3(LED3); // led3 + led 4 -> active high
+static DigitalOut led4(LED4);
+static DigitalOut motorDrive(p12);
+Serial pc(USBTX, USBRX); // tx, rx
+Ticker lossOfSignalTimer;
+Ticker updateLCD;
+Ticker rotationalControl;
+Ticker debounceDigInputs;
+Ticker ledPulseCheck;
+BusInOut databus(p25, p26, p27, p28, p29, p30, p31, p32);
+DigitalOut registerSelect(p39);
+DigitalOut readWrite(p38);
+DigitalOut readWriteClock(p37);
+
+USBHID *hid;
+HID_REPORT send_report __attribute__((aligned (4))); // Aligned for fast access
+HID_REPORT recv_report __attribute__((aligned (4))); // Aligned for fast access
+
+
+
+// local variables
+float rawTemperature = 0.0;
+float rawThickness = 0.0;
+uint32_t position = 0;
+uint32_t seqNo = 0;
+uint32_t prevSeqNo = 0;
+bool xbeeIsUp = false;
+bool saveProfileToDatabase = false;
+char inBuff[256];
+char outBuff[256];
+uint8_t xbeeSigStrength = 0;
+uint32_t errorFlags = 0;
+int rotationalMode = STOPPED;
+int mdPosition = 0;
+int toothLowCount = 0;
+int zeroLowCount = 0;
+int zeroHighCount = 0;
+int led1Duration = 0;
+int led2Duration = 0;
+int led3Duration = 0;
+int led4Duration = 0;
+int parkPosition = 0;
+int indexInputState = HIGH;
+int zeroInputState = HIGH;
+
+
+void pulseLed(int led, int duration)
+{
+
+ switch (led)
+ {
+ case LED1:
+ led1 = 0; // turn on led
+ led1Duration = duration; // set duration
+ break;
+ case LED2:
+ led2 = 0; // turn on led
+ led2Duration = duration; // set duration
+ break;
+ case LED3:
+ led3 = 1; // turn on led
+ led3Duration = duration; // set duration
+ break;
+ case LED4:
+ led4 = 1; // turn on led
+ led4Duration = duration; // set duration
+ break;
+ default: ;
+ }
+}
+
+
+
+void ledPulser()
+{
+
+ if (led1Duration > 0)
+ {
+ led1Duration--;
+
+ if (led1Duration == 0)
+ led1 = 1; // turn led off
+ }
+
+ if (led2Duration > 0)
+ {
+ led2Duration--;
+
+ if (led2Duration == 0)
+ led2 = 1; // turn led off
+ }
+
+ if (led3Duration > 0)
+ {
+ led3Duration--;
+
+ if (led3Duration == 0)
+ led3 = 0; // turn led off
+ }
+
+ if (led4Duration > 0)
+ {
+ led4Duration--;
+
+ if (led4Duration == 0)
+ led4 = 0; // turn led off
+ }
+}
+
+
+
+
+
+
+void debounceInputs()
+{
+
+
+ if (indexInputLevel == 0)
+ {
+ if (toothLowCount < 5) // times 10 mS for debounce period
+ {
+ toothLowCount++;
+
+ if (toothLowCount >= 5)
+ {
+ position++;
+
+ if (position >= MAX_TEETH)
+ {
+ position = 0;
+ errorFlags |= MaxTeethExceeded;
+ }
+ }
+ }
+ }
+ else
+ toothLowCount = 0;
+
+ if (zeroInputLevel == 0)
+ {
+ if (zeroLowCount < 5) // times 10 mS debounce period
+ {
+ zeroLowCount++;
+
+ if (zeroLowCount >= 5)
+ {
+ position = 0; // zero position counter
+ }
+ }
+ }
+ else
+ {
+ zeroLowCount = 0;
+ }
+}
+
+
+
+
+static void xbeeDeviceUp(void)
+{
+ xbeeIsUp = true;
+}
+
+
+
+static void xbeeDeviceDown(void)
+{
+ xbeeIsUp = false;
+}
+
+
+
+static void xbeeNodeFound(void)
+{
+ uint32_t addrHi = 0;
+ uint32_t addrLo = 0;
+ uint8_t rssi = 0;
+
+ xbee.getRemoteAddress(&addrHi, &addrLo);
+ xbee.getRssi(&rssi);
+}
+
+
+static void xbeeTxStat(void)
+{
+
+ uint8_t frameId = 0;
+ XBee::XBeeTxStatus status = XBee::TxStatusOk;
+
+ xbee.getTxStatus(&frameId, &status);
+}
+
+
+
+static void xbeeDataAvailable(void)
+{
+ char* data = NULL;
+ uint8_t len = 0;
+ uint32_t addrHi = 0;
+ uint32_t addrLo = 0;
+
+ xbee.getRemoteAddress(&addrHi, &addrLo);
+ xbee.getData(&data, &len);
+ //xbee.getRssi(&rssi);
+
+ if (len > 0) {
+
+ switch(data[0])
+ {
+ case '1':
+ if (len > 1)
+ {
+ pulseLed( LED4, 5);
+
+ // get values from data packet
+ // packet format - sprintf(data, "1%5.3f, %5.3f, %5.3f, %5.3f, %4x\n", rawTemperature, rawThickness, filteredTemperature, filteredThickness, errorFlags);
+ sscanf(&data[1], "%f,%f, %x\n", &rawTemperature, &rawThickness, &errorFlags);
+ }
+ break;
+
+ default:
+ pc.printf("Unknown packet format %d\n", data[0]);
+ }
+ }
+}
+
+
+
+static bool xbeeInit()
+{
+ xbee.registerCallback(xbeeDeviceUp, XBee::CbDeviceUp);
+
+ xbee.registerCallback(xbeeDeviceDown, XBee::CbDeviceDown);
+
+ xbee.registerCallback(xbeeNodeFound, XBee::CbNodeFound);
+
+ xbee.registerCallback(xbeeTxStat, XBee::CbTxStat);
+
+ xbee.registerCallback(xbeeDataAvailable, XBee::CbDataAvailable);
+
+ XBee::XBeeError err = xbee.init(XBee::EndDevice, "EAEA");
+
+ if (err != XBee::Ok)
+ {
+ return false;
+ }
+
+ return true;
+}
+
+
+static void reportInitFailed()
+{
+ while (true) {
+ wait_ms(200);
+ }
+}
+
+
+static void ledInit()
+{
+ led1 = 1; // turn off
+ led2 = 1; // turn off
+ led3 = 0; // turn off
+ led4 = 0; // turn off
+}
+
+
+void empty_report(HID_REPORT *data){
+ register uint32_t *p = (uint32_t *)data->data;
+ for( register int i=0; i<((sizeof(HID_REPORT)-1)/4); i++ ){
+ *p = 0xFFFFFFFF;
+ p++;
+ }
+}
+
+
+
+void processUSB()
+{
+ uint8_t hiPosition;
+ uint8_t loPosition;
+
+ if(hid->readNB(&recv_report)) //try to read a msg
+ {
+ pulseLed(LED3, 5); // pulse led3 to show USB activity
+
+ // Data packet received, start parsing
+ int irx=0;
+ int itx=0;
+
+ send_report.data[itx++] = recv_report.data[0];
+
+ switch ( recv_report.data[irx++] )
+ {
+ case CMD_SYS_CHECK:
+ send_report.data[itx++] = VERSION;
+ break;
+
+ case CMD_SYS_RESET:
+ empty_report(&recv_report); // Soft reset
+ break;
+
+ case CMD_CURRENT_VALUES:
+ write_32_to_8(&itx, send_report.data, (uint32_t)(rawTemperature * 1000));
+ write_32_to_8(&itx, send_report.data, (uint32_t)(rawThickness * 1000));
+ write_32_to_8(&itx, send_report.data, position);
+ write_32_to_8(&itx, send_report.data, xbeeSigStrength);
+ write_32_to_8(&itx, send_report.data, errorFlags);
+ write_32_to_8(&itx, send_report.data, rotationalMode);
+ break;
+
+ case PARK_AT_ZERO:
+ parkPosition = MAX_TEETH - 2; // to allow it to slow donw and hit zero
+ rotationalMode = PARKING;
+ break;
+
+ case PARK_AT_POSITION:
+ hiPosition = recv_report.data[irx++];
+ loPosition = recv_report.data[irx++];
+ parkPosition = (hiPosition << 8) + loPosition;
+
+ parkPosition -= 2; // to allow it to slow down and hit the required position
+ if (parkPosition < 0)
+ parkPosition += MAX_TEETH;
+ rotationalMode = PARKING;
+ break;
+
+ case MD_SCAN:
+ hiPosition = recv_report.data[irx++];
+ loPosition = recv_report.data[irx++];
+ mdPosition = (hiPosition << 8) + loPosition;
+ rotationalMode = GOTOMDPOSITION;
+ break;
+
+ case ROTATIONAL_SCAN:
+ rotationalMode = STARTROTATING;
+ break;
+
+ case 0xEE:
+ hid->sendNB(&send_report);
+ break;
+
+ default:
+ send_report.data[0] = 0xFF; //Failure
+ break;
+ }
+
+ hid->send(&send_report); // Return command + optional new args
+
+ empty_report(&recv_report);
+ empty_report(&send_report);
+ }
+}
+
+
+void checkForLossOfSignal()
+{
+
+ xbee.getRssi(&xbeeSigStrength);
+}
+
+
+
+void writeToLCD(bool rs, char data)
+{
+
+ registerSelect = rs; // set register select pin
+
+ readWrite = 0; // set read/write pin to write
+
+ databus.output(); // set bus as output
+
+ databus = data; // put data onto bus
+
+ readWriteClock = 1; // pulse read/write clock
+
+ wait_us(1);
+
+ readWriteClock = 0;
+
+ wait_us(1);
+
+ databus = 0; // clear data bus
+}
+
+
+
+char readFromLCD(bool rs)
+{
+
+ char data;
+
+ registerSelect = rs; // set register select pin
+
+ readWrite = 1; // set read/write pin to read
+
+ databus.input(); // set bus as input
+
+ data = databus; // read data from bus
+
+ readWriteClock = 1; // pulse read/write clock
+
+ wait_us(10);
+
+ readWriteClock = 0;
+
+ return data;
+}
+
+
+void resetLCD()
+{
+}
+
+
+void initLCD(){
+
+ readWrite = 0; // set output so we always write to LCD
+
+ wait_ms(15); // wait 15 ms to allow LCD to initialise
+
+ writeToLCD(COMMAND, 0x30); // set interface for 8 bit mode
+
+ wait_ms(5); // give it time
+
+ writeToLCD(COMMAND, 0x30); // set interface for 8 bit mode again
+
+ wait_us(100); // give it time
+
+ writeToLCD(COMMAND, 0x30); // set interface for 8 bit mode again, last one before we can configure the display
+
+ wait_us(500); // give it time
+
+ writeToLCD(COMMAND, 0x38); // set interface for 8 bit mode, 2 display lines and 5 x 8 character font
+
+ wait_us(100); // give it time
+
+ writeToLCD(COMMAND, 0x08); // display off
+
+ wait_us(100); // give it time
+
+ writeToLCD(COMMAND, 0x01); // clear the screen
+
+ wait_ms(2); // give it time to finish
+
+ writeToLCD(COMMAND, 0x03); // set entry mode to increment cursor position cursor on write
+
+ wait_us(100); // give it time to finish
+
+ writeToLCD(COMMAND, 0x02); // position cursor at home
+
+ wait_ms(2); // give it time to finish
+
+ writeToLCD(COMMAND, 0x0C); // display on
+}
+
+
+
+
+void positionCursor(uint8_t x, uint8_t y)
+{
+
+ switch (y)
+ {
+ case 0:
+ writeToLCD(COMMAND, 0x80 + 0x00 + x);
+ break;
+
+ case 1:
+ writeToLCD(COMMAND, 0x80 + 0x40 + x);
+ break;
+
+ case 2:
+ writeToLCD(COMMAND, 0x80 + 0x14 + x);
+ break;
+
+ case 3:
+ writeToLCD(COMMAND, 0x80 + 0x54 + x);
+ break;
+
+ default:
+ writeToLCD(COMMAND, 0x80 + 0x00 + x);
+ }
+
+ wait_us(50);
+}
+
+
+
+void clearLcdScreen()
+{
+
+ writeToLCD(COMMAND, 0x01);
+
+ wait_ms(2);
+}
+
+
+
+void displayString(int x, int y, char *str)
+{
+
+ positionCursor(x, y); // position cursor
+
+ for (int i=0; i<strlen(str); i++) // write string to screen
+ {
+ writeToLCD(DATA, str[i]);
+
+ wait_us(50);
+ }
+}
+
+
+
+ void updateDisplay()
+ {
+ char lineStr[20];
+
+ clearLcdScreen();
+
+ sprintf( lineStr, "Thickness %4.2f mm", rawThickness);
+
+ displayString(0, 0, lineStr);
+
+ sprintf( lineStr, "Temperature %4.1f C ", rawTemperature);
+
+ displayString(0, 1, lineStr);
+
+ sprintf( lineStr, "Sig strength %2d", xbeeSigStrength);
+
+ displayString(0, 2, lineStr);
+
+ switch (rotationalMode)
+ {
+ case STOPPED:
+ displayString(0, 3, "Parked");
+ sprintf( lineStr, "%3d", position);
+ displayString(16, 3, lineStr);
+ break;
+
+ case PARKING:
+ displayString(0, 3, "Parking");
+ sprintf( lineStr, "%3d", position);
+ displayString(16, 3, lineStr);
+ break;
+
+ case GOTOMDPOSITION:
+ displayString(0, 3, "Go to MD pos");
+ sprintf( lineStr, "%3d", position);
+ displayString(16, 3, lineStr);
+ break;
+
+ case DRIVINGTOPOSITION:
+ displayString(0, 3, "Go to MD pos");
+ sprintf( lineStr, "%3d", position);
+ displayString(16, 3, lineStr);
+ break;
+
+ case STARTROTATING:
+ displayString(0, 3, "Start scan");
+ sprintf( lineStr, "%3d", position);
+ displayString(16, 3, lineStr);
+ break;
+
+ case ROTATING:
+ displayString(0, 3, "Scanning");
+ sprintf( lineStr, "%3d", position);
+ displayString(16, 3, lineStr);
+ break;
+
+ case MDSCAN:
+ displayString(0, 3, "MD scanning");
+ sprintf( lineStr, "%3d", position);
+ displayString(16, 3, lineStr);
+ break;
+
+ default:
+ break;
+ }
+
+}
+
+
+ void displayDebugMsg(char *str)
+ {
+
+ clearLcdScreen();
+
+ displayString(0, 0, str);
+}
+
+
+
+void checkRotationMode()
+{
+
+ switch (rotationalMode)
+ {
+ case STOPPED:
+ break;
+
+ case PARKING:
+ if (motorDrive == 0)
+ motorDrive = 1;
+
+ if (position == parkPosition)
+ {
+ motorDrive = 0;
+ rotationalMode = STOPPED;
+ }
+ break;
+
+ case GOTOMDPOSITION:
+ motorDrive = 1;
+ rotationalMode = DRIVINGTOPOSITION;
+ break;
+
+ case DRIVINGTOPOSITION:
+ if (position == mdPosition)
+ {
+ motorDrive = 0;
+ rotationalMode = MDSCAN;
+ }
+ break;
+
+ case STARTROTATING:
+ motorDrive = 1;
+ rotationalMode = ROTATING;
+ break;
+
+ case ROTATING:
+ break;
+
+ default:
+ break;
+ }
+}
+
+
+
+
+int main()
+{
+
+ ledInit(); // initialise leds
+
+ motorDrive = 0; // set motor drive output to off
+
+ initLCD(); // initialize the LCD
+
+ displayDebugMsg("Initializing XBee");
+
+ if (!xbeeInit()) {
+ reportInitFailed();
+ }
+
+ // Wait until XBee node is reported to be up.
+ // - For End-device this means that the node is associated with a
+ // coordinator
+ // - For a coordinator this means that the node is initialized and ready
+ displayDebugMsg("Connecting to XBee");
+
+ while(!xbeeIsUp)
+ {
+ xbee.process();
+ }
+
+ displayDebugMsg(" "); // clear display
+
+ displayDebugMsg("Initialising USB");
+
+ static USBHID hid_object(64, 64); // USB Initialize
+ hid = &hid_object;
+ send_report.length = 64;
+
+ lossOfSignalTimer.attach(&checkForLossOfSignal, 2.0); // check for loss of signal every 2 seconds
+
+ updateLCD.attach(&updateDisplay, 1.0);
+
+ rotationalControl.attach(checkRotationMode, 0.05);
+
+ debounceDigInputs.attach(debounceInputs, 0.01);
+
+ ledPulseCheck.attach(ledPulser, 0.01);
+
+ ledInit(); // turn off all leds as initialisation complete
+
+ while (1)
+ {
+ if (xbeeIsUp)
+ {
+ xbee.process();
+
+ processUSB();
+
+ wait_ms(2);
+ }
+ else
+ {
+ errorFlags = XBeeDisconnected; // set error flag for no connection to XBee
+
+ rawTemperature = 0.0; // clear display values
+ rawThickness = 0.0;
+ }
+ }
+}