Diff: main.h

Revision:

6:8ffc6d3a7c1d

Parent:

4:1017848d2fe1

--- a/main.h	Thu Mar 26 16:26:35 2015 +0000
+++ b/main.h	Thu Apr 09 19:54:08 2015 +0000
@@ -1,3 +1,21 @@
+/***********************************************************************
+                                                            PROJECT IRIS
+                                            Multidisciplinary Group Project
+                        ENG701S2 (Year 4 - MENG) at the University of Portsmouth
+        
+        Filename:   main.h
+        
+        Description:    Header file for the main root source file (main.cpp).
+        
+        Original Created:   05/04/2015
+        Original Author:    Jonathan Ashworth
+        
+        --------------------------Change Log--------------------------------
+            Date        |               Author              |                   Details
+        06/04/05        Jonathan Ashworth           
+        
+***********************************************************************/    
+
 /*
 
 void serialTx (void);
@@ -6,9 +24,216 @@
 void serialRx_ISR(void);
 void usbTimer_ISR(void);
 
+
+if(0) {
+        
+        //servos
+        for (i=0; i<PC_SERVO_REQUEST_COUNT; i++) {
+            PCRxData[(15*i)+0] = 0x00; //CID
+            PCRxData[(15*i)+1] = i+2; //SID
+            PCRxData[(15*i)+2] = 0x03;  //FC
+            PCRxData[(15*i)+3] = 0x00;  //Byte0...
+            PCRxData[(15*i)+4] = 0x00; //.
+            PCRxData[(15*i)+5] = 0x00; //.
+            PCRxData[(15*i)+6] = 0x00; //...
+            PCRxData[(15*i)+7] = 0x00;  //Byte1...
+            PCRxData[(15*i)+8] = 0x00; //.
+            PCRxData[(15*i)+9] = 0x00; //.
+            PCRxData[(15*i)+10] = 0x00; //...
+            PCRxData[(15*i)+11] = 0x00; //Byte2...
+            PCRxData[(15*i)+12] = 0x00; //.
+            PCRxData[(15*i)+13] = 0x00; //.
+            PCRxData[(15*i)+14] = 0x00; //...
+        }
+        
+        //motors
+        for (i=0; i<PC_MOTOR_REQUEST_COUNT; i++) {
+            PCRxData[(7*15)+(7*i)+0] = 0x00; //CID
+            PCRxData[(7*15)+(7*i)+1] = i+9; //SID
+            PCRxData[(7*15)+(7*i)+2] = 0x01;    //FC
+            PCRxData[(7*15)+(7*i)+3] = 0x00;    //Byte0...
+            PCRxData[(7*15)+(7*i)+4] = 0x00; //.
+            PCRxData[(7*15)+(7*i)+5] = 0x00; //.
+            PCRxData[(7*15)+(7*i)+6] = 0x00; //...
+        }
+        
+        PCRxData[(7*15)+(7*i)+0] = 0x00; //CID
+        PCRxData[(7*15)+(7*i)+1] = 0x01; //SID
+        PCRxData[(7*15)+(7*i)+2] = 0x03;    //FC
+        PCRxData[(7*15)+(7*i)+3] = 0x02;    //Byte0...
+        PCRxData[(7*15)+(7*i)+4] = 0x0a;
+        PCRxData[(7*15)+(7*i)+5] = 0x0d;
+        flags.rxNewData = 1;
+    
+    }
+
 */
 
-#include "MODSERIAL/MODSERIAL.h"
+#ifndef MAIN_H
+#define MAIN_H
+
+#include "mbed.h"
+#include "MODDMA.h"
+#include "MODSERIAL.h"
+#include "botStateHandler.h"
+//#include "HCSR04/HCSR04.h"
+
+#define SERVO_ARM_BASE_CHAN 0
+#define SERVO_ARM_SHOULDER_CHAN 1
+#define SERVO_ARM_ELBOW_CHAN 2
+#define SERVO_ARM_WRIST_CHAN 3
+#define SERVO_ARM_MANIPULATOR_CHAN 4
+#define SERVO_VISION_PITCH_CHAN 5
+#define SERVO_VISION_YAW_CHAN 6
+#define SERVO_POSITION_MIN 600
+#define SERVO_POSITION_MAX 2300
+#define SERVO_POSITION_CENTRE 1500
+
+#define SID_PC 0x00
+#define SID_MBED 0x01
+#define SID_ARM_BASE 0x02
+#define SID_ARM_SHOULDER 0x03
+#define SID_ARM_ELBOW 0x04
+#define SID_ARM_WRIST 0x05
+#define SID_ARM_MANIPULATOR 0x06
+#define SID_VISION_PITCH 0x07
+#define SID_VISION_YAW 0x08
+#define SID_DRIVE_NS 0x09
+#define SID_DRIVE_OS 0x0a
+#define SID_RESERVED 0x0b
+#define SID_9DOF_ACC 0x0c
+#define SID_9DOF_GYRO 0x0d
+#define SID_9DOF_MAG 0x0e
+#define SID_GPS 0x0f
+#define SID_TEMP 0x10
+#define SID_HUM 0x11
+#define SID_BATT_VOL 0x12
+#define SID_BATT_CUR 0x13
+#define SID_PIR 0x14
+#define SID_USOUND_1 0x15
+#define SID_USOUND_2 0x16
+#define SID_USOUND_3 0x17
+#define SID_USOUND_4 0x18
+#define SID_USOUND_5 0x19
+#define SID_USOUND_6 0x1a
+#define SID_FIRSTSERVO_LOCATION 0x02
+#define SID_LASTSERVO_LOCATION 0x08
+#define SID_FIRSTMOTOR_LOCATION 0x09
+#define SID_LASTMOTOR_LOCATION 0x0a
+#define SID_FIRSTUSOUND_LOCATION 0x15
+#define SID_LASTUSOUND_LOCATION 0x1a
+
+#define PC_BAUDRATE 115200
+#define PC_TX_BUFFER_SIZE 1024
+#define PC_RX_BUFFER_SIZE 1024
+#define PC_TX_PIN USBTX     //Serial tx
+#define PC_RX_PIN USBRX     //Serial rx
+#define PC_TIMEOUT_MESSAGE "MBED detected a timeout - eStop!"
+#define PC_TIMEOUT_PERIOD 200
+#define PC_BEGIN_PHRASE "IRIS:INIT"
+//const char PC_BEGIN_PHRASE[] = {"IRIS:INIT"};
+//#define PC_TERMINATION_PHRASE 0xefffffff  //Packet termination sequence
+const unsigned int PC_TERMINATION_PHRASE = 0xefffffff;
+#define PC_SERVO_REQUEST_LENGTH 15 // Length of a write request
+#define PC_MOTOR_REQUEST_LENGTH 7 // Length of a write request
+#define PC_USOUND_RESPONSE_LENGTH 7
+#define PC_PIR_RESPONSE_LENGTH 7
+#define PC_BATTCURRENT_RESPONSE_LENGTH 7
+#define PC_BATTVOLTAGE_RESPONSE_LENGTH 7
+#define PC_HUMIDITY_RESPONSE_LENGTH 7
+#define PC_TEMPERATURE_RESPONSE_LENGTH 7
+#define PC_GPS_RESPONSE_LENGTH 15
+#define PC_9DOFACC_RESPONSE_LENGTH 15
+#define PC_9DOFGYR_RESPONSE_LENGTH 15
+#define PC_9DOFMAG_RESPONSE_LENGTH 15
+#define PC_SERVO_REQUEST_COUNT 7 // Number of servo write requests avaliable
+#define PC_MOTOR_REQUEST_COUNT 2 // Number of motor write requests avaliable
+#define PC_SENTENCE_COUNT 0x0a
+#define PC_CID_LOCATION 0
+#define PC_SID_LOCATION 1
+#define PC_FIELDCOUNT_LOCATION 2
+#define PC_FLOAT0_LOCATION 3
+#define PC_FLOAT1_LOCATION 7
+#define PC_FLOAT2_LOCATION 11
+#define PC_REQUESTEDSID_BYTE0_LOCATION 3
+#define PC_CID_LENGTH 1
+#define PC_SID_LENGTH 1
+#define PC_FIELDCOUNT_LENGTH 1
+#define PC_LONGESTRESPONSESENTENCE PC_SERVO_REQUEST_LENGTH
+#define PC_REQUESTEDSID_MAXCOUNT 512
+
+#define SSC32_BAUDRATE 115200
+#define SSC32_TX_BUFFER_SIZE 512
+#define SSC32_RX_BUFFER_SIZE 512
+#define SSC32_TX_PIN p13    //Serial tx
+#define SSC32_RX_PIN p14    //Serial rx
+#define SSC32_STOP "\e"     //Command to stop previous command
+#define SSC32_STOPPOSITION_ARM_BASE 1500
+#define SSC32_STOPPOSITION_ARM_SHOULDER 600
+#define SSC32_STOPPOSITION_ARM_ELBOW 2350
+#define SSC32_STOPPOSITION_ARM_WRIST 2300
+#define SSC32_STOPPOSITION_ARM_MANIPULATOR 1500
+#define SSC32_STOPPOSITION_VISION_PITCH 1500
+#define SSC32_STOPPOSITION_VISION_YAW 1500
+#define SSC32_STOPPOSITION_TIME 4000    // TODO: replace with speed
+
+#define GPS_BAUDRATE 115200
+#define GPS_TX_BUFFER_SIZE 512
+#define GPS_RX_BUFFER_SIZE 512
+#define GPS_TX_PIN p28  //Serial tx
+#define GPS_RX_PIN p27  //Serial rx
+
+/* XBEES NOT INCLUDED IN SOLUTION (Recommend a pro version with I2C support)
+#define XBEE_TX_BUFFER_SIZE 512
+#define XBEE_RX_BUFFER_SIZE 512
+#define XBEE_TX_PIN 0   //PIN UNALLOCATED
+#define XBEE_RX_PIN 0   //PIN UNALLOCATED
+*/
+
+#define ULTRASOUND_TRIGGER_PIN p11//Digital out
+#define ULTRASOUND_ECHO_PIN p12     //Digital (PWM) in (from mux common)
+#define BATTERY_VOLTAGE_PIN p16     //Analogue in
+#define BATTERY_CURRENT_PIN p15     //Analogue in
+#define MUX_D0_PIN p5           //Digital out
+#define MUX_D1_PIN p6           //Digital out
+#define MUX_D2_PIN p7           //Digital out
+#define MUX_D3_PIN p8           //Digital out
+#define I2C_SDA p9              //I2C data line
+#define I2C_SCL p10             //I2C clock line
+#define PIR_PIN p20             //Digital in
+#define DRIVE_NS_PIN p21    //PWM out
+#define DRIVE_OS_PIN p22    //PWM out
+#define DRIVE_DEMAND_MIN 1
+#define DRIVE_DEMAND_MAX -1
+#define DRIVE_DEMAND_NEUTRAL 0 //Demand value for neutral
+
+#define BOTDATA_FIELDNUMBER_SERVO_CHANNEL 0
+#define BOTDATA_FIELDNUMBER_SERVO_POSITION 1
+#define BOTDATA_FIELDNUMBER_SERVO_SPEED 2
+#define BOTDATA_FIELDNUMBER_SERVO_TIME 3
+#define BOTDATA_FIELDNUMBER_9DOF_ACCEL_X 1
+#define BOTDATA_FIELDNUMBER_9DOF_ACCEL_Y 2
+#define BOTDATA_FIELDNUMBER_9DOF_ACCEL_Z 3
+#define BOTDATA_FIELDNUMBER_9DOF_MAG_X 1
+#define BOTDATA_FIELDNUMBER_9DOF_MAG_Y 2
+#define BOTDATA_FIELDNUMBER_9DOF_MAG_Z 3
+#define BOTDATA_FIELDNUMBER_9DOF_GYRO_X 1
+#define BOTDATA_FIELDNUMBER_9DOF_GYRO_Y 2
+#define BOTDATA_FIELDNUMBER_9DOF_GYRO_Z 3
+#define BOTDATA_FIELDNUMBER_GPS_LAT 1
+#define BOTDATA_FIELDNUMBER_GPS_LONG 2
+#define BOTDATA_FIELDNUMBER_GPS_SPEED 3
+#define BOTDATA_FIELDNUMBER_TEMPERATURE 1
+#define BOTDATA_FIELDNUMBER_HUMIDITY 1
+#define BOTDATA_FIELDNUMBER_VOLTAGE 1
+#define BOTDATA_FIELDNUMBER_CURRENT 1
+#define BOTDATA_FIELDNUMBER_PIR 1
+#define BOTDATA_FIELDNUMBER_DRIVE_DEMAND 0
+#define BOTDATA_FIELDNUMBER_USOUND_DISTANCE 0
+
+#define BYTELENGTH_OF_A_FLOAT 4
+#define BYTELENGTH_OF_AN_INT 4
+#define BITLENGTH_OF_A_BYTE 8
 
 enum servoStatus {ToBeMoved = 0, Moving = 1, InPosition = 2};
 enum dataErrors {Timeout = 0, RequestDataBad = 1};
@@ -16,83 +241,26 @@
 struct Flags
 {
     bool rxNewData;
+    bool txNewData;
     bool txSentData;
     bool PCTimeout;
-};
-
-struct Servo
-{
-    char channel;
-    int position;
-    int speed;
-    int time;
-    servoStatus status;
-};
-
-struct DriveMotor
-{
-    float demandPulseWidth;
-};
-
-struct AccelerometerSensor
-{
-    
-};
-
-struct GyroSensor
-{
-    
-};
-
-struct MagnetometerSensor
-{
-    
-};
-
-struct GPSSensor
-{
-    float latitudeN;
-    float longitudeW;
-    float speedOverGroundKMPH;
+    bool PCBegin;
 };
 
-struct TemperatureSensor
-{
-    float tempCelsius;
-};
-
-struct HumiditySensor
-{
-    float humidityPercentage;
-};
-
-struct BatteryVoltageSensor
-{
-    float voltageVolts;
-};
-
-struct BatteryCurrentSensor
-{
-    float currentAmps;
-};
-
-struct PIRSensor
-{
-    bool alarmStatus;
-};
-
-struct UltrasoundSensor
-{
-    char muxChannel;
-    float distanceMillimeters;
-};
-
-
-void getServoData(Servo *servo);
 void initialise(void);
+//void getServoData(Servo *servo);
+//void readUltrasound(UltrasoundSensor *sensor);
+void constructTxData(char *SIDs, char numberOfSensors);
+void parseRequestData(void);
+unsigned int translateMotorDemandToPWM(float demand);
+void PCTimeout(void);
+void shutdown(void);
+void timerISR(void);
 void dmaPCSerialRx(MODSERIAL_IRQ_INFO *q);
+bool string_compare(char *a, char *b, unsigned int length);
+void sendPCSerialData(void);
 void dmaSSC32SerialRx(MODSERIAL_IRQ_INFO *q);
 void dmaGPSSerialRx(MODSERIAL_IRQ_INFO *q);
-void PCTimeout(void);
-void timerISR(void);
-void sendSerialData(void);
+long readUltrasound(void);
+
+#endif /* MAIN_H */