Revision 9:ac2412df01be, committed 2018-11-10

Comitter:

JonFreeman

Date:

Sat Nov 10 17:08:21 2018 +0000

Parent:

8:93203f473f6e

Child:

10:e40d8724268a

Commit message:

About to work on hand control state machine to remove need of power cycle for direction change

Changed in this revision

--- a/F401RE.h	Sat Aug 18 12:51:35 2018 +0000
+++ b/F401RE.h	Sat Nov 10 17:08:21 2018 +0000
@@ -136,6 +136,9 @@
 //  If used as servo output, code gives pin to 'Servo' - seems to work
 InterruptIn Servo1_i    (PB_8); //  Pin 61  to read output from rc rx
 InterruptIn Servo2_i    (PB_9); //  Pin 62  to read output from rc rx
+//  *** NOTE *** Above InterruptIn Servo using PB pins seems not to work, probably due to other Port B pins used as PortOut (try PortInOut?)
+//  Nov 2018 - Yet to try using PC14, PC15, free now as 32k768 xtal not fitted
+
 
 //  Pin 63  VSS
 //  Pin 64  VDD

--- a/cli_BLS_nortos.cpp	Sat Aug 18 12:51:35 2018 +0000
+++ b/cli_BLS_nortos.cpp	Sat Nov 10 17:08:21 2018 +0000
@@ -1,4 +1,4 @@
-//  DualBLS2018_03
+//  DualBLS2018_06
 #include "mbed.h"
 #include "BufferedSerial.h"
 
@@ -295,6 +295,11 @@
     void (*f)(struct parameters &);   //  points to function
 }  ;
 
+
+/**
+struct  kb_command const loco_command_list[] = {
+List of commands accepted from external controller through opto isolated com port 9600, 8,n,1
+*/
 struct  kb_command const loco_command_list[] = {
     {"ls", "Lists available commands", menucmd},
     {"?", "Lists available commands, same as ls", menucmd},
@@ -324,6 +329,10 @@
 //const int numof_loco_menu_items = sizeof(loco_command_list) / sizeof(kb_command);
 
 
+/**
+struct  kb_command const loco_command_list[] = {
+List of commands accepted from external pc through non-opto isolated com port 9600, 8,n,1
+*/
 struct  kb_command const pc_command_list[] = {
     {"ls", "Lists available commands", menucmd},
     {"?", "Lists available commands, same as ls", menucmd},

--- a/main.cpp	Sat Aug 18 12:51:35 2018 +0000
+++ b/main.cpp	Sat Nov 10 17:08:21 2018 +0000
@@ -32,7 +32,7 @@
 */
 
 #if defined (TARGET_NUCLEO_F401RE)  //  CPU in 64 pin LQFP
-#include    "F401RE.h"
+#include    "F401RE.h"  //  See here for warnings about Servo InterruptIn not working
 #endif
 #if defined (TARGET_NUCLEO_F446ZE)  //  CPU in 144 pin LQFP
 #include    "F446ZE.h"
@@ -731,7 +731,7 @@
 void    hand_control_state_machine  ()  {
     static  int new_hand_controller_state = HAND_CONT_STATE_BEGIN;
 //    static  int old_hand_controller_state = HAND_CONT_STATE_BEGIN;
-    static  int old_hand_controller_direction = T5, t = 0;
+    static  int old_hand_controller_direction = T5, t = 0;              //  Nov 2018 confirms Rob and Quentin obs, direction read at powerup
     static  double  brake_effort, drive_effort, pot_position, old_pot_position = 0.0;
     if  (T5 != old_hand_controller_direction)   {   //  1 Forward, 0 Reverse
         pc.printf   ("Direction change! Power off then on again to resume\r\n");