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@14:31ba3e56c788, 2014-11-20 (annotated)

Committer:
IonSystems
Date:
Thu Nov 20 22:02:54 2014 +0000
Revision:
14:31ba3e56c788
Parent:
13:0661d658d9d1
Child:
15:0c5f20e15b6a
Euan broke dispense mode

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 12:814a8fdbb6f7 93 setMaintenanceStart(false);
IonSystems 12:814a8fdbb6f7 94 }
IonSystems 12:814a8fdbb6f7 95
IonSystems 12:814a8fdbb6f7 96
IonSystems 10:8c0696b99692 97 void dispense(Colour colour){
IonSystems 13:0661d658d9d1 98
IonSystems 12:814a8fdbb6f7 99 bool validDispense = false;
IonSystems 10:8c0696b99692 100 select = 0; //Setting to operation mode just in case it has not been set.
IonSystems 10:8c0696b99692 101 dispenseBit1 = true;
IonSystems 10:8c0696b99692 102 dispenseBit2 = true;
IonSystems 14:31ba3e56c788 103 /* A dispense operation can only take place if there are more than zero chips
IonSystems 14:31ba3e56c788 104 */
IonSystems 10:8c0696b99692 105 switch(colour){
IonSystems 10:8c0696b99692 106 case RED:
IonSystems 14:31ba3e56c788 107 if(redAmount > 0 || operationMode == false){
IonSystems 12:814a8fdbb6f7 108 log("RED");
IonSystems 12:814a8fdbb6f7 109 log("Setting dispense bits to 00");
IonSystems 12:814a8fdbb6f7 110 dispenseBit1 = false;
IonSystems 12:814a8fdbb6f7 111 dispenseBit2 = false;
IonSystems 12:814a8fdbb6f7 112 redAmount--;
IonSystems 12:814a8fdbb6f7 113 validDispense = true;
IonSystems 12:814a8fdbb6f7 114 }
IonSystems 10:8c0696b99692 115 break;
IonSystems 10:8c0696b99692 116 case GREEN:
IonSystems 12:814a8fdbb6f7 117 if(greenAmount > 0 || operationMode == false){
IonSystems 12:814a8fdbb6f7 118 log("GREEN");
IonSystems 12:814a8fdbb6f7 119 log("Setting dispense bits to 10");
IonSystems 12:814a8fdbb6f7 120 dispenseBit1 = true;
IonSystems 12:814a8fdbb6f7 121 dispenseBit2 = false;
IonSystems 12:814a8fdbb6f7 122 greenAmount--;
IonSystems 12:814a8fdbb6f7 123 validDispense = true;
IonSystems 12:814a8fdbb6f7 124 }
IonSystems 10:8c0696b99692 125 break;
IonSystems 10:8c0696b99692 126 case BLUE:
IonSystems 12:814a8fdbb6f7 127 if(blueAmount > 0 || operationMode == false){
IonSystems 10:8c0696b99692 128 log("BLUE");
IonSystems 10:8c0696b99692 129 log("Setting dispense bits to 01");
IonSystems 10:8c0696b99692 130 dispenseBit1 = false;
IonSystems 10:8c0696b99692 131 dispenseBit2 = true;
IonSystems 12:814a8fdbb6f7 132 blueAmount--;
IonSystems 12:814a8fdbb6f7 133 validDispense = true;
IonSystems 12:814a8fdbb6f7 134 }
IonSystems 10:8c0696b99692 135 break;
IonSystems 14:31ba3e56c788 136
IonSystems 14:31ba3e56c788 137 }writeFile(redAmount,greenAmount,blueAmount);
IonSystems 10:8c0696b99692 138
IonSystems 12:814a8fdbb6f7 139 if(validDispense || operationMode == false){
IonSystems 10:8c0696b99692 140 log("Setting start dispense to true");
IonSystems 10:8c0696b99692 141 startDispense = true; //set the startDispense line high.
IonSystems 10:8c0696b99692 142
IonSystems 10:8c0696b99692 143
IonSystems 10:8c0696b99692 144 //wait(1); //temporary delay
IonSystems 10:8c0696b99692 145 while(!dispenseComplete){
IonSystems 11:06f6e82b40a8 146 wait(0.2);
IonSystems 10:8c0696b99692 147 log("Waiting for dispense complete");
IonSystems 10:8c0696b99692 148 printLCD("Waiting for dispense complete");
IonSystems 10:8c0696b99692 149 }
IonSystems 10:8c0696b99692 150
IonSystems 12:814a8fdbb6f7 151 wait(0.6);
IonSystems 10:8c0696b99692 152 log("Complete");
IonSystems 10:8c0696b99692 153 log("Setting start dispense to false");
IonSystems 10:8c0696b99692 154 startDispense = false;
IonSystems 10:8c0696b99692 155
IonSystems 10:8c0696b99692 156 log("Resetting dispense bits to 11");
IonSystems 10:8c0696b99692 157 dispenseBit1 = true; //reset the dispense select to do nothing
IonSystems 10:8c0696b99692 158 dispenseBit2 = true; //reset the dispense select to do nothing
IonSystems 10:8c0696b99692 159
IonSystems 10:8c0696b99692 160
IonSystems 10:8c0696b99692 161
IonSystems 10:8c0696b99692 162 printLCD("DISPENSE COMPLETE");
IonSystems 13:0661d658d9d1 163
IonSystems 12:814a8fdbb6f7 164 }
IonSystems 10:8c0696b99692 165 }
IonSystems 14:31ba3e56c788 166 void dispenseOrder(int r, int g, int b){
IonSystems 14:31ba3e56c788 167 for(int i = r; r >= 0;i--){
IonSystems 14:31ba3e56c788 168 dispense(RED);
IonSystems 14:31ba3e56c788 169 }
IonSystems 14:31ba3e56c788 170 for(int i = g; i >= 0;i--){
IonSystems 14:31ba3e56c788 171
IonSystems 14:31ba3e56c788 172 }
IonSystems 14:31ba3e56c788 173 }
IonSystems 10:8c0696b99692 174 void sort(Colour colour){
IonSystems 13:0661d658d9d1 175 if(colour == NONE){
IonSystems 13:0661d658d9d1 176 return;
IonSystems 13:0661d658d9d1 177 }else{
IonSystems 10:8c0696b99692 178 select = 0; //Setting to operation mode just in case it has not been set.
IonSystems 10:8c0696b99692 179 colourBit1 = true;
IonSystems 10:8c0696b99692 180 colourBit2 = true;
IonSystems 10:8c0696b99692 181 colourBit3 = true;
IonSystems 10:8c0696b99692 182 switch(colour){
IonSystems 10:8c0696b99692 183 case RED:
IonSystems 10:8c0696b99692 184 log("Sort RED");
IonSystems 10:8c0696b99692 185 log("Setting sort bits to 000");
IonSystems 10:8c0696b99692 186 colourBit1 = false;
IonSystems 10:8c0696b99692 187 colourBit2 = false;
IonSystems 10:8c0696b99692 188 colourBit3 = false;
IonSystems 12:814a8fdbb6f7 189 redAmount++;
IonSystems 10:8c0696b99692 190 break;
IonSystems 10:8c0696b99692 191 case GREEN:
IonSystems 10:8c0696b99692 192 log("Sort GREEN");
IonSystems 10:8c0696b99692 193 log("Setting sort bits to 001");
IonSystems 10:8c0696b99692 194 colourBit1 = true;
IonSystems 10:8c0696b99692 195 colourBit2 = false;
IonSystems 10:8c0696b99692 196 colourBit3 = false;
IonSystems 12:814a8fdbb6f7 197 greenAmount++;
IonSystems 10:8c0696b99692 198 break;
IonSystems 10:8c0696b99692 199 case BLUE:
IonSystems 10:8c0696b99692 200 log("Sort BLUE");
IonSystems 10:8c0696b99692 201 log("Setting sort bits to 010");
IonSystems 10:8c0696b99692 202 colourBit1 = false;
IonSystems 10:8c0696b99692 203 colourBit2 = true;
IonSystems 10:8c0696b99692 204 colourBit3 = false;
IonSystems 12:814a8fdbb6f7 205 blueAmount++;
IonSystems 10:8c0696b99692 206 break;
IonSystems 11:06f6e82b40a8 207 case BIN:
IonSystems 11:06f6e82b40a8 208 log("Sort BIN");
IonSystems 11:06f6e82b40a8 209 log("Setting sort bits to 011");
IonSystems 11:06f6e82b40a8 210 colourBit1 = true;
IonSystems 11:06f6e82b40a8 211 colourBit2 = true;
IonSystems 11:06f6e82b40a8 212 colourBit3 = false;
IonSystems 11:06f6e82b40a8 213 break;
IonSystems 11:06f6e82b40a8 214 case RECYCLE:
IonSystems 11:06f6e82b40a8 215 log("Recycle");
IonSystems 11:06f6e82b40a8 216 log("Setting sort bits to 100");
IonSystems 11:06f6e82b40a8 217 colourBit1 = false;
IonSystems 11:06f6e82b40a8 218 colourBit2 = false;
IonSystems 11:06f6e82b40a8 219 colourBit3 = true;
IonSystems 11:06f6e82b40a8 220 break;
IonSystems 10:8c0696b99692 221 }
IonSystems 10:8c0696b99692 222
IonSystems 10:8c0696b99692 223
IonSystems 10:8c0696b99692 224 log("Setting start sort to true");
IonSystems 10:8c0696b99692 225 startSort = true; //set the startDispense line high.
IonSystems 10:8c0696b99692 226
IonSystems 10:8c0696b99692 227
IonSystems 10:8c0696b99692 228 //wait(1); //temporary delay
IonSystems 10:8c0696b99692 229 while(!sortComplete){
IonSystems 11:06f6e82b40a8 230 wait(0.5);
IonSystems 10:8c0696b99692 231 log("Waiting for sort complete");
IonSystems 10:8c0696b99692 232 printLCD("Waiting for sort complete");
IonSystems 10:8c0696b99692 233 }
IonSystems 10:8c0696b99692 234
IonSystems 10:8c0696b99692 235
IonSystems 10:8c0696b99692 236 log("Complete");
IonSystems 12:814a8fdbb6f7 237 wait(0.6);
IonSystems 10:8c0696b99692 238 log("Setting start sort to false");
IonSystems 11:06f6e82b40a8 239 startSort = false;
IonSystems 10:8c0696b99692 240
IonSystems 10:8c0696b99692 241 log("Resetting dispense bits to 11");
IonSystems 10:8c0696b99692 242 colourBit1 = true; //reset the dispense select to do nothing
IonSystems 10:8c0696b99692 243 colourBit2 = true; //reset the dispense select to do nothing
IonSystems 10:8c0696b99692 244 colourBit3 = true;
IonSystems 10:8c0696b99692 245 printLCD("SORT COMPLETE");
IonSystems 12:814a8fdbb6f7 246 writeFile(redAmount,greenAmount,blueAmount);
IonSystems 13:0661d658d9d1 247 }
IonSystems 12:814a8fdbb6f7 248 }
IonSystems 12:814a8fdbb6f7 249
IonSystems 12:814a8fdbb6f7 250 void dispenseAll(){
IonSystems 12:814a8fdbb6f7 251 int red = redAmount;
IonSystems 12:814a8fdbb6f7 252 int green = greenAmount;
IonSystems 12:814a8fdbb6f7 253 int blue = blueAmount;
IonSystems 12:814a8fdbb6f7 254 for(int r = 0;r < red;r++){
IonSystems 12:814a8fdbb6f7 255 dispense(RED);
IonSystems 12:814a8fdbb6f7 256 wait(0.5);
IonSystems 12:814a8fdbb6f7 257 }redAmount = 0;
IonSystems 12:814a8fdbb6f7 258
IonSystems 12:814a8fdbb6f7 259 for(int g = 0;g < green;g++){
IonSystems 12:814a8fdbb6f7 260 dispense(GREEN);
IonSystems 12:814a8fdbb6f7 261 wait(0.5);
IonSystems 12:814a8fdbb6f7 262 }greenAmount = 0;
IonSystems 12:814a8fdbb6f7 263
IonSystems 12:814a8fdbb6f7 264 for(int b = 0;b < blue;b++){
IonSystems 12:814a8fdbb6f7 265 dispense(BLUE);
IonSystems 12:814a8fdbb6f7 266 wait(0.5);
IonSystems 12:814a8fdbb6f7 267 }blueAmount = 0;
IonSystems 12:814a8fdbb6f7 268 writeFile(redAmount,greenAmount,blueAmount);
IonSystems 12:814a8fdbb6f7 269 }