Diff: main.cpp

Revision:

0:99ea9a842829

Child:

1:05b399616fcd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Nov 24 00:01:43 2011 +0000
@@ -0,0 +1,451 @@
+//
+// COM_test : program to communicate via a COM port to a PC/laptop
+// ========
+//
+// Description
+//      Program to receive ASCII format commands through a virtual COM port and
+//      after executing the command return some data (optional, depending on
+//      the command) and a status value.
+//      The program understands two possible commands :
+//          "s i j"     : move servo 'i (0 to 5) to postion 'j' (0 to 90)
+//          "r"         : read the 'i' parameter of the last "s" command
+//
+// Version : 1.0
+// Author : Jim Herd
+// Date : 5th Oct 2011
+//
+#include "mbed.h"
+#include "MCP23017.h"
+#include "WattBob_TextLCD.h"
+#include "cmd_io.h"
+#include "globals.h"
+
+
+
+Ticker timer1p;
+Ticker timer2p;
+Ticker timercounter1p;
+Ticker timercounter2p;
+
+
+AnalogIn sensor1(p15);
+AnalogIn sensor2(p16);
+DigitalOut valueLED1(p23);
+DigitalOut valueLED2(p25);
+
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+DigitalOut clk(p24);
+
+DigitalIn counter1p(p5);
+DigitalIn counter2p(p6);
+DigitalIn SW1p(p11);
+DigitalIn SW2p(p12);
+
+bool Position1_1p;
+bool Position2_1p;
+bool Position1_2p;
+bool Position2_2p;
+
+static int state(0);
+
+
+
+//******************************************************************************
+// declare functions 
+//
+void sensor1p (void);
+void sensor2p (void);
+void counter1 (void);
+void counter2 (void);
+
+//    
+//
+// 2. five servo outputs
+//
+
+PwmOut servo_0(p26);
+//PwmOut servo_1(p25);
+//PwmOut servo_2(p24);
+//PwmOut servo_3(p23);
+PwmOut servo_4(p22);
+PwmOut servo_5(p21);
+
+//
+// 3. objects necessary to use the 2*16 character MBED display
+//
+MCP23017            *par_port;
+WattBob_TextLCD     *lcd;
+//
+// 4. Virtual COM port over USB link to laptop/PC
+//
+Serial      pc(USBTX, USBRX);
+
+//******************************************************************************
+// Defined GLOBAL variables and structures
+//
+CMD_STRUCT         ext_cmd, commandcounter2;     // structure to hold command data
+STAT_STRUCT        ext_stat;    // structure to hold status reply
+
+
+//CMD_STRUCT commandcounter2;
+
+uint32_t   last_servo;          // store for last servo number
+
+//************************************************************************
+//************************************************************************
+// init_sys : initialise the system
+// ========
+//
+// 1. Configure 2*16 character display
+// 2. Print "COM test" string
+// 3. initialise relevant global variables
+// 4. set COM port baud rate to 19200 bits per second
+//
+void init_sys(void) {
+
+    par_port = new MCP23017(p9, p10, 0x40);
+    lcd = new WattBob_TextLCD(par_port);
+
+    par_port->write_bit(1,BL_BIT);   // turn LCD backlight ON
+    lcd->cls();
+    lcd->locate(0,0);
+    lcd->printf("COM ");
+    
+    servo_0.period(0.020);    // servo requires a 20ms period, common for all 5 servo objects
+    last_servo = SERVO_UNKNOWN; 
+    pc.baud(19200);
+    
+    servo_0.pulsewidth_us(1000 + (0 * 1000) / 90);
+    servo_4.pulsewidth_us(1000 + (25 * 1000) / 90);
+    servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); 
+
+    Position1_1p = 1;
+    Position2_1p = 0;
+    Position1_2p = 1;
+    Position2_2p = 0;
+    
+    return;
+}           // end init_sys
+
+//************************************************************************
+// process_cmd : decode and execute command
+// ===========
+uint32_t process_cmd(CMD_STRUCT *command)
+{
+int32_t pulse_width;
+
+    switch (command->cmd_code) {
+//
+// move a servo
+//
+        case SERVO_CMD :
+            command->nos_data = 0;                   // no data to be returned
+    //
+    // check that parameters are OK
+    //
+            if (command->nos_params != 2) {          // check for 2 parameters
+                command->result_status = CMD_BAD_NUMBER_OF_PARAMETERS;
+                break;
+            }
+            if (command->param[0] > MAX_SERVO_NUMBER ) {       // check servo number
+                command->result_status = CMD_BAD_SERVO_NUMBER;
+                break;
+            }
+            if ((command->param[1] < MIN_SERVO_ANGLE) ||
+                (command->param[1] > MAX_SERVO_ANGLE) ) { 
+                command->result_status = CMD_BAD_SERVO_VALUE;
+                break;
+            }
+            if ((command->param[0] == 4) && (command->param[1] == 0)) {
+                 pulse_width = 0;  // convert angle to pulse width
+                 }
+            else{ 
+                pulse_width = 1000 + (command->param[1] * 1000) / MAX_SERVO_ANGLE;  // convert angle to pulse width   
+            }
+             
+            
+            
+    //
+    // implement servo move to all 5 servos
+    //
+            switch (command->param[0]) {
+               case 0 : servo_0.pulsewidth_us(pulse_width); break;
+           //     case 1 : servo_1.pulsewidth_us(pulse_width); break;
+          //      case 2 : servo_2.pulsewidth_us(pulse_width); break;
+           //     case 3 : servo_3.pulsewidth_us(pulse_width); break;
+               case 4 : servo_4.pulsewidth_us(pulse_width); break;
+           //     case 5 : servo_5.pulsewidth_us(pulse_width); break;
+                
+            }
+            last_servo = command->param[0];
+            break;
+//
+// return last servo number                                                
+//
+        case READ_CMD :
+            command->nos_data = 2;                   // no data to be returned
+            command->result_data[0] = valueLED1;
+            command->result_data[1] = valueLED2;
+            break;
+//
+// catch any problems
+//            
+        default:
+            command->nos_data = 0;                   // no data to be returned
+            command->result_status = CMD_BAD_SERVO_VALUE;
+            break;
+    }
+    return  OK;
+}
+
+//************************************************************************
+
+//function to send value on the FPGA when 1p is detected
+void sensor1p (void){
+    clk = !clk;
+    wait(0.01);
+    sensor1.read();
+        if(sensor1 > 0.5) {
+                led1 = 1;
+                valueLED1 = 1;
+        }
+        else if(sensor1 < 0.5){
+               led1 = 0;
+                valueLED1 = 0;
+        }
+}
+
+//function to send value on the FPGA when 2p is detected
+void sensor2p (){
+    sensor2.read();
+        if(sensor2 > 0.5) {
+                led2 = 1;
+                valueLED2 = 1;
+        }
+        else if(sensor2 < 0.5){
+               led2 = 0;
+                valueLED2 = 0;
+        }
+}
+
+//function to move servo when we have counter1p equal to 10
+/*
+void counter1 (){
+    if((counter1p > 0.5)&&(Position1_1p == 1)&&(SW1p == 0)){
+            led3 = 1;
+            servo_4.pulsewidth_us(0);
+            wait(1);
+            servo_0.pulsewidth_us(1000 + (200 * 1000) / 90); 
+            wait(1);
+            if(SW1p == 1){
+                Position2_1p = 1;
+                Position1_1p = 0;
+                }
+         }
+    else if ((counter1p > 0.5)&&(Position2_1p == 1)&&(SW1p == 0)){
+            led3 = 1;
+            servo_4.pulsewidth_us(0);
+            wait(1);
+            servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); 
+            wait(1);
+            if(SW1p == 1){
+                Position2_1p = 0;
+                Position1_1p = 1;
+                }
+          }
+    else if ((counter1p < 0.5)&&(Position1_1p == 1)&&(SW1p == 0)){
+            led3 = 0;
+            servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); 
+            if(counter2p < 0.5){
+            servo_4.pulsewidth_us(1000 + (25 * 1000) / 90);
+            }
+    }
+    else if ((counter1p < 0.5)&&(Position2_1p == 1)&&(SW1p == 0)){
+            led3 = 0;
+            servo_0.pulsewidth_us(1000 + (200 * 1000) / 90); 
+            if(counter2p < 0.5){
+            servo_4.pulsewidth_us(1000 + (25 * 1000) / 90);
+            }
+    }
+}
+*/
+//function to move servo when we have counter2p equal to 5
+
+/*void counter2(){
+    if((counter2p > 0.5)&&(Position1_1p == 1)&&(SW2p == 0)){
+            led3 = 1;
+            servo_4.pulsewidth_us(0);
+            wait(1);
+            servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); 
+            wait(1);
+            if(SW2p == 1){
+                Position2_1p = 1;
+                Position1_1p = 0;
+                }
+         }
+    else if ((counter2p > 0.5)&&(Position2_1p == 1)&&(SW2p == 0)){
+            led3 = 1;
+            servo_4.pulsewidth_us(0);
+            wait(1);
+            servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); 
+            wait(1);
+            if(SW2p == 1){
+                Position2_1p = 0;
+                Position1_1p = 1;
+                }
+          }
+    else if ((counter2p < 0.5)&&(Position1_1p == 1)&&(SW2p == 0)){
+            led3 = 0;
+            servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); 
+            if(counter1p < 0.5){
+            servo_4.pulsewidth_us(1000 + (25 * 1000) / 90);
+            }
+    }
+    else if ((counter2p < 0.5)&&(Position2_1p == 1)&&(SW2p == 0)){
+            led3 = 0;
+            servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); 
+            if(counter1p < 0.5){
+            servo_4.pulsewidth_us(1000 + (25 * 1000) / 90);
+            }
+    }
+}
+
+*/
+
+
+//************************************************************************
+//
+int main() {
+
+    valueLED1=0;
+    valueLED2=0;
+    clk=0;
+    init_sys();
+    
+    FOREVER {
+    
+     timer2p.attach(&sensor2p, 0.1);         //function sensor2p is reading all the 0.1 ms
+     timer1p.attach(&sensor1p, 0.1);         //function sensor1p is reading all the 0.1 ms
+    
+    
+//state_machine     
+    switch(state)
+    {
+        case 0:                                                  // initial state
+             servo_4.pulsewidth_us(1000 + (25 * 1000) / 90);     // motor is run
+             servo_0.pulsewidth_us(1000 + (0 * 1000) / 90);      // servo 1p go to position 1
+             servo_5.pulsewidth_us(1000 + (0 * 1000) / 90);      // servo 2p go to position 1 
+             Position1_1p = 1;
+             Position2_1p = 0;
+             Position1_2p = 1;
+             Position2_2p = 0;
+             led3 = 0;
+             led4 = 0;
+             if(counter1p == 1){
+                state = 1;
+             }
+             if(counter2p == 1){
+                state = 4;
+             }
+             break;
+        case 1:                                                 // state 1 if counter1p = 1
+             servo_4.pulsewidth_us(0);                          // motor stop
+             servo_0.pulsewidth_us(1000 + (200 * 1000) / 90);   // servo 1p go to position 2 
+             wait(1);
+             Position1_1p = 0;
+             Position2_1p = 1;
+             if(Position2_1p == 1){
+                state = 2;
+             }
+             break;
+        case 2:                                                  // state 2 if servo 1p is in position 2
+             servo_4.pulsewidth_us(1000 + (25 * 1000) / 90);     // motor is run   
+             if(counter1p == 1){
+                state = 3;
+             }
+             break;
+        case 3:                               // state 3 if counter 1p = 1
+             servo_4.pulsewidth_us(0);        // motor stop
+             led3 = 1; 
+             if(SW1p == 1){                   // wait SW 1p to go to the initial state
+                state = 0;
+             }
+             break;
+        case 4:                                                // state 4 if counter 2p = 1
+             servo_4.pulsewidth_us(0);                         // motor stop
+             servo_5.pulsewidth_us(1000 + (200 * 1000) / 90);  // servo 2p go to position 2
+             wait(1);
+             Position1_2p = 0;
+             Position2_2p = 1;
+             if(Position2_2p == 1){
+                state = 5;
+             }
+             break;
+        case 5:                                               // state 5 if servo 2p is in position 2
+             servo_4.pulsewidth_us(1000 + (25 * 1000) / 90);  // motor run
+             if(counter2p == 1){
+                state = 6;
+             }
+             break;
+        case 6:                          // state 6 if counter 2p = 1
+             servo_4.pulsewidth_us(0);   // motor stop
+             led4 = 1;
+             if(SW2p == 1){              // wait SW 2p to go to the initial state
+                state = 0;
+             }
+             break;         
+    }  
+//end of the state machine
+    
+   
+//    timercounter2p.attach(&counter2, 0.1);  //function counter2 is reading all the 0.1 ms
+//    timercounter1p.attach(&counter1, 0.1);  //function counter1 is reading all the 0.1 ms
+    
+     clk = !clk;
+     wait(0.01);
+    
+        get_cmd(&ext_cmd);
+    //
+    // Check status of read command activity and return an error status if there was a problem
+    // If there is a problem, then return status code only and wait for next command.
+    //
+        if (ext_cmd.result_status != OK){
+            send_status(ext_cmd.result_status);
+            continue;
+        }
+    //
+    // Parse command and return an error staus if there is a problem
+    // If there is a problem, then return status code only and wait for next command.
+    //
+        parse_cmd(&ext_cmd);
+        lcd->locate(1,0); lcd->printf(ext_cmd.cmd_str);
+        if ((ext_cmd.result_status != OK) && (ext_cmd.cmd_code != TEXT_CMD)){
+            lcd->locate(1,0); lcd->printf("parse : error");
+            send_status(ext_cmd.result_status);
+            continue;
+        }
+    //
+    // Execute command and return an error staus if there is a problem
+    //
+        process_cmd(&ext_cmd);
+        reply_to_cmd(&ext_cmd);
+        
+       
+    
+    }
+         
+}
+
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