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

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

Committer:
IonSystems
Date:
Fri Nov 21 22:14:21 2014 +0000
Revision:
15:0c5f20e15b6a
Parent:
12:814a8fdbb6f7
Child:
18:12e2c82a5a6c
card object created and database object created for testing language emun created

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IonSystems 10:8c0696b99692 1 #include "cardReader.h"
IonSystems 10:8c0696b99692 2
IonSystems 10:8c0696b99692 3
IonSystems 10:8c0696b99692 4
IonSystems 10:8c0696b99692 5 Serial pc(USBTX, USBRX);
IonSystems 10:8c0696b99692 6 /* valueToChar(int value):
IonSystems 10:8c0696b99692 7 Expects an int value what it 0 or 1.
IonSystems 10:8c0696b99692 8 Returns the int value as a char.
IonSystems 10:8c0696b99692 9 0 will return '0'
IonSystems 10:8c0696b99692 10 1 will return '1'
IonSystems 10:8c0696b99692 11 Used to read the bits in the card reader.
IonSystems 10:8c0696b99692 12 */
IonSystems 10:8c0696b99692 13 char valueToChar(int value){
IonSystems 10:8c0696b99692 14 if(value == 0){
IonSystems 10:8c0696b99692 15 return '0';
IonSystems 10:8c0696b99692 16 }else if(value == 1){
IonSystems 10:8c0696b99692 17 return '1';
IonSystems 10:8c0696b99692 18 }else{
IonSystems 10:8c0696b99692 19 return NULL;
IonSystems 10:8c0696b99692 20 }
IonSystems 10:8c0696b99692 21 }
IonSystems 10:8c0696b99692 22
IonSystems 10:8c0696b99692 23 void sendCharacter(char ch){
IonSystems 10:8c0696b99692 24 pc.putc(ch);
IonSystems 10:8c0696b99692 25 }
IonSystems 10:8c0696b99692 26
IonSystems 10:8c0696b99692 27 void sendString(char* ch){
IonSystems 10:8c0696b99692 28 pc.puts(ch);
IonSystems 10:8c0696b99692 29 }
IonSystems 10:8c0696b99692 30
IonSystems 10:8c0696b99692 31
IonSystems 6:e64796f1f384 32 char readBit(int bitNumber){
IonSystems 6:e64796f1f384 33 int value = 0;
IonSystems 6:e64796f1f384 34 switch(bitNumber){
IonSystems 6:e64796f1f384 35 case 1:
IonSystems 6:e64796f1f384 36 value = cardBit1;
IonSystems 6:e64796f1f384 37 break;
IonSystems 6:e64796f1f384 38 case 2:
IonSystems 6:e64796f1f384 39 value = cardBit2;
IonSystems 6:e64796f1f384 40 break;
IonSystems 6:e64796f1f384 41 case 3:
IonSystems 6:e64796f1f384 42 value = cardBit3;
IonSystems 6:e64796f1f384 43 break;
IonSystems 6:e64796f1f384 44 case 4:
IonSystems 6:e64796f1f384 45 value = cardBit4;
IonSystems 6:e64796f1f384 46 break;
IonSystems 6:e64796f1f384 47 case 5:
IonSystems 6:e64796f1f384 48 value = cardBit5;
IonSystems 6:e64796f1f384 49 break;
IonSystems 6:e64796f1f384 50 case 6:
IonSystems 6:e64796f1f384 51 value = cardBit6;
IonSystems 6:e64796f1f384 52 break;
IonSystems 6:e64796f1f384 53 }
IonSystems 6:e64796f1f384 54 return valueToChar(value);
IonSystems 10:8c0696b99692 55 }
IonSystems 10:8c0696b99692 56 void processState(StateMachine stateMachine){
IonSystems 10:8c0696b99692 57 switch(stateMachine){
IonSystems 10:8c0696b99692 58 case INITIALISING:
IonSystems 10:8c0696b99692 59 setupLCD();
IonSystems 10:8c0696b99692 60 printLCD("Welcome to the Chipin Sorter");
IonSystems 10:8c0696b99692 61 wait(1);
IonSystems 10:8c0696b99692 62 break;
IonSystems 10:8c0696b99692 63 case READING_RGB_VALUES:
IonSystems 10:8c0696b99692 64 readChipNumbers();
IonSystems 10:8c0696b99692 65 break;
IonSystems 10:8c0696b99692 66 case DISPENSE_RED:
IonSystems 10:8c0696b99692 67 dispense(RED);
IonSystems 10:8c0696b99692 68 break;
IonSystems 10:8c0696b99692 69 case DISPENSE_GREEN:
IonSystems 10:8c0696b99692 70 dispense(GREEN);
IonSystems 10:8c0696b99692 71 break;
IonSystems 10:8c0696b99692 72 case DISPENSE_BLUE:
IonSystems 10:8c0696b99692 73 dispense(BLUE);
IonSystems 10:8c0696b99692 74 break;
IonSystems 10:8c0696b99692 75 case SORT_RED:
IonSystems 10:8c0696b99692 76 sort(RED);
IonSystems 10:8c0696b99692 77 break;
IonSystems 10:8c0696b99692 78 case SORT_GREEN:
IonSystems 10:8c0696b99692 79 sort(GREEN);
IonSystems 10:8c0696b99692 80 break;
IonSystems 10:8c0696b99692 81 case SORT_BLUE:
IonSystems 10:8c0696b99692 82 sort(BLUE);
IonSystems 10:8c0696b99692 83 break;
IonSystems 10:8c0696b99692 84 case SORT_BIN:
IonSystems 10:8c0696b99692 85 sort(BIN);
IonSystems 10:8c0696b99692 86 break;
IonSystems 10:8c0696b99692 87 case SORT_RECYCLE:
IonSystems 10:8c0696b99692 88 sort(RECYCLE);
IonSystems 10:8c0696b99692 89 break;
IonSystems 12:814a8fdbb6f7 90 case DISPENSE_ALL:
IonSystems 12:814a8fdbb6f7 91 dispenseAll();
IonSystems 12:814a8fdbb6f7 92 break;
IonSystems 10:8c0696b99692 93 /* case WAITING_FOR_ACK:
IonSystems 10:8c0696b99692 94 checkSerial();
IonSystems 10:8c0696b99692 95 break;
IonSystems 10:8c0696b99692 96 case WAITING_FOR_CHAR:
IonSystems 10:8c0696b99692 97 log("About to check serial");
IonSystems 10:8c0696b99692 98 printLCD("WAITING_FOR_CHAR");
IonSystems 10:8c0696b99692 99 checkSerial();
IonSystems 10:8c0696b99692 100 break;*/
IonSystems 10:8c0696b99692 101
IonSystems 6:e64796f1f384 102 }
IonSystems 10:8c0696b99692 103 }
IonSystems 12:814a8fdbb6f7 104
IonSystems 12:814a8fdbb6f7 105
IonSystems 6:e64796f1f384 106
IonSystems 10:8c0696b99692 107
IonSystems 10:8c0696b99692 108 void processMessage(char c){
IonSystems 6:e64796f1f384 109 switch(c){
IonSystems 10:8c0696b99692 110 case 'a' : //Dispense red
IonSystems 10:8c0696b99692 111 dispense(RED);
IonSystems 10:8c0696b99692 112 sendCharacter('A');
IonSystems 6:e64796f1f384 113 break;
IonSystems 10:8c0696b99692 114 case 'b' : //dispense green
IonSystems 10:8c0696b99692 115 dispense(GREEN);
IonSystems 10:8c0696b99692 116 sendCharacter('B');
IonSystems 6:e64796f1f384 117 break;
IonSystems 10:8c0696b99692 118 case 'c': //dispense blue
IonSystems 10:8c0696b99692 119 dispense(BLUE);
IonSystems 10:8c0696b99692 120 sendCharacter('C');
IonSystems 6:e64796f1f384 121 break;
IonSystems 6:e64796f1f384 122 case 'C':// Read card command
IonSystems 6:e64796f1f384 123 sendCharacter('R'); //Notify PC that command has been recieved
IonSystems 6:e64796f1f384 124 printLCD("Reading Card");
IonSystems 6:e64796f1f384 125 //read card here
IonSystems 6:e64796f1f384 126 char value = ' ';
IonSystems 6:e64796f1f384 127 for(int num = 1;num <= 6;num++){
IonSystems 6:e64796f1f384 128 value = readBit(num);
IonSystems 6:e64796f1f384 129 // sendCharacter('R');
IonSystems 6:e64796f1f384 130 sendCharacter(value);
IonSystems 6:e64796f1f384 131 printLCD("Bit read");
IonSystems 6:e64796f1f384 132 //wait(0.1);
IonSystems 6:e64796f1f384 133 }
IonSystems 6:e64796f1f384 134 sendCharacter('C'); //Tells PC that the card has been read
IonSystems 6:e64796f1f384 135 printLCD("Card read done");
IonSystems 6:e64796f1f384 136 break;
IonSystems 6:e64796f1f384 137 case 'X':
IonSystems 6:e64796f1f384 138 sendCharacter('X'); //Notify the PC that this is an MBED
IonSystems 6:e64796f1f384 139 printLCD("Connected to PC");
IonSystems 6:e64796f1f384 140 break;
IonSystems 6:e64796f1f384 141 case 'd': //Dispense a chip
IonSystems 6:e64796f1f384 142 sendCharacter('D');
IonSystems 6:e64796f1f384 143 printLCD("Dispensing chip");
IonSystems 6:e64796f1f384 144
IonSystems 6:e64796f1f384 145 //read from color sensor
IonSystems 6:e64796f1f384 146 //convert readings to colour
IonSystems 6:e64796f1f384 147 //convert colour to 3-bit colour code
IonSystems 6:e64796f1f384 148 //set the FPGA colour inputs to the colour code
IonSystems 6:e64796f1f384 149 startSort = true;
IonSystems 6:e64796f1f384 150 break;
IonSystems 10:8c0696b99692 151
IonSystems 12:814a8fdbb6f7 152 case 'o': //testServoredBlueLeft
IonSystems 12:814a8fdbb6f7 153 maintain(RB_LEFT);
IonSystems 12:814a8fdbb6f7 154 sendCharacter('O');
IonSystems 10:8c0696b99692 155 break;
IonSystems 10:8c0696b99692 156
IonSystems 10:8c0696b99692 157 case 'p':
IonSystems 12:814a8fdbb6f7 158 maintain(RB_CENTRE);
IonSystems 12:814a8fdbb6f7 159 sendCharacter('P');
IonSystems 10:8c0696b99692 160 break;
IonSystems 10:8c0696b99692 161
IonSystems 10:8c0696b99692 162 case 'q':
IonSystems 12:814a8fdbb6f7 163 maintain(RB_RIGHT);
IonSystems 12:814a8fdbb6f7 164 sendCharacter('O');
IonSystems 10:8c0696b99692 165 break;
IonSystems 10:8c0696b99692 166
IonSystems 10:8c0696b99692 167 case 's':
IonSystems 12:814a8fdbb6f7 168 maintain(GO_UP);
IonSystems 12:814a8fdbb6f7 169 sendCharacter('S');
IonSystems 10:8c0696b99692 170 break;
IonSystems 10:8c0696b99692 171
IonSystems 10:8c0696b99692 172 case 't':
IonSystems 12:814a8fdbb6f7 173 maintain(GO_CENTRE);
IonSystems 12:814a8fdbb6f7 174 sendCharacter('T');
IonSystems 10:8c0696b99692 175 break;
IonSystems 10:8c0696b99692 176
IonSystems 10:8c0696b99692 177 case 'u':
IonSystems 12:814a8fdbb6f7 178 maintain(GO_DOWN);
IonSystems 12:814a8fdbb6f7 179 sendCharacter('U');
IonSystems 10:8c0696b99692 180 break;
IonSystems 10:8c0696b99692 181
IonSystems 10:8c0696b99692 182
IonSystems 10:8c0696b99692 183
IonSystems 10:8c0696b99692 184 case 'v':
IonSystems 12:814a8fdbb6f7 185 maintain(BR_LEFT);
IonSystems 12:814a8fdbb6f7 186 sendCharacter('V');
IonSystems 10:8c0696b99692 187 break;
IonSystems 10:8c0696b99692 188
IonSystems 10:8c0696b99692 189 case 'w':
IonSystems 12:814a8fdbb6f7 190 maintain(BR_LEFT);
IonSystems 12:814a8fdbb6f7 191 sendCharacter('O');
IonSystems 10:8c0696b99692 192 break;
IonSystems 10:8c0696b99692 193 case 'j':
IonSystems 10:8c0696b99692 194 sort(RED);
IonSystems 10:8c0696b99692 195 sendCharacter('J');
IonSystems 10:8c0696b99692 196 break;
IonSystems 10:8c0696b99692 197 case 'k':
IonSystems 10:8c0696b99692 198 sort(GREEN);
IonSystems 10:8c0696b99692 199 sendCharacter('K');
IonSystems 10:8c0696b99692 200 break;
IonSystems 10:8c0696b99692 201 case 'l':
IonSystems 10:8c0696b99692 202 sort(BLUE);
IonSystems 10:8c0696b99692 203 sendCharacter('L');
IonSystems 10:8c0696b99692 204 break;
IonSystems 10:8c0696b99692 205
IonSystems 12:814a8fdbb6f7 206 case '{': //Dispense all
IonSystems 12:814a8fdbb6f7 207 dispenseAll();
IonSystems 12:814a8fdbb6f7 208 sendCharacter('}');
IonSystems 12:814a8fdbb6f7 209 break;
IonSystems 10:8c0696b99692 210
IonSystems 10:8c0696b99692 211
IonSystems 10:8c0696b99692 212
IonSystems 10:8c0696b99692 213
IonSystems 10:8c0696b99692 214
IonSystems 10:8c0696b99692 215
IonSystems 10:8c0696b99692 216
IonSystems 10:8c0696b99692 217
IonSystems 10:8c0696b99692 218
IonSystems 10:8c0696b99692 219
IonSystems 10:8c0696b99692 220
IonSystems 10:8c0696b99692 221 /*case 't'://Test 180 servo
IonSystems 6:e64796f1f384 222 sendCharacter('T');
IonSystems 6:e64796f1f384 223 printLCD("Servo signal on");
IonSystems 6:e64796f1f384 224 servoTest = true;
IonSystems 6:e64796f1f384 225 break;
IonSystems 6:e64796f1f384 226 case 'w'://Test 180 servo
IonSystems 6:e64796f1f384 227 sendCharacter('W');
IonSystems 6:e64796f1f384 228 printLCD("Servo signal off");
IonSystems 6:e64796f1f384 229 servoTest = false;
IonSystems 10:8c0696b99692 230 break;*/
IonSystems 10:8c0696b99692 231 }
IonSystems 10:8c0696b99692 232 }
IonSystems 6:e64796f1f384 233
IonSystems 10:8c0696b99692 234 /*else if (operationMode){
IonSystems 6:e64796f1f384 235 switch(c){
IonSystems 6:e64796f1f384 236 case 'n':// Start sorting
IonSystems 6:e64796f1f384 237 sendCharacter('N'); //Confirm to PC that we are processing the instruction.
IonSystems 6:e64796f1f384 238 startSort = true; //Pulse the startSort control line to FPGA
IonSystems 6:e64796f1f384 239 wait(0.1);
IonSystems 6:e64796f1f384 240 startSort = false;
IonSystems 6:e64796f1f384 241 break;
IonSystems 6:e64796f1f384 242 case 'o': //Start dispensing
IonSystems 6:e64796f1f384 243 sendCharacter('O');
IonSystems 6:e64796f1f384 244 startDispense = true; //Pulse the startDispense control line to FPGA
IonSystems 6:e64796f1f384 245 wait(0.1);
IonSystems 6:e64796f1f384 246 startDispense = false;
IonSystems 6:e64796f1f384 247 break;
IonSystems 6:e64796f1f384 248 case 'p': //
IonSystems 6:e64796f1f384 249 sendCharacter('P');
IonSystems 6:e64796f1f384 250 break;
IonSystems 6:e64796f1f384 251 }
IonSystems 6:e64796f1f384 252 }
IonSystems 10:8c0696b99692 253 }*/
IonSystems 10:8c0696b99692 254 bool checkSerial(){
IonSystems 10:8c0696b99692 255 log("Checking serial");
IonSystems 10:8c0696b99692 256 printLCD("");
IonSystems 10:8c0696b99692 257 if(pc.readable()){
IonSystems 10:8c0696b99692 258 log("serial port is readable, reading char and processing");
IonSystems 10:8c0696b99692 259 char c = pc.getc();
IonSystems 10:8c0696b99692 260 processMessage(c);
IonSystems 10:8c0696b99692 261 return true;
IonSystems 10:8c0696b99692 262 }else{
IonSystems 10:8c0696b99692 263 log("serial port not readable, doing nothing");
IonSystems 10:8c0696b99692 264 return false;
IonSystems 10:8c0696b99692 265 }
IonSystems 6:e64796f1f384 266 }
IonSystems 10:8c0696b99692 267 bool readCharacter(){
IonSystems 10:8c0696b99692 268 char c = pc.getc(); //wait for a serial character to be recieved.
IonSystems 10:8c0696b99692 269 processMessage(c); //Do something, based on the character recieved.
IonSystems 10:8c0696b99692 270 return true;
IonSystems 6:e64796f1f384 271 }
IonSystems 15:0c5f20e15b6a 272 /* Set the PC's laguage to whatever our language is
IonSystems 15:0c5f20e15b6a 273 */
IonSystems 15:0c5f20e15b6a 274 void sendLanguageCharacter(){
IonSystems 15:0c5f20e15b6a 275 switch(currentLanguage){
IonSystems 15:0c5f20e15b6a 276 case ENGLISH:
IonSystems 15:0c5f20e15b6a 277 printLCD("Setting language to English");
IonSystems 15:0c5f20e15b6a 278 sendCharacter('Y');
IonSystems 15:0c5f20e15b6a 279 printLCD("Language set to English");
IonSystems 15:0c5f20e15b6a 280 break;
IonSystems 15:0c5f20e15b6a 281
IonSystems 15:0c5f20e15b6a 282 case FRENCH:
IonSystems 15:0c5f20e15b6a 283 printLCD("Setting language to French");
IonSystems 15:0c5f20e15b6a 284 sendCharacter('Z');
IonSystems 15:0c5f20e15b6a 285 printLCD("Language set to French");
IonSystems 15:0c5f20e15b6a 286 break;
IonSystems 15:0c5f20e15b6a 287
IonSystems 15:0c5f20e15b6a 288 case GERMAN:
IonSystems 15:0c5f20e15b6a 289 printLCD("Setting language to German");
IonSystems 15:0c5f20e15b6a 290 sendCharacter('!');
IonSystems 15:0c5f20e15b6a 291 printLCD("Language set to German");
IonSystems 15:0c5f20e15b6a 292 break;
IonSystems 15:0c5f20e15b6a 293 }
IonSystems 15:0c5f20e15b6a 294 }
IonSystems 6:e64796f1f384 295
IonSystems 10:8c0696b99692 296