Jasper Wallace
code to drive the main board of the london-hackspace vending machine
main.cpp@0:68a443d62d80, 2011-01-23 (annotated)
- Committer:
- Jasper
- Date:
- Sun Jan 23 00:31:36 2011 +0000
- Revision:
- 0:68a443d62d80
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Jasper | 0:68a443d62d80 | 1 | #include "mbed.h" |
| Jasper | 0:68a443d62d80 | 2 | |
| Jasper | 0:68a443d62d80 | 3 | DigitalOut g(p22); |
| Jasper | 0:68a443d62d80 | 4 | DigitalOut r(p21); |
| Jasper | 0:68a443d62d80 | 5 | |
| Jasper | 0:68a443d62d80 | 6 | void red(void) { |
| Jasper | 0:68a443d62d80 | 7 | r = 1; g = 0; |
| Jasper | 0:68a443d62d80 | 8 | } |
| Jasper | 0:68a443d62d80 | 9 | |
| Jasper | 0:68a443d62d80 | 10 | void green(void) { |
| Jasper | 0:68a443d62d80 | 11 | r = 0; g = 1; |
| Jasper | 0:68a443d62d80 | 12 | } |
| Jasper | 0:68a443d62d80 | 13 | |
| Jasper | 0:68a443d62d80 | 14 | void orange(void) { |
| Jasper | 0:68a443d62d80 | 15 | r = 1; g = 1; |
| Jasper | 0:68a443d62d80 | 16 | } |
| Jasper | 0:68a443d62d80 | 17 | |
| Jasper | 0:68a443d62d80 | 18 | void off(void) { |
| Jasper | 0:68a443d62d80 | 19 | r = 0; g = 0; |
| Jasper | 0:68a443d62d80 | 20 | } |
| Jasper | 0:68a443d62d80 | 21 | |
| Jasper | 0:68a443d62d80 | 22 | Serial pc(USBTX, USBRX); |
| Jasper | 0:68a443d62d80 | 23 | |
| Jasper | 0:68a443d62d80 | 24 | DigitalOut ser(p25); |
| Jasper | 0:68a443d62d80 | 25 | DigitalOut mclock(p24); |
| Jasper | 0:68a443d62d80 | 26 | DigitalOut oe(p26); |
| Jasper | 0:68a443d62d80 | 27 | DigitalOut m10(p28); |
| Jasper | 0:68a443d62d80 | 28 | DigitalOut m9(p27); |
| Jasper | 0:68a443d62d80 | 29 | |
| Jasper | 0:68a443d62d80 | 30 | InterruptIn vint(p30); |
| Jasper | 0:68a443d62d80 | 31 | |
| Jasper | 0:68a443d62d80 | 32 | int intrcount = 0; |
| Jasper | 0:68a443d62d80 | 33 | bool vendfound = 0; |
| Jasper | 0:68a443d62d80 | 34 | |
| Jasper | 0:68a443d62d80 | 35 | /* |
| Jasper | 0:68a443d62d80 | 36 | motor connectors pinouts: |
| Jasper | 0:68a443d62d80 | 37 | |
| Jasper | 0:68a443d62d80 | 38 | a b |
| Jasper | 0:68a443d62d80 | 39 | 1 a1 b1 |
| Jasper | 0:68a443d62d80 | 40 | 2 a2 b2 |
| Jasper | 0:68a443d62d80 | 41 | 3 a3 b3 |
| Jasper | 0:68a443d62d80 | 42 | 4 a4 b4 |
| Jasper | 0:68a443d62d80 | 43 | 5 a5 b5 |
| Jasper | 0:68a443d62d80 | 44 | 6 a6 b6 |
| Jasper | 0:68a443d62d80 | 45 | 7 a7 n/a |
| Jasper | 0:68a443d62d80 | 46 | 8 a8 n/a |
| Jasper | 0:68a443d62d80 | 47 | 9 a9 n/a |
| Jasper | 0:68a443d62d80 | 48 | 10 a0 n/a |
| Jasper | 0:68a443d62d80 | 49 | */ |
| Jasper | 0:68a443d62d80 | 50 | |
| Jasper | 0:68a443d62d80 | 51 | /* bits are: |
| Jasper | 0:68a443d62d80 | 52 | * |
| Jasper | 0:68a443d62d80 | 53 | * serial data mcu -> 5890 -> 5842A |
| Jasper | 0:68a443d62d80 | 54 | * |
| Jasper | 0:68a443d62d80 | 55 | * first bits out are for the first 8 motor sinks |
| Jasper | 0:68a443d62d80 | 56 | * next 8 are the sources, we only need 2 |
| Jasper | 0:68a443d62d80 | 57 | * |
| Jasper | 0:68a443d62d80 | 58 | * low order bits are the sinks |
| Jasper | 0:68a443d62d80 | 59 | * |
| Jasper | 0:68a443d62d80 | 60 | */ |
| Jasper | 0:68a443d62d80 | 61 | uint16_t motor_bits(int motor) |
| Jasper | 0:68a443d62d80 | 62 | { |
| Jasper | 0:68a443d62d80 | 63 | uint16_t out = 0; // 16 bits! |
| Jasper | 0:68a443d62d80 | 64 | |
| Jasper | 0:68a443d62d80 | 65 | switch (motor) { |
| Jasper | 0:68a443d62d80 | 66 | case 1: |
| Jasper | 0:68a443d62d80 | 67 | out = 0x2080; // 0010000010000000 |
| Jasper | 0:68a443d62d80 | 68 | break; |
| Jasper | 0:68a443d62d80 | 69 | case 2: |
| Jasper | 0:68a443d62d80 | 70 | out = 0x2040; // 0010000001000000 |
| Jasper | 0:68a443d62d80 | 71 | break; |
| Jasper | 0:68a443d62d80 | 72 | case 3: |
| Jasper | 0:68a443d62d80 | 73 | out = 0x2020; // 0010000000100000 |
| Jasper | 0:68a443d62d80 | 74 | break; |
| Jasper | 0:68a443d62d80 | 75 | case 4: |
| Jasper | 0:68a443d62d80 | 76 | out = 0x2010; // 0010000000010000 |
| Jasper | 0:68a443d62d80 | 77 | break; |
| Jasper | 0:68a443d62d80 | 78 | case 5: |
| Jasper | 0:68a443d62d80 | 79 | out = 0x2008; // 0010000000001000 |
| Jasper | 0:68a443d62d80 | 80 | break; |
| Jasper | 0:68a443d62d80 | 81 | case 6: |
| Jasper | 0:68a443d62d80 | 82 | out = 0x2004; // 0010000000000100 |
| Jasper | 0:68a443d62d80 | 83 | break; |
| Jasper | 0:68a443d62d80 | 84 | case 7: |
| Jasper | 0:68a443d62d80 | 85 | out = 0x2002; // 0010000000000010 |
| Jasper | 0:68a443d62d80 | 86 | break; |
| Jasper | 0:68a443d62d80 | 87 | case 8: |
| Jasper | 0:68a443d62d80 | 88 | out = 0x2001; // 0010000000000001 |
| Jasper | 0:68a443d62d80 | 89 | break; |
| Jasper | 0:68a443d62d80 | 90 | case 9: |
| Jasper | 0:68a443d62d80 | 91 | out = 0x2000; // 0010000000000000 uses the darlingtons |
| Jasper | 0:68a443d62d80 | 92 | break; |
| Jasper | 0:68a443d62d80 | 93 | case 10: |
| Jasper | 0:68a443d62d80 | 94 | out = 0x2000; // 0010000000000000 uses the darlingtons |
| Jasper | 0:68a443d62d80 | 95 | break; |
| Jasper | 0:68a443d62d80 | 96 | case 11: |
| Jasper | 0:68a443d62d80 | 97 | out = 0x4080; // 0100000010000000 |
| Jasper | 0:68a443d62d80 | 98 | break; |
| Jasper | 0:68a443d62d80 | 99 | case 12: |
| Jasper | 0:68a443d62d80 | 100 | out = 0x4040; // 0100000001000000 |
| Jasper | 0:68a443d62d80 | 101 | break; |
| Jasper | 0:68a443d62d80 | 102 | case 13: |
| Jasper | 0:68a443d62d80 | 103 | out = 0x4020; // 0100000000100000 |
| Jasper | 0:68a443d62d80 | 104 | break; |
| Jasper | 0:68a443d62d80 | 105 | case 14: |
| Jasper | 0:68a443d62d80 | 106 | out = 0x4010; // 0100000000010000 |
| Jasper | 0:68a443d62d80 | 107 | break; |
| Jasper | 0:68a443d62d80 | 108 | case 15: |
| Jasper | 0:68a443d62d80 | 109 | out = 0x4008; // 0100000000001000 |
| Jasper | 0:68a443d62d80 | 110 | break; |
| Jasper | 0:68a443d62d80 | 111 | case 16: |
| Jasper | 0:68a443d62d80 | 112 | out = 0x4004; // 0100000000000100 |
| Jasper | 0:68a443d62d80 | 113 | break; |
| Jasper | 0:68a443d62d80 | 114 | } |
| Jasper | 0:68a443d62d80 | 115 | return out; |
| Jasper | 0:68a443d62d80 | 116 | } |
| Jasper | 0:68a443d62d80 | 117 | |
| Jasper | 0:68a443d62d80 | 118 | /* |
| Jasper | 0:68a443d62d80 | 119 | * motor is 1 to 16 |
| Jasper | 0:68a443d62d80 | 120 | */ |
| Jasper | 0:68a443d62d80 | 121 | int motors(int motor) { |
| Jasper | 0:68a443d62d80 | 122 | int i, bit; |
| Jasper | 0:68a443d62d80 | 123 | uint16_t bits; |
| Jasper | 0:68a443d62d80 | 124 | |
| Jasper | 0:68a443d62d80 | 125 | bits = 0; |
| Jasper | 0:68a443d62d80 | 126 | |
| Jasper | 0:68a443d62d80 | 127 | if (motor < 1) |
| Jasper | 0:68a443d62d80 | 128 | return -1; |
| Jasper | 0:68a443d62d80 | 129 | |
| Jasper | 0:68a443d62d80 | 130 | if (motor > 16) |
| Jasper | 0:68a443d62d80 | 131 | return -1; |
| Jasper | 0:68a443d62d80 | 132 | |
| Jasper | 0:68a443d62d80 | 133 | bits = motor_bits(motor); |
| Jasper | 0:68a443d62d80 | 134 | |
| Jasper | 0:68a443d62d80 | 135 | for (i = 0 ; i < 16 ; i++) |
| Jasper | 0:68a443d62d80 | 136 | { |
| Jasper | 0:68a443d62d80 | 137 | bit = (bits & (1 << i)) >> i; |
| Jasper | 0:68a443d62d80 | 138 | ser = bit; |
| Jasper | 0:68a443d62d80 | 139 | mclock = 0; |
| Jasper | 0:68a443d62d80 | 140 | wait_ms(1); |
| Jasper | 0:68a443d62d80 | 141 | mclock = 1; |
| Jasper | 0:68a443d62d80 | 142 | wait_ms(1); |
| Jasper | 0:68a443d62d80 | 143 | } |
| Jasper | 0:68a443d62d80 | 144 | |
| Jasper | 0:68a443d62d80 | 145 | // need to use the darlington pins instead |
| Jasper | 0:68a443d62d80 | 146 | if (motor == 9) |
| Jasper | 0:68a443d62d80 | 147 | m9 = 1; |
| Jasper | 0:68a443d62d80 | 148 | |
| Jasper | 0:68a443d62d80 | 149 | if (motor == 10) |
| Jasper | 0:68a443d62d80 | 150 | m10 = 1; |
| Jasper | 0:68a443d62d80 | 151 | |
| Jasper | 0:68a443d62d80 | 152 | return 0; |
| Jasper | 0:68a443d62d80 | 153 | } |
| Jasper | 0:68a443d62d80 | 154 | |
| Jasper | 0:68a443d62d80 | 155 | void clear(void) { |
| Jasper | 0:68a443d62d80 | 156 | int i; |
| Jasper | 0:68a443d62d80 | 157 | |
| Jasper | 0:68a443d62d80 | 158 | ser = 0; |
| Jasper | 0:68a443d62d80 | 159 | m9 = 0; |
| Jasper | 0:68a443d62d80 | 160 | m10 = 0; |
| Jasper | 0:68a443d62d80 | 161 | oe = 1; // oe is active low |
| Jasper | 0:68a443d62d80 | 162 | |
| Jasper | 0:68a443d62d80 | 163 | for (i = 0; i < 16 ; i++) |
| Jasper | 0:68a443d62d80 | 164 | { |
| Jasper | 0:68a443d62d80 | 165 | mclock = 0; |
| Jasper | 0:68a443d62d80 | 166 | wait_ms(1); |
| Jasper | 0:68a443d62d80 | 167 | mclock = 1; |
| Jasper | 0:68a443d62d80 | 168 | } |
| Jasper | 0:68a443d62d80 | 169 | wait_ms(1); |
| Jasper | 0:68a443d62d80 | 170 | m9 = 0; |
| Jasper | 0:68a443d62d80 | 171 | m10 = 0; |
| Jasper | 0:68a443d62d80 | 172 | oe = 0; // should switch everything off. |
| Jasper | 0:68a443d62d80 | 173 | intrcount = 0; |
| Jasper | 0:68a443d62d80 | 174 | } |
| Jasper | 0:68a443d62d80 | 175 | |
| Jasper | 0:68a443d62d80 | 176 | void vendintr() { |
| Jasper | 0:68a443d62d80 | 177 | intrcount++; |
| Jasper | 0:68a443d62d80 | 178 | } |
| Jasper | 0:68a443d62d80 | 179 | |
| Jasper | 0:68a443d62d80 | 180 | int main() { |
| Jasper | 0:68a443d62d80 | 181 | int i; |
| Jasper | 0:68a443d62d80 | 182 | char got; |
| Jasper | 0:68a443d62d80 | 183 | char state1, gcount; |
| Jasper | 0:68a443d62d80 | 184 | int ga, gb; |
| Jasper | 0:68a443d62d80 | 185 | |
| Jasper | 0:68a443d62d80 | 186 | state1 = 'n'; |
| Jasper | 0:68a443d62d80 | 187 | gcount = 0; |
| Jasper | 0:68a443d62d80 | 188 | ga = gb = 0; |
| Jasper | 0:68a443d62d80 | 189 | |
| Jasper | 0:68a443d62d80 | 190 | oe = 1; // active low |
| Jasper | 0:68a443d62d80 | 191 | ser = 0; |
| Jasper | 0:68a443d62d80 | 192 | mclock = 0; |
| Jasper | 0:68a443d62d80 | 193 | |
| Jasper | 0:68a443d62d80 | 194 | printf("\n\rGo!\n\r"); |
| Jasper | 0:68a443d62d80 | 195 | green(); |
| Jasper | 0:68a443d62d80 | 196 | |
| Jasper | 0:68a443d62d80 | 197 | vint.mode(PullUp); |
| Jasper | 0:68a443d62d80 | 198 | vint.fall(&vendintr); |
| Jasper | 0:68a443d62d80 | 199 | |
| Jasper | 0:68a443d62d80 | 200 | for (i = 0; 1 ; i++) { |
| Jasper | 0:68a443d62d80 | 201 | if (i % 2) { |
| Jasper | 0:68a443d62d80 | 202 | orange(); |
| Jasper | 0:68a443d62d80 | 203 | } else { |
| Jasper | 0:68a443d62d80 | 204 | green(); |
| Jasper | 0:68a443d62d80 | 205 | } |
| Jasper | 0:68a443d62d80 | 206 | |
| Jasper | 0:68a443d62d80 | 207 | wait_ms(100); |
| Jasper | 0:68a443d62d80 | 208 | if (pc.readable()) |
| Jasper | 0:68a443d62d80 | 209 | { |
| Jasper | 0:68a443d62d80 | 210 | got = pc.getc(); |
| Jasper | 0:68a443d62d80 | 211 | pc.putc(got); // remote echo |
| Jasper | 0:68a443d62d80 | 212 | if (state1 == 'n') // no command in progress |
| Jasper | 0:68a443d62d80 | 213 | { |
| Jasper | 0:68a443d62d80 | 214 | if (got == 'c') // no args |
| Jasper | 0:68a443d62d80 | 215 | { |
| Jasper | 0:68a443d62d80 | 216 | clear(); |
| Jasper | 0:68a443d62d80 | 217 | printf("cleared\n\r"); |
| Jasper | 0:68a443d62d80 | 218 | } |
| Jasper | 0:68a443d62d80 | 219 | if (got == 'r') { // no args, report intr count |
| Jasper | 0:68a443d62d80 | 220 | printf("vendintrs: %d\n\r", intrcount); |
| Jasper | 0:68a443d62d80 | 221 | } |
| Jasper | 0:68a443d62d80 | 222 | if (got == 'm') // look for numbers |
| Jasper | 0:68a443d62d80 | 223 | state1 = 'm'; |
| Jasper | 0:68a443d62d80 | 224 | } else if (state1 == 'm') { |
| Jasper | 0:68a443d62d80 | 225 | if ((got - '0') > -1 && (got - '0') < 10 ) |
| Jasper | 0:68a443d62d80 | 226 | { |
| Jasper | 0:68a443d62d80 | 227 | if (gcount == 0) |
| Jasper | 0:68a443d62d80 | 228 | ga = got - '0'; |
| Jasper | 0:68a443d62d80 | 229 | if (gcount == 1) |
| Jasper | 0:68a443d62d80 | 230 | gb = got - '0'; |
| Jasper | 0:68a443d62d80 | 231 | |
| Jasper | 0:68a443d62d80 | 232 | gcount += 1; |
| Jasper | 0:68a443d62d80 | 233 | } else if (got == '\n' || got == '\r') { |
| Jasper | 0:68a443d62d80 | 234 | // newline, so end command |
| Jasper | 0:68a443d62d80 | 235 | int runmotor = 0; |
| Jasper | 0:68a443d62d80 | 236 | if (gcount < 3 && gcount != 0) { |
| Jasper | 0:68a443d62d80 | 237 | if (gcount == 1) |
| Jasper | 0:68a443d62d80 | 238 | runmotor = ga; |
| Jasper | 0:68a443d62d80 | 239 | if (gcount == 2) |
| Jasper | 0:68a443d62d80 | 240 | runmotor = (ga * 10) + gb; |
| Jasper | 0:68a443d62d80 | 241 | if (runmotor > 16) { |
| Jasper | 0:68a443d62d80 | 242 | printf("motor too big: %d\n\r", runmotor); |
| Jasper | 0:68a443d62d80 | 243 | } else { |
| Jasper | 0:68a443d62d80 | 244 | printf("running motor %d\n\r", runmotor); |
| Jasper | 0:68a443d62d80 | 245 | oe = 1; |
| Jasper | 0:68a443d62d80 | 246 | motors(runmotor); |
| Jasper | 0:68a443d62d80 | 247 | oe = 0; // active low |
| Jasper | 0:68a443d62d80 | 248 | } |
| Jasper | 0:68a443d62d80 | 249 | } else { |
| Jasper | 0:68a443d62d80 | 250 | printf("too many digits\n\r"); |
| Jasper | 0:68a443d62d80 | 251 | } |
| Jasper | 0:68a443d62d80 | 252 | state1 = 'n'; |
| Jasper | 0:68a443d62d80 | 253 | gcount = ga = gb = 0; |
| Jasper | 0:68a443d62d80 | 254 | } else { |
| Jasper | 0:68a443d62d80 | 255 | printf("m fail\n\r"); |
| Jasper | 0:68a443d62d80 | 256 | state1 = 'n'; |
| Jasper | 0:68a443d62d80 | 257 | gcount = ga = gb = 0; |
| Jasper | 0:68a443d62d80 | 258 | } |
| Jasper | 0:68a443d62d80 | 259 | } |
| Jasper | 0:68a443d62d80 | 260 | } |
| Jasper | 0:68a443d62d80 | 261 | } |
| Jasper | 0:68a443d62d80 | 262 | clear(); |
| Jasper | 0:68a443d62d80 | 263 | |
| Jasper | 0:68a443d62d80 | 264 | printf("Done!\r\n"); |
| Jasper | 0:68a443d62d80 | 265 | } |