Ion Systems / Mbed 2 deprecated Chipin_Main

The MBED firmware used on the Chipin sorter, developed over 12 weeks for a 3rd year university systems project. Chipin is a token sorter, it sorts tokens by colours and dispenses them to order through an online booking system and card reader. This program interfaces with an FPGA, PC and LCD screen to control the sorter. The sorter has an operation mode where it can process orders when a card is entered into the machine. There is also a maintenance mode where the device responds to maintenance instructions such as 'dispense all'. More information at http://www.ionsystems.uk/

Dependencies:   MCP23017 TCS3472_I2C WattBob_TextLCD mbed-rtos mbed

main.cpp@13:0661d658d9d1, 2014-11-20 (annotated)

Committer:
IonSystems
Date:
Thu Nov 20 11:15:47 2014 +0000
Revision:
13:0661d658d9d1
Parent:
12:814a8fdbb6f7
Child:
14:31ba3e56c788
Maintenance mode added, still need to do the printouts to the lcd.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IonSystems 12:814a8fdbb6f7 1 bool operationMode = true; //the MBED starts in operation mode.
IonSystems 0:8d54ffcf256e 2 #include "mbed.h"
IonSystems 6:e64796f1f384 3 #include <sstream>
IonSystems 12:814a8fdbb6f7 4 #include <string>
IonSystems 6:e64796f1f384 5 #include "lcdCommands.h"
IonSystems 6:e64796f1f384 6 #include "mbedStorage.h"
IonSystems 6:e64796f1f384 7 #include "rgbLED.h"
IonSystems 6:e64796f1f384 8 #include "mbedLCD.h"
IonSystems 7:6ba00694f9cd 9 #include "stateMachine.h"
IonSystems 8:b7771391adc9 10 #include "FPGAcomms.h"
IonSystems 10:8c0696b99692 11 #ifndef serialComm
IonSystems 10:8c0696b99692 12 #define serialComm
IonSystems 10:8c0696b99692 13 #include "serialCommunication.h"
IonSystems 10:8c0696b99692 14 #endif
IonSystems 10:8c0696b99692 15 #include "testFunctions.h"
IonSystems 5:644bca33c1ca 16
IonSystems 0:8d54ffcf256e 17
IonSystems 11:06f6e82b40a8 18
IonSystems 11:06f6e82b40a8 19
IonSystems 7:6ba00694f9cd 20 StateMachine stateMachine;
IonSystems 7:6ba00694f9cd 21
IonSystems 6:e64796f1f384 22 //Boolean values to easily enable and disable certain features for individual testing
IonSystems 6:e64796f1f384 23 bool colourSensor = true;
IonSystems 6:e64796f1f384 24 bool cardReader = true;
IonSystems 6:e64796f1f384 25 bool sorter = true;
IonSystems 6:e64796f1f384 26 bool dispensor = true;
IonSystems 10:8c0696b99692 27 bool testFunctions = true;
IonSystems 10:8c0696b99692 28 bool serialComms = true;
IonSystems 6:e64796f1f384 29
IonSystems 6:e64796f1f384 30 bool colourDataAcquired = false;
IonSystems 6:e64796f1f384 31 bool chipDetected = false;
IonSystems 12:814a8fdbb6f7 32
IonSystems 3:97668a4cd69d 33
IonSystems 12:814a8fdbb6f7 34 int mode = 0;
IonSystems 13:0661d658d9d1 35 int maintenanceModePointer = 0;
IonSystems 10:8c0696b99692 36
IonSystems 10:8c0696b99692 37
IonSystems 10:8c0696b99692 38 void checkSortDispenseButtons(){
IonSystems 11:06f6e82b40a8 39
IonSystems 11:06f6e82b40a8 40 if(par_port->read_bit(11)){
IonSystems 12:814a8fdbb6f7 41 mode++;
IonSystems 13:0661d658d9d1 42 if(mode >= 7) mode = 0;
IonSystems 11:06f6e82b40a8 43 }
IonSystems 11:06f6e82b40a8 44
IonSystems 11:06f6e82b40a8 45
IonSystems 13:0661d658d9d1 46 if(mode == 0){ //Dispense Mode
IonSystems 11:06f6e82b40a8 47 printLCD("Dispense Mode");
IonSystems 10:8c0696b99692 48 if(par_port->read_bit(8)){
IonSystems 10:8c0696b99692 49 log("Red Button pressed");
IonSystems 10:8c0696b99692 50 stateMachine = DISPENSE_RED;
IonSystems 10:8c0696b99692 51 processState(stateMachine);
IonSystems 10:8c0696b99692 52 }else if(par_port->read_bit(9)){
IonSystems 10:8c0696b99692 53 log("Green Button pressed");
IonSystems 10:8c0696b99692 54 stateMachine = DISPENSE_GREEN;
IonSystems 10:8c0696b99692 55 processState(stateMachine);
IonSystems 10:8c0696b99692 56 }else if(par_port->read_bit(10)){
IonSystems 10:8c0696b99692 57 log("Blue Button pressed");
IonSystems 10:8c0696b99692 58 stateMachine = DISPENSE_BLUE;
IonSystems 10:8c0696b99692 59 processState(stateMachine);
IonSystems 10:8c0696b99692 60 }
IonSystems 13:0661d658d9d1 61 }else if(mode == 1){ //Sort Mode
IonSystems 11:06f6e82b40a8 62 printLCD("Sort Mode");
IonSystems 10:8c0696b99692 63 if(par_port->read_bit(8)){
IonSystems 10:8c0696b99692 64 log("Red Button pressed");
IonSystems 10:8c0696b99692 65 stateMachine = SORT_RED;
IonSystems 10:8c0696b99692 66 processState(stateMachine);
IonSystems 10:8c0696b99692 67 }else if(par_port->read_bit(9)){
IonSystems 13:0661d658d9d1 68 log("Green Button pressed");
IonSystems 10:8c0696b99692 69 stateMachine = SORT_GREEN;
IonSystems 10:8c0696b99692 70 processState(stateMachine);
IonSystems 10:8c0696b99692 71 }else if(par_port->read_bit(10)){
IonSystems 10:8c0696b99692 72 log("Blue Button pressed");
IonSystems 10:8c0696b99692 73 stateMachine = SORT_BLUE;
IonSystems 10:8c0696b99692 74 processState(stateMachine);
IonSystems 10:8c0696b99692 75 }
IonSystems 11:06f6e82b40a8 76
IonSystems 13:0661d658d9d1 77 }else if(mode == 2){ //Bin/Recycle Mode
IonSystems 11:06f6e82b40a8 78 printLCD("Bin/Recycle Mode");
IonSystems 11:06f6e82b40a8 79 if(par_port->read_bit(8)){
IonSystems 11:06f6e82b40a8 80 log("Bin button pressed");
IonSystems 11:06f6e82b40a8 81 stateMachine = SORT_BIN;
IonSystems 11:06f6e82b40a8 82 processState(stateMachine);
IonSystems 11:06f6e82b40a8 83 }else if(par_port->read_bit(9)){
IonSystems 11:06f6e82b40a8 84 log("Recycle Button");
IonSystems 11:06f6e82b40a8 85 stateMachine = SORT_RECYCLE;
IonSystems 11:06f6e82b40a8 86 processState(stateMachine);
IonSystems 11:06f6e82b40a8 87 }
IonSystems 13:0661d658d9d1 88 }else if(mode == 3){ //Colour Sensing Mode
IonSystems 11:06f6e82b40a8 89 if(colourSensor){
IonSystems 11:06f6e82b40a8 90 Colour colour = readColourSensor();
IonSystems 13:0661d658d9d1 91 if(sorter) sort(colour); //Put (sorter && colour != BIN) in if statement.
IonSystems 11:06f6e82b40a8 92 }
IonSystems 13:0661d658d9d1 93 }else if(mode == 4){ //Card Reader Mode
IonSystems 12:814a8fdbb6f7 94 if(cardReader && cardDetect){
IonSystems 12:814a8fdbb6f7 95 cardAcquisition();
IonSystems 12:814a8fdbb6f7 96
IonSystems 12:814a8fdbb6f7 97 }
IonSystems 13:0661d658d9d1 98 }else if(mode == 5){ //Storage Mode
IonSystems 12:814a8fdbb6f7 99 stringstream ss;
IonSystems 12:814a8fdbb6f7 100 ss << "Stored Values " << "R:" << redAmount << "G:" << greenAmount << "B:" << blueAmount;
IonSystems 12:814a8fdbb6f7 101 string tmp = ss.str();
IonSystems 12:814a8fdbb6f7 102 printLCD(tmp.c_str());
IonSystems 12:814a8fdbb6f7 103 wait(0.1);
IonSystems 12:814a8fdbb6f7 104 if(par_port->read_bit(8)){
IonSystems 12:814a8fdbb6f7 105 log("Dispense all button pressed");
IonSystems 12:814a8fdbb6f7 106 stateMachine = DISPENSE_ALL;
IonSystems 12:814a8fdbb6f7 107 processState(stateMachine);
IonSystems 12:814a8fdbb6f7 108 }else if(par_port->read_bit(9)){
IonSystems 12:814a8fdbb6f7 109 log("Clear stored numbers button pressed");
IonSystems 12:814a8fdbb6f7 110 writeFile(0,0,0);
IonSystems 12:814a8fdbb6f7 111 redAmount = 0;greenAmount = 0;blueAmount = 0;
IonSystems 12:814a8fdbb6f7 112 printLCD("Cleared values");
IonSystems 12:814a8fdbb6f7 113
IonSystems 12:814a8fdbb6f7 114 }else if(par_port->read_bit(10)){
IonSystems 12:814a8fdbb6f7 115 log("set all stored values to 10");
IonSystems 13:0661d658d9d1 116 writeFile(2,2,2);
IonSystems 13:0661d658d9d1 117 redAmount = 2;greenAmount = 2;blueAmount = 2;
IonSystems 13:0661d658d9d1 118 printLCD("set values to 2");
IonSystems 12:814a8fdbb6f7 119
IonSystems 12:814a8fdbb6f7 120 }
IonSystems 13:0661d658d9d1 121 }else if(mode == 6){ //Maintenance Mode
IonSystems 13:0661d658d9d1 122 if(par_port->read_bit(8)){ //Next maintenance function
IonSystems 13:0661d658d9d1 123 maintenanceModePointer++;
IonSystems 13:0661d658d9d1 124 if(maintenanceModePointer > 12) maintenanceModePointer = 0;
IonSystems 13:0661d658d9d1 125 }else if(par_port->read_bit(9)){ //Previous maintenance function
IonSystems 13:0661d658d9d1 126 maintenanceModePointer--;
IonSystems 13:0661d658d9d1 127 if(maintenanceModePointer < 0) maintenanceModePointer = 12;
IonSystems 13:0661d658d9d1 128 }else if(par_port->read_bit(10)){ //Process Instruction
IonSystems 13:0661d658d9d1 129 switch(maintenanceModePointer){
IonSystems 13:0661d658d9d1 130 case 0://RB_LEFT:
IonSystems 13:0661d658d9d1 131 maintain(RB_LEFT);
IonSystems 13:0661d658d9d1 132 break;
IonSystems 13:0661d658d9d1 133
IonSystems 13:0661d658d9d1 134 case 1://RB_CENTRE:
IonSystems 13:0661d658d9d1 135 maintain(RB_CENTRE);
IonSystems 13:0661d658d9d1 136 break;
IonSystems 13:0661d658d9d1 137
IonSystems 13:0661d658d9d1 138 case 2://RB_RIGHT:
IonSystems 13:0661d658d9d1 139 maintain(RB_RIGHT);
IonSystems 13:0661d658d9d1 140 break;
IonSystems 13:0661d658d9d1 141
IonSystems 13:0661d658d9d1 142 case 3://GO_UP:
IonSystems 13:0661d658d9d1 143 maintain(GO_UP);
IonSystems 13:0661d658d9d1 144 break;
IonSystems 13:0661d658d9d1 145
IonSystems 13:0661d658d9d1 146 case 4://GO_CENTRE:
IonSystems 13:0661d658d9d1 147 maintain(GO_CENTRE);
IonSystems 13:0661d658d9d1 148 break;
IonSystems 13:0661d658d9d1 149
IonSystems 13:0661d658d9d1 150 case 5://GO_DOWN:
IonSystems 13:0661d658d9d1 151 maintain(GO_DOWN);
IonSystems 13:0661d658d9d1 152 break;
IonSystems 13:0661d658d9d1 153
IonSystems 13:0661d658d9d1 154 case 6://BR_LEFT:
IonSystems 13:0661d658d9d1 155 maintain(BR_LEFT);
IonSystems 13:0661d658d9d1 156 break;
IonSystems 13:0661d658d9d1 157
IonSystems 13:0661d658d9d1 158 case 7://BR_RIGHT:
IonSystems 13:0661d658d9d1 159 maintain(BR_RIGHT);
IonSystems 13:0661d658d9d1 160 break;
IonSystems 13:0661d658d9d1 161
IonSystems 13:0661d658d9d1 162 case 8://R_PUSH:
IonSystems 13:0661d658d9d1 163 maintain(R_PUSH);
IonSystems 13:0661d658d9d1 164 break;
IonSystems 13:0661d658d9d1 165
IonSystems 13:0661d658d9d1 166 case 9://R_HOME:
IonSystems 13:0661d658d9d1 167 maintain(R_HOME);
IonSystems 13:0661d658d9d1 168 break;
IonSystems 13:0661d658d9d1 169
IonSystems 13:0661d658d9d1 170 case 10://GB_LEFT:
IonSystems 13:0661d658d9d1 171 maintain(GB_LEFT);
IonSystems 13:0661d658d9d1 172 break;
IonSystems 13:0661d658d9d1 173
IonSystems 13:0661d658d9d1 174 case 11://GB_CENTRE:
IonSystems 13:0661d658d9d1 175 maintain(GB_CENTRE);
IonSystems 13:0661d658d9d1 176 break;
IonSystems 13:0661d658d9d1 177
IonSystems 13:0661d658d9d1 178 case 12://GB_RIGHT:
IonSystems 13:0661d658d9d1 179 maintain(GB_RIGHT);
IonSystems 13:0661d658d9d1 180 break;
IonSystems 13:0661d658d9d1 181
IonSystems 13:0661d658d9d1 182
IonSystems 13:0661d658d9d1 183
IonSystems 13:0661d658d9d1 184 }
IonSystems 13:0661d658d9d1 185 }
IonSystems 12:814a8fdbb6f7 186 }
IonSystems 9:8d78eb55ad5e 187 }
IonSystems 12:814a8fdbb6f7 188
IonSystems 12:814a8fdbb6f7 189
IonSystems 6:e64796f1f384 190
IonSystems 6:e64796f1f384 191 int main() {
IonSystems 12:814a8fdbb6f7 192
IonSystems 7:6ba00694f9cd 193 stateMachine = INITIALISING;
IonSystems 8:b7771391adc9 194 processState(stateMachine);
IonSystems 12:814a8fdbb6f7 195 readChipNumbers();
IonSystems 12:814a8fdbb6f7 196 printStoredChipValues();
IonSystems 12:814a8fdbb6f7 197 displayOperationMode();
IonSystems 8:b7771391adc9 198 while(true){
IonSystems 10:8c0696b99692 199 if(serialComms){
IonSystems 10:8c0696b99692 200 checkSerial();
IonSystems 12:814a8fdbb6f7 201 }if(testFunctions) checkSortDispenseButtons();
IonSystems 12:814a8fdbb6f7 202
IonSystems 11:06f6e82b40a8 203 wait(0.05);
IonSystems 12:814a8fdbb6f7 204
IonSystems 8:b7771391adc9 205 }
IonSystems 10:8c0696b99692 206 /*char c;
IonSystems 10:8c0696b99692 207 if(c = readCharacter()){
IonSystems 10:8c0696b99692 208 processMessage(c);
IonSystems 10:8c0696b99692 209 }*/
IonSystems 11:06f6e82b40a8 210
IonSystems 11:06f6e82b40a8 211
IonSystems 10:8c0696b99692 212 }
IonSystems 9:8d78eb55ad5e 213
IonSystems 9:8d78eb55ad5e 214
IonSystems 9:8d78eb55ad5e 215
IonSystems 8:b7771391adc9 216
IonSystems 8:b7771391adc9 217
IonSystems 8:b7771391adc9 218
IonSystems 8:b7771391adc9 219
IonSystems 8:b7771391adc9 220
IonSystems 8:b7771391adc9 221
IonSystems 8:b7771391adc9 222 //printStoredChipValues();
IonSystems 6:e64796f1f384 223 /*
IonSystems 0:8d54ffcf256e 224 while(1){
IonSystems 3:97668a4cd69d 225 if(par_port->read_bit(11)) resetForNextCustomer();
IonSystems 7:6ba00694f9cd 226
IonSystems 3:97668a4cd69d 227 if(cardDetect & !cardDataAcquired) cardAcquisition();
IonSystems 3:97668a4cd69d 228 setLEDs();
IonSystems 3:97668a4cd69d 229 readButtons();
IonSystems 3:97668a4cd69d 230
IonSystems 4:f3be545b3826 231 if(chipDetected & !colourDataAcquired){
IonSystems 4:f3be545b3826 232 Colour colour = readColourSensor();
IonSystems 4:f3be545b3826 233 sendColourSignal(colour);
IonSystems 4:f3be545b3826 234 }
IonSystems 4:f3be545b3826 235
IonSystems 5:644bca33c1ca 236 writeFile(redQueue, greenQueue, blueQueue);
IonSystems 4:f3be545b3826 237 readFile();
IonSystems 4:f3be545b3826 238 wait(2);
IonSystems 4:f3be545b3826 239
IonSystems 0:8d54ffcf256e 240 }
IonSystems 6:e64796f1f384 241 */
IonSystems 6:e64796f1f384 242
IonSystems 8:b7771391adc9 243 /* setLEDcolour(255,0,0);
IonSystems 6:e64796f1f384 244 wait(0.1);
IonSystems 6:e64796f1f384 245 setLEDcolour(0,255,0);
IonSystems 6:e64796f1f384 246 wait(0.1);
IonSystems 6:e64796f1f384 247 setLEDcolour(0,0,255);
IonSystems 6:e64796f1f384 248 wait(0.1);
IonSystems 6:e64796f1f384 249
IonSystems 8:b7771391adc9 250 displayOperationMode(); */
IonSystems 3:97668a4cd69d 251
IonSystems 10:8c0696b99692 252
IonSystems 10:8c0696b99692 253