Nurbol Nurdaulet
/
2sensors_2servo
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main.cpp@0:2b10383306a2, 2011-11-10 (annotated)
- Committer:
- Nurbol
- Date:
- Thu Nov 10 11:47:25 2011 +0000
- Revision:
- 0:2b10383306a2
- Child:
- 1:0b0b7e0b6712
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Nurbol | 0:2b10383306a2 | 1 | // |
| Nurbol | 0:2b10383306a2 | 2 | // COM_test : program to communicate via a COM port to a PC/laptop |
| Nurbol | 0:2b10383306a2 | 3 | // ======== |
| Nurbol | 0:2b10383306a2 | 4 | // |
| Nurbol | 0:2b10383306a2 | 5 | // Description |
| Nurbol | 0:2b10383306a2 | 6 | // Program to receive ASCII format commands through a virtual COM port and |
| Nurbol | 0:2b10383306a2 | 7 | // after executing the command return some data (optional, depending on |
| Nurbol | 0:2b10383306a2 | 8 | // the command) and a status value. |
| Nurbol | 0:2b10383306a2 | 9 | // The program understands two possible commands : |
| Nurbol | 0:2b10383306a2 | 10 | // "s i j" : move servo 'i (0 to 5) to postion 'j' (0 to 90) |
| Nurbol | 0:2b10383306a2 | 11 | // "r" : read the 'i' parameter of the last "s" command |
| Nurbol | 0:2b10383306a2 | 12 | // |
| Nurbol | 0:2b10383306a2 | 13 | // Version : 1.0 |
| Nurbol | 0:2b10383306a2 | 14 | // Author : Jim Herd |
| Nurbol | 0:2b10383306a2 | 15 | // Date : 5th Oct 2011 |
| Nurbol | 0:2b10383306a2 | 16 | // |
| Nurbol | 0:2b10383306a2 | 17 | #include "mbed.h" |
| Nurbol | 0:2b10383306a2 | 18 | #include "MCP23017.h" |
| Nurbol | 0:2b10383306a2 | 19 | #include "WattBob_TextLCD.h" |
| Nurbol | 0:2b10383306a2 | 20 | #include "cmd_io.h" |
| Nurbol | 0:2b10383306a2 | 21 | #include "globals.h" |
| Nurbol | 0:2b10383306a2 | 22 | |
| Nurbol | 0:2b10383306a2 | 23 | |
| Nurbol | 0:2b10383306a2 | 24 | AnalogIn sensor1(p15); |
| Nurbol | 0:2b10383306a2 | 25 | AnalogIn sensor2(p16); |
| Nurbol | 0:2b10383306a2 | 26 | AnalogOut valueLED1(p18); |
| Nurbol | 0:2b10383306a2 | 27 | DigitalOut valueLED2(p25); |
| Nurbol | 0:2b10383306a2 | 28 | DigitalOut led1(LED1); |
| Nurbol | 0:2b10383306a2 | 29 | DigitalOut led2(LED2); |
| Nurbol | 0:2b10383306a2 | 30 | DigitalOut clk(p24); |
| Nurbol | 0:2b10383306a2 | 31 | |
| Nurbol | 0:2b10383306a2 | 32 | |
| Nurbol | 0:2b10383306a2 | 33 | |
| Nurbol | 0:2b10383306a2 | 34 | //****************************************************************************** |
| Nurbol | 0:2b10383306a2 | 35 | // declare set of system objects |
| Nurbol | 0:2b10383306a2 | 36 | // |
| Nurbol | 0:2b10383306a2 | 37 | |
| Nurbol | 0:2b10383306a2 | 38 | // |
| Nurbol | 0:2b10383306a2 | 39 | // |
| Nurbol | 0:2b10383306a2 | 40 | // 2. five servo outputs |
| Nurbol | 0:2b10383306a2 | 41 | // |
| Nurbol | 0:2b10383306a2 | 42 | |
| Nurbol | 0:2b10383306a2 | 43 | PwmOut servo_0(p26); |
| Nurbol | 0:2b10383306a2 | 44 | //PwmOut servo_1(p25); |
| Nurbol | 0:2b10383306a2 | 45 | //PwmOut servo_2(p24); |
| Nurbol | 0:2b10383306a2 | 46 | //PwmOut servo_3(p23); |
| Nurbol | 0:2b10383306a2 | 47 | PwmOut servo_4(p22); |
| Nurbol | 0:2b10383306a2 | 48 | //PwmOut servo_5(p21); |
| Nurbol | 0:2b10383306a2 | 49 | |
| Nurbol | 0:2b10383306a2 | 50 | // |
| Nurbol | 0:2b10383306a2 | 51 | // 3. objects necessary to use the 2*16 character MBED display |
| Nurbol | 0:2b10383306a2 | 52 | // |
| Nurbol | 0:2b10383306a2 | 53 | MCP23017 *par_port; |
| Nurbol | 0:2b10383306a2 | 54 | WattBob_TextLCD *lcd; |
| Nurbol | 0:2b10383306a2 | 55 | // |
| Nurbol | 0:2b10383306a2 | 56 | // 4. Virtual COM port over USB link to laptop/PC |
| Nurbol | 0:2b10383306a2 | 57 | // |
| Nurbol | 0:2b10383306a2 | 58 | Serial pc(USBTX, USBRX); |
| Nurbol | 0:2b10383306a2 | 59 | |
| Nurbol | 0:2b10383306a2 | 60 | //****************************************************************************** |
| Nurbol | 0:2b10383306a2 | 61 | // Defined GLOBAL variables and structures |
| Nurbol | 0:2b10383306a2 | 62 | // |
| Nurbol | 0:2b10383306a2 | 63 | CMD_STRUCT ext_cmd; // structure to hold command data |
| Nurbol | 0:2b10383306a2 | 64 | STAT_STRUCT ext_stat; // structure to hold status reply |
| Nurbol | 0:2b10383306a2 | 65 | |
| Nurbol | 0:2b10383306a2 | 66 | uint32_t last_servo; // store for last servo number |
| Nurbol | 0:2b10383306a2 | 67 | |
| Nurbol | 0:2b10383306a2 | 68 | //************************************************************************ |
| Nurbol | 0:2b10383306a2 | 69 | //************************************************************************ |
| Nurbol | 0:2b10383306a2 | 70 | // init_sys : initialise the system |
| Nurbol | 0:2b10383306a2 | 71 | // ======== |
| Nurbol | 0:2b10383306a2 | 72 | // |
| Nurbol | 0:2b10383306a2 | 73 | // 1. Configure 2*16 character display |
| Nurbol | 0:2b10383306a2 | 74 | // 2. Print "COM test" string |
| Nurbol | 0:2b10383306a2 | 75 | // 3. initialise relevant global variables |
| Nurbol | 0:2b10383306a2 | 76 | // 4. set COM port baud rate to 19200 bits per second |
| Nurbol | 0:2b10383306a2 | 77 | // |
| Nurbol | 0:2b10383306a2 | 78 | void init_sys(void) { |
| Nurbol | 0:2b10383306a2 | 79 | |
| Nurbol | 0:2b10383306a2 | 80 | par_port = new MCP23017(p9, p10, 0x40); |
| Nurbol | 0:2b10383306a2 | 81 | lcd = new WattBob_TextLCD(par_port); |
| Nurbol | 0:2b10383306a2 | 82 | |
| Nurbol | 0:2b10383306a2 | 83 | par_port->write_bit(1,BL_BIT); // turn LCD backlight ON |
| Nurbol | 0:2b10383306a2 | 84 | lcd->cls(); |
| Nurbol | 0:2b10383306a2 | 85 | lcd->locate(0,0); |
| Nurbol | 0:2b10383306a2 | 86 | lcd->printf("COM "); |
| Nurbol | 0:2b10383306a2 | 87 | |
| Nurbol | 0:2b10383306a2 | 88 | servo_0.period(0.020); // servo requires a 20ms period, common for all 5 servo objects |
| Nurbol | 0:2b10383306a2 | 89 | last_servo = SERVO_UNKNOWN; |
| Nurbol | 0:2b10383306a2 | 90 | pc.baud(19200); |
| Nurbol | 0:2b10383306a2 | 91 | |
| Nurbol | 0:2b10383306a2 | 92 | return; |
| Nurbol | 0:2b10383306a2 | 93 | } // end init_sys |
| Nurbol | 0:2b10383306a2 | 94 | |
| Nurbol | 0:2b10383306a2 | 95 | //************************************************************************ |
| Nurbol | 0:2b10383306a2 | 96 | // process_cmd : decode and execute command |
| Nurbol | 0:2b10383306a2 | 97 | // =========== |
| Nurbol | 0:2b10383306a2 | 98 | uint32_t process_cmd(CMD_STRUCT *command) |
| Nurbol | 0:2b10383306a2 | 99 | { |
| Nurbol | 0:2b10383306a2 | 100 | int32_t pulse_width; |
| Nurbol | 0:2b10383306a2 | 101 | |
| Nurbol | 0:2b10383306a2 | 102 | switch (command->cmd_code) { |
| Nurbol | 0:2b10383306a2 | 103 | // |
| Nurbol | 0:2b10383306a2 | 104 | // move a servo |
| Nurbol | 0:2b10383306a2 | 105 | // |
| Nurbol | 0:2b10383306a2 | 106 | case SERVO_CMD : |
| Nurbol | 0:2b10383306a2 | 107 | command->nos_data = 0; // no data to be returned |
| Nurbol | 0:2b10383306a2 | 108 | // |
| Nurbol | 0:2b10383306a2 | 109 | // check that parameters are OK |
| Nurbol | 0:2b10383306a2 | 110 | // |
| Nurbol | 0:2b10383306a2 | 111 | if (command->nos_params != 2) { // check for 2 parameters |
| Nurbol | 0:2b10383306a2 | 112 | command->result_status = CMD_BAD_NUMBER_OF_PARAMETERS; |
| Nurbol | 0:2b10383306a2 | 113 | break; |
| Nurbol | 0:2b10383306a2 | 114 | } |
| Nurbol | 0:2b10383306a2 | 115 | if (command->param[0] > MAX_SERVO_NUMBER ) { // check servo number |
| Nurbol | 0:2b10383306a2 | 116 | command->result_status = CMD_BAD_SERVO_NUMBER; |
| Nurbol | 0:2b10383306a2 | 117 | break; |
| Nurbol | 0:2b10383306a2 | 118 | } |
| Nurbol | 0:2b10383306a2 | 119 | if ((command->param[1] < MIN_SERVO_ANGLE) || |
| Nurbol | 0:2b10383306a2 | 120 | (command->param[1] > MAX_SERVO_ANGLE) ) { |
| Nurbol | 0:2b10383306a2 | 121 | command->result_status = CMD_BAD_SERVO_VALUE; |
| Nurbol | 0:2b10383306a2 | 122 | break; |
| Nurbol | 0:2b10383306a2 | 123 | } |
| Nurbol | 0:2b10383306a2 | 124 | pulse_width = 1000 + (command->param[1] * 1000) / MAX_SERVO_ANGLE; // convert angle to pulse width |
| Nurbol | 0:2b10383306a2 | 125 | // |
| Nurbol | 0:2b10383306a2 | 126 | // implement servo move to all 5 servos |
| Nurbol | 0:2b10383306a2 | 127 | // |
| Nurbol | 0:2b10383306a2 | 128 | switch (command->param[0]) { |
| Nurbol | 0:2b10383306a2 | 129 | case 0 : servo_0.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:2b10383306a2 | 130 | // case 1 : servo_1.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:2b10383306a2 | 131 | // case 2 : servo_2.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:2b10383306a2 | 132 | // case 3 : servo_3.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:2b10383306a2 | 133 | case 4 : servo_4.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:2b10383306a2 | 134 | // case 5 : servo_5.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:2b10383306a2 | 135 | |
| Nurbol | 0:2b10383306a2 | 136 | } |
| Nurbol | 0:2b10383306a2 | 137 | last_servo = command->param[0]; |
| Nurbol | 0:2b10383306a2 | 138 | break; |
| Nurbol | 0:2b10383306a2 | 139 | // |
| Nurbol | 0:2b10383306a2 | 140 | // return last servo number |
| Nurbol | 0:2b10383306a2 | 141 | // |
| Nurbol | 0:2b10383306a2 | 142 | case READ_CMD : |
| Nurbol | 0:2b10383306a2 | 143 | command->nos_data = 1; // no data to be returned |
| Nurbol | 0:2b10383306a2 | 144 | command->result_data[0] = last_servo; |
| Nurbol | 0:2b10383306a2 | 145 | break; |
| Nurbol | 0:2b10383306a2 | 146 | // |
| Nurbol | 0:2b10383306a2 | 147 | // catch any problems |
| Nurbol | 0:2b10383306a2 | 148 | // |
| Nurbol | 0:2b10383306a2 | 149 | default: |
| Nurbol | 0:2b10383306a2 | 150 | command->nos_data = 0; // no data to be returned |
| Nurbol | 0:2b10383306a2 | 151 | command->result_status = CMD_BAD_SERVO_VALUE; |
| Nurbol | 0:2b10383306a2 | 152 | break; |
| Nurbol | 0:2b10383306a2 | 153 | } |
| Nurbol | 0:2b10383306a2 | 154 | return OK; |
| Nurbol | 0:2b10383306a2 | 155 | } |
| Nurbol | 0:2b10383306a2 | 156 | |
| Nurbol | 0:2b10383306a2 | 157 | //************************************************************************ |
| Nurbol | 0:2b10383306a2 | 158 | //************************************************************************ |
| Nurbol | 0:2b10383306a2 | 159 | // |
| Nurbol | 0:2b10383306a2 | 160 | int main() { |
| Nurbol | 0:2b10383306a2 | 161 | valueLED1=0; |
| Nurbol | 0:2b10383306a2 | 162 | valueLED2=0; |
| Nurbol | 0:2b10383306a2 | 163 | clk=0; |
| Nurbol | 0:2b10383306a2 | 164 | init_sys(); |
| Nurbol | 0:2b10383306a2 | 165 | FOREVER { |
| Nurbol | 0:2b10383306a2 | 166 | get_cmd(&ext_cmd); |
| Nurbol | 0:2b10383306a2 | 167 | // |
| Nurbol | 0:2b10383306a2 | 168 | // Check status of read command activity and return an error status if there was a problem |
| Nurbol | 0:2b10383306a2 | 169 | // If there is a problem, then return status code only and wait for next command. |
| Nurbol | 0:2b10383306a2 | 170 | // |
| Nurbol | 0:2b10383306a2 | 171 | if (ext_cmd.result_status != OK){ |
| Nurbol | 0:2b10383306a2 | 172 | send_status(ext_cmd.result_status); |
| Nurbol | 0:2b10383306a2 | 173 | continue; |
| Nurbol | 0:2b10383306a2 | 174 | } |
| Nurbol | 0:2b10383306a2 | 175 | // |
| Nurbol | 0:2b10383306a2 | 176 | // Parse command and return an error staus if there is a problem |
| Nurbol | 0:2b10383306a2 | 177 | // If there is a problem, then return status code only and wait for next command. |
| Nurbol | 0:2b10383306a2 | 178 | // |
| Nurbol | 0:2b10383306a2 | 179 | parse_cmd(&ext_cmd); |
| Nurbol | 0:2b10383306a2 | 180 | lcd->locate(1,0); lcd->printf(ext_cmd.cmd_str); |
| Nurbol | 0:2b10383306a2 | 181 | if ((ext_cmd.result_status != OK) && (ext_cmd.cmd_code != TEXT_CMD)){ |
| Nurbol | 0:2b10383306a2 | 182 | lcd->locate(1,0); lcd->printf("parse : error"); |
| Nurbol | 0:2b10383306a2 | 183 | send_status(ext_cmd.result_status); |
| Nurbol | 0:2b10383306a2 | 184 | continue; |
| Nurbol | 0:2b10383306a2 | 185 | } |
| Nurbol | 0:2b10383306a2 | 186 | // |
| Nurbol | 0:2b10383306a2 | 187 | // Execute command and return an error staus if there is a problem |
| Nurbol | 0:2b10383306a2 | 188 | // |
| Nurbol | 0:2b10383306a2 | 189 | process_cmd(&ext_cmd); |
| Nurbol | 0:2b10383306a2 | 190 | reply_to_cmd(&ext_cmd); |
| Nurbol | 0:2b10383306a2 | 191 | |
| Nurbol | 0:2b10383306a2 | 192 | |
| Nurbol | 0:2b10383306a2 | 193 | //program for 2 sensors |
| Nurbol | 0:2b10383306a2 | 194 | |
| Nurbol | 0:2b10383306a2 | 195 | |
| Nurbol | 0:2b10383306a2 | 196 | clk = !clk; |
| Nurbol | 0:2b10383306a2 | 197 | |
| Nurbol | 0:2b10383306a2 | 198 | wait(0.01); |
| Nurbol | 0:2b10383306a2 | 199 | |
| Nurbol | 0:2b10383306a2 | 200 | sensor1.read(); |
| Nurbol | 0:2b10383306a2 | 201 | sensor2.read(); |
| Nurbol | 0:2b10383306a2 | 202 | |
| Nurbol | 0:2b10383306a2 | 203 | if(sensor1 > 0.5) { |
| Nurbol | 0:2b10383306a2 | 204 | led1 = 1; |
| Nurbol | 0:2b10383306a2 | 205 | valueLED1 = 1; |
| Nurbol | 0:2b10383306a2 | 206 | } |
| Nurbol | 0:2b10383306a2 | 207 | else if(sensor1 < 0.5){ |
| Nurbol | 0:2b10383306a2 | 208 | led1 = 0; |
| Nurbol | 0:2b10383306a2 | 209 | valueLED1 = 0; |
| Nurbol | 0:2b10383306a2 | 210 | } |
| Nurbol | 0:2b10383306a2 | 211 | |
| Nurbol | 0:2b10383306a2 | 212 | |
| Nurbol | 0:2b10383306a2 | 213 | if(sensor2 > 0.5) { |
| Nurbol | 0:2b10383306a2 | 214 | led2 = 1; |
| Nurbol | 0:2b10383306a2 | 215 | valueLED2 = 1; |
| Nurbol | 0:2b10383306a2 | 216 | } |
| Nurbol | 0:2b10383306a2 | 217 | else if(sensor2 < 0.5){ |
| Nurbol | 0:2b10383306a2 | 218 | led2 = 0; |
| Nurbol | 0:2b10383306a2 | 219 | valueLED2 = 0; |
| Nurbol | 0:2b10383306a2 | 220 | } |
| Nurbol | 0:2b10383306a2 | 221 | } |
| Nurbol | 0:2b10383306a2 | 222 | |
| Nurbol | 0:2b10383306a2 | 223 | } |