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@23:f9e7e64784be, 2014-11-29 (annotated)

Committer:
IonSystems
Date:
Sat Nov 29 16:32:57 2014 +0000
Revision:
23:f9e7e64784be
Parent:
22:8f11d1c178ab
Child:
24:8868101d01d0
might be working

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 23:f9e7e64784be 4
IonSystems 6:e64796f1f384 5 //Setup pins to FPGA
IonSystems 6:e64796f1f384 6 DigitalOut startSort(p5); //A positive edge tells the FPGA to start sorting.
IonSystems 10:8c0696b99692 7 DigitalIn sortComplete(p16);
IonSystems 6:e64796f1f384 8 /*
IonSystems 6:e64796f1f384 9 The command codes for the three sort select bits(ColourBit1 - ColourBit2)
IonSystems 17:6a0bb0ad5bb4 10 See datasheet for furter information
IonSystems 6:e64796f1f384 11 000 Sort red chip
IonSystems 6:e64796f1f384 12 001 Sort green chip
IonSystems 6:e64796f1f384 13 010 Sort blue chip
IonSystems 6:e64796f1f384 14 011 Bin the chip
IonSystems 6:e64796f1f384 15 100 Recycle the chip
IonSystems 6:e64796f1f384 16 101 Nothing
IonSystems 6:e64796f1f384 17 110 Nothing
IonSystems 6:e64796f1f384 18 111 Nothing
IonSystems 6:e64796f1f384 19 */
IonSystems 6:e64796f1f384 20
IonSystems 6:e64796f1f384 21 DigitalOut colourBit1(p6); //The 3 bits below are select bits for the sorter.
IonSystems 6:e64796f1f384 22 DigitalOut colourBit2(p7);
IonSystems 6:e64796f1f384 23 DigitalOut colourBit3(p8);
IonSystems 9:8d78eb55ad5e 24 DigitalOut startDispense(p18); //A positive edge tells the FPGA to start dispensing. p9
IonSystems 6:e64796f1f384 25 /*
IonSystems 6:e64796f1f384 26 00 Dispense red chip
IonSystems 6:e64796f1f384 27 01 Dispense green chip
IonSystems 6:e64796f1f384 28 10 Dispense blue chip
IonSystems 6:e64796f1f384 29 11 Nothing
IonSystems 6:e64796f1f384 30 */
IonSystems 6:e64796f1f384 31
IonSystems 9:8d78eb55ad5e 32 DigitalOut dispenseBit1(p19); //The 2 bits below are select bits for the dispenser.p10
IonSystems 9:8d78eb55ad5e 33 DigitalOut dispenseBit2(p20); //p11
IonSystems 8:b7771391adc9 34
IonSystems 12:814a8fdbb6f7 35 DigitalIn dispenseComplete(p11); //FPGA sets to 1 once complete until another signal is recieved.
IonSystems 10:8c0696b99692 36 DigitalOut select(p15); //0 for control, 1 for maintenance.
IonSystems 10:8c0696b99692 37
IonSystems 12:814a8fdbb6f7 38
IonSystems 19:78d4b78fa736 39 void setMaintenanceSelect(bool bit6, bool bit5, bool bit4, bool bit3, bool bit2, bool bit1)
IonSystems 19:78d4b78fa736 40 {
IonSystems 12:814a8fdbb6f7 41 startSort = bit1;
IonSystems 12:814a8fdbb6f7 42 colourBit1 = bit2;
IonSystems 12:814a8fdbb6f7 43 colourBit2 = bit3;
IonSystems 12:814a8fdbb6f7 44 colourBit3 = bit4;
IonSystems 12:814a8fdbb6f7 45 startDispense = bit5;
IonSystems 12:814a8fdbb6f7 46 dispenseBit1 = bit6;
IonSystems 19:78d4b78fa736 47 }
IonSystems 19:78d4b78fa736 48
IonSystems 19:78d4b78fa736 49 void setMaintenanceStart(bool value)
IonSystems 19:78d4b78fa736 50 {
IonSystems 12:814a8fdbb6f7 51 dispenseBit2 = value;
IonSystems 19:78d4b78fa736 52 }
IonSystems 19:78d4b78fa736 53 void waitForMaintenanceComplete()
IonSystems 19:78d4b78fa736 54 {
IonSystems 19:78d4b78fa736 55 while(!sortComplete) {
IonSystems 23:f9e7e64784be 56
IonSystems 19:78d4b78fa736 57 }
IonSystems 23:f9e7e64784be 58
IonSystems 19:78d4b78fa736 59 }
IonSystems 19:78d4b78fa736 60
IonSystems 19:78d4b78fa736 61 void setDispenseSelect(bool dBit1, bool dBit2)
IonSystems 19:78d4b78fa736 62 {
IonSystems 19:78d4b78fa736 63 dispenseBit1 = dBit1;
IonSystems 19:78d4b78fa736 64 dispenseBit2 = dBit2;
IonSystems 12:814a8fdbb6f7 65 }
IonSystems 19:78d4b78fa736 66
IonSystems 19:78d4b78fa736 67 void setSortSelect(bool sBit1, bool sBit2, bool sBit3)
IonSystems 19:78d4b78fa736 68 {
IonSystems 19:78d4b78fa736 69 colourBit1 = sBit1;
IonSystems 19:78d4b78fa736 70 colourBit2 = sBit2;
IonSystems 19:78d4b78fa736 71 colourBit3 = sBit3;
IonSystems 19:78d4b78fa736 72 }
IonSystems 19:78d4b78fa736 73
IonSystems 19:78d4b78fa736 74 void maintain(StateMachine maintainState)
IonSystems 19:78d4b78fa736 75 {
IonSystems 12:814a8fdbb6f7 76 select = 1; //setting FPGA to maintenance mode.
IonSystems 19:78d4b78fa736 77 setMaintenanceSelect(true,true,true,true,true,true);
IonSystems 19:78d4b78fa736 78 switch(maintainState) {
IonSystems 12:814a8fdbb6f7 79 case RB_LEFT:
IonSystems 12:814a8fdbb6f7 80 setMaintenanceSelect(false,false,false,true,false,true);
IonSystems 19:78d4b78fa736 81 break;
IonSystems 12:814a8fdbb6f7 82 case RB_CENTRE:
IonSystems 12:814a8fdbb6f7 83 setMaintenanceSelect(false,false,false,true,true,false);
IonSystems 19:78d4b78fa736 84 break;
IonSystems 12:814a8fdbb6f7 85 case RB_RIGHT:
IonSystems 12:814a8fdbb6f7 86 setMaintenanceSelect(false,false,false,true,true,true);
IonSystems 19:78d4b78fa736 87 break;
IonSystems 12:814a8fdbb6f7 88 case GO_UP:
IonSystems 12:814a8fdbb6f7 89 setMaintenanceSelect(false,false,true,false,false,false);
IonSystems 19:78d4b78fa736 90 break;
IonSystems 12:814a8fdbb6f7 91 case GO_CENTRE:
IonSystems 12:814a8fdbb6f7 92 setMaintenanceSelect(false,false,true,false,false,true);
IonSystems 19:78d4b78fa736 93 break;
IonSystems 12:814a8fdbb6f7 94 case GO_DOWN:
IonSystems 12:814a8fdbb6f7 95 setMaintenanceSelect(false,false,true,false,true,false);
IonSystems 19:78d4b78fa736 96 break;
IonSystems 12:814a8fdbb6f7 97 case BR_LEFT:
IonSystems 12:814a8fdbb6f7 98 setMaintenanceSelect(false,false,true,false,true,true);
IonSystems 19:78d4b78fa736 99 break;
IonSystems 12:814a8fdbb6f7 100 case BR_RIGHT:
IonSystems 12:814a8fdbb6f7 101 setMaintenanceSelect(false,false,true,true,false,false);
IonSystems 19:78d4b78fa736 102 break;
IonSystems 12:814a8fdbb6f7 103 case R_PUSH:
IonSystems 12:814a8fdbb6f7 104 setMaintenanceSelect(false,false,true,true,false,true);
IonSystems 19:78d4b78fa736 105 break;
IonSystems 22:8f11d1c178ab 106 case R_HOME:
IonSystems 22:8f11d1c178ab 107 setMaintenanceSelect(false,false,true,true,true,false);
IonSystems 22:8f11d1c178ab 108 break;
IonSystems 22:8f11d1c178ab 109 case GB_LEFT:
IonSystems 22:8f11d1c178ab 110 setMaintenanceSelect(false,false,true,true,true,true);
IonSystems 22:8f11d1c178ab 111 break;
IonSystems 22:8f11d1c178ab 112 case GB_CENTRE:
IonSystems 22:8f11d1c178ab 113 setMaintenanceSelect(false,true,false,false,false,false);
IonSystems 22:8f11d1c178ab 114 break;
IonSystems 22:8f11d1c178ab 115 case GB_RIGHT:
IonSystems 22:8f11d1c178ab 116 setMaintenanceSelect(false,true,false,false,false,true);
IonSystems 22:8f11d1c178ab 117 break;
IonSystems 22:8f11d1c178ab 118 case maintenanceEND:
IonSystems 22:8f11d1c178ab 119 setMaintenanceSelect(false,true,false,false,true,false);
IonSystems 23:f9e7e64784be 120 break;
IonSystems 14:31ba3e56c788 121 default:
IonSystems 19:78d4b78fa736 122 break;
IonSystems 19:78d4b78fa736 123 }
IonSystems 23:f9e7e64784be 124 setMaintenanceStart(true);
IonSystems 12:814a8fdbb6f7 125 waitForMaintenanceComplete();
IonSystems 12:814a8fdbb6f7 126 setMaintenanceStart(false);
IonSystems 23:f9e7e64784be 127 setMaintenanceSelect(true,false,true,true,true,false);
IonSystems 19:78d4b78fa736 128 }
IonSystems 19:78d4b78fa736 129
IonSystems 19:78d4b78fa736 130 void waitForDispenseComplete()
IonSystems 19:78d4b78fa736 131 {
IonSystems 23:f9e7e64784be 132 while(!dispenseComplete) {
IonSystems 23:f9e7e64784be 133
IonSystems 12:814a8fdbb6f7 134 }
IonSystems 23:f9e7e64784be 135
IonSystems 19:78d4b78fa736 136 }
IonSystems 19:78d4b78fa736 137
IonSystems 19:78d4b78fa736 138 void dispense(Colour colour)
IonSystems 19:78d4b78fa736 139 {
IonSystems 23:f9e7e64784be 140 startDispense = false;
IonSystems 19:78d4b78fa736 141 bool validDispense = false;
IonSystems 23:f9e7e64784be 142 select = 0;
IonSystems 19:78d4b78fa736 143 setDispenseSelect(true,true);
IonSystems 23:f9e7e64784be 144 // A dispense operation can only take place if there are chips
IonSystems 23:f9e7e64784be 145
IonSystems 19:78d4b78fa736 146 switch(colour) {
IonSystems 19:78d4b78fa736 147 case RED:
IonSystems 19:78d4b78fa736 148 if(redAmount > 0 || operationMode == false) {
IonSystems 19:78d4b78fa736 149 setDispenseSelect(false,false);
IonSystems 19:78d4b78fa736 150 redAmount--;
IonSystems 19:78d4b78fa736 151 validDispense = true;
IonSystems 19:78d4b78fa736 152 }
IonSystems 10:8c0696b99692 153 break;
IonSystems 19:78d4b78fa736 154 case GREEN:
IonSystems 19:78d4b78fa736 155 if(greenAmount > 0 || operationMode == false) {
IonSystems 19:78d4b78fa736 156 setDispenseSelect(true,false);
IonSystems 19:78d4b78fa736 157 greenAmount--;
IonSystems 19:78d4b78fa736 158 validDispense = true;
IonSystems 19:78d4b78fa736 159 }
IonSystems 10:8c0696b99692 160 break;
IonSystems 19:78d4b78fa736 161 case BLUE:
IonSystems 19:78d4b78fa736 162 if(blueAmount > 0 || operationMode == false) {
IonSystems 19:78d4b78fa736 163 setDispenseSelect(false,true);
IonSystems 12:814a8fdbb6f7 164 blueAmount--;
IonSystems 12:814a8fdbb6f7 165 validDispense = true;
IonSystems 19:78d4b78fa736 166 }
IonSystems 10:8c0696b99692 167 break;
IonSystems 19:78d4b78fa736 168 }
IonSystems 23:f9e7e64784be 169
IonSystems 23:f9e7e64784be 170 writeFile(redAmount,greenAmount,blueAmount,recycleAmount);
IonSystems 19:78d4b78fa736 171 if(validDispense || operationMode == false) {
IonSystems 10:8c0696b99692 172 startDispense = true; //set the startDispense line high.
IonSystems 19:78d4b78fa736 173 waitForDispenseComplete();
IonSystems 22:8f11d1c178ab 174
IonSystems 10:8c0696b99692 175 startDispense = false;
IonSystems 19:78d4b78fa736 176 setDispenseSelect(true,true);
IonSystems 10:8c0696b99692 177 }
IonSystems 19:78d4b78fa736 178 }
IonSystems 19:78d4b78fa736 179 void dispenseOrder(int r, int g, int b)
IonSystems 19:78d4b78fa736 180 {
IonSystems 23:f9e7e64784be 181 //TODO: Check if there are enough chips of each colour to dispense the order.
IonSystems 23:f9e7e64784be 182 operationMode = false;
IonSystems 23:f9e7e64784be 183 for(int i = r; i > 0; i--) {
IonSystems 14:31ba3e56c788 184 dispense(RED);
IonSystems 19:78d4b78fa736 185 }
IonSystems 23:f9e7e64784be 186 for(int i = g; i > 0; i--) {
IonSystems 15:0c5f20e15b6a 187 dispense(GREEN);
IonSystems 19:78d4b78fa736 188 }
IonSystems 23:f9e7e64784be 189 for(int i = b; i > 0; i--) {
IonSystems 15:0c5f20e15b6a 190 dispense(BLUE);
IonSystems 17:6a0bb0ad5bb4 191 }
IonSystems 23:f9e7e64784be 192 operationMode = true;
IonSystems 19:78d4b78fa736 193 }
IonSystems 19:78d4b78fa736 194
IonSystems 20:6de191ac7ff3 195 void waitForSortComplete()
IonSystems 20:6de191ac7ff3 196 {
IonSystems 23:f9e7e64784be 197 while(!sortComplete) {}
IonSystems 20:6de191ac7ff3 198 }
IonSystems 20:6de191ac7ff3 199
IonSystems 20:6de191ac7ff3 200 void lift()
IonSystems 20:6de191ac7ff3 201 {
IonSystems 20:6de191ac7ff3 202 select = 0; //Setting to operation mode just in case it has not been set.
IonSystems 20:6de191ac7ff3 203 setSortSelect(true,true,true);
IonSystems 20:6de191ac7ff3 204 setSortSelect(true,false,true);
IonSystems 20:6de191ac7ff3 205 startSort = true; //set the startDispense line high.
IonSystems 23:f9e7e64784be 206 waitForSortComplete();
IonSystems 23:f9e7e64784be 207 startSort = false;
IonSystems 23:f9e7e64784be 208 setSortSelect(true,true,true);
IonSystems 23:f9e7e64784be 209 }
IonSystems 20:6de191ac7ff3 210
IonSystems 20:6de191ac7ff3 211
IonSystems 20:6de191ac7ff3 212
IonSystems 19:78d4b78fa736 213 void recycle()
IonSystems 19:78d4b78fa736 214 {
IonSystems 19:78d4b78fa736 215 select = 0; //Setting to operation mode just in case it has not been set.
IonSystems 19:78d4b78fa736 216 setSortSelect(true,true,true);
IonSystems 19:78d4b78fa736 217 setSortSelect(false,false,true);
IonSystems 22:8f11d1c178ab 218 recycleAmount++;
IonSystems 19:78d4b78fa736 219 startSort = true; //set the startDispense line high.
IonSystems 20:6de191ac7ff3 220 waitForSortComplete();
IonSystems 19:78d4b78fa736 221 startSort = false;
IonSystems 19:78d4b78fa736 222 setSortSelect(true,true,true);
IonSystems 23:f9e7e64784be 223 if(recycleAmount >= 5) {
IonSystems 23:f9e7e64784be 224 wait(1);
IonSystems 23:f9e7e64784be 225 lift();
IonSystems 23:f9e7e64784be 226 wait(1);
IonSystems 23:f9e7e64784be 227 recycleAmount = 0;
IonSystems 23:f9e7e64784be 228 }
IonSystems 19:78d4b78fa736 229 }
IonSystems 19:78d4b78fa736 230
IonSystems 19:78d4b78fa736 231
IonSystems 19:78d4b78fa736 232
IonSystems 19:78d4b78fa736 233 void sort(Colour colour)
IonSystems 19:78d4b78fa736 234 {
IonSystems 19:78d4b78fa736 235 if(colour == NONE) {
IonSystems 19:78d4b78fa736 236 return;
IonSystems 19:78d4b78fa736 237 } else {
IonSystems 23:f9e7e64784be 238 startSort = false;
IonSystems 10:8c0696b99692 239 select = 0; //Setting to operation mode just in case it has not been set.
IonSystems 19:78d4b78fa736 240 setSortSelect(true,true,true);
IonSystems 19:78d4b78fa736 241 switch(colour) {
IonSystems 10:8c0696b99692 242 case RED:
IonSystems 19:78d4b78fa736 243 if(redAmount >= tubeSize) {
IonSystems 17:6a0bb0ad5bb4 244 recycle();
IonSystems 17:6a0bb0ad5bb4 245 return;
IonSystems 19:78d4b78fa736 246 }
IonSystems 19:78d4b78fa736 247 setSortSelect(false,false,false);
IonSystems 12:814a8fdbb6f7 248 redAmount++;
IonSystems 19:78d4b78fa736 249 break;
IonSystems 10:8c0696b99692 250 case GREEN:
IonSystems 19:78d4b78fa736 251 if(greenAmount >= tubeSize) {
IonSystems 17:6a0bb0ad5bb4 252 recycle();
IonSystems 17:6a0bb0ad5bb4 253 return;
IonSystems 19:78d4b78fa736 254 }
IonSystems 19:78d4b78fa736 255 setSortSelect(true,false,false);
IonSystems 12:814a8fdbb6f7 256 greenAmount++;
IonSystems 19:78d4b78fa736 257 break;
IonSystems 10:8c0696b99692 258 case BLUE:
IonSystems 19:78d4b78fa736 259 if(blueAmount >= tubeSize) {
IonSystems 17:6a0bb0ad5bb4 260 recycle();
IonSystems 17:6a0bb0ad5bb4 261 return;
IonSystems 19:78d4b78fa736 262 }
IonSystems 19:78d4b78fa736 263 setSortSelect(false,true,false);
IonSystems 12:814a8fdbb6f7 264 blueAmount++;
IonSystems 19:78d4b78fa736 265 break;
IonSystems 11:06f6e82b40a8 266 case BIN:
IonSystems 19:78d4b78fa736 267 setSortSelect(true,true,false);
IonSystems 19:78d4b78fa736 268 break;
IonSystems 10:8c0696b99692 269 }
IonSystems 23:f9e7e64784be 270 startSort = true;
IonSystems 19:78d4b78fa736 271 waitForSortComplete();
IonSystems 19:78d4b78fa736 272 startSort = false;
IonSystems 19:78d4b78fa736 273 setSortSelect(true,true,true);
IonSystems 23:f9e7e64784be 274 writeFile(redAmount,greenAmount,blueAmount,recycleAmount);
IonSystems 23:f9e7e64784be 275 wait(0.3);
IonSystems 19:78d4b78fa736 276 }
IonSystems 12:814a8fdbb6f7 277 }
IonSystems 12:814a8fdbb6f7 278
IonSystems 19:78d4b78fa736 279
IonSystems 19:78d4b78fa736 280
IonSystems 19:78d4b78fa736 281 void dispenseAll()
IonSystems 19:78d4b78fa736 282 {
IonSystems 23:f9e7e64784be 283 dispenseOrder(redAmount,greenAmount,blueAmount);
IonSystems 23:f9e7e64784be 284 redAmount=0; blueAmount=0; greenAmount=0;
IonSystems 23:f9e7e64784be 285 writeFile(redAmount,greenAmount,blueAmount,recycleAmount);
IonSystems 19:78d4b78fa736 286 }