Diff: main.cpp

Revision:

0:68a443d62d80

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Jan 23 00:31:36 2011 +0000
@@ -0,0 +1,265 @@
+#include "mbed.h"
+
+DigitalOut g(p22);
+DigitalOut r(p21);
+
+void red(void) {
+    r = 1; g = 0;
+}
+
+void green(void) {
+    r = 0; g = 1;
+}
+
+void orange(void) {
+    r = 1; g = 1;
+}
+
+void off(void) {
+    r = 0; g = 0;
+}
+
+Serial pc(USBTX, USBRX);
+
+DigitalOut ser(p25);
+DigitalOut mclock(p24);
+DigitalOut oe(p26);
+DigitalOut m10(p28);
+DigitalOut m9(p27);
+
+InterruptIn vint(p30);
+
+int intrcount = 0;
+bool vendfound = 0;
+
+/*
+motor connectors pinouts:
+
+        a       b
+1       a1      b1
+2       a2      b2
+3       a3      b3
+4       a4      b4
+5       a5      b5
+6       a6      b6
+7       a7      n/a
+8       a8      n/a
+9       a9      n/a
+10      a0      n/a
+*/
+
+/* bits are:
+ *
+ * serial data mcu -> 5890 -> 5842A
+ *
+ * first bits out are for the first 8 motor sinks
+ * next 8 are the sources, we only need 2
+ *
+ * low order bits are the sinks
+ *
+ */ 
+uint16_t motor_bits(int motor)
+{
+        uint16_t out = 0; // 16 bits!
+
+        switch (motor) {
+        case 1:
+                out = 0x2080; // 0010000010000000
+                break;
+        case 2:
+                out = 0x2040; // 0010000001000000
+                break;
+        case 3:
+                out = 0x2020; // 0010000000100000
+                break;
+        case 4:
+                out = 0x2010; // 0010000000010000
+                break;
+        case 5:
+                out = 0x2008; // 0010000000001000
+                break;
+        case 6:
+                out = 0x2004; // 0010000000000100
+                break;
+        case 7:
+                out = 0x2002; // 0010000000000010
+                break;
+        case 8:
+                out = 0x2001; // 0010000000000001
+                break;
+        case 9:
+                out = 0x2000; // 0010000000000000 uses the darlingtons
+                break;
+        case 10:
+                out = 0x2000; // 0010000000000000 uses the darlingtons
+                break;
+        case 11:
+                out = 0x4080; // 0100000010000000
+                break;
+        case 12:
+                out = 0x4040; // 0100000001000000
+                break;
+        case 13:
+                out = 0x4020; // 0100000000100000
+                break;
+        case 14:
+                out = 0x4010; // 0100000000010000
+                break;
+        case 15:
+                out = 0x4008; // 0100000000001000
+                break;
+        case 16:
+                out = 0x4004; // 0100000000000100
+                break;
+        }
+        return out;
+}
+
+/*
+ * motor is 1 to 16
+ */
+int motors(int motor) {
+    int i, bit;
+    uint16_t bits;
+
+    bits = 0;
+
+    if (motor < 1)
+        return -1;
+        
+    if (motor > 16)
+        return -1;
+
+    bits = motor_bits(motor);
+
+    for (i = 0 ; i < 16 ; i++)
+    {
+        bit = (bits & (1 << i)) >> i;
+        ser = bit;
+        mclock = 0;
+        wait_ms(1);
+        mclock = 1;
+        wait_ms(1);
+    }
+
+    // need to use the darlington pins instead
+    if (motor == 9)
+        m9 = 1;
+
+    if (motor == 10)
+        m10 = 1;
+
+    return 0;
+}
+
+void clear(void) {
+    int i;
+    
+    ser = 0;
+    m9 = 0;
+    m10 = 0;
+    oe = 1; // oe is active low
+    
+    for (i = 0; i < 16 ; i++)
+    {
+        mclock = 0;
+        wait_ms(1);
+        mclock = 1;
+    }
+    wait_ms(1);
+    m9 = 0;
+    m10 = 0;
+    oe = 0; // should switch everything off.
+    intrcount = 0;
+}
+
+void vendintr() {
+    intrcount++;
+}
+
+int main() {
+    int i;
+    char got;
+    char state1, gcount;
+    int ga, gb;
+    
+    state1 = 'n';
+    gcount = 0;
+    ga = gb = 0;
+
+    oe = 1; // active low
+    ser = 0;
+    mclock = 0;
+
+    printf("\n\rGo!\n\r");
+    green();
+
+    vint.mode(PullUp);
+    vint.fall(&vendintr);
+
+    for (i = 0; 1 ; i++) {
+        if (i % 2) {
+            orange();
+        } else {
+            green();
+        }
+
+        wait_ms(100);
+        if (pc.readable())
+        {
+            got = pc.getc();
+            pc.putc(got); // remote echo            
+            if (state1 == 'n') // no command in progress
+            {
+                if (got == 'c') // no args
+                {
+                    clear();
+                    printf("cleared\n\r");
+                }
+                if (got == 'r') { // no args, report intr count
+                    printf("vendintrs: %d\n\r", intrcount);
+                }
+                if (got == 'm') // look for numbers
+                    state1 = 'm';
+            } else if (state1 == 'm') {
+                if ((got - '0') > -1 && (got - '0') < 10 )
+                {
+                    if (gcount == 0)
+                        ga = got - '0';
+                    if (gcount == 1)
+                        gb = got - '0';
+                
+                    gcount += 1;
+                } else if (got == '\n' || got == '\r') {
+                    // newline, so end command
+                    int runmotor = 0;
+                    if (gcount < 3 && gcount != 0) {
+                        if (gcount == 1)
+                            runmotor = ga;
+                        if (gcount == 2)
+                            runmotor = (ga * 10) + gb;
+                        if (runmotor > 16) {
+                            printf("motor too big: %d\n\r", runmotor);
+                        } else {
+                            printf("running motor %d\n\r", runmotor);
+                            oe = 1;
+                            motors(runmotor);
+                            oe = 0; // active low
+                        }
+                    } else {
+                        printf("too many digits\n\r");
+                    }
+                    state1 = 'n';
+                    gcount = ga = gb = 0;
+                } else {
+                    printf("m fail\n\r");
+                    state1 = 'n';
+                    gcount = ga = gb = 0;
+                }
+            }            
+        }
+   }
+   clear();
+        
+   printf("Done!\r\n");
+}