Tony YI
/
ESDC2014
123123123123123123123123123
port.h@3:4306d042af6f, 2014-07-03 (annotated)
- Committer:
- TonyYI
- Date:
- Thu Jul 03 14:52:44 2014 +0000
- Revision:
- 3:4306d042af6f
- Parent:
- 0:3417ca0a36c0
123123
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 | 3:4306d042af6f | 37 | MySerial CompassData(p9, p10); ////uart port between compass and Mbed |
TonyYI | 0:3417ca0a36c0 | 38 | MySerial IntelToMbed(p13, p14); //uart port between Intel Board and Mbed |
TonyYI | 0:3417ca0a36c0 | 39 | MySerial MbedToArduino(p28, p27); //uart port between Mbed and Arduino |
TonyYI | 0:3417ca0a36c0 | 40 | MyPwmOut lifter_pwmUp(p21); |
TonyYI | 0:3417ca0a36c0 | 41 | MyPwmOut lifter_pwmDown(p22); |
TonyYI | 0:3417ca0a36c0 | 42 | MyDigitalOut lifter_enable(p23); |
TonyYI | 0:3417ca0a36c0 | 43 | MyInterruptIn lifter_encoder_A(p18); |
TonyYI | 0:3417ca0a36c0 | 44 | MyDigitalIn lifter_encoder_B(p17); |
TonyYI | 0:3417ca0a36c0 | 45 | |
TonyYI | 0:3417ca0a36c0 | 46 | MyPwmOut camera_platform_pwmRoll(p24);//roll min counter clockwise, max clockwise |
TonyYI | 0:3417ca0a36c0 | 47 | MyPwmOut camera_platform_pwmPitch(p26);//pitch min down, max up, mid 1700 |
TonyYI | 0:3417ca0a36c0 | 48 | MyPwmOut camera_platform_pwmYaw(p25);//yaw min right, max left, mid 1500 |
TonyYI | 0:3417ca0a36c0 | 49 | |
TonyYI | 0:3417ca0a36c0 | 50 | MyDigitalOut buzzer_pin(p29); |
TonyYI | 0:3417ca0a36c0 | 51 | Buzzer buzzer(&buzzer_pin); |
TonyYI | 3:4306d042af6f | 52 | COMPASS compass(&CompassData); |
TonyYI | 0:3417ca0a36c0 | 53 | |
TonyYI | 3:4306d042af6f | 54 | Communication com(&DEBUG, &IntelToMbed, &MbedToArduino, &compass); |
TonyYI | 0:3417ca0a36c0 | 55 | Lifter lifter(&lifter_enable, &lifter_pwmUp, &lifter_pwmDown, &lifter_encoder_A, &lifter_encoder_B); |
TonyYI | 0:3417ca0a36c0 | 56 | Camera_platform camera_platform(&camera_platform_pwmRoll, &camera_platform_pwmPitch, &camera_platform_pwmYaw); |
TonyYI | 0:3417ca0a36c0 | 57 | |
TonyYI | 0:3417ca0a36c0 | 58 | void IntelToMbedRxHandler() |
TonyYI | 0:3417ca0a36c0 | 59 | { |
TonyYI | 0:3417ca0a36c0 | 60 | //__disable_irq();//disable interupt when receiving data from XBEE_UART |
TonyYI | 0:3417ca0a36c0 | 61 | uint8_t _x = IntelToMbed.getc(); |
TonyYI | 0:3417ca0a36c0 | 62 | com.putToBuffer(_x, 0); //function inside Communication:: |
TonyYI | 0:3417ca0a36c0 | 63 | //__enable_irq(); |
TonyYI | 0:3417ca0a36c0 | 64 | } |
TonyYI | 0:3417ca0a36c0 | 65 | void MbedToArduinoRxHandler() |
TonyYI | 0:3417ca0a36c0 | 66 | { |
TonyYI | 0:3417ca0a36c0 | 67 | //__disable_irq();//disable interupt when receiving data from XBEE_UART |
TonyYI | 0:3417ca0a36c0 | 68 | uint8_t _x = MbedToArduino.getc(); |
TonyYI | 0:3417ca0a36c0 | 69 | com.putToBuffer(_x, 1); //function inside Communication:: |
TonyYI | 0:3417ca0a36c0 | 70 | //__enable_irq(); |
TonyYI | 0:3417ca0a36c0 | 71 | } |
TonyYI | 3:4306d042af6f | 72 | void compassHandler() |
TonyYI | 3:4306d042af6f | 73 | { |
TonyYI | 3:4306d042af6f | 74 | //__disable_irq();//disable interupt when receiving data from XBEE_UART |
TonyYI | 3:4306d042af6f | 75 | uint8_t _x = CompassData.getc(); |
TonyYI | 3:4306d042af6f | 76 | compass.putToBuffer(_x); //function inside Communication:: |
TonyYI | 3:4306d042af6f | 77 | //__enable_irq(); |
TonyYI | 3:4306d042af6f | 78 | } |
TonyYI | 0:3417ca0a36c0 | 79 | |
TonyYI | 0:3417ca0a36c0 | 80 | void LifterPulseHandler() |
TonyYI | 0:3417ca0a36c0 | 81 | { |
TonyYI | 0:3417ca0a36c0 | 82 | if(lifter.pulseCount < lifter.targetPulseCount) |
TonyYI | 0:3417ca0a36c0 | 83 | { |
TonyYI | 0:3417ca0a36c0 | 84 | lifter.pulseCount++; |
TonyYI | 0:3417ca0a36c0 | 85 | if(lifter.getDir() == 0) //up |
TonyYI | 0:3417ca0a36c0 | 86 | { |
TonyYI | 0:3417ca0a36c0 | 87 | lifter.setLifterUp(); |
TonyYI | 0:3417ca0a36c0 | 88 | } |
TonyYI | 0:3417ca0a36c0 | 89 | else if(lifter.getDir() == 2)//down |
TonyYI | 0:3417ca0a36c0 | 90 | { |
TonyYI | 0:3417ca0a36c0 | 91 | lifter.setLifterDown(); |
TonyYI | 0:3417ca0a36c0 | 92 | } |
TonyYI | 0:3417ca0a36c0 | 93 | } |
TonyYI | 0:3417ca0a36c0 | 94 | else |
TonyYI | 0:3417ca0a36c0 | 95 | { |
TonyYI | 0:3417ca0a36c0 | 96 | lifter.targetPulseCount = 0; |
TonyYI | 0:3417ca0a36c0 | 97 | lifter.pulseCount = 0; |
TonyYI | 0:3417ca0a36c0 | 98 | lifter.setLifterStop(); |
TonyYI | 0:3417ca0a36c0 | 99 | } |
TonyYI | 0:3417ca0a36c0 | 100 | } |
TonyYI | 0:3417ca0a36c0 | 101 | |
TonyYI | 0:3417ca0a36c0 | 102 | void init_PORT() //used in main() function |
TonyYI | 0:3417ca0a36c0 | 103 | { |
TonyYI | 0:3417ca0a36c0 | 104 | DEBUG.baud(9600); |
TonyYI | 0:3417ca0a36c0 | 105 | |
TonyYI | 0:3417ca0a36c0 | 106 | IntelToMbed.baud(9600); |
TonyYI | 0:3417ca0a36c0 | 107 | IntelToMbed.attach(&IntelToMbedRxHandler); //serial interrupt function |
TonyYI | 0:3417ca0a36c0 | 108 | |
TonyYI | 0:3417ca0a36c0 | 109 | MbedToArduino.baud(9600); |
TonyYI | 0:3417ca0a36c0 | 110 | MbedToArduino.attach(&MbedToArduinoRxHandler); //serial interrupt function |
TonyYI | 0:3417ca0a36c0 | 111 | |
TonyYI | 3:4306d042af6f | 112 | CompassData.baud(56000); |
TonyYI | 3:4306d042af6f | 113 | CompassData.attach(&compassHandler); |
TonyYI | 3:4306d042af6f | 114 | |
TonyYI | 0:3417ca0a36c0 | 115 | lifter_encoder_A.fall(&LifterPulseHandler); //interrupt |
TonyYI | 0:3417ca0a36c0 | 116 | |
TonyYI | 0:3417ca0a36c0 | 117 | camera_platform_pwmRoll.period_ms(20); //20ms periodic, 1000us to 2000us |
TonyYI | 0:3417ca0a36c0 | 118 | camera_platform_pwmPitch.period_ms(20); //20ms periodic, 1000us to 2000us |
TonyYI | 0:3417ca0a36c0 | 119 | camera_platform_pwmYaw.period_ms(20); //20ms periodic, 1000us to 2000us |
TonyYI | 0:3417ca0a36c0 | 120 | |
TonyYI | 0:3417ca0a36c0 | 121 | camera_platform_pwmRoll.pulsewidth_us(ROLL_MID); |
TonyYI | 0:3417ca0a36c0 | 122 | camera_platform_pwmPitch.pulsewidth_us(PITCH_MID); |
TonyYI | 0:3417ca0a36c0 | 123 | camera_platform_pwmYaw.pulsewidth_us(YAW_MID); |
TonyYI | 0:3417ca0a36c0 | 124 | } |
TonyYI | 0:3417ca0a36c0 | 125 | |
TonyYI | 0:3417ca0a36c0 | 126 | #endif |