2sensors_2servo_21_11_11

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Nurbol Nurdaulet / Mbed 2 deprecated 2sensors_2servo_21_11_11

main.cpp@2:a6531d45321f, 2011-11-21 (annotated)

Committer:: Nurbol
Date:: Mon Nov 21 19:25:35 2011 +0000
Revision:: 2:a6531d45321f
Parent:: 1:fc8017eb0c2a

Who changed what in which revision?

User	Revision	Line number	New contents of line
Nurbol	0:c79f45f2dbd2	1	//
Nurbol	0:c79f45f2dbd2	2	// COM_test : program to communicate via a COM port to a PC/laptop
Nurbol	0:c79f45f2dbd2	3	// ========
Nurbol	0:c79f45f2dbd2	4	//
Nurbol	0:c79f45f2dbd2	5	// Description
Nurbol	0:c79f45f2dbd2	6	// Program to receive ASCII format commands through a virtual COM port and
Nurbol	0:c79f45f2dbd2	7	// after executing the command return some data (optional, depending on
Nurbol	0:c79f45f2dbd2	8	// the command) and a status value.
Nurbol	0:c79f45f2dbd2	9	// The program understands two possible commands :
Nurbol	0:c79f45f2dbd2	10	// "s i j" : move servo 'i (0 to 5) to postion 'j' (0 to 90)
Nurbol	0:c79f45f2dbd2	11	// "r" : read the 'i' parameter of the last "s" command
Nurbol	0:c79f45f2dbd2	12	//
Nurbol	0:c79f45f2dbd2	13	// Version : 1.0
Nurbol	0:c79f45f2dbd2	14	// Author : Jim Herd
Nurbol	0:c79f45f2dbd2	15	// Date : 5th Oct 2011
Nurbol	0:c79f45f2dbd2	16	//
Nurbol	0:c79f45f2dbd2	17	#include "mbed.h"
Nurbol	0:c79f45f2dbd2	18	#include "MCP23017.h"
Nurbol	0:c79f45f2dbd2	19	#include "WattBob_TextLCD.h"
Nurbol	0:c79f45f2dbd2	20	#include "cmd_io.h"
Nurbol	0:c79f45f2dbd2	21	#include "globals.h"
Nurbol	0:c79f45f2dbd2	22
Nurbol	0:c79f45f2dbd2	23
Nurbol	0:c79f45f2dbd2	24
Nurbol	0:c79f45f2dbd2	25	Ticker timer1p;
Nurbol	0:c79f45f2dbd2	26	Ticker timer2p;
Nurbol	0:c79f45f2dbd2	27	Ticker timercounter1p;
Nurbol	0:c79f45f2dbd2	28	Ticker timercounter2p;
Nurbol	0:c79f45f2dbd2	29
Nurbol	0:c79f45f2dbd2	30
Nurbol	0:c79f45f2dbd2	31	AnalogIn sensor1(p15);
Nurbol	0:c79f45f2dbd2	32	AnalogIn sensor2(p16);
Nurbol	0:c79f45f2dbd2	33	AnalogOut valueLED1(p18);
Nurbol	0:c79f45f2dbd2	34	DigitalOut valueLED2(p25);
Nurbol	0:c79f45f2dbd2	35
Nurbol	0:c79f45f2dbd2	36
Nurbol	0:c79f45f2dbd2	37	DigitalOut led1(LED1);
Nurbol	0:c79f45f2dbd2	38	DigitalOut led2(LED2);
Nurbol	0:c79f45f2dbd2	39	DigitalOut led3(LED3);
Nurbol	0:c79f45f2dbd2	40	DigitalOut led4(LED4);
Nurbol	0:c79f45f2dbd2	41
Nurbol	0:c79f45f2dbd2	42	DigitalOut clk(p24);
Nurbol	0:c79f45f2dbd2	43
Nurbol	0:c79f45f2dbd2	44	AnalogIn counter1p(p19);
Nurbol	0:c79f45f2dbd2	45	AnalogIn counter2p(p20);
Nurbol	0:c79f45f2dbd2	46
Nurbol	0:c79f45f2dbd2	47
Nurbol	0:c79f45f2dbd2	48
Nurbol	0:c79f45f2dbd2	49
Nurbol	0:c79f45f2dbd2	50
Nurbol	0:c79f45f2dbd2	51	//******************************************************************************
Nurbol	0:c79f45f2dbd2	52	// declare functions
Nurbol	0:c79f45f2dbd2	53	//
Nurbol	0:c79f45f2dbd2	54	void sensor1p (void);
Nurbol	0:c79f45f2dbd2	55	void sensor2p (void);
Nurbol	0:c79f45f2dbd2	56	void counter1 (void);
Nurbol	0:c79f45f2dbd2	57	void counter2 (void);
Nurbol	0:c79f45f2dbd2	58
Nurbol	0:c79f45f2dbd2	59	//
Nurbol	0:c79f45f2dbd2	60	//
Nurbol	0:c79f45f2dbd2	61	// 2. five servo outputs
Nurbol	0:c79f45f2dbd2	62	//
Nurbol	0:c79f45f2dbd2	63
Nurbol	0:c79f45f2dbd2	64	PwmOut servo_0(p26);
Nurbol	0:c79f45f2dbd2	65	//PwmOut servo_1(p25);
Nurbol	0:c79f45f2dbd2	66	//PwmOut servo_2(p24);
Nurbol	0:c79f45f2dbd2	67	//PwmOut servo_3(p23);
Nurbol	0:c79f45f2dbd2	68	PwmOut servo_4(p22);
Nurbol	0:c79f45f2dbd2	69	PwmOut servo_5(p21);
Nurbol	0:c79f45f2dbd2	70
Nurbol	0:c79f45f2dbd2	71	//
Nurbol	0:c79f45f2dbd2	72	// 3. objects necessary to use the 2*16 character MBED display
Nurbol	0:c79f45f2dbd2	73	//
Nurbol	0:c79f45f2dbd2	74	MCP23017 *par_port;
Nurbol	0:c79f45f2dbd2	75	WattBob_TextLCD *lcd;
Nurbol	0:c79f45f2dbd2	76	//
Nurbol	0:c79f45f2dbd2	77	// 4. Virtual COM port over USB link to laptop/PC
Nurbol	0:c79f45f2dbd2	78	//
Nurbol	0:c79f45f2dbd2	79	Serial pc(USBTX, USBRX);
Nurbol	0:c79f45f2dbd2	80
Nurbol	0:c79f45f2dbd2	81	//******************************************************************************
Nurbol	0:c79f45f2dbd2	82	// Defined GLOBAL variables and structures
Nurbol	0:c79f45f2dbd2	83	//
Nurbol	0:c79f45f2dbd2	84	CMD_STRUCT ext_cmd, commandcounter2; // structure to hold command data
Nurbol	0:c79f45f2dbd2	85	STAT_STRUCT ext_stat; // structure to hold status reply
Nurbol	0:c79f45f2dbd2	86	//CMD_STRUCT commandcounter2;
Nurbol	0:c79f45f2dbd2	87
Nurbol	0:c79f45f2dbd2	88	uint32_t last_servo; // store for last servo number
Nurbol	0:c79f45f2dbd2	89
Nurbol	0:c79f45f2dbd2	90	//************************************************************************
Nurbol	0:c79f45f2dbd2	91	//************************************************************************
Nurbol	0:c79f45f2dbd2	92	// init_sys : initialise the system
Nurbol	0:c79f45f2dbd2	93	// ========
Nurbol	0:c79f45f2dbd2	94	//
Nurbol	0:c79f45f2dbd2	95	// 1. Configure 2*16 character display
Nurbol	0:c79f45f2dbd2	96	// 2. Print "COM test" string
Nurbol	0:c79f45f2dbd2	97	// 3. initialise relevant global variables
Nurbol	0:c79f45f2dbd2	98	// 4. set COM port baud rate to 19200 bits per second
Nurbol	0:c79f45f2dbd2	99	//
Nurbol	0:c79f45f2dbd2	100	void init_sys(void) {
Nurbol	0:c79f45f2dbd2	101
Nurbol	0:c79f45f2dbd2	102	par_port = new MCP23017(p9, p10, 0x40);
Nurbol	0:c79f45f2dbd2	103	lcd = new WattBob_TextLCD(par_port);
Nurbol	0:c79f45f2dbd2	104
Nurbol	0:c79f45f2dbd2	105	par_port->write_bit(1,BL_BIT); // turn LCD backlight ON
Nurbol	0:c79f45f2dbd2	106	lcd->cls();
Nurbol	0:c79f45f2dbd2	107	lcd->locate(0,0);
Nurbol	0:c79f45f2dbd2	108	lcd->printf("COM ");
Nurbol	0:c79f45f2dbd2	109
Nurbol	0:c79f45f2dbd2	110	servo_0.period(0.020); // servo requires a 20ms period, common for all 5 servo objects
Nurbol	0:c79f45f2dbd2	111	last_servo = SERVO_UNKNOWN;
Nurbol	0:c79f45f2dbd2	112	pc.baud(19200);
Nurbol	0:c79f45f2dbd2	113
Nurbol	0:c79f45f2dbd2	114	servo_0.pulsewidth_us(1000 + (0 * 1000) / 90);
Nurbol	0:c79f45f2dbd2	115	servo_4.pulsewidth_us(1000 + (25 * 1000) / 90);
Nurbol	0:c79f45f2dbd2	116	servo_5.pulsewidth_us(1000 + (0 * 1000) / 90);
Nurbol	0:c79f45f2dbd2	117
Nurbol	0:c79f45f2dbd2	118	return;
Nurbol	0:c79f45f2dbd2	119	} // end init_sys
Nurbol	0:c79f45f2dbd2	120
Nurbol	0:c79f45f2dbd2	121	//************************************************************************
Nurbol	0:c79f45f2dbd2	122	// process_cmd : decode and execute command
Nurbol	0:c79f45f2dbd2	123	// ===========
Nurbol	0:c79f45f2dbd2	124	uint32_t process_cmd(CMD_STRUCT *command)
Nurbol	0:c79f45f2dbd2	125	{
Nurbol	0:c79f45f2dbd2	126	int32_t pulse_width;
Nurbol	0:c79f45f2dbd2	127
Nurbol	0:c79f45f2dbd2	128	switch (command->cmd_code) {
Nurbol	0:c79f45f2dbd2	129	//
Nurbol	0:c79f45f2dbd2	130	// move a servo
Nurbol	0:c79f45f2dbd2	131	//
Nurbol	0:c79f45f2dbd2	132	case SERVO_CMD :
Nurbol	0:c79f45f2dbd2	133	command->nos_data = 0; // no data to be returned
Nurbol	0:c79f45f2dbd2	134	//
Nurbol	0:c79f45f2dbd2	135	// check that parameters are OK
Nurbol	0:c79f45f2dbd2	136	//
Nurbol	0:c79f45f2dbd2	137	if (command->nos_params != 2) { // check for 2 parameters
Nurbol	0:c79f45f2dbd2	138	command->result_status = CMD_BAD_NUMBER_OF_PARAMETERS;
Nurbol	0:c79f45f2dbd2	139	break;
Nurbol	0:c79f45f2dbd2	140	}
Nurbol	0:c79f45f2dbd2	141	if (command->param[0] > MAX_SERVO_NUMBER ) { // check servo number
Nurbol	0:c79f45f2dbd2	142	command->result_status = CMD_BAD_SERVO_NUMBER;
Nurbol	0:c79f45f2dbd2	143	break;
Nurbol	0:c79f45f2dbd2	144	}
Nurbol	0:c79f45f2dbd2	145	if ((command->param[1] < MIN_SERVO_ANGLE) \|\|
Nurbol	0:c79f45f2dbd2	146	(command->param[1] > MAX_SERVO_ANGLE) ) {
Nurbol	0:c79f45f2dbd2	147	command->result_status = CMD_BAD_SERVO_VALUE;
Nurbol	0:c79f45f2dbd2	148	break;
Nurbol	0:c79f45f2dbd2	149	}
Nurbol	0:c79f45f2dbd2	150	if ((command->param[0] == 4) && (command->param[1] == 0)) {
Nurbol	0:c79f45f2dbd2	151	pulse_width = 0; // convert angle to pulse width
Nurbol	0:c79f45f2dbd2	152	}
Nurbol	0:c79f45f2dbd2	153	else{
Nurbol	0:c79f45f2dbd2	154	pulse_width = 1000 + (command->param[1] * 1000) / MAX_SERVO_ANGLE; // convert angle to pulse width
Nurbol	0:c79f45f2dbd2	155	}
Nurbol	0:c79f45f2dbd2	156
Nurbol	0:c79f45f2dbd2	157
Nurbol	0:c79f45f2dbd2	158
Nurbol	0:c79f45f2dbd2	159	//
Nurbol	0:c79f45f2dbd2	160	// implement servo move to all 5 servos
Nurbol	0:c79f45f2dbd2	161	//
Nurbol	0:c79f45f2dbd2	162	switch (command->param[0]) {
Nurbol	0:c79f45f2dbd2	163	case 0 : servo_0.pulsewidth_us(pulse_width); break;
Nurbol	0:c79f45f2dbd2	164	// case 1 : servo_1.pulsewidth_us(pulse_width); break;
Nurbol	0:c79f45f2dbd2	165	// case 2 : servo_2.pulsewidth_us(pulse_width); break;
Nurbol	0:c79f45f2dbd2	166	// case 3 : servo_3.pulsewidth_us(pulse_width); break;
Nurbol	0:c79f45f2dbd2	167	case 4 : servo_4.pulsewidth_us(pulse_width); break;
Nurbol	0:c79f45f2dbd2	168	// case 5 : servo_5.pulsewidth_us(pulse_width); break;
Nurbol	0:c79f45f2dbd2	169
Nurbol	0:c79f45f2dbd2	170	}
Nurbol	0:c79f45f2dbd2	171	last_servo = command->param[0];
Nurbol	0:c79f45f2dbd2	172	break;
Nurbol	0:c79f45f2dbd2	173	//
Nurbol	0:c79f45f2dbd2	174	// return last servo number
Nurbol	0:c79f45f2dbd2	175	//
Nurbol	0:c79f45f2dbd2	176	case READ_CMD :
Nurbol	2:a6531d45321f	177	command->nos_data = 2; // no data to be returned
Nurbol	2:a6531d45321f	178	command->result_data[0] = valueLED1;
Nurbol	2:a6531d45321f	179	command->result_data[1] = valueLED2;
Nurbol	0:c79f45f2dbd2	180	break;
Nurbol	0:c79f45f2dbd2	181	//
Nurbol	0:c79f45f2dbd2	182	// catch any problems
Nurbol	0:c79f45f2dbd2	183	//
Nurbol	0:c79f45f2dbd2	184	default:
Nurbol	0:c79f45f2dbd2	185	command->nos_data = 0; // no data to be returned
Nurbol	0:c79f45f2dbd2	186	command->result_status = CMD_BAD_SERVO_VALUE;
Nurbol	0:c79f45f2dbd2	187	break;
Nurbol	0:c79f45f2dbd2	188	}
Nurbol	0:c79f45f2dbd2	189	return OK;
Nurbol	0:c79f45f2dbd2	190	}
Nurbol	0:c79f45f2dbd2	191
Nurbol	0:c79f45f2dbd2	192	//************************************************************************
Nurbol	0:c79f45f2dbd2	193
Nurbol	1:fc8017eb0c2a	194	//function to send value on the FPGA when 1p is detected
Nurbol	0:c79f45f2dbd2	195	void sensor1p (void){
Nurbol	0:c79f45f2dbd2	196	sensor1.read();
Nurbol	0:c79f45f2dbd2	197	if(sensor1 > 0.5) {
Nurbol	0:c79f45f2dbd2	198	led1 = 1;
Nurbol	0:c79f45f2dbd2	199	valueLED1 = 1;
Nurbol	0:c79f45f2dbd2	200	}
Nurbol	0:c79f45f2dbd2	201	else if(sensor1 < 0.5){
Nurbol	0:c79f45f2dbd2	202	led1 = 0;
Nurbol	0:c79f45f2dbd2	203	valueLED1 = 0;
Nurbol	0:c79f45f2dbd2	204	}
Nurbol	0:c79f45f2dbd2	205	}
Nurbol	0:c79f45f2dbd2	206
Nurbol	1:fc8017eb0c2a	207	//function to send value on the FPGA when 2p is detected
Nurbol	0:c79f45f2dbd2	208	void sensor2p (){
Nurbol	0:c79f45f2dbd2	209	sensor2.read();
Nurbol	0:c79f45f2dbd2	210	if(sensor2 > 0.5) {
Nurbol	0:c79f45f2dbd2	211	led2 = 1;
Nurbol	0:c79f45f2dbd2	212	valueLED2 = 1;
Nurbol	0:c79f45f2dbd2	213	}
Nurbol	0:c79f45f2dbd2	214	else if(sensor2 < 0.5){
Nurbol	0:c79f45f2dbd2	215	led2 = 0;
Nurbol	0:c79f45f2dbd2	216	valueLED2 = 0;
Nurbol	0:c79f45f2dbd2	217	}
Nurbol	0:c79f45f2dbd2	218	}
Nurbol	0:c79f45f2dbd2	219
Nurbol	1:fc8017eb0c2a	220	//function to move servo when we have counter1p equal to 10
Nurbol	0:c79f45f2dbd2	221	void counter1 (){
Nurbol	0:c79f45f2dbd2	222	if(counter1p > 0.5){
Nurbol	0:c79f45f2dbd2	223	led3 = 1;
Nurbol	0:c79f45f2dbd2	224	servo_4.pulsewidth_us(0);
Nurbol	0:c79f45f2dbd2	225	wait(1);
Nurbol	0:c79f45f2dbd2	226	servo_0.pulsewidth_us(1000 + (200 * 1000) / 90);
Nurbol	0:c79f45f2dbd2	227	}
Nurbol	0:c79f45f2dbd2	228	else{
Nurbol	0:c79f45f2dbd2	229	led3 = 0;
Nurbol	0:c79f45f2dbd2	230	servo_0.pulsewidth_us(1000 + (0 * 1000) / 90);
Nurbol	0:c79f45f2dbd2	231	if(counter2p < 0.5){
Nurbol	0:c79f45f2dbd2	232	servo_4.pulsewidth_us(1000 + (25 * 1000) / 90);
Nurbol	0:c79f45f2dbd2	233	}
Nurbol	0:c79f45f2dbd2	234	}
Nurbol	0:c79f45f2dbd2	235	}
Nurbol	0:c79f45f2dbd2	236
Nurbol	1:fc8017eb0c2a	237	//function to move servo when we have counter2p equal to 5
Nurbol	0:c79f45f2dbd2	238	void counter2(){
Nurbol	0:c79f45f2dbd2	239	if(counter2p > 0.5){
Nurbol	0:c79f45f2dbd2	240	led4 = 1;
Nurbol	0:c79f45f2dbd2	241	servo_4.pulsewidth_us(0);
Nurbol	0:c79f45f2dbd2	242	wait(1);
Nurbol	0:c79f45f2dbd2	243	servo_5.pulsewidth_us(1000 + (200 * 1000) / 90);
Nurbol	0:c79f45f2dbd2	244	}
Nurbol	0:c79f45f2dbd2	245	else{
Nurbol	0:c79f45f2dbd2	246	led4 = 0;
Nurbol	0:c79f45f2dbd2	247	servo_5.pulsewidth_us(1000 + (0 * 1000) / 90);
Nurbol	0:c79f45f2dbd2	248	if(counter1p < 0.5){
Nurbol	0:c79f45f2dbd2	249	servo_4.pulsewidth_us(1000 + (25 * 1000) / 90);
Nurbol	0:c79f45f2dbd2	250	}
Nurbol	0:c79f45f2dbd2	251	}
Nurbol	0:c79f45f2dbd2	252	}
Nurbol	0:c79f45f2dbd2	253
Nurbol	0:c79f45f2dbd2	254
Nurbol	0:c79f45f2dbd2	255
Nurbol	0:c79f45f2dbd2	256
Nurbol	0:c79f45f2dbd2	257	//************************************************************************
Nurbol	0:c79f45f2dbd2	258	//
Nurbol	0:c79f45f2dbd2	259	int main() {
Nurbol	0:c79f45f2dbd2	260
Nurbol	0:c79f45f2dbd2	261	valueLED1=0;
Nurbol	0:c79f45f2dbd2	262	valueLED2=0;
Nurbol	0:c79f45f2dbd2	263	clk=0;
Nurbol	0:c79f45f2dbd2	264	init_sys();
Nurbol	0:c79f45f2dbd2	265
Nurbol	0:c79f45f2dbd2	266	FOREVER {
Nurbol	0:c79f45f2dbd2	267
Nurbol	1:fc8017eb0c2a	268	timer2p.attach(&sensor2p, 0.1); //function sensor2p is reading all the 0.1 ms
Nurbol	1:fc8017eb0c2a	269	timer1p.attach(&sensor1p, 0.1); //function sensor1p is reading all the 0.1 ms
Nurbol	1:fc8017eb0c2a	270	timercounter2p.attach(&counter2, 0.1); //function counter2 is reading all the 0.1 ms
Nurbol	1:fc8017eb0c2a	271	timercounter1p.attach(&counter1, 0.1); //function counter1 is reading all the 0.1 ms
Nurbol	0:c79f45f2dbd2	272
Nurbol	0:c79f45f2dbd2	273	clk = !clk;
Nurbol	0:c79f45f2dbd2	274
Nurbol	0:c79f45f2dbd2	275	get_cmd(&ext_cmd);
Nurbol	0:c79f45f2dbd2	276	//
Nurbol	0:c79f45f2dbd2	277	// Check status of read command activity and return an error status if there was a problem
Nurbol	0:c79f45f2dbd2	278	// If there is a problem, then return status code only and wait for next command.
Nurbol	0:c79f45f2dbd2	279	//
Nurbol	0:c79f45f2dbd2	280	if (ext_cmd.result_status != OK){
Nurbol	0:c79f45f2dbd2	281	send_status(ext_cmd.result_status);
Nurbol	0:c79f45f2dbd2	282	continue;
Nurbol	0:c79f45f2dbd2	283	}
Nurbol	0:c79f45f2dbd2	284	//
Nurbol	0:c79f45f2dbd2	285	// Parse command and return an error staus if there is a problem
Nurbol	0:c79f45f2dbd2	286	// If there is a problem, then return status code only and wait for next command.
Nurbol	0:c79f45f2dbd2	287	//
Nurbol	0:c79f45f2dbd2	288	parse_cmd(&ext_cmd);
Nurbol	0:c79f45f2dbd2	289	lcd->locate(1,0); lcd->printf(ext_cmd.cmd_str);
Nurbol	0:c79f45f2dbd2	290	if ((ext_cmd.result_status != OK) && (ext_cmd.cmd_code != TEXT_CMD)){
Nurbol	0:c79f45f2dbd2	291	lcd->locate(1,0); lcd->printf("parse : error");
Nurbol	0:c79f45f2dbd2	292	send_status(ext_cmd.result_status);
Nurbol	0:c79f45f2dbd2	293	continue;
Nurbol	0:c79f45f2dbd2	294	}
Nurbol	0:c79f45f2dbd2	295	//
Nurbol	0:c79f45f2dbd2	296	// Execute command and return an error staus if there is a problem
Nurbol	0:c79f45f2dbd2	297	//
Nurbol	0:c79f45f2dbd2	298	process_cmd(&ext_cmd);
Nurbol	0:c79f45f2dbd2	299	reply_to_cmd(&ext_cmd);
Nurbol	0:c79f45f2dbd2	300
Nurbol	0:c79f45f2dbd2	301
Nurbol	0:c79f45f2dbd2	302
Nurbol	0:c79f45f2dbd2	303	}
Nurbol	0:c79f45f2dbd2	304
Nurbol	0:c79f45f2dbd2	305	}
Nurbol	0:c79f45f2dbd2	306
Nurbol	0:c79f45f2dbd2	307
Nurbol	0:c79f45f2dbd2	308
Nurbol	0:c79f45f2dbd2	309
Nurbol	0:c79f45f2dbd2	310
Nurbol	0:c79f45f2dbd2	311
Nurbol	0:c79f45f2dbd2	312
Nurbol	0:c79f45f2dbd2	313
Nurbol	0:c79f45f2dbd2	314

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	21 Nov 2011
Imports:	0
Forks:	0
Commits:	3
Dependents:	0
Dependencies:	0
Followers:	1

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main.cpp@2:a6531d45321f, 2011-11-21 (annotated)

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Important changes to repositories hosted on mbed.com

main.cpp@2:a6531d45321f, 2011-11-21 (annotated)

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