Shang-Shian Liu / Mbed 2 deprecated New_Time_Recorder

To Record the time of the car

Dependencies:   mbed TextLCD

main.cpp@7:db04197d3c6a, 2020-08-13 (annotated)

Committer:
Dennis40816
Date:
Thu Aug 13 15:48:37 2020 +0000
Revision:
7:db04197d3c6a
Parent:
6:f5a4aa4a3fe4 
v1.2; Fix LCD Problem

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Dennis40816 6:f5a4aa4a3fe4 1 /*
Dennis40816 6:f5a4aa4a3fe4 2 Version 1.1 created at 2020/8/12 --- Dennis Liu
Dennis40816 6:f5a4aa4a3fe4 3 */
Dennis40816 6:f5a4aa4a3fe4 4
Dennis40816 0:9c3829968b11 5 //Include
Dennis40816 0:9c3829968b11 6 #include "mbed.h"
Dennis40816 0:9c3829968b11 7 #include "TextLCD.h"
Dennis40816 0:9c3829968b11 8 //Define-USER SET
Dennis40816 2:c9889e740474 9 #define DEBUG 2 // 0: formal , 1: all information, 2: only delay time
Dennis40816 2:c9889e740474 10 #define NO_DELAY 0 //if define RESULT == 1, ignore delay time of RF , if DEBUG == 2, this must be 0
Dennis40816 0:9c3829968b11 11 #define RX_MODE 1 //1 for scanf ; 2 for getc
Dennis40816 0:9c3829968b11 12 #define BUTTON_DEBOUNCE 0.3f
Dennis40816 1:db7799912cac 13 #define LCD_SHOW_PERIOD 3.0f //show last cycle for 2 sec
Dennis40816 2:c9889e740474 14 #define SENSOR_IN_DEBOUNCE 0.2f
Dennis40816 4:1300ca51fc75 15 #define NVIC_RESET_PROTECT 3.0f //all sys reset by pull blue button(button 2) for more than 4 seconds
Dennis40816 0:9c3829968b11 16 //Define-Don't Change
Dennis40816 2:c9889e740474 17 #if(DEBUG == 2 && NO_DELAY == 1)
Dennis40816 2:c9889e740474 18 #define NO_DELAY 0
Dennis40816 2:c9889e740474 19 #endif
Dennis40816 0:9c3829968b11 20 #define m_1 1000000.0f
Dennis40816 0:9c3829968b11 21 #define TX_SIZE 16
Dennis40816 0:9c3829968b11 22 #define RX_SIZE 16
Dennis40816 3:70ce5fd299bb 23 #if (DEBUG != 1)
Dennis40816 0:9c3829968b11 24 #define CYCLE_TIME_PROTECT 2.0f //used in formal , protect someone trigger the sensor
Dennis40816 0:9c3829968b11 25 #else
Dennis40816 1:db7799912cac 26 #define CYCLE_TIME_PROTECT 1.0f
Dennis40816 0:9c3829968b11 27 #endif
Dennis40816 4:1300ca51fc75 28 #define ENDURANCE_CYCLE 11
Dennis40816 0:9c3829968b11 29 #define SKIDPAD_CYCLE 4
Dennis40816 0:9c3829968b11 30
Dennis40816 0:9c3829968b11 31 //RF CMD
Dennis40816 0:9c3829968b11 32 #define ACCEPT 0
Dennis40816 0:9c3829968b11 33 #define DENY 1
Dennis40816 0:9c3829968b11 34 #define CHECK 2
Dennis40816 0:9c3829968b11 35 #define MASTER 3
Dennis40816 0:9c3829968b11 36 #define SLAVE 4
Dennis40816 0:9c3829968b11 37 #define RESULT 5
Dennis40816 0:9c3829968b11 38 #define DELAY 6
Dennis40816 0:9c3829968b11 39 #define RESET 7 //cycle reset
Dennis40816 0:9c3829968b11 40 #define RESTART 8 //mode all reset
Dennis40816 5:a897228b7306 41 //mode
Dennis40816 5:a897228b7306 42 #define SING 0
Dennis40816 5:a897228b7306 43 #define ACC 1
Dennis40816 5:a897228b7306 44 #define SKID 2
Dennis40816 5:a897228b7306 45 #define ENDU 3
Dennis40816 5:a897228b7306 46 //role
Dennis40816 5:a897228b7306 47 #define NONE 0
Dennis40816 5:a897228b7306 48 #define ROLE_MASTER 1
Dennis40816 5:a897228b7306 49 #define ROLE_SLAVE 2
Dennis40816 0:9c3829968b11 50
Dennis40816 0:9c3829968b11 51 /*
Dennis40816 0:9c3829968b11 52 ###############################
Dennis40816 0:9c3829968b11 53 # Pin Init #
Dennis40816 0:9c3829968b11 54 # functions #
Dennis40816 0:9c3829968b11 55 ###############################
Dennis40816 0:9c3829968b11 56 */
Dennis40816 0:9c3829968b11 57 //simulate the sensor
Dennis40816 0:9c3829968b11 58 // Serial Tutorial : http://www.stmcu.org.cn/module/forum/thread-608234-1-1.html
Dennis40816 0:9c3829968b11 59 //PC
Dennis40816 0:9c3829968b11 60 Serial pc(USBTX,USBRX,115200);
Dennis40816 0:9c3829968b11 61 //Wireless
Dennis40816 0:9c3829968b11 62 Serial RF(PC_10,PC_11,9600); //Default , product url: http://www.wenshing.com.tw/upload/file/1537953630.pdf
Dennis40816 0:9c3829968b11 63 //LCD
Dennis40816 0:9c3829968b11 64 I2C i2c_lcd(PB_9,PB_8); // SDA,SCL
Dennis40816 0:9c3829968b11 65 TextLCD_I2C lcd(&i2c_lcd, 0x40, TextLCD::LCD16x2); //0x40 for all short(blue lcd) , 0x4E for A1 to A3 open(green lcd) - I2C Address
Dennis40816 0:9c3829968b11 66 //Sensor
Dennis40816 4:1300ca51fc75 67 #if(DEBUG == 1)
Dennis40816 0:9c3829968b11 68 DigitalOut sensor_com(PA_8,1); // D7
Dennis40816 1:db7799912cac 69 InterruptIn SENSOR_IT(PB_4,PullDown); // D5
Dennis40816 4:1300ca51fc75 70 #else
Dennis40816 4:1300ca51fc75 71 DigitalOut sensor_com(PB_2,1);
Dennis40816 4:1300ca51fc75 72 InterruptIn SENSOR_IT(PB_1,PullDown);
Dennis40816 4:1300ca51fc75 73 #endif
Dennis40816 0:9c3829968b11 74 //BT
Dennis40816 0:9c3829968b11 75 Serial bt (PA_0,PA_1,115200); // Serial_4 tx,rx
Dennis40816 0:9c3829968b11 76 DigitalOut key(PC_1,0); // not AT Mode
Dennis40816 0:9c3829968b11 77 DigitalIn bt_state(PA_4,PullDown); // high when connected with terminal
Dennis40816 0:9c3829968b11 78 //Mode Button
Dennis40816 1:db7799912cac 79 DigitalOut button_high(PA_11,1); // 最右7
Dennis40816 1:db7799912cac 80 InterruptIn MY_BUTTON(PB_12,PullDown); // 最右8
Dennis40816 0:9c3829968b11 81 //Reset Button
Dennis40816 1:db7799912cac 82 DigitalOut button_high_2(PA_6,1); // Mode的左邊
Dennis40816 0:9c3829968b11 83 InterruptIn MY_BUTTON_2(PA_7,PullDown);
Dennis40816 0:9c3829968b11 84 /*
Dennis40816 0:9c3829968b11 85 ###############################
Dennis40816 0:9c3829968b11 86 # Global #
Dennis40816 0:9c3829968b11 87 # Variable #
Dennis40816 0:9c3829968b11 88 ###############################
Dennis40816 0:9c3829968b11 89 */
Dennis40816 0:9c3829968b11 90 // main process
Dennis40816 0:9c3829968b11 91 // /**/ -> need reset
Dennis40816 5:a897228b7306 92 volatile int mode = SING; //mode 0:Single 1:ACC 2:SkidPad 3:Endurance
Dennis40816 0:9c3829968b11 93 /**/ volatile int process = 0; //process 0:for ready ; 1:sensor in/confirm master or slave ; 2:calculation : 3:bt show 4 lcd show
Dennis40816 0:9c3829968b11 94 // time record
Dennis40816 0:9c3829968b11 95 /**/ Timer this_cycle_timer; //keep running timer
Dennis40816 2:c9889e740474 96 float sensor_in_debounce = 0.0;
Dennis40816 0:9c3829968b11 97 /**/ float total_time = 0.0;
Dennis40816 0:9c3829968b11 98 /**/ float last_cycle_time = 0.0; //for LC print
Dennis40816 0:9c3829968b11 99 /**/ float best_cycle_time = 0.0;
Dennis40816 0:9c3829968b11 100 // cycle
Dennis40816 0:9c3829968b11 101 /**/ int cycle = 1;
Dennis40816 0:9c3829968b11 102 /**/ int best_cycle = 1;
Dennis40816 0:9c3829968b11 103 // button debounce
Dennis40816 0:9c3829968b11 104 float button_RTC = 0.0;
Dennis40816 0:9c3829968b11 105 float button_LTC = 0.0;
Dennis40816 0:9c3829968b11 106 float button_RTC_2 = 0.0;
Dennis40816 0:9c3829968b11 107 float button_LTC_2 = 0.0;
Dennis40816 0:9c3829968b11 108 // RF related
Dennis40816 0:9c3829968b11 109 bool rf_state = 0; //0 for disconnect
Dennis40816 0:9c3829968b11 110 bool last_rf_state = 1;
Dennis40816 0:9c3829968b11 111 bool Rx_flag = 0; //1 when receive a cmd over
Dennis40816 5:a897228b7306 112 /**/ int role = NONE;
Dennis40816 0:9c3829968b11 113 /**/ int this_tcmd = 0;
Dennis40816 0:9c3829968b11 114 /**/ int last_tcmd = 0;
Dennis40816 0:9c3829968b11 115 /**/ int this_rcmd = 0;
Dennis40816 0:9c3829968b11 116 int rf_interval_cnt = 0;
Dennis40816 0:9c3829968b11 117 /**/ float rf_delay_time = 0.0;
Dennis40816 0:9c3829968b11 118 /**/ Timer rf_check_timer;
Dennis40816 0:9c3829968b11 119 // RF Data
Dennis40816 0:9c3829968b11 120 /**/ char TX_buffer[TX_SIZE];
Dennis40816 0:9c3829968b11 121 /**/ char RX_buffer[RX_SIZE];
Dennis40816 0:9c3829968b11 122 /**/ int tx_cnt = 0;
Dennis40816 0:9c3829968b11 123 /**/ int rx_cnt = 0;
Dennis40816 0:9c3829968b11 124 // LCD
Dennis40816 0:9c3829968b11 125 /**/ bool lcd_print_flag = 0;
Dennis40816 0:9c3829968b11 126 bool lcd_end_flag = 0;
Dennis40816 0:9c3829968b11 127 float lcd_life_check_time = 0.0;
Dennis40816 0:9c3829968b11 128 float lcd_show_result_time = 0.0;
Dennis40816 0:9c3829968b11 129 float lcd_end_time = 0.0;
Dennis40816 0:9c3829968b11 130 // BT
Dennis40816 0:9c3829968b11 131 /**/ bool bt_print_flag = 0;
Dennis40816 0:9c3829968b11 132 bool bt_end_flag = 0;
Dennis40816 0:9c3829968b11 133 /*
Dennis40816 0:9c3829968b11 134 ###############################
Dennis40816 0:9c3829968b11 135 # Declaration #
Dennis40816 0:9c3829968b11 136 ###############################
Dennis40816 0:9c3829968b11 137 */
Dennis40816 0:9c3829968b11 138 // Initial
Dennis40816 0:9c3829968b11 139 void Initial_All(void);
Dennis40816 0:9c3829968b11 140 void Initial_Hardware(void);
Dennis40816 0:9c3829968b11 141 void Initial_IT(void);
Dennis40816 0:9c3829968b11 142 //main function
Dennis40816 3:70ce5fd299bb 143 void ALL_SYS_RESET_CHECK(void);
Dennis40816 0:9c3829968b11 144 void reset_parameters(void);
Dennis40816 0:9c3829968b11 145 void show_all(void);
Dennis40816 0:9c3829968b11 146 void lcd_show(void);
Dennis40816 0:9c3829968b11 147 void bt_show(void);
Dennis40816 0:9c3829968b11 148 void show_flag_check(void);
Dennis40816 0:9c3829968b11 149 void time_cal(void);
Dennis40816 0:9c3829968b11 150 void RF_Send(int);
Dennis40816 0:9c3829968b11 151 void RF_Receive(int);
Dennis40816 3:70ce5fd299bb 152 void RF_Check(void);
Dennis40816 0:9c3829968b11 153 // IT Functions
Dennis40816 0:9c3829968b11 154 void sensor_in(void);
Dennis40816 0:9c3829968b11 155 void button_fall(void);
Dennis40816 0:9c3829968b11 156 void button_fall_2(void);
Dennis40816 1:db7799912cac 157 void test_button(void);
Dennis40816 0:9c3829968b11 158 void RxCallback(void);
Dennis40816 0:9c3829968b11 159 //protect parameters
Dennis40816 0:9c3829968b11 160 void parameters_protect(void);
Dennis40816 0:9c3829968b11 161 /*
Dennis40816 0:9c3829968b11 162 ###############################
Dennis40816 0:9c3829968b11 163 # Main #
Dennis40816 0:9c3829968b11 164 # function #
Dennis40816 0:9c3829968b11 165 ###############################
Dennis40816 0:9c3829968b11 166 */
Dennis40816 0:9c3829968b11 167 int main()
Dennis40816 0:9c3829968b11 168 {
Dennis40816 0:9c3829968b11 169 Initial_All();
Dennis40816 0:9c3829968b11 170 while(1) {
Dennis40816 3:70ce5fd299bb 171 ALL_SYS_RESET_CHECK();
Dennis40816 3:70ce5fd299bb 172 RF_Check();
Dennis40816 0:9c3829968b11 173 time_cal();
Dennis40816 0:9c3829968b11 174 show_all();
Dennis40816 0:9c3829968b11 175 }
Dennis40816 0:9c3829968b11 176 }
Dennis40816 0:9c3829968b11 177 /*
Dennis40816 0:9c3829968b11 178 ###############################
Dennis40816 0:9c3829968b11 179 # Functions #
Dennis40816 0:9c3829968b11 180 # Implementation #
Dennis40816 0:9c3829968b11 181 ###############################
Dennis40816 0:9c3829968b11 182 */
Dennis40816 0:9c3829968b11 183 //Initial
Dennis40816 0:9c3829968b11 184 void Initial_All(){
Dennis40816 0:9c3829968b11 185 Initial_Hardware();
Dennis40816 0:9c3829968b11 186 Initial_IT();
Dennis40816 0:9c3829968b11 187 }
Dennis40816 0:9c3829968b11 188 void Initial_Hardware(){
Dennis40816 0:9c3829968b11 189 //lcd
Dennis40816 0:9c3829968b11 190 lcd.setCursor(TextLCD::CurOff_BlkOff);
Dennis40816 0:9c3829968b11 191 lcd.setBacklight(TextLCD::LightOn);
Dennis40816 0:9c3829968b11 192 lcd.locate(0,0);
Dennis40816 0:9c3829968b11 193 lcd.printf("NTHU RACING");
Dennis40816 0:9c3829968b11 194 lcd.locate(0,1);
Dennis40816 0:9c3829968b11 195 lcd.printf("Initializing");
Dennis40816 0:9c3829968b11 196 //bt
Dennis40816 1:db7799912cac 197 if(bt_state.read()) {
Dennis40816 1:db7799912cac 198 bt.printf("######################################\r\n");
Dennis40816 1:db7799912cac 199 bt.printf("NTHU RACING TIME RECORDER INITIALIZING\r\n\r\n");
Dennis40816 1:db7799912cac 200 }
Dennis40816 0:9c3829968b11 201 else{
Dennis40816 0:9c3829968b11 202 lcd.locate(12,0);
Dennis40816 6:f5a4aa4a3fe4 203 lcd.printf("B0");
Dennis40816 1:db7799912cac 204 pc.printf("######################################\r\n");
Dennis40816 0:9c3829968b11 205 pc.printf("NTHU RACING TIME RECORDER INITIALIZING\r\n\r\n");
Dennis40816 0:9c3829968b11 206 }
Dennis40816 0:9c3829968b11 207 wait(1.5);
Dennis40816 0:9c3829968b11 208 }
Dennis40816 0:9c3829968b11 209 void Initial_IT(){
Dennis40816 0:9c3829968b11 210 //BUTTON
Dennis40816 0:9c3829968b11 211 MY_BUTTON.rise(&button_fall);
Dennis40816 0:9c3829968b11 212 MY_BUTTON_2.rise(&button_fall_2);
Dennis40816 0:9c3829968b11 213 //SENSOR
Dennis40816 0:9c3829968b11 214 SENSOR_IT.rise(&sensor_in);
Dennis40816 0:9c3829968b11 215 //RF
Dennis40816 0:9c3829968b11 216 RF.attach(&RxCallback,Serial::RxIrq);
Dennis40816 0:9c3829968b11 217 lcd.cls();
Dennis40816 0:9c3829968b11 218 lcd.locate(0,0);
Dennis40816 0:9c3829968b11 219 lcd.printf("Set up ok!");
Dennis40816 0:9c3829968b11 220 if(bt_state.read()){
Dennis40816 4:1300ca51fc75 221 bt.printf("Mode 0 -> Single Cycle\r\n");
Dennis40816 4:1300ca51fc75 222 bt.printf("Mode 1 -> Accleration \r\n");
Dennis40816 4:1300ca51fc75 223 bt.printf("Mode 2 -> Skidpad \r\n");
Dennis40816 4:1300ca51fc75 224 bt.printf("Mode 3 -> Endurance:%d\r\n\r\n",ENDURANCE_CYCLE);
Dennis40816 1:db7799912cac 225 bt.printf("NTHU RACING TIME RECORDER SET UP DONE\r\n");
Dennis40816 0:9c3829968b11 226 bt.printf("#####################################\r\n");
Dennis40816 0:9c3829968b11 227 }
Dennis40816 0:9c3829968b11 228 else{
Dennis40816 4:1300ca51fc75 229 pc.printf("Mode 0 -> Single Cycle\r\n");
Dennis40816 4:1300ca51fc75 230 pc.printf("Mode 1 -> Accleration \r\n");
Dennis40816 4:1300ca51fc75 231 pc.printf("Mode 2 -> Skidpad \r\n");
Dennis40816 4:1300ca51fc75 232 pc.printf("Mode 3 -> Endurance:%d\r\n",ENDURANCE_CYCLE);
Dennis40816 1:db7799912cac 233 pc.printf("NTHU RACING TIME RECORDER SET UP DONE\r\n");
Dennis40816 0:9c3829968b11 234 pc.printf("#####################################\r\n");
Dennis40816 0:9c3829968b11 235 }
Dennis40816 0:9c3829968b11 236 wait(1);
Dennis40816 0:9c3829968b11 237 }
Dennis40816 0:9c3829968b11 238 //while loop
Dennis40816 3:70ce5fd299bb 239 void ALL_SYS_RESET_CHECK(){
Dennis40816 3:70ce5fd299bb 240 if(MY_BUTTON_2.read()){
Dennis40816 3:70ce5fd299bb 241 if(us_ticker_read()/m_1 - button_RTC_2 > NVIC_RESET_PROTECT) NVIC_SystemReset();
Dennis40816 3:70ce5fd299bb 242 }
Dennis40816 3:70ce5fd299bb 243 }
Dennis40816 3:70ce5fd299bb 244 void RF_Check(){
Dennis40816 5:a897228b7306 245 if(role == NONE && mode == ACC) {
Dennis40816 3:70ce5fd299bb 246 rf_check_timer.start();
Dennis40816 3:70ce5fd299bb 247 if(rf_check_timer.read() > 1){
Dennis40816 3:70ce5fd299bb 248 rf_interval_cnt++;
Dennis40816 3:70ce5fd299bb 249 rf_check_timer.reset();
Dennis40816 3:70ce5fd299bb 250 }
Dennis40816 3:70ce5fd299bb 251 if(rf_interval_cnt % 5 == 0 && rf_interval_cnt) {
Dennis40816 3:70ce5fd299bb 252 RF_Send(CHECK);
Dennis40816 3:70ce5fd299bb 253 }
Dennis40816 3:70ce5fd299bb 254 if(rf_interval_cnt > 5) rf_state = 0;
Dennis40816 5:a897228b7306 255 if(rf_interval_cnt >= INT_MAX) rf_interval_cnt = 0;
Dennis40816 3:70ce5fd299bb 256 }
Dennis40816 3:70ce5fd299bb 257 else rf_check_timer.stop();
Dennis40816 3:70ce5fd299bb 258 }
Dennis40816 0:9c3829968b11 259 void reset_parameters() {
Dennis40816 0:9c3829968b11 260 process = 0;
Dennis40816 0:9c3829968b11 261 lcd_print_flag = 0;
Dennis40816 0:9c3829968b11 262 bt_print_flag = 0;
Dennis40816 0:9c3829968b11 263 this_cycle_timer.stop();
Dennis40816 0:9c3829968b11 264 this_cycle_timer.reset();
Dennis40816 2:c9889e740474 265 lcd_end_flag = 0;
Dennis40816 2:c9889e740474 266 bt_end_flag = 0;
Dennis40816 5:a897228b7306 267 if( mode != ACC || (mode == ACC && this_rcmd == RESTART) || (mode == ACC && last_tcmd == RESTART) ){
Dennis40816 1:db7799912cac 268 cycle = 1;
Dennis40816 1:db7799912cac 269 best_cycle = 1;
Dennis40816 1:db7799912cac 270 last_cycle_time = 0.0;
Dennis40816 1:db7799912cac 271 best_cycle_time = 0.0;
Dennis40816 1:db7799912cac 272 total_time = 0.0;
Dennis40816 2:c9889e740474 273
Dennis40816 1:db7799912cac 274 }
Dennis40816 5:a897228b7306 275 if(mode == ACC){
Dennis40816 0:9c3829968b11 276 memset(TX_buffer,0,TX_SIZE);
Dennis40816 0:9c3829968b11 277 memset(RX_buffer,0,RX_SIZE);
Dennis40816 0:9c3829968b11 278
Dennis40816 0:9c3829968b11 279 tx_cnt = 0;
Dennis40816 0:9c3829968b11 280 rx_cnt = 0;
Dennis40816 0:9c3829968b11 281 rf_delay_time = 0.0;
Dennis40816 5:a897228b7306 282 role = NONE;
Dennis40816 0:9c3829968b11 283 this_tcmd = 0;
Dennis40816 0:9c3829968b11 284 last_tcmd = 0;
Dennis40816 0:9c3829968b11 285 this_rcmd = 0;
Dennis40816 0:9c3829968b11 286 }
Dennis40816 1:db7799912cac 287 if(bt_state.read() ) bt.printf("#####################################\r\n");
Dennis40816 1:db7799912cac 288 else pc.printf("#####################################\r\n");
Dennis40816 0:9c3829968b11 289 }
Dennis40816 0:9c3829968b11 290 void show_all(){
Dennis40816 0:9c3829968b11 291 parameters_protect();
Dennis40816 0:9c3829968b11 292 lcd_show();
Dennis40816 0:9c3829968b11 293 bt_show();
Dennis40816 0:9c3829968b11 294 show_flag_check();
Dennis40816 0:9c3829968b11 295 }
Dennis40816 0:9c3829968b11 296 void parameters_protect(){
Dennis40816 0:9c3829968b11 297 if(cycle >= 99){
Dennis40816 0:9c3829968b11 298 cycle = 0;
Dennis40816 0:9c3829968b11 299 if(bt_state.read()) bt.printf("Cycle Protect \r\n");
Dennis40816 0:9c3829968b11 300 else pc.printf("Cycle Protect \r\n");
Dennis40816 0:9c3829968b11 301 }
Dennis40816 0:9c3829968b11 302 if(last_cycle_time >= 9999.99f ){
Dennis40816 0:9c3829968b11 303 last_cycle_time = 0.0;
Dennis40816 0:9c3829968b11 304 if(bt_state.read()) bt.printf("Last Cycle Time Protect \r\n");
Dennis40816 0:9c3829968b11 305 else pc.printf("Last Cycle Time Protect \r\n");
Dennis40816 0:9c3829968b11 306 }
Dennis40816 0:9c3829968b11 307 if(total_time >= 9999.99f){
Dennis40816 0:9c3829968b11 308 total_time = 0.0;
Dennis40816 0:9c3829968b11 309 if(bt_state.read()) bt.printf("Total Time Protect \r\n");
Dennis40816 0:9c3829968b11 310 else pc.printf("Total Time Protect \r\n");
Dennis40816 0:9c3829968b11 311 }
Dennis40816 0:9c3829968b11 312 }
Dennis40816 0:9c3829968b11 313 void lcd_show(){
Dennis40816 0:9c3829968b11 314 //process 4 update
Dennis40816 0:9c3829968b11 315 lcd.locate(0,0);
Dennis40816 2:c9889e740474 316 if( (!lcd_print_flag) && last_cycle_time > 0.0f && process == 4){
Dennis40816 0:9c3829968b11 317 //print out last cycle time flag
Dennis40816 0:9c3829968b11 318 lcd_print_flag = 1;
Dennis40816 0:9c3829968b11 319 lcd_show_result_time = us_ticker_read()/m_1;
Dennis40816 0:9c3829968b11 320 }
Dennis40816 5:a897228b7306 321 else if((!lcd_end_flag) && ( (cycle > SKIDPAD_CYCLE && mode == SKID || cycle > ENDURANCE_CYCLE && mode == ENDU) ||
Dennis40816 2:c9889e740474 322 #if(NO_DELAY == 1)
Dennis40816 5:a897228b7306 323 (last_tcmd == RESULT || this_rcmd == RESULT && mode == ACC) )
Dennis40816 2:c9889e740474 324 #else
Dennis40816 5:a897228b7306 325 (last_tcmd == DELAY || this_rcmd == DELAY && mode == ACC) )
Dennis40816 2:c9889e740474 326 #endif
Dennis40816 2:c9889e740474 327 ){
Dennis40816 0:9c3829968b11 328 //mode end
Dennis40816 1:db7799912cac 329 if(us_ticker_read()/m_1 - lcd_show_result_time > LCD_SHOW_PERIOD){
Dennis40816 1:db7799912cac 330 lcd_end_flag = 1;
Dennis40816 1:db7799912cac 331 lcd_end_time = us_ticker_read()/m_1;
Dennis40816 1:db7799912cac 332 }
Dennis40816 0:9c3829968b11 333 }
Dennis40816 0:9c3829968b11 334
Dennis40816 0:9c3829968b11 335 //row 1 show
Dennis40816 5:a897228b7306 336 if(us_ticker_read()/m_1 - lcd_show_result_time < LCD_SHOW_PERIOD && last_cycle_time != 0 && mode != ACC)
Dennis40816 7:db04197d3c6a 337 lcd.printf("LCT: %.2f sec ",last_cycle_time);
Dennis40816 5:a897228b7306 338 else if(us_ticker_read()/m_1 - lcd_end_time < LCD_SHOW_PERIOD && last_cycle_time != 0 && mode != ACC)
Dennis40816 1:db7799912cac 339 lcd.printf("BC :%d ",best_cycle);
Dennis40816 0:9c3829968b11 340 else{
Dennis40816 0:9c3829968b11 341 switch(mode){
Dennis40816 5:a897228b7306 342 case SING :
Dennis40816 7:db04197d3c6a 343 lcd.printf("SING B%dR%d C%d ",bt_state.read(),rf_state,cycle);
Dennis40816 0:9c3829968b11 344 break;
Dennis40816 5:a897228b7306 345 case ACC:
Dennis40816 7:db04197d3c6a 346 lcd.printf("ACC B%dR%d C%d ",bt_state.read(),rf_state,cycle);
Dennis40816 0:9c3829968b11 347 break;
Dennis40816 5:a897228b7306 348 case SKID:
Dennis40816 7:db04197d3c6a 349 lcd.printf("SKID B%dR%d C%d ",bt_state.read(),rf_state,cycle);
Dennis40816 0:9c3829968b11 350 break;
Dennis40816 5:a897228b7306 351 case ENDU:
Dennis40816 7:db04197d3c6a 352 lcd.printf("ENDU B%dR%d C%d ",bt_state.read(),rf_state,cycle);
Dennis40816 0:9c3829968b11 353 break;
Dennis40816 0:9c3829968b11 354 }
Dennis40816 0:9c3829968b11 355 }
Dennis40816 0:9c3829968b11 356 lcd.locate(0,1);
Dennis40816 0:9c3829968b11 357 //row 2 show
Dennis40816 2:c9889e740474 358 if(cycle == 1 && this_cycle_timer.read() == 0) lcd.printf("Ready to Go !"); //first in
Dennis40816 5:a897228b7306 359 else if(mode == ACC && lcd_print_flag)lcd.printf ("TC:%.2f sec ",last_cycle_time);
Dennis40816 5:a897228b7306 360 else if(mode == ACC) lcd.printf("TC:%.2f sec ",this_cycle_timer.read());
Dennis40816 2:c9889e740474 361 else if(lcd_end_flag && mode!=1) lcd.printf("BCT :%.2f sec",best_cycle_time);
Dennis40816 5:a897228b7306 362 else if((cycle > SKIDPAD_CYCLE && mode == SKID || cycle > ENDURANCE_CYCLE && mode == ENDU)) lcd.printf("Mode %d End! ",mode);
Dennis40816 0:9c3829968b11 363 else lcd.printf("%.2f,%.2f ",this_cycle_timer.read(),this_cycle_timer.read()+total_time);
Dennis40816 0:9c3829968b11 364 //lcd life check
Dennis40816 0:9c3829968b11 365 lcd.locate(15,1);
Dennis40816 0:9c3829968b11 366 if(us_ticker_read()/m_1 - lcd_life_check_time < 1.0f) lcd.printf(".");
Dennis40816 0:9c3829968b11 367 else if(us_ticker_read()/m_1 - lcd_life_check_time < 2.0f) lcd.printf(" ");
Dennis40816 0:9c3829968b11 368 else lcd_life_check_time = us_ticker_read()/m_1;
Dennis40816 0:9c3829968b11 369 }
Dennis40816 0:9c3829968b11 370 void bt_show(){
Dennis40816 0:9c3829968b11 371 //process 3 update and print
Dennis40816 0:9c3829968b11 372 if(bt_state.read() && process == 3){
Dennis40816 0:9c3829968b11 373 //process change
Dennis40816 0:9c3829968b11 374 process = 4;
Dennis40816 1:db7799912cac 375 bt_print_flag = 1;
Dennis40816 0:9c3829968b11 376 if (last_cycle_time == 0.0f) bt.printf("First in\r\n");
Dennis40816 0:9c3829968b11 377 else {
Dennis40816 1:db7799912cac 378 bt.printf("Mode:%d,cycle: %d,last cycle time:%.2f sec\r\n",mode,cycle,last_cycle_time);
Dennis40816 5:a897228b7306 379 if(cycle == SKIDPAD_CYCLE && mode == SKID || cycle == ENDURANCE_CYCLE && mode == ENDU ){
Dennis40816 1:db7799912cac 380 bt.printf("Best Cycle:%d\r\n",best_cycle);
Dennis40816 1:db7799912cac 381 bt.printf("Best Cycle Time:%.2f sec\r\n",best_cycle_time);
Dennis40816 1:db7799912cac 382 bt.printf("Mode %d End & Reset\r\n",mode);
Dennis40816 0:9c3829968b11 383 bt_end_flag = 1;
Dennis40816 2:c9889e740474 384 }
Dennis40816 5:a897228b7306 385 else if(mode == ACC) bt_end_flag = 1;
Dennis40816 0:9c3829968b11 386 }
Dennis40816 0:9c3829968b11 387 }
Dennis40816 0:9c3829968b11 388 else if(process == 3){
Dennis40816 1:db7799912cac 389 process = 4;
Dennis40816 1:db7799912cac 390 bt_print_flag = 1;
Dennis40816 0:9c3829968b11 391 if (last_cycle_time == 0.0f) pc.printf("First in\r\n");
Dennis40816 0:9c3829968b11 392 else {
Dennis40816 1:db7799912cac 393 pc.printf("Mode:%d,cycle: %d,last cycle time:%.2f sec\r\n",mode,cycle,last_cycle_time);
Dennis40816 5:a897228b7306 394 if(cycle == SKIDPAD_CYCLE && mode == SKID || cycle == ENDURANCE_CYCLE && mode == ENDU){
Dennis40816 1:db7799912cac 395 pc.printf("Mode %d End & Reset\r\n",mode);
Dennis40816 0:9c3829968b11 396 bt_end_flag = 1;
Dennis40816 4:1300ca51fc75 397 }
Dennis40816 5:a897228b7306 398 else if(mode == ACC) bt_end_flag = 1;
Dennis40816 0:9c3829968b11 399 }
Dennis40816 0:9c3829968b11 400 }
Dennis40816 0:9c3829968b11 401 if(last_rf_state != rf_state){
Dennis40816 0:9c3829968b11 402 last_rf_state = rf_state;
Dennis40816 0:9c3829968b11 403 if(rf_state){
Dennis40816 0:9c3829968b11 404 if(bt_state.read()) bt.printf("RF Connected!\r\n");
Dennis40816 0:9c3829968b11 405 else pc.printf("RF Connected!\r\n");
Dennis40816 0:9c3829968b11 406 }
Dennis40816 0:9c3829968b11 407 else{
Dennis40816 0:9c3829968b11 408 if(bt_state.read()) bt.printf("RF Disconnected!\r\n");
Dennis40816 0:9c3829968b11 409 else pc.printf("RF Disonnected!\r\n");
Dennis40816 0:9c3829968b11 410 }
Dennis40816 0:9c3829968b11 411 }
Dennis40816 0:9c3829968b11 412 }
Dennis40816 0:9c3829968b11 413 void show_flag_check(){
Dennis40816 0:9c3829968b11 414 //cycle update for mode != ACC
Dennis40816 5:a897228b7306 415 if(lcd_print_flag && bt_print_flag && mode != ACC){
Dennis40816 0:9c3829968b11 416 //print ok
Dennis40816 0:9c3829968b11 417 process = 0;
Dennis40816 0:9c3829968b11 418 lcd_print_flag = 0;
Dennis40816 0:9c3829968b11 419 bt_print_flag = 0;
Dennis40816 2:c9889e740474 420 cycle++;
Dennis40816 2:c9889e740474 421
Dennis40816 0:9c3829968b11 422 }
Dennis40816 0:9c3829968b11 423 if(lcd_end_flag && bt_end_flag){
Dennis40816 0:9c3829968b11 424 //notice reset
Dennis40816 5:a897228b7306 425 if(mode == ACC && us_ticker_read()/m_1 - lcd_end_time > LCD_SHOW_PERIOD && lcd_end_flag ) RF_Send(RESET); //including local reset
Dennis40816 0:9c3829968b11 426 else if(us_ticker_read()/m_1 - lcd_end_time > LCD_SHOW_PERIOD) reset_parameters();
Dennis40816 0:9c3829968b11 427 }
Dennis40816 2:c9889e740474 428
Dennis40816 0:9c3829968b11 429 }
Dennis40816 0:9c3829968b11 430 void time_cal(){
Dennis40816 0:9c3829968b11 431 if(process == 1){
Dennis40816 0:9c3829968b11 432 process = 2;
Dennis40816 0:9c3829968b11 433 //calculation time variable
Dennis40816 0:9c3829968b11 434 //last_cycle_time update in sensor in
Dennis40816 5:a897228b7306 435 if(mode != ACC) total_time += last_cycle_time;
Dennis40816 0:9c3829968b11 436 if(cycle == 1){
Dennis40816 0:9c3829968b11 437 best_cycle = cycle;
Dennis40816 0:9c3829968b11 438 best_cycle_time = last_cycle_time;
Dennis40816 0:9c3829968b11 439 }
Dennis40816 0:9c3829968b11 440 else if(last_cycle_time < best_cycle_time){
Dennis40816 0:9c3829968b11 441 best_cycle = cycle;
Dennis40816 0:9c3829968b11 442 best_cycle_time = last_cycle_time;
Dennis40816 0:9c3829968b11 443 }
Dennis40816 0:9c3829968b11 444 //get in update show period
Dennis40816 0:9c3829968b11 445 process = 3;
Dennis40816 0:9c3829968b11 446 }
Dennis40816 0:9c3829968b11 447 }
Dennis40816 0:9c3829968b11 448 //RF communication function , must end with \n ; //cycle update for mode ACC
Dennis40816 0:9c3829968b11 449 void RF_Send(int rf_tcmd){
Dennis40816 2:c9889e740474 450 if(rf_tcmd != ACCEPT) this_tcmd = rf_tcmd;
Dennis40816 2:c9889e740474 451 switch(rf_tcmd){
Dennis40816 2:c9889e740474 452 case ACCEPT:
Dennis40816 2:c9889e740474 453 RF.printf("%d\n",ACCEPT);
Dennis40816 2:c9889e740474 454 rf_state = 1;
Dennis40816 2:c9889e740474 455 rf_interval_cnt = -4;
Dennis40816 2:c9889e740474 456 break;
Dennis40816 2:c9889e740474 457 case DENY:
Dennis40816 2:c9889e740474 458 RF.printf("%d\n",DENY);
Dennis40816 2:c9889e740474 459 break;
Dennis40816 2:c9889e740474 460 case CHECK:
Dennis40816 2:c9889e740474 461 //以後加上cycle check
Dennis40816 2:c9889e740474 462 RF.printf("%d\n",CHECK);
Dennis40816 2:c9889e740474 463 break;
Dennis40816 2:c9889e740474 464 case MASTER:
Dennis40816 5:a897228b7306 465 role = ROLE_MASTER;
Dennis40816 2:c9889e740474 466 RF.printf("%d\n",MASTER);
Dennis40816 2:c9889e740474 467 if(bt_state.read()) bt.printf("Car in \r\n");
Dennis40816 2:c9889e740474 468 else pc.printf("Car in \r\n");
Dennis40816 2:c9889e740474 469 break;
Dennis40816 2:c9889e740474 470 case SLAVE:
Dennis40816 2:c9889e740474 471 RF.printf("%d&%.2f\n",SLAVE,this_cycle_timer.read());
Dennis40816 2:c9889e740474 472 break;
Dennis40816 2:c9889e740474 473 case RESULT:
Dennis40816 2:c9889e740474 474 RF.printf("%d&%.2f\n",RESULT,this_cycle_timer.read());
Dennis40816 2:c9889e740474 475 break;
Dennis40816 2:c9889e740474 476 case DELAY:
Dennis40816 2:c9889e740474 477 //delay time abnormal detect
Dennis40816 2:c9889e740474 478 if(rf_delay_time < 1.0f) {
Dennis40816 2:c9889e740474 479 RF.printf("%d&%.4f\n",DELAY,rf_delay_time);
Dennis40816 2:c9889e740474 480 #if (DEBUG == 1 || DEBUG == 2)
Dennis40816 2:c9889e740474 481 if(bt_state.read()) bt.printf("Delay time:%.4f\r\n",rf_delay_time);
Dennis40816 2:c9889e740474 482 else pc.printf("Delay time:%.4f\r\n",rf_delay_time);
Dennis40816 2:c9889e740474 483 #endif
Dennis40816 2:c9889e740474 484 }
Dennis40816 2:c9889e740474 485 else if(bt_state.read()) bt.printf("rf delay time > 1sec \r\n");
Dennis40816 2:c9889e740474 486 else pc.printf("rf delay time > 1 sec\r\n");
Dennis40816 2:c9889e740474 487 break;
Dennis40816 2:c9889e740474 488 case RESET:
Dennis40816 2:c9889e740474 489 cycle++;
Dennis40816 2:c9889e740474 490 reset_parameters();
Dennis40816 2:c9889e740474 491 if(bt_state.read()) bt.printf("ACC Set \r\n");
Dennis40816 2:c9889e740474 492 else pc.printf("ACC Set \r\n");
Dennis40816 2:c9889e740474 493 break;
Dennis40816 2:c9889e740474 494 case RESTART:
Dennis40816 2:c9889e740474 495 RF.printf("%d\n",RESTART);
Dennis40816 2:c9889e740474 496 //reset_parameters at button_fall_2
Dennis40816 2:c9889e740474 497 break;
Dennis40816 2:c9889e740474 498 default:
Dennis40816 2:c9889e740474 499 if(bt_state.read()) bt.printf("Unknown Tcmd\r\n");
Dennis40816 2:c9889e740474 500 else pc.printf("Unknown Tcmd\r\n");
Dennis40816 2:c9889e740474 501 break;
Dennis40816 2:c9889e740474 502 }
Dennis40816 2:c9889e740474 503 last_tcmd = this_tcmd;
Dennis40816 2:c9889e740474 504 }
Dennis40816 2:c9889e740474 505
Dennis40816 2:c9889e740474 506 void RF_Receive(int rf_rcmd){
Dennis40816 5:a897228b7306 507 if(mode == ACC){
Dennis40816 2:c9889e740474 508 this_rcmd = rf_rcmd;
Dennis40816 2:c9889e740474 509 #if(DEBUG == 1)
Dennis40816 2:c9889e740474 510 //if(bt_state.read()) bt.printf("this rcmd:%d\r\n",this_rcmd);
Dennis40816 2:c9889e740474 511 //else pc.printf("this rcmd:%d\r\n",this_rcmd);
Dennis40816 2:c9889e740474 512 #endif
Dennis40816 2:c9889e740474 513 switch(rf_rcmd){
Dennis40816 0:9c3829968b11 514 case ACCEPT:
Dennis40816 0:9c3829968b11 515 rf_state = 1;
Dennis40816 2:c9889e740474 516 rf_interval_cnt = 0;
Dennis40816 0:9c3829968b11 517 break;
Dennis40816 0:9c3829968b11 518 case DENY:
Dennis40816 2:c9889e740474 519 switch(last_tcmd){
Dennis40816 2:c9889e740474 520 //master
Dennis40816 2:c9889e740474 521 case MASTER:
Dennis40816 2:c9889e740474 522 bt.printf("MASTER Request Denied!\r\n");
Dennis40816 2:c9889e740474 523 break;
Dennis40816 2:c9889e740474 524 //slave //發送時間待補
Dennis40816 2:c9889e740474 525 case SLAVE:
Dennis40816 2:c9889e740474 526 bt.printf("SLAVE Request Denied!\r\n");
Dennis40816 2:c9889e740474 527 break;
Dennis40816 2:c9889e740474 528 //result
Dennis40816 2:c9889e740474 529 case RESULT:
Dennis40816 2:c9889e740474 530 bt.printf("RESULT Request Denied!\r\n");
Dennis40816 2:c9889e740474 531 break;
Dennis40816 2:c9889e740474 532 }
Dennis40816 0:9c3829968b11 533 break;
Dennis40816 0:9c3829968b11 534 case CHECK:
Dennis40816 2:c9889e740474 535 RF_Send(ACCEPT);
Dennis40816 0:9c3829968b11 536 break;
Dennis40816 0:9c3829968b11 537 case MASTER:
Dennis40816 2:c9889e740474 538 //will become Slave End
Dennis40816 5:a897228b7306 539 if(role == NONE){
Dennis40816 5:a897228b7306 540 role = ROLE_SLAVE;
Dennis40816 2:c9889e740474 541 if(bt_state.read()) bt.printf("Car in \r\n");
Dennis40816 2:c9889e740474 542 else pc.printf("Car in \r\n");
Dennis40816 2:c9889e740474 543 }
Dennis40816 2:c9889e740474 544 else RF_Send(DENY);
Dennis40816 0:9c3829968b11 545 break;
Dennis40816 0:9c3829968b11 546 case SLAVE:
Dennis40816 2:c9889e740474 547 /*should be Master End*/
Dennis40816 2:c9889e740474 548 //calculate Delay time
Dennis40816 2:c9889e740474 549 char slave_time[5];
Dennis40816 2:c9889e740474 550 for(int i=0;i<5;i++) slave_time[i] = RX_buffer[i+2];
Dennis40816 2:c9889e740474 551 rf_delay_time = (float)(( this_cycle_timer.read()-atof(slave_time) )/2);
Dennis40816 2:c9889e740474 552 last_cycle_time = this_cycle_timer.read()-rf_delay_time;
Dennis40816 2:c9889e740474 553 //send back Delay time
Dennis40816 2:c9889e740474 554 wait_ms(10);
Dennis40816 2:c9889e740474 555 RF_Send(DELAY);
Dennis40816 2:c9889e740474 556 wait_ms(10);
Dennis40816 2:c9889e740474 557 //Role off and interval = 0 ->maybe at reset?
Dennis40816 2:c9889e740474 558 process = 3;
Dennis40816 0:9c3829968b11 559 break;
Dennis40816 0:9c3829968b11 560 case RESULT:
Dennis40816 2:c9889e740474 561 //should be Master End
Dennis40816 2:c9889e740474 562 char result_time[5];
Dennis40816 2:c9889e740474 563 for(int i=0;i<5;i++) result_time[i] = RX_buffer[i+2];
Dennis40816 2:c9889e740474 564 last_cycle_time = atof(result_time);
Dennis40816 2:c9889e740474 565 process = 3;
Dennis40816 0:9c3829968b11 566 break;
Dennis40816 0:9c3829968b11 567 case DELAY:
Dennis40816 2:c9889e740474 568 // should be Slave End
Dennis40816 2:c9889e740474 569 char delay_time [5];
Dennis40816 2:c9889e740474 570 for(int i=0;i<5;i++) delay_time[i] = RX_buffer[i+2];
Dennis40816 2:c9889e740474 571 rf_delay_time = atof(delay_time);
Dennis40816 2:c9889e740474 572 last_cycle_time = this_cycle_timer.read()+ rf_delay_time;
Dennis40816 2:c9889e740474 573 process = 3;
Dennis40816 2:c9889e740474 574 #if(DEBUG == 1 || DEBUG == 2)
Dennis40816 2:c9889e740474 575 if(bt_state.read()) bt.printf("Delay time:%.4f \r\n",rf_delay_time);
Dennis40816 2:c9889e740474 576 else pc.printf("Delay time:%.4f \r\n",rf_delay_time);
Dennis40816 2:c9889e740474 577 #endif
Dennis40816 0:9c3829968b11 578 break;
Dennis40816 0:9c3829968b11 579 case RESET:
Dennis40816 0:9c3829968b11 580 cycle++;
Dennis40816 0:9c3829968b11 581 reset_parameters();
Dennis40816 2:c9889e740474 582 if(bt_state.read()) bt.printf("ACC Set\r\n");
Dennis40816 2:c9889e740474 583 else pc.printf("ACC Set\r\n");
Dennis40816 0:9c3829968b11 584 break;
Dennis40816 0:9c3829968b11 585 case RESTART:
Dennis40816 2:c9889e740474 586 reset_parameters();
Dennis40816 2:c9889e740474 587 if(bt_state.read()) bt.printf("ACC Restart\r\n");
Dennis40816 2:c9889e740474 588 else pc.printf("ACC Restart\r\n");
Dennis40816 0:9c3829968b11 589 break;
Dennis40816 0:9c3829968b11 590 default:
Dennis40816 2:c9889e740474 591 if(bt_state.read()) bt.printf("Unknown Rcmd\r\n");
Dennis40816 2:c9889e740474 592 else pc.printf("Unknown Rcmd\r\n");
Dennis40816 0:9c3829968b11 593 break;
Dennis40816 0:9c3829968b11 594 }
Dennis40816 0:9c3829968b11 595 }
Dennis40816 0:9c3829968b11 596 }
Dennis40816 0:9c3829968b11 597
Dennis40816 0:9c3829968b11 598 //IT
Dennis40816 0:9c3829968b11 599 void sensor_in(){
Dennis40816 2:c9889e740474 600 if(us_ticker_read()/m_1 - sensor_in_debounce > SENSOR_IN_DEBOUNCE){
Dennis40816 2:c9889e740474 601 sensor_in_debounce = us_ticker_read()/m_1;
Dennis40816 5:a897228b7306 602 if(mode!=ACC){
Dennis40816 2:c9889e740474 603 if(cycle == 1){
Dennis40816 2:c9889e740474 604 this_cycle_timer.start();
Dennis40816 2:c9889e740474 605 process = 1;
Dennis40816 2:c9889e740474 606 }
Dennis40816 2:c9889e740474 607 if(this_cycle_timer.read() > CYCLE_TIME_PROTECT){
Dennis40816 2:c9889e740474 608 process = 1;
Dennis40816 2:c9889e740474 609 last_cycle_time = this_cycle_timer.read();
Dennis40816 2:c9889e740474 610 this_cycle_timer.reset();
Dennis40816 2:c9889e740474 611 }
Dennis40816 2:c9889e740474 612 //check mode2,3
Dennis40816 5:a897228b7306 613 if((cycle > SKIDPAD_CYCLE && mode == SKID || cycle > ENDURANCE_CYCLE && mode == ENDU)){
Dennis40816 2:c9889e740474 614 process = 0;
Dennis40816 2:c9889e740474 615 }
Dennis40816 1:db7799912cac 616 }
Dennis40816 5:a897228b7306 617 else if(mode == ACC){
Dennis40816 2:c9889e740474 618 //mode acc
Dennis40816 2:c9889e740474 619 if(!role && rf_state){
Dennis40816 2:c9889e740474 620 //MASTER
Dennis40816 2:c9889e740474 621 this_cycle_timer.start();
Dennis40816 2:c9889e740474 622 RF_Send(MASTER);
Dennis40816 2:c9889e740474 623 }
Dennis40816 5:a897228b7306 624 if(role == ROLE_SLAVE && this_cycle_timer.read() > CYCLE_TIME_PROTECT){
Dennis40816 2:c9889e740474 625 this_cycle_timer.stop();
Dennis40816 2:c9889e740474 626 //SLAVE
Dennis40816 2:c9889e740474 627 #if (NO_DELAY == 1)
Dennis40816 2:c9889e740474 628 //this_cycle_timer.start() at RxCallback
Dennis40816 2:c9889e740474 629 RF_Send(RESULT);
Dennis40816 2:c9889e740474 630 last_cycle_time = this_cycle_timer.read();
Dennis40816 2:c9889e740474 631 process = 3;
Dennis40816 2:c9889e740474 632 #else
Dennis40816 2:c9889e740474 633 //with delay calculation in Master End
Dennis40816 2:c9889e740474 634 RF_Send(SLAVE);
Dennis40816 2:c9889e740474 635 #endif
Dennis40816 2:c9889e740474 636 }
Dennis40816 0:9c3829968b11 637 }
Dennis40816 0:9c3829968b11 638 }
Dennis40816 0:9c3829968b11 639 }
Dennis40816 0:9c3829968b11 640 void button_fall(void){
Dennis40816 0:9c3829968b11 641 //debounce
Dennis40816 0:9c3829968b11 642 button_RTC = us_ticker_read()/m_1;
Dennis40816 0:9c3829968b11 643 if(button_RTC - button_LTC > BUTTON_DEBOUNCE){
Dennis40816 0:9c3829968b11 644 button_LTC = button_RTC;
Dennis40816 5:a897228b7306 645 (mode >= ENDU || mode < SING) ? mode = SING : mode++ ;
Dennis40816 5:a897228b7306 646 (mode == ACC)?RF.attach(&RxCallback,Serial::RxIrq):RF.attach(NULL,Serial::RxIrq);
Dennis40816 5:a897228b7306 647 if(mode != ACC) rf_state = 0;
Dennis40816 6:f5a4aa4a3fe4 648 //make sure reset_parameters success when mode 1-> 2
Dennis40816 1:db7799912cac 649 last_tcmd = RESTART;
Dennis40816 0:9c3829968b11 650 reset_parameters();
Dennis40816 1:db7799912cac 651 last_tcmd = ACCEPT;
Dennis40816 0:9c3829968b11 652 if(bt_state.read()) bt.printf("Mode change to :%d \r\n",mode);
Dennis40816 0:9c3829968b11 653 else pc.printf("Mode change to :%d \r\n",mode);
Dennis40816 0:9c3829968b11 654 }
Dennis40816 0:9c3829968b11 655 }
Dennis40816 0:9c3829968b11 656 void button_fall_2(void){
Dennis40816 0:9c3829968b11 657 //send reset cmd
Dennis40816 0:9c3829968b11 658 button_RTC_2 = us_ticker_read()/m_1;
Dennis40816 0:9c3829968b11 659 if(button_RTC_2 - button_LTC_2 > BUTTON_DEBOUNCE){
Dennis40816 0:9c3829968b11 660 button_LTC_2 = button_RTC_2;
Dennis40816 5:a897228b7306 661 if(mode == ACC) RF_Send(RESTART);
Dennis40816 0:9c3829968b11 662 reset_parameters();
Dennis40816 0:9c3829968b11 663 if(bt_state.read() ){
Dennis40816 5:a897228b7306 664 if(mode == ACC) bt.printf("ACC Restart\r\n");
Dennis40816 2:c9889e740474 665 else {
Dennis40816 2:c9889e740474 666 bt.printf("Restart!\r\n\r\n\r\n");
Dennis40816 2:c9889e740474 667 bt.printf("#####################\r\n");
Dennis40816 2:c9889e740474 668 }
Dennis40816 0:9c3829968b11 669 }
Dennis40816 1:db7799912cac 670 else{
Dennis40816 1:db7799912cac 671 pc.printf("Restart!\r\n\r\n\r\n");
Dennis40816 1:db7799912cac 672 pc.printf("#####################\r\n");
Dennis40816 1:db7799912cac 673 }
Dennis40816 0:9c3829968b11 674 }
Dennis40816 0:9c3829968b11 675 }
Dennis40816 0:9c3829968b11 676 void RxCallback(){
Dennis40816 0:9c3829968b11 677 //read from buffer
Dennis40816 3:70ce5fd299bb 678 #if(RX_MODE == 1) // by scanf ,printf
Dennis40816 0:9c3829968b11 679 RF.scanf("%s",RX_buffer);
Dennis40816 0:9c3829968b11 680 if(RX_buffer[0]-'0' == MASTER) this_cycle_timer.start();
Dennis40816 0:9c3829968b11 681 else if(RX_buffer[0]-'0' == SLAVE || RX_buffer[0]-'0' == RESULT) this_cycle_timer.stop();
Dennis40816 0:9c3829968b11 682 Rx_flag = 1;
Dennis40816 3:70ce5fd299bb 683 #elif(RX_MODE == 2) //by getc , printf
Dennis40816 0:9c3829968b11 684 while(RF.readable()){
Dennis40816 0:9c3829968b11 685 char new_char = RF.getc();
Dennis40816 0:9c3829968b11 686 if(new_char != '\n') {
Dennis40816 0:9c3829968b11 687 RX_buffer[rx_cnt++] = new_char;
Dennis40816 0:9c3829968b11 688 if(rx_cnt == 1){
Dennis40816 0:9c3829968b11 689 //timer management
Dennis40816 0:9c3829968b11 690 if(RX_buffer[0]-'0' == MASTER) this_cycle_timer.start();
Dennis40816 0:9c3829968b11 691 else if(RX_buffer[0]-'0' == SLAVE || RX_buffer[0]-'0' == RESULT) this_cycle_timer.stop();
Dennis40816 0:9c3829968b11 692 }
Dennis40816 0:9c3829968b11 693 }
Dennis40816 2:c9889e740474 694 else if(new_char == '\n') {
Dennis40816 0:9c3829968b11 695 rx_cnt = 0;
Dennis40816 0:9c3829968b11 696 Rx_flag = 1;
Dennis40816 0:9c3829968b11 697 }
Dennis40816 0:9c3829968b11 698 }
Dennis40816 0:9c3829968b11 699 #endif
Dennis40816 0:9c3829968b11 700 #if(DEBUG == 1)
Dennis40816 2:c9889e740474 701 if(bt_state.read()&& !rx_cnt) bt.printf("RX Callback,'%s' has been received\r\n",RX_buffer);
Dennis40816 0:9c3829968b11 702 #endif
Dennis40816 0:9c3829968b11 703 if(Rx_flag == 1){
Dennis40816 0:9c3829968b11 704 RF_Receive(RX_buffer[0]-'0');
Dennis40816 0:9c3829968b11 705 Rx_flag = 0;
Dennis40816 0:9c3829968b11 706 }
Dennis40816 0:9c3829968b11 707 }