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

FPGAcomms.h@15:0c5f20e15b6a, 2014-11-21 (annotated)

Committer:
IonSystems
Date:
Fri Nov 21 22:14:21 2014 +0000
Revision:
15:0c5f20e15b6a
Parent:
14:31ba3e56c788
Child:
17:6a0bb0ad5bb4
card object created and database object created for testing language emun created

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IonSystems 6:e64796f1f384 1 #include "mbed.h"
IonSystems 11:06f6e82b40a8 2 //#include "Colour.h"
IonSystems 11:06f6e82b40a8 3 #include "colourProcessing.h"
IonSystems 6:e64796f1f384 4 //Setup pins to FPGA
IonSystems 6:e64796f1f384 5 DigitalOut startSort(p5); //A positive edge tells the FPGA to start sorting.
IonSystems 10:8c0696b99692 6 DigitalIn sortComplete(p16);
IonSystems 6:e64796f1f384 7 /*
IonSystems 6:e64796f1f384 8 The command codes for the three sort select bits(ColourBit1 - ColourBit2)
IonSystems 6:e64796f1f384 9 000 Sort red chip
IonSystems 6:e64796f1f384 10 001 Sort green chip
IonSystems 6:e64796f1f384 11 010 Sort blue chip
IonSystems 6:e64796f1f384 12 011 Bin the chip
IonSystems 6:e64796f1f384 13 100 Recycle the chip
IonSystems 6:e64796f1f384 14 101 Nothing
IonSystems 6:e64796f1f384 15 110 Nothing
IonSystems 6:e64796f1f384 16 111 Nothing
IonSystems 6:e64796f1f384 17 */
IonSystems 6:e64796f1f384 18
IonSystems 6:e64796f1f384 19 DigitalOut colourBit1(p6); //The 3 bits below are select bits for the sorter.
IonSystems 6:e64796f1f384 20 DigitalOut colourBit2(p7);
IonSystems 6:e64796f1f384 21 DigitalOut colourBit3(p8);
IonSystems 9:8d78eb55ad5e 22 DigitalOut startDispense(p18); //A positive edge tells the FPGA to start dispensing. p9
IonSystems 6:e64796f1f384 23 /*
IonSystems 6:e64796f1f384 24 00 Dispense red chip
IonSystems 6:e64796f1f384 25 01 Dispense green chip
IonSystems 6:e64796f1f384 26 10 Dispense blue chip
IonSystems 6:e64796f1f384 27 11 Nothing
IonSystems 6:e64796f1f384 28 */
IonSystems 6:e64796f1f384 29
IonSystems 9:8d78eb55ad5e 30 DigitalOut dispenseBit1(p19); //The 2 bits below are select bits for the dispenser.p10
IonSystems 9:8d78eb55ad5e 31 DigitalOut dispenseBit2(p20); //p11
IonSystems 8:b7771391adc9 32
IonSystems 12:814a8fdbb6f7 33 DigitalIn dispenseComplete(p11); //FPGA sets to 1 once complete until another signal is recieved.
IonSystems 10:8c0696b99692 34 DigitalOut select(p15); //0 for control, 1 for maintenance.
IonSystems 10:8c0696b99692 35
IonSystems 12:814a8fdbb6f7 36
IonSystems 12:814a8fdbb6f7 37 void setMaintenanceSelect(bool bit6, bool bit5, bool bit4, bool bit3, bool bit2, bool bit1){
IonSystems 12:814a8fdbb6f7 38 startSort = bit1;
IonSystems 12:814a8fdbb6f7 39 colourBit1 = bit2;
IonSystems 12:814a8fdbb6f7 40 colourBit2 = bit3;
IonSystems 12:814a8fdbb6f7 41 colourBit3 = bit4;
IonSystems 12:814a8fdbb6f7 42 startDispense = bit5;
IonSystems 12:814a8fdbb6f7 43 dispenseBit1 = bit6;
IonSystems 12:814a8fdbb6f7 44 }
IonSystems 12:814a8fdbb6f7 45
IonSystems 12:814a8fdbb6f7 46 void setMaintenanceStart(bool value){
IonSystems 12:814a8fdbb6f7 47 dispenseBit2 = value;
IonSystems 12:814a8fdbb6f7 48 }
IonSystems 12:814a8fdbb6f7 49 void waitForMaintenanceComplete(){
IonSystems 12:814a8fdbb6f7 50 while(!sortComplete){
IonSystems 14:31ba3e56c788 51 printLCD("Waiting for REC");
IonSystems 12:814a8fdbb6f7 52 wait(0.1);
IonSystems 12:814a8fdbb6f7 53 }
IonSystems 12:814a8fdbb6f7 54 }
IonSystems 12:814a8fdbb6f7 55 void maintain(StateMachine maintainState){
IonSystems 12:814a8fdbb6f7 56 select = 1; //setting FPGA to maintenance mode.
IonSystems 12:814a8fdbb6f7 57 setMaintenanceSelect(true,true,true,true,true,true);
IonSystems 12:814a8fdbb6f7 58 switch(maintainState){
IonSystems 12:814a8fdbb6f7 59 case RB_LEFT:
IonSystems 12:814a8fdbb6f7 60 setMaintenanceSelect(false,false,false,true,false,true);
IonSystems 12:814a8fdbb6f7 61 break;
IonSystems 12:814a8fdbb6f7 62 case RB_CENTRE:
IonSystems 12:814a8fdbb6f7 63 setMaintenanceSelect(false,false,false,true,true,false);
IonSystems 12:814a8fdbb6f7 64 break;
IonSystems 12:814a8fdbb6f7 65 case RB_RIGHT:
IonSystems 12:814a8fdbb6f7 66 setMaintenanceSelect(false,false,false,true,true,true);
IonSystems 12:814a8fdbb6f7 67 break;
IonSystems 12:814a8fdbb6f7 68 case GO_UP:
IonSystems 12:814a8fdbb6f7 69 setMaintenanceSelect(false,false,true,false,false,false);
IonSystems 12:814a8fdbb6f7 70 break;
IonSystems 12:814a8fdbb6f7 71 case GO_CENTRE:
IonSystems 12:814a8fdbb6f7 72 setMaintenanceSelect(false,false,true,false,false,true);
IonSystems 12:814a8fdbb6f7 73 break;
IonSystems 12:814a8fdbb6f7 74 case GO_DOWN:
IonSystems 12:814a8fdbb6f7 75 setMaintenanceSelect(false,false,true,false,true,false);
IonSystems 12:814a8fdbb6f7 76 break;
IonSystems 12:814a8fdbb6f7 77 case BR_LEFT:
IonSystems 12:814a8fdbb6f7 78 setMaintenanceSelect(false,false,true,false,true,true);
IonSystems 12:814a8fdbb6f7 79 break;
IonSystems 12:814a8fdbb6f7 80 case BR_RIGHT:
IonSystems 12:814a8fdbb6f7 81 setMaintenanceSelect(false,false,true,true,false,false);
IonSystems 12:814a8fdbb6f7 82 break;
IonSystems 12:814a8fdbb6f7 83 case R_PUSH:
IonSystems 12:814a8fdbb6f7 84 setMaintenanceSelect(false,false,true,true,false,true);
IonSystems 12:814a8fdbb6f7 85 break;
IonSystems 14:31ba3e56c788 86 default:
IonSystems 14:31ba3e56c788 87 log("Incorrect maintenance command recieved");
IonSystems 14:31ba3e56c788 88 printLCD("Incorrect maintenance command recieved");
IonSystems 14:31ba3e56c788 89 break;
IonSystems 12:814a8fdbb6f7 90 }
IonSystems 12:814a8fdbb6f7 91 setMaintenanceStart(true);//Bit 7
IonSystems 12:814a8fdbb6f7 92 waitForMaintenanceComplete();
IonSystems 15:0c5f20e15b6a 93 wait(0.5);
IonSystems 12:814a8fdbb6f7 94 setMaintenanceStart(false);
IonSystems 12:814a8fdbb6f7 95 }
IonSystems 12:814a8fdbb6f7 96
IonSystems 12:814a8fdbb6f7 97
IonSystems 10:8c0696b99692 98 void dispense(Colour colour){
IonSystems 13:0661d658d9d1 99
IonSystems 12:814a8fdbb6f7 100 bool validDispense = false;
IonSystems 10:8c0696b99692 101 select = 0; //Setting to operation mode just in case it has not been set.
IonSystems 10:8c0696b99692 102 dispenseBit1 = true;
IonSystems 10:8c0696b99692 103 dispenseBit2 = true;
IonSystems 14:31ba3e56c788 104 /* A dispense operation can only take place if there are more than zero chips
IonSystems 14:31ba3e56c788 105 */
IonSystems 10:8c0696b99692 106 switch(colour){
IonSystems 10:8c0696b99692 107 case RED:
IonSystems 14:31ba3e56c788 108 if(redAmount > 0 || operationMode == false){
IonSystems 12:814a8fdbb6f7 109 log("RED");
IonSystems 12:814a8fdbb6f7 110 log("Setting dispense bits to 00");
IonSystems 12:814a8fdbb6f7 111 dispenseBit1 = false;
IonSystems 12:814a8fdbb6f7 112 dispenseBit2 = false;
IonSystems 12:814a8fdbb6f7 113 redAmount--;
IonSystems 12:814a8fdbb6f7 114 validDispense = true;
IonSystems 12:814a8fdbb6f7 115 }
IonSystems 10:8c0696b99692 116 break;
IonSystems 10:8c0696b99692 117 case GREEN:
IonSystems 12:814a8fdbb6f7 118 if(greenAmount > 0 || operationMode == false){
IonSystems 12:814a8fdbb6f7 119 log("GREEN");
IonSystems 12:814a8fdbb6f7 120 log("Setting dispense bits to 10");
IonSystems 12:814a8fdbb6f7 121 dispenseBit1 = true;
IonSystems 12:814a8fdbb6f7 122 dispenseBit2 = false;
IonSystems 12:814a8fdbb6f7 123 greenAmount--;
IonSystems 12:814a8fdbb6f7 124 validDispense = true;
IonSystems 12:814a8fdbb6f7 125 }
IonSystems 10:8c0696b99692 126 break;
IonSystems 10:8c0696b99692 127 case BLUE:
IonSystems 12:814a8fdbb6f7 128 if(blueAmount > 0 || operationMode == false){
IonSystems 10:8c0696b99692 129 log("BLUE");
IonSystems 10:8c0696b99692 130 log("Setting dispense bits to 01");
IonSystems 10:8c0696b99692 131 dispenseBit1 = false;
IonSystems 10:8c0696b99692 132 dispenseBit2 = true;
IonSystems 12:814a8fdbb6f7 133 blueAmount--;
IonSystems 12:814a8fdbb6f7 134 validDispense = true;
IonSystems 12:814a8fdbb6f7 135 }
IonSystems 10:8c0696b99692 136 break;
IonSystems 14:31ba3e56c788 137
IonSystems 14:31ba3e56c788 138 }writeFile(redAmount,greenAmount,blueAmount);
IonSystems 10:8c0696b99692 139
IonSystems 12:814a8fdbb6f7 140 if(validDispense || operationMode == false){
IonSystems 10:8c0696b99692 141 log("Setting start dispense to true");
IonSystems 10:8c0696b99692 142 startDispense = true; //set the startDispense line high.
IonSystems 10:8c0696b99692 143
IonSystems 10:8c0696b99692 144
IonSystems 10:8c0696b99692 145 //wait(1); //temporary delay
IonSystems 10:8c0696b99692 146 while(!dispenseComplete){
IonSystems 11:06f6e82b40a8 147 wait(0.2);
IonSystems 10:8c0696b99692 148 log("Waiting for dispense complete");
IonSystems 10:8c0696b99692 149 printLCD("Waiting for dispense complete");
IonSystems 10:8c0696b99692 150 }
IonSystems 10:8c0696b99692 151
IonSystems 12:814a8fdbb6f7 152 wait(0.6);
IonSystems 10:8c0696b99692 153 log("Complete");
IonSystems 10:8c0696b99692 154 log("Setting start dispense to false");
IonSystems 10:8c0696b99692 155 startDispense = false;
IonSystems 10:8c0696b99692 156
IonSystems 10:8c0696b99692 157 log("Resetting dispense bits to 11");
IonSystems 10:8c0696b99692 158 dispenseBit1 = true; //reset the dispense select to do nothing
IonSystems 10:8c0696b99692 159 dispenseBit2 = true; //reset the dispense select to do nothing
IonSystems 10:8c0696b99692 160
IonSystems 10:8c0696b99692 161
IonSystems 10:8c0696b99692 162
IonSystems 10:8c0696b99692 163 printLCD("DISPENSE COMPLETE");
IonSystems 13:0661d658d9d1 164
IonSystems 12:814a8fdbb6f7 165 }
IonSystems 10:8c0696b99692 166 }
IonSystems 14:31ba3e56c788 167 void dispenseOrder(int r, int g, int b){
IonSystems 14:31ba3e56c788 168 for(int i = r; r >= 0;i--){
IonSystems 14:31ba3e56c788 169 dispense(RED);
IonSystems 14:31ba3e56c788 170 }
IonSystems 14:31ba3e56c788 171 for(int i = g; i >= 0;i--){
IonSystems 15:0c5f20e15b6a 172 dispense(GREEN);
IonSystems 15:0c5f20e15b6a 173 }
IonSystems 15:0c5f20e15b6a 174 for(int i = g; i >= 0;i--){
IonSystems 15:0c5f20e15b6a 175 dispense(BLUE);
IonSystems 14:31ba3e56c788 176 }
IonSystems 14:31ba3e56c788 177 }
IonSystems 10:8c0696b99692 178 void sort(Colour colour){
IonSystems 13:0661d658d9d1 179 if(colour == NONE){
IonSystems 13:0661d658d9d1 180 return;
IonSystems 13:0661d658d9d1 181 }else{
IonSystems 10:8c0696b99692 182 select = 0; //Setting to operation mode just in case it has not been set.
IonSystems 10:8c0696b99692 183 colourBit1 = true;
IonSystems 10:8c0696b99692 184 colourBit2 = true;
IonSystems 10:8c0696b99692 185 colourBit3 = true;
IonSystems 10:8c0696b99692 186 switch(colour){
IonSystems 10:8c0696b99692 187 case RED:
IonSystems 10:8c0696b99692 188 log("Sort RED");
IonSystems 10:8c0696b99692 189 log("Setting sort bits to 000");
IonSystems 10:8c0696b99692 190 colourBit1 = false;
IonSystems 10:8c0696b99692 191 colourBit2 = false;
IonSystems 10:8c0696b99692 192 colourBit3 = false;
IonSystems 12:814a8fdbb6f7 193 redAmount++;
IonSystems 10:8c0696b99692 194 break;
IonSystems 10:8c0696b99692 195 case GREEN:
IonSystems 10:8c0696b99692 196 log("Sort GREEN");
IonSystems 10:8c0696b99692 197 log("Setting sort bits to 001");
IonSystems 10:8c0696b99692 198 colourBit1 = true;
IonSystems 10:8c0696b99692 199 colourBit2 = false;
IonSystems 10:8c0696b99692 200 colourBit3 = false;
IonSystems 12:814a8fdbb6f7 201 greenAmount++;
IonSystems 10:8c0696b99692 202 break;
IonSystems 10:8c0696b99692 203 case BLUE:
IonSystems 10:8c0696b99692 204 log("Sort BLUE");
IonSystems 10:8c0696b99692 205 log("Setting sort bits to 010");
IonSystems 10:8c0696b99692 206 colourBit1 = false;
IonSystems 10:8c0696b99692 207 colourBit2 = true;
IonSystems 10:8c0696b99692 208 colourBit3 = false;
IonSystems 12:814a8fdbb6f7 209 blueAmount++;
IonSystems 10:8c0696b99692 210 break;
IonSystems 11:06f6e82b40a8 211 case BIN:
IonSystems 11:06f6e82b40a8 212 log("Sort BIN");
IonSystems 11:06f6e82b40a8 213 log("Setting sort bits to 011");
IonSystems 11:06f6e82b40a8 214 colourBit1 = true;
IonSystems 11:06f6e82b40a8 215 colourBit2 = true;
IonSystems 11:06f6e82b40a8 216 colourBit3 = false;
IonSystems 11:06f6e82b40a8 217 break;
IonSystems 11:06f6e82b40a8 218 case RECYCLE:
IonSystems 11:06f6e82b40a8 219 log("Recycle");
IonSystems 11:06f6e82b40a8 220 log("Setting sort bits to 100");
IonSystems 11:06f6e82b40a8 221 colourBit1 = false;
IonSystems 11:06f6e82b40a8 222 colourBit2 = false;
IonSystems 11:06f6e82b40a8 223 colourBit3 = true;
IonSystems 11:06f6e82b40a8 224 break;
IonSystems 10:8c0696b99692 225 }
IonSystems 10:8c0696b99692 226
IonSystems 10:8c0696b99692 227
IonSystems 10:8c0696b99692 228 log("Setting start sort to true");
IonSystems 10:8c0696b99692 229 startSort = true; //set the startDispense line high.
IonSystems 10:8c0696b99692 230
IonSystems 10:8c0696b99692 231
IonSystems 10:8c0696b99692 232 //wait(1); //temporary delay
IonSystems 10:8c0696b99692 233 while(!sortComplete){
IonSystems 11:06f6e82b40a8 234 wait(0.5);
IonSystems 10:8c0696b99692 235 log("Waiting for sort complete");
IonSystems 10:8c0696b99692 236 printLCD("Waiting for sort complete");
IonSystems 10:8c0696b99692 237 }
IonSystems 10:8c0696b99692 238
IonSystems 10:8c0696b99692 239
IonSystems 10:8c0696b99692 240 log("Complete");
IonSystems 12:814a8fdbb6f7 241 wait(0.6);
IonSystems 10:8c0696b99692 242 log("Setting start sort to false");
IonSystems 11:06f6e82b40a8 243 startSort = false;
IonSystems 10:8c0696b99692 244
IonSystems 10:8c0696b99692 245 log("Resetting dispense bits to 11");
IonSystems 10:8c0696b99692 246 colourBit1 = true; //reset the dispense select to do nothing
IonSystems 10:8c0696b99692 247 colourBit2 = true; //reset the dispense select to do nothing
IonSystems 10:8c0696b99692 248 colourBit3 = true;
IonSystems 10:8c0696b99692 249 printLCD("SORT COMPLETE");
IonSystems 12:814a8fdbb6f7 250 writeFile(redAmount,greenAmount,blueAmount);
IonSystems 13:0661d658d9d1 251 }
IonSystems 12:814a8fdbb6f7 252 }
IonSystems 12:814a8fdbb6f7 253
IonSystems 12:814a8fdbb6f7 254 void dispenseAll(){
IonSystems 12:814a8fdbb6f7 255 int red = redAmount;
IonSystems 12:814a8fdbb6f7 256 int green = greenAmount;
IonSystems 12:814a8fdbb6f7 257 int blue = blueAmount;
IonSystems 12:814a8fdbb6f7 258 for(int r = 0;r < red;r++){
IonSystems 12:814a8fdbb6f7 259 dispense(RED);
IonSystems 12:814a8fdbb6f7 260 wait(0.5);
IonSystems 12:814a8fdbb6f7 261 }redAmount = 0;
IonSystems 12:814a8fdbb6f7 262
IonSystems 12:814a8fdbb6f7 263 for(int g = 0;g < green;g++){
IonSystems 12:814a8fdbb6f7 264 dispense(GREEN);
IonSystems 12:814a8fdbb6f7 265 wait(0.5);
IonSystems 12:814a8fdbb6f7 266 }greenAmount = 0;
IonSystems 12:814a8fdbb6f7 267
IonSystems 12:814a8fdbb6f7 268 for(int b = 0;b < blue;b++){
IonSystems 12:814a8fdbb6f7 269 dispense(BLUE);
IonSystems 12:814a8fdbb6f7 270 wait(0.5);
IonSystems 12:814a8fdbb6f7 271 }blueAmount = 0;
IonSystems 12:814a8fdbb6f7 272 writeFile(redAmount,greenAmount,blueAmount);
IonSystems 12:814a8fdbb6f7 273 }