Electric_Loco.h

00001 #include "mbed.h"
00002 #include "movingcoilmeter.h"
00003 #include <cctype>
00004 /*  Updated January 2019
00005     Jon Freeman
00006 
00007   5" and 7.25" gauge Electric Locomotive Controller - ST DISCO-F746NG
00008 Uses built in display and touch screen.
00009 
00010 Display shows 'analogue' moving coil meter movements for :
00011     Locomotive speed Miles per Hour
00012     System voltage (range 10v - 63v or thereabouts)
00013     Power Watts delivered to drive motors or dumped.
00014 
00015 Touch screen has three 'buttons', and are where the meter movements show.
00016 Two smaller meter buttons for two horns, larger speedo button currently unsused
00017 
00018 Display has 'slider' touch control. This drives the loco.
00019 Control in central position when not driving or drfting.
00020 Moving towards bottom of screen applies regenerative braking - move further down applies harder braking.
00021 Moving towards top of screen powers drive motors, move further up applies more torque (current controller implemented)
00022 Take finger off and control drifts down to central 'neutral' position.
00023 */
00024 
00025 
00026 #define MAX_TOUCHES 6       //  Touch screen can decode up to this many simultaneous finger press positions
00027 #define NEUTRAL_VAL   150   //  Number of pixels
00028 
00029 #define SLIDERX 418         //  slider graphic x position
00030 #define SLIDERY 2           //  slider graphic y position
00031 #define SLIDERW 50          //  pixel width of slider
00032 #define SLIDERH 268         //  pixel height of slider
00033 
00034 #define VOLTMETER_X 68      //  Voltmeter screen position
00035 #define VOLTMETER_Y 68
00036 #define AMMETER_X   68      //  Ammeter screen position - Now replaced by Power meter
00037 #define AMMETER_Y   202
00038 #define SPEEDO_X    274     //  Speedometer screen position
00039 #define SPEEDO_Y    135
00040 
00041 #define V_A_SIZE    56      //  Size of voltmeter and ammeter
00042 #define SPEEDO_SIZE 114
00043 
00044 #define SPEEDO_BODY_COLOUR  LCD_COLOR_BLACK
00045 #define SPEEDO_DIAL_COLOUR  LCD_COLOR_WHITE
00046 #define SPEEDO_TEXT_COLOUR  LCD_COLOR_BLUE
00047 
00048 #define VMETER_BODY_COLOUR  LCD_COLOR_BLACK
00049 #define VMETER_DIAL_COLOUR  LCD_COLOR_WHITE
00050 #define VMETER_TEXT_COLOUR  LCD_COLOR_BLUE
00051 
00052 #define AMETER_BODY_COLOUR  LCD_COLOR_BLACK
00053 #define AMETER_DIAL_COLOUR  LCD_COLOR_WHITE
00054 #define AMETER_TEXT_COLOUR  LCD_COLOR_BLUE
00055 const   int
00056     BUTTON_RAD  = (SLIDERW / 2) - 4,    //  radius of circular 'knob' in slider control
00057     MIN_POS     = BUTTON_RAD + 5,               //  top of screen
00058     MAX_POS     = SLIDERH - (BUTTON_RAD + 1),   //  bottom of screen
00059     CIRC_CTR    = SLIDERX + BUTTON_RAD + 4;
00060 
00061 static const double    PI       = 4.0 * atan(1.0);
00062 static const double    TWO_PI   = 8.0 * atan(1.0);
00063 
00064 enum    {HI_HORN, LO_HORN};
00065 enum    {NO_DPS, ONE_DP};
00066 //  Assign unique number to every button we may use, and keep count of total number of them
00067 enum    {ENTER, SLIDER_BUTTON, SPEEDO_BUTTON, VMETER_BUTTON, AMETER_BUTTON,NUMOF_BUTTONS}  ;   //  button names
00068 enum    {STATES, RUN, NEUTRAL_DRIFT, REGEN_BRAKE, RUN_DOWN, INTO_RUN, INTO_REGEN_BRAKE, INTO_NEUTRAL_DRIFT};
00069 enum    {SLIDER_PRESS, SLIDER_RELEASE, SLIDER_AUTOREP};
00070 
00071 struct  point   {   int x;    int y;  }   ;
00072 struct  keystr  {   int keynum; int x;  int y;  }   ;
00073 struct  ky_bd   {   int count,  slider_y; keystr key[MAX_TOUCHES + 1];   bool  sli;   }  ;
00074 
00075 class   screen_touch_handler
00076     {   
00077         ky_bd   kybd_a, kybd_b;                 //  alternating present - previous keyboard structures
00078         ky_bd * present_kybd, * previous_kybd;  //  pointers
00079         bool    in_list  (struct ky_bd & , int )    ;
00080         void    motor_power ()   ;
00081         void    flush   ()  ;
00082         int     viscous_drag   (int, double, double)  ;
00083         int     position;    
00084         int     oldpos; 
00085         int     next_state;
00086     public:
00087         int     direction;   
00088         void    DrawSlider    ()  ;
00089         void    HandleFingerInput   ()  ;
00090         screen_touch_handler  ()  ;     //  default constructor
00091     }   ;
00092 
00093 const   int MAX_PARAMS = 30;
00094 const   int MAX_CMD_LINE_LEN    = 180;
00095 const   int MAX_ESCS = 12;
00096 
00097 struct  parameters  {
00098     int32_t numof_menu_items, numof_cl_values_read;
00099     double  dbl[MAX_PARAMS];
00100 }   ;
00101 
00102 enum    {
00103     FAULT_0,
00104     FAULT_BOARD_ID_IN_MSG,
00105     FAULT_TS,
00106     FAULT_PC,
00107     FAULT_COM,
00108     FAULT_COM_NO_MATCH,
00109     FAULT_COM_LINE_LEN,
00110     FAULT_QSPI,
00111     FAULT_ODOMETER,
00112     FAULT_MAX,
00113     NUMOF_REPORTABLE_TS_ERRORS
00114     }   ;
00115 
00116 class   error_handling_Jan_2019
00117 {
00118     int32_t    TS_fault[NUMOF_REPORTABLE_TS_ERRORS]    ;   //  Some number of reportable error codes, accessible through set and read members
00119     public:
00120     error_handling_Jan_2019 ()  {   //  default constructor
00121         for (int i = 0; i < (sizeof(TS_fault) / sizeof(int32_t)); i++)
00122             TS_fault[i] = 0;
00123     }
00124     void        set   (uint32_t, int32_t)   ;
00125     void        clr   (uint32_t)   ;
00126     uint32_t    read  (uint32_t)   ;
00127     bool        all_good    ()  ;
00128     void        report_any  (bool)  ;
00129 }   ;
00130 
00131 class   command_line_interpreter_core  {
00132     parameters  a   ;   //  as opposed to clicore(&parameters)
00133     struct kb_command const * clist;
00134     int32_t portio, cl_index, target_unit;
00135     char    cmd_line[MAX_CMD_LINE_LEN];
00136     char    * cmd_line_ptr;
00137     int clreadable    ();
00138     int clgetc        ();
00139     void clputc        (int);
00140   public:
00141     command_line_interpreter_core   ()  {};   //  default constructor
00142     command_line_interpreter_core   (int, int, struct kb_command const * )  ;    //{   //  constructor including io port id value
00143     void    sniff   ()  ;   //  The function to call often to sniff out commands from command line and act upon them
00144 }   ;
00145 
00146 class   STM3_ESC_Interface
00147 {
00148     int         board_IDs   [MAX_ESCS],    //  allow up to 4 boards in practical system, size for 10+ as 10 discrete ID nums exist
00149                 board_count,
00150                 reqno;
00151 public:
00152     double  last_V, last_I, mph, esc_speeds[MAX_ESCS];
00153     STM3_ESC_Interface  ()  {   //  Constructor
00154         board_count = 0;
00155         reqno = 0;
00156         last_V = last_I = mph = 0.0;
00157         for (int i = 0; i < MAX_ESCS; i++)  {
00158             board_IDs[i] = 0;
00159             esc_speeds[i] = 0.0;
00160         }
00161     }
00162     bool    request_mph     ()  ;       //  Issue "'n'mph\r" to one particular STM3_ESC board to request MPH   22/06/2018
00163     void    mph_update      (double)  ; //  touched 08/01/2019
00164     void    set_board_ID    (int)   ;   //  called in response to 'whon' coming back from a STM3_ESC
00165     void    search_for_escs ()  ;       //  one-off call during startup to identify all connected STM3_ESCs
00166     void    get_boards_list (int *) ;   //  copies board list
00167     void    set_V_limit     (double)    ;   //  Set max motor voltage
00168     void    set_I_limit     (double)    ;   //  Set max motor current
00169     void    message         (char *)    ;   //  Broadcast message to all STM3_ESCs
00170     void    message         (int, char *)    ;   //  Send message to one individual STM3_ESC
00171 }   ;
00172 
00173 
00174