Revision 2:5cb68cc8ecaa, committed 2019-11-27

Comitter:

aktk

Date:

Wed Nov 27 23:41:55 2019 +0000

Parent:

1:b97639dad576

Child:

3:ef730909a664

Commit message:

nov 27th 2019 digital sin works

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DSinGenerator.lib	Wed Nov 27 23:41:55 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/aktk/code/DSinGenerator/#6400e338266f

--- a/PMRC16ch.lib	Wed Oct 23 20:08:31 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://os.mbed.com/users/aktk/code/PMRC16ch/#03e875137433

--- a/SerialCom/CommandHandler.h	Wed Oct 23 20:08:31 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,25 +0,0 @@
-#ifndef COMMAND_HANDLER_H
-#define COMMAND_HANDLER_H
-#include "mbed.h"
-#include <string>
-#include <unsorted_map>
-
-class CommandAnalyzer
-{
-public:
-    CommandAnalyzer(
-        int     num_of_command = 10,
-        char    response_mode = 0
-    );
-    int analyzeCommand(
-        const char* const   command
-    );
-    int mapCommand(
-        const char* const   command
-        int (*fanction)(void)
-    );
-private:
-    char (*m_command_name)[20];
-    int (**m_function)(void);
-}
-#endif
\ No newline at end of file

--- a/SerialCom/sigbind.cpp	Wed Oct 23 20:08:31 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,288 +0,0 @@
-#include "sigbind.h"
-namespace aktk_sigbind
-{
-//  To avoid pressing key too much
-enum Lock {UNLOCK, LOCK};
-Lock aktk_keylock = UNLOCK;
-
-//private functions
-template<typename T>
-int scanValue(T* arg_val);
-void waitUnpress();
-void setPulseParam();
-void ArrowKeyBind(const char arg_c);
-//void printStimType();
-void printStatus(void);
-void keyBind()
-{
-    //stimulator.DAAD(0);
-    char sig = pc.getc();
-    if (aktk_keylock == UNLOCK) {
-        aktk_keylock = LOCK;
-        switch(sig) {
-            case 'w':
-                spacing = WIDE_CONDITION;
-                pc.printf("Wide condition\n");
-                waitUnpress();
-                break;
-            case 'n':
-                spacing = NARROW_CONDITION;
-                pc.printf("Narrow condition\n");
-                waitUnpress();
-                break;
-            case 'm':
-                switch(pc.getc()) {
-                    case 'b':
-                        smode = BIPOLAR;
-                        pc.printf("BIPOLAR Stimulation\n");
-                        break;
-                    case 'a':
-                        smode = ANODIC;
-                        pc.printf("ANODIC Stimulation\n");
-                        break;
-                    case 'c':
-                        smode = CATHODIC;
-                        pc.printf("CATHODIC Stimulation\n");
-                        break;
-                }
-                waitUnpress();
-                break;
-            case 'p':
-                printStatus();
-                waitUnpress();
-                break;
-            case 'v':
-                setPulseParam();
-                waitUnpress();
-                break;
-            case 'a':   //switch mbed-pc communication on/off
-                if (pstate == MAIN_ROUTINE) {
-                    pstate = WAIT_A_CERTAIN_KEY;
-                    pc.printf("stop\n");
-                } else if (pstate == WAIT_A_CERTAIN_KEY) {
-                    pstate = MAIN_ROUTINE;
-                    //printStimType();
-                    pc.printf("start\n");
-                }
-                waitUnpress();
-                break;
-            case 'E':
-                pstate = TERMINATED;
-                pc.printf("TERMINATED");
-                waitUnpress();
-                break;
-            case 'S':// start
-                if (pstate == WAIT_A_CERTAIN_KEY) {
-                    pstate = MAIN_ROUTINE;
-                    //printStimType();
-                    pc.printf("start\n");
-                }
-                waitUnpress();
-                break;
-            case 'P':// pause
-                pstate = WAIT_A_CERTAIN_KEY;
-                pc.printf("stop\n");
-                waitUnpress();
-                break;
-            case 0x1b:
-                if(pc.getc() == 0x5b) {
-                    ArrowKeyBind(pc.getc());
-                    pc.printf("Hight:%d\n",ph);//sc.getPH());
-                }
-                waitUnpress();
-                break;
-            default:
-                printKBManual();
-                pc.printf("Sent data was: %d(%c)\n", sig, sig);
-                waitUnpress();
-                break;
-        }
-        //aktk_keylock = UNLOCK;
-    } else if (sig == 0x1B) //esc
-        aktk_keylock = UNLOCK;
-}
-
-void waitUnpress()
-{
-    while (1) {
-        if(! pc.readable()) {
-            aktk_keylock = UNLOCK;
-            break;
-        }
-    }
-}
-
-template<typename T>
-int scanValue(T* arg_val)
-{
-    char c = 0;
-    char c_prevent = 0;
-    double tmp = 0.0;
-    double fig = 1.0;
-    bool dot_flag = false;
-    bool no_modified = true;
-
-    T arg_last_val = *arg_val;
-
-    do {
-        c = pc.getc();
-
-        if ('0' <= c && c <= '9') {
-            no_modified = false;
-            pc.putc(c);
-            if(! dot_flag) {
-                tmp *= 10.0;
-                tmp += (double)(c - '0');
-            } else {
-                fig *= 10.0;
-                tmp += (double)(c - '0') / fig;
-            }
-        } else if (c == '.') {
-            if(dot_flag == 0)pc.printf(".");
-            dot_flag = true;
-        } else if (c == 'k' || c == 'K') {
-            pc.printf("(keep present value)\n");
-            tmp = (double) arg_last_val;
-            break;
-        } else if (c == 0x10 || c == 0x08) {
-            pc.putc(0x08);
-            pc.putc(0x20);
-            pc.putc(0x08);
-            if(! dot_flag) {
-                c_prevent = (double)(((int)tmp) % 10);
-                tmp -= (double)(c_prevent);
-                tmp /= 10;
-            } else {
-                if(fig == 1.0)
-                    dot_flag = false;
-                else {
-                    c_prevent = (double)((int)(tmp * fig) % 10);
-                    tmp -= (double)(c_prevent) / fig;
-                    fig /= 10;
-                }
-            }
-            if(tmp == 0) no_modified = true;
-        } else if (c == 0x1b) {
-            pc.printf("CANSELED\n");
-            return -1;
-        } else if (c == 0x0A || c == 0x0D) {
-            pc.printf("\n");
-            break;
-        }
-    } while(1);
-
-    waitUnpress();
-
-    if(no_modified) *arg_val = arg_last_val;
-    else *arg_val = static_cast<T>(tmp);
-    pc.printf("tmp:%f\n",tmp);
-
-    return 0;
-}
-//int scanValue<int>(int*);
-//int scanValue<double>(double*);
-//int scanValue<unsigned short>(unsigned short*);
-
-void setPulseParam()
-{
-    int lph, lpp, lpw;
-
-    lph = ph;//sc.getPH();
-    lpp = pp;//sc.getPP();
-    lpw = pw;//sc.getPW();
-
-    //  read values
-    pc.printf("set pulse Height:");
-    if( scanValue<int>(&lph) ) goto BreakV;
-    pc.printf("set pulse period:");
-    if( scanValue<int>(&lpp) ) goto BreakV;
-    pc.printf("set pulse width :");
-    if( scanValue<int>(&lpw) ) goto BreakV;
-
-    //  set values
-    ph = lph;
-    pp = lpp;
-    pw = lpw;
-BreakV:
-    waitUnpress();
-}
-
-void ArrowKeyBind(const char arg_c)
-{
-    switch(arg_c) {
-        case 0x41 : {
-            if(ph <= 4090) //if(sc.getPH()<4000)
-                ph = ph + 5;//sc.setWaveParam(sc.getPH() + 5, sc.getPP(),sc.getPW());
-            else
-                ph = 4095;
-            pc.printf("up\n");
-            break;
-        }
-        case 0x42 : {
-            if(5 <= ph) //if(5<sc.getPH())
-                ph = ph - 5;//sc.setWaveParam(sc.getPH() - 5, sc.getPP(),sc.getPW());
-            else
-                ph = 0;//sc.setWaveParam(0, sc.getPP(),sc.getPW());
-            pc.printf("down\n");
-            break;
-        }
-        case 0x43 : {
-            if(ph <= 4045)//if(sc.getPH()<4000)
-                ph = ph + 50;//sc.setWaveParam(sc.getPH() + 50, sc.getPP(),sc.getPW());
-            else
-                ph  = 4095;
-            pc.printf("shift up\n");
-            break;
-        }
-        case 0x44 : {
-            if(50 <= ph)//if(50<sc.getPH())
-                ph = ph - 50;//sc.setWaveParam(sc.getPH() - 50, sc.getPP(),sc.getPW());
-            else
-                ph = 0;//sc.setWaveParam(0, sc.getPP(),sc.getPW());
-            pc.printf("shift down\n");
-            break;
-        }
-        default: {
-            //pc.printf("default\n");
-            break;
-        }
-    }
-}
-
-void printKBManual(void)
-{
-    pc.printf( "\n"
-               "keybind are following:\n"
-               "    ---\n"
-               "    v: set all paramater by arbitrary value\n"
-               "    ---\n"
-               "    UP:     pulse hight + 5\n"
-               "    Down:   pulse hight - 5\n"
-               "    right:  pulse hight +50\n"
-               "    left:   pulse hight -50\n"
-               "    ---\n"
-               "    w:  Wide condition\n"
-               "    n:  Narrow condition\n"
-               "    ---\n"
-               "    mb: Bipolar stimulation\n"
-               "    ma: Anodic Stimulation\n"
-               "    mc: Cathodic Stimulation\n"
-               "    ---\n"
-               "    p:  print wave parameter\n"
-               "    ---\n"
-               "    a:  Start or Pause main loop\n"
-               "    S:  Start or Resume Stimulation\n"
-               "    P:  Pause Stimulation\n"
-               "    E(shift+a): terminate the loop\n"
-               "\n");
-}
-void printStatus(void)
-{
-    pc.printf(
-        "PHeight:%05d   "
-        "PPeriod:%05d   "
-        "PWidth :%05d\n"
-        //,(int)sc.getPH(), (int)sc.getPP(), (int)sc.getPW()
-        ,ph,pp,pw);
-}
-}//end of name space
\ No newline at end of file

--- a/SerialCom/sigbind.h	Wed Oct 23 20:08:31 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,30 +0,0 @@
-#ifndef SIG_BIND_H
-#define SIG_BIND_H
-#include "mbed.h"
-
-
-namespace aktk_sigbind
-{
-//  prototype
-void keyBind();
-void printKBManual(void);
-}
-
-extern uint32_t pw, pp, ph;
-
-//  Mbed Specails
-extern Serial pc; // tx, rx
-
-//  -   For Procedure state
-enum ProcessState {WAIT_A_CERTAIN_KEY, MAIN_ROUTINE, TERMINATED};
-extern ProcessState   pstate;
-
-enum ElectrodeSpacing {WIDE_CONDITION, NARROW_CONDITION};
-extern ElectrodeSpacing spacing;
-
-enum StimulationMode {BIPOLAR, ANODIC, CATHODIC};
-extern StimulationMode smode;
-
-#include "KajiLabES.h"
-extern KajiLabES   stimulator;
-#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialInputReactionHandler.lib	Wed Nov 27 23:41:55 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/aktk/code/SerialInputReactionHandler/#599073f82114

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/StrCommandHandler.lib	Wed Nov 27 23:41:55 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/aktk/code/StrCommandHandler/#049a5f083f32

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SwArr16MOSFET.lib	Wed Nov 27 23:41:55 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/aktk/code/SwArr16MOSFET/#8af1b775e1dc

--- a/main.cpp	Wed Oct 23 20:08:31 2019 +0000
+++ b/main.cpp	Wed Nov 27 23:41:55 2019 +0000
@@ -1,81 +1,32 @@
 #include "mbed.h"
-#include "KajiLabES.h"
-#include "PMRC16ch.h"
-#include "sigbind.h"
-#include <iostream>
-#include <bitset>
-ProcessState   pstate = WAIT_A_CERTAIN_KEY;
-ElectrodeSpacing spacing = WIDE_CONDITION;
-StimulationMode smode = BIPOLAR;
-Serial pc(USBTX, USBRX); // tx, rx
+#include "subroutines.h"
 
 DigitalOut  myled1(LED1);
 DigitalOut  myled2(LED2);
 DigitalOut  myled3(LED3);
 DigitalOut  myled4(LED4);
-KajiLabES   stimulator;
-PMRC16ch    pmrc(16);
-uint32_t pw;//pulse width
-uint32_t pp;//pulse period
-uint32_t ph;//pulse hight
+ProcessState   pstate = WAIT_A_CERTAIN_KEY;
 
 int main()
 {
-    stimulator.init();
-    myled1 = 1;
-    pmrc.allHiZ();
-    myled2 = 1;
-    {
-        using namespace aktk_sigbind;
-        pc.baud(921600);
-        pc.attach(&keyBind);
-        pw = 100;
-        pp = 5000;
-        ph = 0;
-        printKBManual();
-        wait(.5);
+    printf("SystemCoreClock = %d Hz\n", SystemCoreClock);
+    myled1 = myled2 = myled3 = myled4 = 0;
+    init();
+
+PRELOOP_POINT:
+    while (pstate == WAIT_A_CERTAIN_KEY) {
+        wait(0.5);
+        myled3  = (!myled3);
     }
-    while(1) {
-        while (pstate == WAIT_A_CERTAIN_KEY) {
-            myled3  = (!myled3);
-            wait(0.5);
-        }
-        myled3 = 1;
-        pmrc.setPol(PMRC16ch::Cathodic);
-        while (pstate == MAIN_ROUTINE) {
-            
-            for (int i = 0; i < 2; i++) {
-                switch(smode){
-                    case BIPOLAR:   pmrc.setPol((PMRC16ch::Polarity)i); break;
-                    case CATHODIC:  pmrc.setPol(PMRC16ch::Cathodic);    break;
-                    case ANODIC:    pmrc.setPol(PMRC16ch::Anodic);      break;
-                }
-                if(spacing == WIDE_CONDITION)
-                    //pmrc.setTrio(3,1,5);
-                    pmrc.setTwin(1, 2);
-                else
-                    //pmrc.setTrio(3,2,4);
-                    pmrc.setTwin(1, 3);
-                wait_us(pp-pw);
-                stimulator.DAAD(ph);
-                wait_us(pw);
-                stimulator.DAAD(0);
-            }
-            /*
-            for(int i = 0; i < 2; i++) {
-                pmrc.setTwin(i+1, (i+1)%8+1);
-                //pmrc.setTwin(i+1, (i+1)%8+1);
-                //pmrc.setTwin(i+1, (i+1)%8+1);
-                //pmrc.setOvsO(i+1);
-                wait_us(pp-pw);
-                stimulator.DAAD(ph);
-                wait_us(pw);
-                stimulator.DAAD(0);
-                //pmrc.allHiZ();
-                //wait_us(pw);
-            }
-             */
-            if (pstate == TERMINATED) break;
-        }
+    
+    
+    myled3 = 1;
+    while(pstate == MAIN_ROUTINE) {
+        wait(.1);
+        myled3  = (!myled3);
     }
-}
+    
+    
+    myled3 = 0;
+    goto PRELOOP_POINT;
+}
\ No newline at end of file

--- a/mbed.bld	Wed Oct 23 20:08:31 2019 +0000
+++ b/mbed.bld	Wed Nov 27 23:41:55 2019 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/mbed_official/code/mbed/builds/5aab5a7997ee
\ No newline at end of file
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/subroutines.cpp	Wed Nov 27 23:41:55 2019 +0000
@@ -0,0 +1,344 @@
+#include "subroutines.h"
+
+#include "KajiLabES.h"
+
+#include "SwArr16MOSFET.h"
+
+#include "DSinGenerator.h"
+#include "StrCommandHandler.h"
+#include "SerialInputReactionHandler.h"
+
+Serial pc(USBTX, USBRX, 921600); // tx, rx
+Ticker ticker;
+KajiLabES   stimulator;
+SwArr16MOSFET swBrd(4, p11, p12, p13, p14, p10);
+DSinGenerator singen ( 
+    /*Initial Amplitude*/ 0,
+    /*Initial Frequency*/ 4000,
+    /*Discret.-fineness*/ 16
+);
+StrCommandHandler command_handler;
+SerialInputReactionHandler reactor; //todo: implement function replace sigbind.cpp/h
+
+
+void init (void)
+{
+    //void init_Hardware(void)
+    {
+        stimulator.init();
+        swBrd.allHiZ();
+        swBrd.setPol(SwArr16MOSFET::Cathodic);
+        swBrd.setTwin(1,2);
+    }
+    myled1 = 1;
+
+    NVIC_SetPriority(TIMER3_IRQn, 1);
+
+    //void init_commands(void)
+    {
+        command_handler.map("a",    &switchState);
+        command_handler.map("E",    &terminateLoop);
+        command_handler.map("S",    &startLoop);
+        command_handler.map("P",    &pauseLoop);
+        command_handler.map("v",    &beginParamsSetting);
+        command_handler.map("p",    &printStatus);
+        command_handler.map(StrCommandHandler::ARROW_UP,    &increaseCurrent);
+        command_handler.map(StrCommandHandler::ARROW_DOWN,  &decreaseCurrent);
+        command_handler.map(StrCommandHandler::ARROW_RIGHT, &increaseFrequency);
+        command_handler.map(StrCommandHandler::ARROW_LEFT,  &decreaseFrequency);
+        reactor.attach(callback(&command_handler, &StrCommandHandler::exe));
+        reactor.attach_PostProc(&calleddefault);
+        reactor.startReception(&pc, SerialInputReactionHandler::KB_SINGLE_INPUT);
+    }
+    printKBManual();
+    printDSinSamples();
+    wait(.1);
+    myled2 = 1;
+}
+
+
+
+void loop()
+{
+    static int ph = 0;
+    static int ph_sign = 0;
+
+    myled4 = 1;
+
+    ph = singen.getValue_p16m16();
+    if(ph > 0) {
+        ph_sign = 1;
+    }
+    //  when ph is negaive, make it positive
+    else if (ph < 0) {
+        ph = -ph;
+        ph_sign = -1;
+    }
+    stimulator.DAAD(ph);
+
+    if(ph == 0) {
+        if (ph_sign > 0)
+            swBrd.setTwin(1, 4);
+
+        else if (ph_sign < 0)
+            swBrd.setTwin(4, 1);
+        else;
+        ph_sign = 0;
+    }
+
+    myled4 = 0;
+}
+
+
+
+void calleddefault(char const * const arg_command, void * arg_errorcode)
+{
+    int errorcode = *(int*)arg_errorcode;
+    if (errorcode != 0xFFFFFFFC) return;
+    printKBManual();
+    pc.printf("Sent data was: %d(%c)(%s)\n", arg_command[0], arg_command[0], arg_command);
+}
+
+
+void * switchState()
+{
+    if (pstate == MAIN_ROUTINE)
+        pauseLoop();
+    else if (pstate == WAIT_A_CERTAIN_KEY) {
+        startLoop();
+
+    }
+    return NULL;
+}
+
+
+void * startLoop(void)
+{
+    if (pstate != WAIT_A_CERTAIN_KEY) return NULL;
+
+    ticker.attach_us(loop, singen.getPulseWidth());
+    pstate = MAIN_ROUTINE;
+    pc.printf("start\n");
+    return NULL;
+}
+
+
+
+void * pauseLoop(void)
+{
+    if (pstate != MAIN_ROUTINE) return NULL;
+
+    stimulator.DAAD(0);
+    ticker.detach();
+    pstate = WAIT_A_CERTAIN_KEY;
+    pc.printf("stop\n");
+    return NULL;
+}
+
+
+
+void * terminateLoop(void)
+{
+    stimulator.DAAD(0);
+    ticker.detach();
+    pstate = TERMINATED;
+    pc.puts("TERMINATED");
+    return NULL;
+}
+
+
+
+void * increaseCurrent(void)
+{
+    float lampl = singen.getAmplitude();
+    if(lampl < singen.ampl_max - 0.5)
+        lampl += 0.5;
+    else
+        lampl = singen.ampl_max;
+    singen.setAmplitude(lampl);
+    printStatus();
+    return NULL;
+}
+
+
+
+void * decreaseCurrent(void)
+{
+    float lampl = singen.getAmplitude();
+    if(1 <= lampl )
+        lampl -= 0.5;
+    else
+        lampl = 0;
+    singen.setAmplitude(lampl);
+    printStatus();
+    return NULL;
+}
+
+
+
+void * increaseFrequency(void)
+{
+    uint16_t lfreq = singen.getFrequency();
+    if(lfreq < singen.freq_max - 10)
+        lfreq += 10;
+    else
+        lfreq  = 5000;
+    singen.setFrequency(lfreq);
+    ticker.attach_us(loop, singen.getPulseWidth());
+    printStatus();
+    return NULL;
+}
+
+
+
+void * decreaseFrequency(void)
+{
+    uint16_t lfreq = singen.getFrequency();
+    if(20 <= lfreq )
+        lfreq -= 10;
+    else
+        lfreq = 10;
+    singen.setFrequency(lfreq);
+    ticker.attach_us(loop, singen.getPulseWidth());
+    printStatus();
+    return NULL;
+}
+
+
+
+template <typename T>
+bool scanValue(char const * const arg_digits, T * const arg_dest)
+{
+    int l_len = 0;
+    int l_digit = 0;
+    int l_value = 0;
+    bool l_isfloat = false;
+
+    while (arg_digits[l_len] != '\0') {
+
+        if (l_len > 50) {
+            pc.puts("\nerror: too long number of digits\n");
+            return false;
+        }
+
+        if ('0' <= arg_digits[l_len] && arg_digits[l_len] <= '9')
+            l_digit = arg_digits[l_len] - '0';
+        else if(arg_digits[l_len] != '.')
+            if(l_isfloat)
+                return false;
+            else
+                l_isfloat = true;
+        else return false;
+
+        if(l_isfloat) l_digit /= 10;
+        else l_value *= 10;
+
+        l_value += l_digit;
+        l_len++;
+    }
+
+    *arg_dest = static_cast<T>(l_value);
+    return true;
+}
+
+
+
+
+void * beginParamsSetting(void)
+{
+    pauseLoop();
+    reactor.changeMode(SerialInputReactionHandler::KB_TILL_ENTER);
+
+    pc.puts("---\n");
+    pc.printf("set amplitude:");
+    reactor.attach(SetAmplitude);
+    return NULL;
+}
+
+void * SetAmplitude(char const * const arg_digits)
+{
+    float lampl = singen.getAmplitude();
+
+    //  read values
+    if (scanValue(arg_digits, &lampl));
+
+    //  set values
+    if( lampl <   0 || singen.ampl_max < lampl) lampl = singen.getAmplitude();
+    singen.setAmplitude(lampl);
+
+    pc.puts("===\n");
+    pc.printf("set frequency:");
+    reactor.attach(SetFrequency);
+    return NULL;
+}
+
+void * SetFrequency(char const * const arg_digits)
+{
+    uint16_t lfreq = singen.getFrequency();
+
+    if (scanValue(arg_digits, &lfreq));
+
+    if( lfreq < 500 || singen.freq_max < lfreq) lfreq = singen.getFrequency();
+    singen.setFrequency(lfreq);
+
+    pc.puts("...\n");
+    printStatus();
+    endParamsSetting();
+    return NULL;
+}
+
+void * endParamsSetting(void)
+{
+    reactor.changeMode(SerialInputReactionHandler::KB_SINGLE_INPUT);
+    reactor.attach(callback(&command_handler, &StrCommandHandler::exe));
+    startLoop();
+    return NULL;
+}
+
+
+
+void * printKBManual(void)
+{
+    pc.puts(
+        "\n"
+        "keybind are following:\n"
+        "    ---\n"
+        "    v: set all paramater by arbitrary value\n"
+        "    ---\n"
+        "    UP:     Amplitude + 1(mA)\n"
+        "    Down:   Amplitude - 1(mA)\n"
+        "    Right:  Frequency +10(Hz)\n"
+        "    Left:   Frequency -10(Hz)\n"
+        "    ---\n"
+        "    p:  print wave parameter\n"
+        "    ---\n"
+        "    a:  Start or Pause main loop\n"
+        "    S:  Start or Resume Stimulation\n"
+        "    P:  Pause Stimulation\n"
+        "    E(shift+a): terminate the loop\n"
+        "\n");
+    return NULL;
+}
+
+void * printStatus(void)
+{
+    pc.printf(
+        "Amplitude:  %2.3f  "
+        "Frequency:  %05d  "
+        "Pulse Width:%05d\n"
+        , singen.getAmplitude(), singen.getFrequency(), singen.getPulseWidth());
+    return NULL;
+}
+
+void * printDSinSamples(void)
+{
+    pc.printf("resolution of sin: %d\n", singen.resolution_ofsin);
+
+    float dsin[singen.resolution_ofsin];
+    singen.getValueofSamplePoints(dsin);
+    for ( int i = 0; i < singen.resolution_ofsin; i++ )
+        pc.printf("sin[%02d]: %2.2f\n", i, dsin[i]);
+
+    return NULL;
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/subroutines.h	Wed Nov 27 23:41:55 2019 +0000
@@ -0,0 +1,43 @@
+#ifndef SUBROUTINES_H
+#define SUBROUTINES_H
+
+#include "mbed.h"
+
+extern DigitalOut  myled1;
+extern DigitalOut  myled2;
+extern DigitalOut  myled3;
+extern DigitalOut  myled4;
+
+enum ProcessState {WAIT_A_CERTAIN_KEY, MAIN_ROUTINE, TERMINATED};
+extern ProcessState   pstate;
+
+//  prototype
+
+/// Called in main 
+void init(void);
+
+/// Called when it attached to ticker
+void loop(void);
+
+
+void * printKBManual(void);
+void * printStatus(void);
+void * printDSinSamples(void);
+
+void * increaseCurrent(void);
+void * decreaseCurrent(void);
+void * increaseFrequency(void);
+void * decreaseFrequency(void);
+
+void * beginParamsSetting(void);
+void * SetAmplitude(char const * const);
+void * SetFrequency(char const * const);
+void * endParamsSetting(void);
+
+void * switchState();
+void * startLoop(void);
+void * pauseLoop(void);
+void * terminateLoop(void);
+
+void calleddefault(char const * const, void *);
+#endif
\ No newline at end of file