Andrew Lindsay / Mbed OS K9_Head_Controller

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Dependencies:   MultiChannelRelay Adafruit_PWMServoDriver

Files at this revision

API Documentation at this revision

Revision 0:d19dd72afbb0, committed 2020-09-08

Comitter:
SomeRandomBloke
Date:
Tue Sep 08 16:34:38 2020 +0000
Child:
1:558786a5d3f9
Commit message:
First commit for K9 Head controller

Changed in this revision

Adafruit_PWMServoDriver.lib Show annotated file Show diff for this revision Revisions of this file
MultiChannelRelay.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed-os.lib Show annotated file Show diff for this revision Revisions of this file
mbed_app.json Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Adafruit_PWMServoDriver.lib	Tue Sep 08 16:34:38 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/SomeRandomBloke/code/Adafruit_PWMServoDriver/#9ff15661ddd6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MultiChannelRelay.lib	Tue Sep 08 16:34:38 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/SomeRandomBloke/code/MultiChannelRelay/#661beaa91d83

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Sep 08 16:34:38 2020 +0000
@@ -0,0 +1,235 @@
+/** K9 Dr Who Robot dog, Head controler.
+* Based on NucleoF303k8 CAN Receive node
+ *
+ *
+ *
+ *
+ *
+ */
+
+#include "mbed.h"
+#include "MultiChannelRelay.h"
+//#include "PCA9685.h"
+#include "Adafruit_PWMServoDriver.h"
+
+//     "requires": ["bare-metal"],
+
+#define NODE_ID 0x456
+#define NODE_RELAY 0x81
+#define NODE_MOTOR 0x82
+#define NODE_SERVO 0x83
+
+
+#define WAVE_MIN  120
+#define WAVE_MAX  450
+#define WAVE_FWD  285
+#define RIGHT_EAR 0
+#define LEFT_EAR  1
+#define GUN_SERVO 2
+#define EYE_LEDS  3
+
+// Blinking rate in milliseconds
+#define BLINKING_RATE     500
+
+I2C i2c(I2C_SDA, I2C_SCL);
+
+//PCA9685 pwmServo( I2C_SDA, I2C_SCL, PCA9685::PCA9685_ADDRESS_0, 400000 );
+Adafruit_PWMServoDriver pwmServo( &i2c );
+
+void canRcv(void);
+char RcvData[8];
+DigitalOut led(PB_3);
+//Serial pc(PA_2,PA_3,115200);
+CAN can(PA_11, PA_12,500000);       // Rx, Tx
+CANMessage msg(0x456,CANStandard);
+
+//I2C i2c(I2C_SDA, I2C_SCL);
+
+MultiChannelRelay relay(&i2c);
+
+
+/** CAN **/
+void canRcv(void)
+{
+    led =!led;
+    can.read(msg);
+//    printf("\033[1;1HCAN TRANSID: 0x%x", msg.id);
+//    if(msg.id == NODE_ID) {
+    for(uint8_t i=0; i<8; i++) {
+        RcvData[i] = msg.data[i];
+    }
+    /*    printf("\033[2;1HCAN DATA[0]: 0x%x ", RcvData[0]);
+        printf("\033[3;1HCAN DATA[1]: 0x%x ", RcvData[1]);
+        printf("\033[4;1HCAN DATA[2]: 0x%x ", RcvData[2]);
+        printf("\033[5;1HCAN DATA[3]: 0x%x ", RcvData[3]);
+        printf("\033[6;1HCAN DATA[4]: 0x%x ", RcvData[4]);
+        printf("\033[7;1HCAN DATA[5]: 0x%x ", RcvData[5]);
+        printf("\033[8;1HCAN DATA[6]: 0x%x ", RcvData[6]);
+        printf("\033[9;1HCAN DATA[7]: 0x%x ", RcvData[7]);
+        printf("\033[10;1HCAN LEN:    %d  ",msg.len);
+        printf("\033[11;1HCAN FORMAT: %d  ",msg.format);
+        printf("\033[12;1HCAN TYPE:   %d  ",msg.type);
+        printf("\033[13;1HCAN RDErr:  %d  ",can.rderror());
+    */
+    /*
+        // Byte 0 is node type
+        switch( RcvData[0] ) {
+            case NODE_RELAY:
+                // Byte 1 is relay bit pattern
+                relay.channelCtrl( RcvData[1] & 0x0F );
+                printf("Relay %d  \r\n", RcvData[1] & 0x0F );
+                break;
+            case NODE_MOTOR:
+                // Bytes 1/2 L/H signed int Right direction/speed
+                // Bytes 3/4 L/H signed int Left direction/speed
+                break;
+            case NODE_SERVO:
+                // Byte 1 servo number
+                // Byte 2/3 L/H value
+                break;
+        }
+    */
+//    }
+}
+
+
+int main()
+{
+    // Setup hardware
+
+    //PCA9685::PCA9685_status_t  status = pwmServo.PCA9685_SoftReset();
+    pwmServo.begin();
+
+    // Configure the PWM frequency and wake up the device
+    //status = pwmServo.PCA9685_SetPWM_Freq( 1000 );   // PWM frequency: 1kHz
+    //status = pwmServo.PCA9685_SetMode( PCA9685::MODE1_SLEEP_DISABLED );
+    pwmServo.setPWMFreq(50);  // 50Hz
+
+#ifdef NOTUSED
+    printf("\033[2J\033[1;1HTest Relays\n");
+
+    // Relay test
+    relay.channelCtrl(0x00);
+    thread_sleep_for(100);
+    relay.channelCtrl(0x01);
+    thread_sleep_for(100);
+    relay.channelCtrl(0x02);
+    thread_sleep_for(100);
+    relay.channelCtrl(0x04);
+    thread_sleep_for(100);
+    relay.channelCtrl(0x08);
+    thread_sleep_for(100);
+    relay.channelCtrl(0x00);
+
+    // Servo test
+    printf("\033[2J\033[1;1HTest PWM\n");
+    for(int i=WAVE_MIN; i<WAVE_MAX; ) {
+        //status = myPWMSensor.PCA9685_SetPWM_DutyCycle( PCA9685::PCA9685_LED1, 10, 30 );
+        pwmServo.setPWM(RIGHT_EAR, 0, i);
+        thread_sleep_for(20);
+        i += 10;
+    }
+    for(int i=WAVE_MAX; i>WAVE_MIN; ) {
+        //status = myPWMSensor.PCA9685_SetPWM_DutyCycle( PCA9685::PCA9685_LED1, 10, 30 );
+        pwmServo.setPWM(RIGHT_EAR, 0, i);
+        thread_sleep_for(20);
+        i -= 10;
+    }
+    for( int i=1; i<5; i++ ) {
+        pwmServo.setPWM(RIGHT_EAR, 0, WAVE_MIN);
+        pwmServo.setPWM(LEFT_EAR, 0, WAVE_MAX);
+        thread_sleep_for(700);
+        pwmServo.setPWM(RIGHT_EAR, 0, WAVE_MAX);
+        pwmServo.setPWM(LEFT_EAR, 0, WAVE_MIN);
+        thread_sleep_for(700);
+    }
+
+    for( int n=0; n<10; n++) {
+        pwmServo.setPWM(EYE_LEDS, 0, 0xFFF);
+        thread_sleep_for(500);
+        pwmServo.setPWM(EYE_LEDS, 0, 0);
+        thread_sleep_for(500);
+        /*
+                for(int i=0; i<0xFFFF; ) {
+                    //status = myPWMSensor.PCA9685_SetPWM_DutyCycle( PCA9685::PCA9685_LED1, 10, 30 );
+                    pwmServo.setPWM(EYE_LEDS, 0, i);
+                    thread_sleep_for(10);
+                    i += 10;
+                }
+                for(int i=0xFFFF; i>0; ) {
+                    //status = myPWMSensor.PCA9685_SetPWM_DutyCycle( PCA9685::PCA9685_LED1, 10, 30 );
+                    pwmServo.setPWM(EYE_LEDS, 0, i);
+                    thread_sleep_for(10);
+                    i -= 10;
+                }
+         */
+    }
+
+#endif
+
+    relay.channelCtrl(0x00);
+    pwmServo.setPWM(RIGHT_EAR, 0, WAVE_FWD);
+    pwmServo.setPWM(LEFT_EAR, 0, WAVE_FWD);
+
+    pwmServo.setPWM(EYE_LEDS, 0, 0);
+
+    printf("\033[2J\033[1;1HSTART mbed 6.2\n");
+
+    // Initialise the digital pin LED1 as an output
+    DigitalOut led(LED1);
+
+//    while (true) {
+//        led = !led;
+//        thread_sleep_for(500);
+//    }
+
+    can.mode( CAN::Normal );
+//    can.attach(callback( &canRcv ),CAN::RxIrq);
+
+    while(1) {
+        led = !led;
+        if( can.read(msg) > 0 ) {
+//    printf("\033[1;1HCAN TRANSID: 0x%x", msg.id);
+//    if(msg.id == NODE_ID) {
+            for(uint8_t i=0; i<8; i++) {
+                RcvData[i] = msg.data[i];
+            }
+
+            printf("\033[2;1HCAN DATA[0]: 0x%x", RcvData[0]);
+            printf("\033[3;1HCAN DATA[1]: 0x%x", RcvData[1]);
+            printf("\033[4;1HCAN DATA[2]: 0x%x", RcvData[2]);
+            printf("\033[5;1HCAN DATA[3]: 0x%x", RcvData[3]);
+            printf("\033[6;1HCAN DATA[4]: 0x%x", RcvData[4]);
+            printf("\033[7;1HCAN DATA[5]: 0x%x", RcvData[5]);
+            printf("\033[8;1HCAN DATA[6]: 0x%x", RcvData[6]);
+            printf("\033[9;1HCAN DATA[7]: 0x%x", RcvData[7]);
+
+            // Byte 0 is node type
+            switch( RcvData[0] ) {
+                case NODE_RELAY:
+                    // Byte 1 is relay bit pattern
+                    relay.channelCtrl( RcvData[1] & 0x0F );
+                    //printf("Relay %d  \r\n", RcvData[1] & 0x0F );
+                    break;
+                case NODE_MOTOR:
+                    // Bytes 1/2 L/H signed int Right direction/speed
+                    // Bytes 3/4 L/H signed int Left direction/speed
+                    break;
+                case NODE_SERVO:
+                    // Byte 1 servo number
+                    // Byte 2/3 L/H value
+                    uint16_t servoVal = (RcvData[3] << 8) | RcvData[2];
+                    pwmServo.setPWM(RcvData[1] & 0x0F, 0, servoVal );
+                    break;
+
+//                default:    // Reset data
+//                    RcvData[0] = 0;
+//                    break;
+
+            }
+            RcvData[0] = 0;
+        }
+        thread_sleep_for(100);
+    }
+
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Tue Sep 08 16:34:38 2020 +0000
@@ -0,0 +1,1 @@
+https://github.com/ARMmbed/mbed-os/#aa70f680bb5755e8fea3f93fc6e04d9b3de235bb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed_app.json	Tue Sep 08 16:34:38 2020 +0000
@@ -0,0 +1,12 @@
+{
+    "requires": ["bare-metal"],
+    "target_overrides": {
+        "*": {
+            "platform.default-serial-baud-rate": 115200,
+            "platform.stdio-baud-rate"         : 115200,
+            "platform.stdio-convert-newlines"  : true,
+            "platform.stdio-buffered-serial"   : true
+
+        }
+    }
+}
\ No newline at end of file