Tony YI
/
ESDC2014
123123123123123123123123123
port.h@0:3417ca0a36c0, 2014-07-01 (annotated)
- Committer:
- TonyYI
- Date:
- Tue Jul 01 10:59:33 2014 +0000
- Revision:
- 0:3417ca0a36c0
- Child:
- 3:4306d042af6f
2014
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
TonyYI | 0:3417ca0a36c0 | 1 | /****************************************************** |
TonyYI | 0:3417ca0a36c0 | 2 | |
TonyYI | 0:3417ca0a36c0 | 3 | ****┏┓ ┏┓ |
TonyYI | 0:3417ca0a36c0 | 4 | **┏┛┻━━━━━━┛┻┓ |
TonyYI | 0:3417ca0a36c0 | 5 | **┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 6 | **┃ ━━━ ┃ |
TonyYI | 0:3417ca0a36c0 | 7 | **┃ ┳┛ ┗┳ ┃ |
TonyYI | 0:3417ca0a36c0 | 8 | **┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 9 | **┃ ''' ┻ ''' ┃ |
TonyYI | 0:3417ca0a36c0 | 10 | **┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 11 | **┗━━┓ ┏━━┛ |
TonyYI | 0:3417ca0a36c0 | 12 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 13 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 14 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 15 | *******┃ ┗━━━━━━━━┓ |
TonyYI | 0:3417ca0a36c0 | 16 | *******┃ ┃━┓ |
TonyYI | 0:3417ca0a36c0 | 17 | *******┃ NO BUG ┏━┛ |
TonyYI | 0:3417ca0a36c0 | 18 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 19 | *******┗━┓ ┓ ┏━┏━┓ ━┛ |
TonyYI | 0:3417ca0a36c0 | 20 | ***********┃ ┛ ┛ ┃ ┛ ┛ |
TonyYI | 0:3417ca0a36c0 | 21 | ***********┃ ┃ ┃ ┃ ┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 22 | ***********┗━┛━┛ ┗━┛━┛ |
TonyYI | 0:3417ca0a36c0 | 23 | |
TonyYI | 0:3417ca0a36c0 | 24 | This part is added by project ESDC2014 of CUHK team. |
TonyYI | 0:3417ca0a36c0 | 25 | All the code with this header are under GPL open source license. |
TonyYI | 0:3417ca0a36c0 | 26 | This program is running on Mbed Platform 'mbed LPC1768' avaliable in 'http://mbed.org'. |
TonyYI | 0:3417ca0a36c0 | 27 | **********************************************************/ |
TonyYI | 0:3417ca0a36c0 | 28 | #include "mbed.h" |
TonyYI | 0:3417ca0a36c0 | 29 | #include "define.h" |
TonyYI | 0:3417ca0a36c0 | 30 | |
TonyYI | 0:3417ca0a36c0 | 31 | #ifndef _PORT_H |
TonyYI | 0:3417ca0a36c0 | 32 | #define _PORT_H |
TonyYI | 0:3417ca0a36c0 | 33 | |
TonyYI | 0:3417ca0a36c0 | 34 | MyDigitalOut IntelToMbed_LED(LED1); //uart port LED between Intel Board and Mbed |
TonyYI | 0:3417ca0a36c0 | 35 | MyDigitalOut MbedToArduino_LED(LED2); //uart port LED between Mbed and Arduino |
TonyYI | 0:3417ca0a36c0 | 36 | MySerial DEBUG(USBTX, USBRX); //usb serial port between computer and Mbed |
TonyYI | 0:3417ca0a36c0 | 37 | MySerial IntelToMbed(p13, p14); //uart port between Intel Board and Mbed |
TonyYI | 0:3417ca0a36c0 | 38 | MySerial MbedToArduino(p28, p27); //uart port between Mbed and Arduino |
TonyYI | 0:3417ca0a36c0 | 39 | MyPwmOut lifter_pwmUp(p21); |
TonyYI | 0:3417ca0a36c0 | 40 | MyPwmOut lifter_pwmDown(p22); |
TonyYI | 0:3417ca0a36c0 | 41 | MyDigitalOut lifter_enable(p23); |
TonyYI | 0:3417ca0a36c0 | 42 | MyInterruptIn lifter_encoder_A(p18); |
TonyYI | 0:3417ca0a36c0 | 43 | MyDigitalIn lifter_encoder_B(p17); |
TonyYI | 0:3417ca0a36c0 | 44 | |
TonyYI | 0:3417ca0a36c0 | 45 | MyPwmOut camera_platform_pwmRoll(p24);//roll min counter clockwise, max clockwise |
TonyYI | 0:3417ca0a36c0 | 46 | MyPwmOut camera_platform_pwmPitch(p26);//pitch min down, max up, mid 1700 |
TonyYI | 0:3417ca0a36c0 | 47 | MyPwmOut camera_platform_pwmYaw(p25);//yaw min right, max left, mid 1500 |
TonyYI | 0:3417ca0a36c0 | 48 | |
TonyYI | 0:3417ca0a36c0 | 49 | MyDigitalOut buzzer_pin(p29); |
TonyYI | 0:3417ca0a36c0 | 50 | Buzzer buzzer(&buzzer_pin); |
TonyYI | 0:3417ca0a36c0 | 51 | |
TonyYI | 0:3417ca0a36c0 | 52 | Communication com(&DEBUG, &IntelToMbed, &MbedToArduino); |
TonyYI | 0:3417ca0a36c0 | 53 | Lifter lifter(&lifter_enable, &lifter_pwmUp, &lifter_pwmDown, &lifter_encoder_A, &lifter_encoder_B); |
TonyYI | 0:3417ca0a36c0 | 54 | Camera_platform camera_platform(&camera_platform_pwmRoll, &camera_platform_pwmPitch, &camera_platform_pwmYaw); |
TonyYI | 0:3417ca0a36c0 | 55 | |
TonyYI | 0:3417ca0a36c0 | 56 | void IntelToMbedRxHandler() |
TonyYI | 0:3417ca0a36c0 | 57 | { |
TonyYI | 0:3417ca0a36c0 | 58 | //__disable_irq();//disable interupt when receiving data from XBEE_UART |
TonyYI | 0:3417ca0a36c0 | 59 | uint8_t _x = IntelToMbed.getc(); |
TonyYI | 0:3417ca0a36c0 | 60 | com.putToBuffer(_x, 0); //function inside Communication:: |
TonyYI | 0:3417ca0a36c0 | 61 | //__enable_irq(); |
TonyYI | 0:3417ca0a36c0 | 62 | } |
TonyYI | 0:3417ca0a36c0 | 63 | void MbedToArduinoRxHandler() |
TonyYI | 0:3417ca0a36c0 | 64 | { |
TonyYI | 0:3417ca0a36c0 | 65 | //__disable_irq();//disable interupt when receiving data from XBEE_UART |
TonyYI | 0:3417ca0a36c0 | 66 | uint8_t _x = MbedToArduino.getc(); |
TonyYI | 0:3417ca0a36c0 | 67 | com.putToBuffer(_x, 1); //function inside Communication:: |
TonyYI | 0:3417ca0a36c0 | 68 | //__enable_irq(); |
TonyYI | 0:3417ca0a36c0 | 69 | } |
TonyYI | 0:3417ca0a36c0 | 70 | |
TonyYI | 0:3417ca0a36c0 | 71 | void LifterPulseHandler() |
TonyYI | 0:3417ca0a36c0 | 72 | { |
TonyYI | 0:3417ca0a36c0 | 73 | if(lifter.pulseCount < lifter.targetPulseCount) |
TonyYI | 0:3417ca0a36c0 | 74 | { |
TonyYI | 0:3417ca0a36c0 | 75 | lifter.pulseCount++; |
TonyYI | 0:3417ca0a36c0 | 76 | if(lifter.getDir() == 0) //up |
TonyYI | 0:3417ca0a36c0 | 77 | { |
TonyYI | 0:3417ca0a36c0 | 78 | lifter.setLifterUp(); |
TonyYI | 0:3417ca0a36c0 | 79 | } |
TonyYI | 0:3417ca0a36c0 | 80 | else if(lifter.getDir() == 2)//down |
TonyYI | 0:3417ca0a36c0 | 81 | { |
TonyYI | 0:3417ca0a36c0 | 82 | lifter.setLifterDown(); |
TonyYI | 0:3417ca0a36c0 | 83 | } |
TonyYI | 0:3417ca0a36c0 | 84 | } |
TonyYI | 0:3417ca0a36c0 | 85 | else |
TonyYI | 0:3417ca0a36c0 | 86 | { |
TonyYI | 0:3417ca0a36c0 | 87 | lifter.targetPulseCount = 0; |
TonyYI | 0:3417ca0a36c0 | 88 | lifter.pulseCount = 0; |
TonyYI | 0:3417ca0a36c0 | 89 | lifter.setLifterStop(); |
TonyYI | 0:3417ca0a36c0 | 90 | } |
TonyYI | 0:3417ca0a36c0 | 91 | } |
TonyYI | 0:3417ca0a36c0 | 92 | |
TonyYI | 0:3417ca0a36c0 | 93 | void init_PORT() //used in main() function |
TonyYI | 0:3417ca0a36c0 | 94 | { |
TonyYI | 0:3417ca0a36c0 | 95 | DEBUG.baud(9600); |
TonyYI | 0:3417ca0a36c0 | 96 | |
TonyYI | 0:3417ca0a36c0 | 97 | IntelToMbed.baud(9600); |
TonyYI | 0:3417ca0a36c0 | 98 | IntelToMbed.attach(&IntelToMbedRxHandler); //serial interrupt function |
TonyYI | 0:3417ca0a36c0 | 99 | |
TonyYI | 0:3417ca0a36c0 | 100 | MbedToArduino.baud(9600); |
TonyYI | 0:3417ca0a36c0 | 101 | MbedToArduino.attach(&MbedToArduinoRxHandler); //serial interrupt function |
TonyYI | 0:3417ca0a36c0 | 102 | |
TonyYI | 0:3417ca0a36c0 | 103 | lifter_encoder_A.fall(&LifterPulseHandler); //interrupt |
TonyYI | 0:3417ca0a36c0 | 104 | |
TonyYI | 0:3417ca0a36c0 | 105 | camera_platform_pwmRoll.period_ms(20); //20ms periodic, 1000us to 2000us |
TonyYI | 0:3417ca0a36c0 | 106 | camera_platform_pwmPitch.period_ms(20); //20ms periodic, 1000us to 2000us |
TonyYI | 0:3417ca0a36c0 | 107 | camera_platform_pwmYaw.period_ms(20); //20ms periodic, 1000us to 2000us |
TonyYI | 0:3417ca0a36c0 | 108 | |
TonyYI | 0:3417ca0a36c0 | 109 | camera_platform_pwmRoll.pulsewidth_us(ROLL_MID); |
TonyYI | 0:3417ca0a36c0 | 110 | camera_platform_pwmPitch.pulsewidth_us(PITCH_MID); |
TonyYI | 0:3417ca0a36c0 | 111 | camera_platform_pwmYaw.pulsewidth_us(YAW_MID); |
TonyYI | 0:3417ca0a36c0 | 112 | } |
TonyYI | 0:3417ca0a36c0 | 113 | |
TonyYI | 0:3417ca0a36c0 | 114 | #endif |