port.h

00001 /******************************************************
00002 
00003 ****┏┓          ┏┓
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00006 **┃      ━━━      ┃
00007 **┃  ┳┛       ┗┳ ┃
00008 **┃                 ┃
00009 **┃ '''    ┻   ''' ┃
00010 **┃                 ┃
00011 **┗━━┓       ┏━━┛
00012 *******┃       ┃
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00014 *******┃       ┃
00015 *******┃       ┗━━━━━━━━┓
00016 *******┃                      ┃━┓
00017 *******┃      NO BUG          ┏━┛
00018 *******┃                      ┃
00019 *******┗━┓  ┓  ┏━┏━┓  ━┛
00020 ***********┃  ┛  ┛    ┃  ┛  ┛
00021 ***********┃  ┃  ┃    ┃  ┃  ┃
00022 ***********┗━┛━┛     ┗━┛━┛
00023 
00024 This part is added by project ESDC2014 of CUHK team.
00025 All the code with this header are under GPL open source license.
00026 This program is running on Mbed Platform 'mbed LPC1768' avaliable in 'http://mbed.org'.
00027 **********************************************************/
00028 #include "mbed.h"
00029 #include "define.h"
00030 
00031 #ifndef _PORT_H
00032 #define _PORT_H
00033 
00034 MyDigitalOut IntelToMbed_LED(LED1); //uart port LED between Intel Board and Mbed
00035 MyDigitalOut MbedToArduino_LED(LED2); //uart port LED between Mbed and Arduino
00036 MySerial DEBUG(USBTX, USBRX); //usb serial port between computer and Mbed
00037 MySerial CompassData(p9, p10); ////uart port between compass and Mbed
00038 MySerial IntelToMbed(p13, p14); //uart port between Intel Board and Mbed
00039 MySerial MbedToArduino(p28, p27); //uart port between Mbed and Arduino
00040 MyPwmOut lifter_pwmUp(p21);
00041 MyPwmOut lifter_pwmDown(p22);
00042 MyDigitalOut lifter_enable(p23);
00043 MyInterruptIn lifter_encoder_A(p18);
00044 MyDigitalIn lifter_encoder_B(p17);
00045 
00046 MyPwmOut camera_platform_pwmRoll(p24);//roll            min counter clockwise, max clockwise 
00047 MyPwmOut camera_platform_pwmPitch(p26);//pitch           min down,  max up,  mid 1700
00048 MyPwmOut camera_platform_pwmYaw(p25);//yaw             min right, max left, mid 1500
00049 
00050 MyDigitalOut buzzer_pin(p29);
00051 Buzzer buzzer(&buzzer_pin);
00052 COMPASS compass(&CompassData);
00053 
00054 Communication com(&DEBUG, &IntelToMbed, &MbedToArduino, &compass);
00055 Lifter lifter(&lifter_enable, &lifter_pwmUp, &lifter_pwmDown, &lifter_encoder_A, &lifter_encoder_B);
00056 Camera_platform camera_platform(&camera_platform_pwmRoll, &camera_platform_pwmPitch, &camera_platform_pwmYaw);
00057 
00058 void IntelToMbedRxHandler()
00059 {
00060     //__disable_irq();//disable interupt when receiving data from XBEE_UART
00061     uint8_t _x = IntelToMbed.getc();
00062     com.putToBuffer(_x, 0); //function inside Communication::
00063     //__enable_irq();
00064 }
00065 void MbedToArduinoRxHandler()
00066 {
00067     //__disable_irq();//disable interupt when receiving data from XBEE_UART
00068     uint8_t _x = MbedToArduino.getc();
00069     com.putToBuffer(_x, 1); //function inside Communication::
00070     //__enable_irq();
00071 }
00072 void compassHandler()
00073 {
00074     //__disable_irq();//disable interupt when receiving data from XBEE_UART
00075     uint8_t _x = CompassData.getc();
00076     compass.putToBuffer(_x); //function inside Communication::
00077     //__enable_irq();
00078 }
00079 
00080 void LifterPulseHandler()
00081 {
00082     if(lifter.pulseCount < lifter.targetPulseCount)
00083     {
00084         lifter.pulseCount++;
00085         if(lifter.getDir() == 0) //up
00086         {
00087             lifter.setLifterUp();
00088         }
00089         else if(lifter.getDir() == 2)//down
00090         {
00091             lifter.setLifterDown();
00092         }
00093     }
00094     else
00095     {
00096         lifter.targetPulseCount = 0;
00097         lifter.pulseCount = 0;
00098         lifter.setLifterStop();
00099     }
00100 }
00101 
00102 void init_PORT() //used in main() function
00103 {
00104     DEBUG.baud(9600);
00105     
00106     IntelToMbed.baud(9600);
00107     IntelToMbed.attach(&IntelToMbedRxHandler); //serial interrupt function
00108     
00109     MbedToArduino.baud(9600);
00110     MbedToArduino.attach(&MbedToArduinoRxHandler); //serial interrupt function
00111     
00112     CompassData.baud(56000);
00113     CompassData.attach(&compassHandler);
00114     
00115     lifter_encoder_A.fall(&LifterPulseHandler); //interrupt
00116     
00117     camera_platform_pwmRoll.period_ms(20); //20ms periodic, 1000us to 2000us
00118     camera_platform_pwmPitch.period_ms(20); //20ms periodic, 1000us to 2000us
00119     camera_platform_pwmYaw.period_ms(20); //20ms periodic, 1000us to 2000us
00120     
00121      camera_platform_pwmRoll.pulsewidth_us(ROLL_MID);
00122     camera_platform_pwmPitch.pulsewidth_us(PITCH_MID);
00123     camera_platform_pwmYaw.pulsewidth_us(YAW_MID);
00124 }
00125 
00126 #endif