Andy Lustig / Mbed 2 deprecated statescriptMP

statescriptMP

Dependencies:   SMARTWAV USBDevice mbed

main.cpp@0:9d97f34c6f46, 2015-05-18 (annotated)

Committer:
alustig3
Date:
Mon May 18 01:18:45 2015 +0000
Revision:
0:9d97f34c6f46
statescript MP

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alustig3 0:9d97f34c6f46 1 #include "mbed.h"
alustig3 0:9d97f34c6f46 2 #include <stdint.h>
alustig3 0:9d97f34c6f46 3 #include "behave.h"
alustig3 0:9d97f34c6f46 4 #include <string.h>
alustig3 0:9d97f34c6f46 5 #include <sstream>
alustig3 0:9d97f34c6f46 6 #include "SMARTWAV.h"
alustig3 0:9d97f34c6f46 7 #include "USBSerial.h"
alustig3 0:9d97f34c6f46 8
alustig3 0:9d97f34c6f46 9
alustig3 0:9d97f34c6f46 10 uint32_t timeKeeper; //the main clock (updated every ms)
alustig3 0:9d97f34c6f46 11 bool resetTimer = false; //if true, the clock is reset
alustig3 0:9d97f34c6f46 12 bool clockSlave = false; //slave mode
alustig3 0:9d97f34c6f46 13 bool changeToSlave = false;
alustig3 0:9d97f34c6f46 14 bool changeToStandAlone = false;
alustig3 0:9d97f34c6f46 15
alustig3 0:9d97f34c6f46 16 //static char buf1[0x2000] __attribute__((section("AHBSRAM0")));
alustig3 0:9d97f34c6f46 17 __attribute((section("AHBSRAM0"),aligned)) outputStream textDisplay(512);
alustig3 0:9d97f34c6f46 18 __attribute((section("AHBSRAM0"),aligned)) char buffer[128];
alustig3 0:9d97f34c6f46 19
alustig3 0:9d97f34c6f46 20
alustig3 0:9d97f34c6f46 21 __attribute((section("AHBSRAM1"),aligned)) event eventBlock[NUMEVENTS];
alustig3 0:9d97f34c6f46 22
alustig3 0:9d97f34c6f46 23 __attribute((section("AHBSRAM1"),aligned)) condition conditionBlock[NUMCONDITIONS];
alustig3 0:9d97f34c6f46 24
alustig3 0:9d97f34c6f46 25 __attribute((section("AHBSRAM1"),aligned)) intCompare intCompareBlock[NUMINTCOMPARE];
alustig3 0:9d97f34c6f46 26
alustig3 0:9d97f34c6f46 27 __attribute((section("AHBSRAM0"),aligned)) action actionBlock[NUMACTIONS];
alustig3 0:9d97f34c6f46 28
alustig3 0:9d97f34c6f46 29 __attribute((section("AHBSRAM0"),aligned)) portMessage portMessageBlock[NUMPORTMESSAGES];
alustig3 0:9d97f34c6f46 30
alustig3 0:9d97f34c6f46 31 //__attribute((section("AHBSRAM1"),aligned)) intVariable intVariableBlock[10];
alustig3 0:9d97f34c6f46 32
alustig3 0:9d97f34c6f46 33 __attribute((section("AHBSRAM0"),aligned)) intOperation intOperationBlock[NUMINTOPERATIONS];
alustig3 0:9d97f34c6f46 34
alustig3 0:9d97f34c6f46 35 __attribute((section("AHBSRAM0"),aligned)) displayAction displayActionBlock[NUMDISPLAYACTIONS];
alustig3 0:9d97f34c6f46 36
alustig3 0:9d97f34c6f46 37
alustig3 0:9d97f34c6f46 38
alustig3 0:9d97f34c6f46 39 Ticker clockBroadCast; //timer used when sending out timestamps on a GPIO
alustig3 0:9d97f34c6f46 40 uint32_t currentBroadcastTime;
alustig3 0:9d97f34c6f46 41 int currentBroadcastBit = 0;
alustig3 0:9d97f34c6f46 42 bool broadcastHigh = false;
alustig3 0:9d97f34c6f46 43
alustig3 0:9d97f34c6f46 44 int currentDIOstate[2] = {0,0}; //the first number is a bit-wise representaion of the digital inputs, the 2nd is for the outputs
alustig3 0:9d97f34c6f46 45 bool digitalInChanged = false;
alustig3 0:9d97f34c6f46 46 bool digitalOutChanged = false;
alustig3 0:9d97f34c6f46 47 bool broadCastStateChanges = true;
alustig3 0:9d97f34c6f46 48 bool textStreaming = true;
alustig3 0:9d97f34c6f46 49 uint32_t changeTime;
alustig3 0:9d97f34c6f46 50
alustig3 0:9d97f34c6f46 51 LocalFileSystem local("local");
alustig3 0:9d97f34c6f46 52
alustig3 0:9d97f34c6f46 53 digitalPort* portVector[NUMPORTS+1]; //create the digital ports
alustig3 0:9d97f34c6f46 54
alustig3 0:9d97f34c6f46 55 float brightness = 0.0;
alustig3 0:9d97f34c6f46 56
alustig3 0:9d97f34c6f46 57 //Define the digial ports
alustig3 0:9d97f34c6f46 58
alustig3 0:9d97f34c6f46 59 //Pins for clock syncing
alustig3 0:9d97f34c6f46 60 //InterruptIn clockResetInt(p24);
alustig3 0:9d97f34c6f46 61 DigitalOut clockOutSync(p19);
alustig3 0:9d97f34c6f46 62 DigitalOut clockOutSignal(p29);
alustig3 0:9d97f34c6f46 63 InterruptIn clockExternalIncrement(p30);
alustig3 0:9d97f34c6f46 64
alustig3 0:9d97f34c6f46 65
alustig3 0:9d97f34c6f46 66 //Pins for digital ports. Each port has 1 out and 1 in
alustig3 0:9d97f34c6f46 67 //DigitalOut out1(LED1); //route to LED for debugging
alustig3 0:9d97f34c6f46 68 //1A,1B
alustig3 0:9d97f34c6f46 69 DigitalOut out1(p5);
alustig3 0:9d97f34c6f46 70 DigitalIn in1(p6);
alustig3 0:9d97f34c6f46 71 InterruptIn int1(p6);
alustig3 0:9d97f34c6f46 72 __attribute((section("AHBSRAM0"),aligned)) digitalPort port1(&out1, &in1);
alustig3 0:9d97f34c6f46 73 //1C,1D
alustig3 0:9d97f34c6f46 74 DigitalOut out2(p7);
alustig3 0:9d97f34c6f46 75 DigitalIn in2(p8);
alustig3 0:9d97f34c6f46 76 InterruptIn int2(p8);
alustig3 0:9d97f34c6f46 77 __attribute((section("AHBSRAM0"),aligned)) digitalPort port2(&out2, &in2);
alustig3 0:9d97f34c6f46 78 //2A,2B
alustig3 0:9d97f34c6f46 79 DigitalOut out3(p17);
alustig3 0:9d97f34c6f46 80 DigitalIn in3(p18);
alustig3 0:9d97f34c6f46 81 InterruptIn int3(p18);
alustig3 0:9d97f34c6f46 82 __attribute((section("AHBSRAM0"),aligned)) digitalPort port3(&out3, &in3);
alustig3 0:9d97f34c6f46 83 //2C,2D
alustig3 0:9d97f34c6f46 84 DigitalOut out4(p11);
alustig3 0:9d97f34c6f46 85 DigitalIn in4(p12);
alustig3 0:9d97f34c6f46 86 InterruptIn int4(p12);
alustig3 0:9d97f34c6f46 87 __attribute((section("AHBSRAM0"),aligned)) digitalPort port4(&out4, &in4);
alustig3 0:9d97f34c6f46 88 //3A,3B
alustig3 0:9d97f34c6f46 89 DigitalOut out5(p21);
alustig3 0:9d97f34c6f46 90 DigitalIn in5(p22);
alustig3 0:9d97f34c6f46 91 InterruptIn int5(p22);
alustig3 0:9d97f34c6f46 92 __attribute((section("AHBSRAM0"),aligned)) digitalPort port5(&out5, &in5);
alustig3 0:9d97f34c6f46 93 //3C,3D
alustig3 0:9d97f34c6f46 94 DigitalOut out6(p15);
alustig3 0:9d97f34c6f46 95 DigitalIn in6(p16);
alustig3 0:9d97f34c6f46 96 InterruptIn int6(p16);
alustig3 0:9d97f34c6f46 97 __attribute((section("AHBSRAM0"),aligned)) digitalPort port6(&out6, &in6);
alustig3 0:9d97f34c6f46 98 //4A,4B
alustig3 0:9d97f34c6f46 99 DigitalOut out7(p9);
alustig3 0:9d97f34c6f46 100 DigitalIn in7(p10);
alustig3 0:9d97f34c6f46 101 InterruptIn int7(p10);
alustig3 0:9d97f34c6f46 102 __attribute((section("AHBSRAM0"),aligned)) digitalPort port7(&out7, &in7);
alustig3 0:9d97f34c6f46 103 //5A,5B
alustig3 0:9d97f34c6f46 104 DigitalOut out8(p13);
alustig3 0:9d97f34c6f46 105 DigitalIn in8(p14);
alustig3 0:9d97f34c6f46 106 InterruptIn int8(p14);
alustig3 0:9d97f34c6f46 107 __attribute((section("AHBSRAM0"),aligned)) digitalPort port8(&out8, &in8);
alustig3 0:9d97f34c6f46 108 //6A,6B
alustig3 0:9d97f34c6f46 109 DigitalOut out9(p23);
alustig3 0:9d97f34c6f46 110 DigitalIn in9(p24);
alustig3 0:9d97f34c6f46 111 InterruptIn int9(p24);
alustig3 0:9d97f34c6f46 112 __attribute((section("AHBSRAM0"),aligned)) digitalPort port9(&out9, &in9);
alustig3 0:9d97f34c6f46 113 //Pump1
alustig3 0:9d97f34c6f46 114 DigitalOut out10(p25);
alustig3 0:9d97f34c6f46 115 __attribute((section("AHBSRAM0"),aligned)) digitalPort port10(&out10);
alustig3 0:9d97f34c6f46 116 //Pump2
alustig3 0:9d97f34c6f46 117 DigitalOut out11(p26);
alustig3 0:9d97f34c6f46 118 __attribute((section("AHBSRAM0"),aligned)) digitalPort port11(&out11);
alustig3 0:9d97f34c6f46 119
alustig3 0:9d97f34c6f46 120
alustig3 0:9d97f34c6f46 121
alustig3 0:9d97f34c6f46 122 //Serial communication
alustig3 0:9d97f34c6f46 123 Serial pc(USBTX, USBRX); // tx, rx
alustig3 0:9d97f34c6f46 124 //USBSerial pc;
alustig3 0:9d97f34c6f46 125
alustig3 0:9d97f34c6f46 126
alustig3 0:9d97f34c6f46 127 //Main event queue
alustig3 0:9d97f34c6f46 128 eventQueue mainQueue(portVector, &timeKeeper);
alustig3 0:9d97f34c6f46 129
alustig3 0:9d97f34c6f46 130 //The script parser
alustig3 0:9d97f34c6f46 131 scriptStream parser(&pc, portVector, NUMPORTS, &mainQueue);
alustig3 0:9d97f34c6f46 132
alustig3 0:9d97f34c6f46 133 //The sound output uses a SmartWav device and their simple serial library
alustig3 0:9d97f34c6f46 134 SMARTWAV sWav(p28,p27,p20); //(TX,RX,Reset);
alustig3 0:9d97f34c6f46 135 //Serial device(p9,p10);
alustig3 0:9d97f34c6f46 136 //Erases the input buffer for serial input
alustig3 0:9d97f34c6f46 137 void eraseBuffer(char* buffer,int numToErase) {
alustig3 0:9d97f34c6f46 138 for (int i = 0; i < numToErase; i++) {
alustig3 0:9d97f34c6f46 139 buffer[i] = NULL;
alustig3 0:9d97f34c6f46 140 }
alustig3 0:9d97f34c6f46 141 }
alustig3 0:9d97f34c6f46 142
alustig3 0:9d97f34c6f46 143
alustig3 0:9d97f34c6f46 144 //Called by clockBroadCast timer to output a 32-bit timestamp. When the timestmap has been
alustig3 0:9d97f34c6f46 145 //sent, the function is detached from the timer.
alustig3 0:9d97f34c6f46 146 void broadcastNextBit() {
alustig3 0:9d97f34c6f46 147
alustig3 0:9d97f34c6f46 148 if (currentBroadcastBit < 32) {
alustig3 0:9d97f34c6f46 149 broadcastHigh = !broadcastHigh; //flip the sync signal
alustig3 0:9d97f34c6f46 150 if (broadcastHigh) {
alustig3 0:9d97f34c6f46 151 clockOutSync = 1;
alustig3 0:9d97f34c6f46 152 clockOutSignal = (currentBroadcastTime & ( 1 << currentBroadcastBit)) >> currentBroadcastBit;
alustig3 0:9d97f34c6f46 153
alustig3 0:9d97f34c6f46 154 } else {
alustig3 0:9d97f34c6f46 155 clockOutSync = 0;
alustig3 0:9d97f34c6f46 156 clockOutSignal = 0;
alustig3 0:9d97f34c6f46 157 currentBroadcastBit++;
alustig3 0:9d97f34c6f46 158 }
alustig3 0:9d97f34c6f46 159 }
alustig3 0:9d97f34c6f46 160 }
alustig3 0:9d97f34c6f46 161
alustig3 0:9d97f34c6f46 162
alustig3 0:9d97f34c6f46 163 //intiatiation of timer2 (specific to the LPC17xx chip). This is used in
alustig3 0:9d97f34c6f46 164 //standalone mode to increment the clock every ms.
alustig3 0:9d97f34c6f46 165 //we use lower-lever code here to get better control over the timer if we reset it
alustig3 0:9d97f34c6f46 166 void timer0_init(void)
alustig3 0:9d97f34c6f46 167 {
alustig3 0:9d97f34c6f46 168 //LPC_SC->PCLKSEL1 &= (3 << 12); //mask
alustig3 0:9d97f34c6f46 169 //LPC_SC->PCLKSEL1 |= (1 << 12); //sets it to 1*SystemCoreClock - table 42 (page 57 in user manual)
alustig3 0:9d97f34c6f46 170
alustig3 0:9d97f34c6f46 171 //LPC_SC->PCLKSEL0 &= (3 << 3); //mask
alustig3 0:9d97f34c6f46 172 //LPC_SC->PCLKSEL0 |= (1 << 3); //sets it to 1*SystemCoreClock - table 42 (page 57 in user manual)
alustig3 0:9d97f34c6f46 173 LPC_SC->PCONP |=1<1; //timer0 power on
alustig3 0:9d97f34c6f46 174 LPC_TIM0->MR0 = 23980; //1 msec
alustig3 0:9d97f34c6f46 175 //LPC_TIM0->PR = (SystemCoreClock / 1000000); //microsecond steps
alustig3 0:9d97f34c6f46 176 //LPC_TIM0->MR0 = 1000; //100 msec
alustig3 0:9d97f34c6f46 177 //LPC_TIM0->MR0 = (SystemCoreClock / 1000000); //microsecond steps
alustig3 0:9d97f34c6f46 178 LPC_TIM0->MCR = 3; //interrupt and reset control
alustig3 0:9d97f34c6f46 179 //3 = Interrupt & reset timer0 on match
alustig3 0:9d97f34c6f46 180 //1 = Interrupt only, no reset of timer0
alustig3 0:9d97f34c6f46 181 NVIC_EnableIRQ(TIMER0_IRQn); //enable timer0 interrupt
alustig3 0:9d97f34c6f46 182 LPC_TIM0->TCR = 1; //enable Timer0
alustig3 0:9d97f34c6f46 183
alustig3 0:9d97f34c6f46 184
alustig3 0:9d97f34c6f46 185 /*
alustig3 0:9d97f34c6f46 186 LPC_SC->PCONP |= (0x1<<22); // turn on power for timer 2
alustig3 0:9d97f34c6f46 187 LPC_TIM2->TCR = 0x02; // reset timer
alustig3 0:9d97f34c6f46 188 LPC_TIM2->PR = (SystemCoreClock / 1000000); //microsecond steps
alustig3 0:9d97f34c6f46 189 LPC_TIM2->MR0 = 1000; // 1000 microsecond interval interrupts
alustig3 0:9d97f34c6f46 190 LPC_TIM2->IR = 0x3f; // reset all interrrupts
alustig3 0:9d97f34c6f46 191 LPC_TIM2->MCR = 0x03; // reset timer on match and generate interrupt (MR0)
alustig3 0:9d97f34c6f46 192 LPC_TIM2->TCR = 0x01; // start timer
alustig3 0:9d97f34c6f46 193
alustig3 0:9d97f34c6f46 194 NVIC_EnableIRQ(TIMER2_IRQn); // Enable the interrupt
alustig3 0:9d97f34c6f46 195 */
alustig3 0:9d97f34c6f46 196 //pc.printf("Done timer_init\n\r");
alustig3 0:9d97f34c6f46 197 }
alustig3 0:9d97f34c6f46 198
alustig3 0:9d97f34c6f46 199 //This is the callback for timer2
alustig3 0:9d97f34c6f46 200 extern "C" void TIMER0_IRQHandler (void) {
alustig3 0:9d97f34c6f46 201
alustig3 0:9d97f34c6f46 202 if((LPC_TIM0->IR & 0x01) == 0x01) { // if MR0 interrupt, proceed
alustig3 0:9d97f34c6f46 203
alustig3 0:9d97f34c6f46 204 LPC_TIM0->IR |= 1 << 0; // Clear MR0 interrupt flag
alustig3 0:9d97f34c6f46 205 timeKeeper++;
alustig3 0:9d97f34c6f46 206
alustig3 0:9d97f34c6f46 207 if (resetTimer) {
alustig3 0:9d97f34c6f46 208 timeKeeper = 0;
alustig3 0:9d97f34c6f46 209 resetTimer = false;
alustig3 0:9d97f34c6f46 210 }
alustig3 0:9d97f34c6f46 211
alustig3 0:9d97f34c6f46 212 if (currentBroadcastBit > 31) {
alustig3 0:9d97f34c6f46 213 clockBroadCast.detach();
alustig3 0:9d97f34c6f46 214 currentBroadcastBit = 0;
alustig3 0:9d97f34c6f46 215 }
alustig3 0:9d97f34c6f46 216
alustig3 0:9d97f34c6f46 217 //Every second, we broadcast out the current time
alustig3 0:9d97f34c6f46 218 if ((timeKeeper % 1000) == 0) {
alustig3 0:9d97f34c6f46 219 currentBroadcastTime = timeKeeper;
alustig3 0:9d97f34c6f46 220 clockOutSync = 1;
alustig3 0:9d97f34c6f46 221
alustig3 0:9d97f34c6f46 222 currentBroadcastBit = 0;
alustig3 0:9d97f34c6f46 223
alustig3 0:9d97f34c6f46 224 clockOutSignal = (currentBroadcastTime & ( 1 << currentBroadcastBit)) >> currentBroadcastBit;
alustig3 0:9d97f34c6f46 225 broadcastHigh = true;
alustig3 0:9d97f34c6f46 226 clockBroadCast.attach_us(&broadcastNextBit, 1000);
alustig3 0:9d97f34c6f46 227 }
alustig3 0:9d97f34c6f46 228 }
alustig3 0:9d97f34c6f46 229 }
alustig3 0:9d97f34c6f46 230
alustig3 0:9d97f34c6f46 231
alustig3 0:9d97f34c6f46 232 //In slave mode, the clock is updated with an external trigger every ms. No need for
alustig3 0:9d97f34c6f46 233 //100us resolution.
alustig3 0:9d97f34c6f46 234 void callback_clockExternalIncrement(void) {
alustig3 0:9d97f34c6f46 235
alustig3 0:9d97f34c6f46 236 timeKeeper++;
alustig3 0:9d97f34c6f46 237
alustig3 0:9d97f34c6f46 238 if (resetTimer) {
alustig3 0:9d97f34c6f46 239 timeKeeper = 0;
alustig3 0:9d97f34c6f46 240 resetTimer = false;
alustig3 0:9d97f34c6f46 241 }
alustig3 0:9d97f34c6f46 242
alustig3 0:9d97f34c6f46 243 if (currentBroadcastBit > 31) {
alustig3 0:9d97f34c6f46 244 clockBroadCast.detach();
alustig3 0:9d97f34c6f46 245 currentBroadcastBit = 0;
alustig3 0:9d97f34c6f46 246 }
alustig3 0:9d97f34c6f46 247
alustig3 0:9d97f34c6f46 248 //Every second, we broadcast out the current time
alustig3 0:9d97f34c6f46 249 if ((timeKeeper % 1000) == 0) {
alustig3 0:9d97f34c6f46 250 currentBroadcastTime = timeKeeper;
alustig3 0:9d97f34c6f46 251 clockOutSync = 1;
alustig3 0:9d97f34c6f46 252
alustig3 0:9d97f34c6f46 253 currentBroadcastBit = 0;
alustig3 0:9d97f34c6f46 254
alustig3 0:9d97f34c6f46 255 clockOutSignal = (currentBroadcastTime & ( 1 << currentBroadcastBit)) >> currentBroadcastBit;
alustig3 0:9d97f34c6f46 256 broadcastHigh = true;
alustig3 0:9d97f34c6f46 257 clockBroadCast.attach_us(&broadcastNextBit, 1000);
alustig3 0:9d97f34c6f46 258 }
alustig3 0:9d97f34c6f46 259 }
alustig3 0:9d97f34c6f46 260
alustig3 0:9d97f34c6f46 261 //Every digital port's in pin has a hardware interrupt. We use a callback stub for each port
alustig3 0:9d97f34c6f46 262 //that routes the int_callback.
alustig3 0:9d97f34c6f46 263 void int_callback(int portNum, int direction) {
alustig3 0:9d97f34c6f46 264 portVector[portNum]->addStateChange(direction, timeKeeper);
alustig3 0:9d97f34c6f46 265 }
alustig3 0:9d97f34c6f46 266
alustig3 0:9d97f34c6f46 267 //Callback stubs
alustig3 0:9d97f34c6f46 268 void callback_port1_rise(void) { int_callback(1, 1); }
alustig3 0:9d97f34c6f46 269 void callback_port1_fall(void) { int_callback(1, 0); }
alustig3 0:9d97f34c6f46 270 void callback_port2_rise(void) { int_callback(2, 1); }
alustig3 0:9d97f34c6f46 271 void callback_port2_fall(void) { int_callback(2, 0); }
alustig3 0:9d97f34c6f46 272 void callback_port3_rise(void) { int_callback(3, 1); }
alustig3 0:9d97f34c6f46 273 void callback_port3_fall(void) { int_callback(3, 0); }
alustig3 0:9d97f34c6f46 274 void callback_port4_rise(void) { int_callback(4, 1); }
alustig3 0:9d97f34c6f46 275 void callback_port4_fall(void) { int_callback(4, 0); }
alustig3 0:9d97f34c6f46 276 void callback_port5_rise(void) { int_callback(5, 1); }
alustig3 0:9d97f34c6f46 277 void callback_port5_fall(void) { int_callback(5, 0); }
alustig3 0:9d97f34c6f46 278 void callback_port6_rise(void) { int_callback(6, 1); }
alustig3 0:9d97f34c6f46 279 void callback_port6_fall(void) { int_callback(6, 0); }
alustig3 0:9d97f34c6f46 280 void callback_port7_rise(void) { int_callback(7, 1); }
alustig3 0:9d97f34c6f46 281 void callback_port7_fall(void) { int_callback(7, 0); }
alustig3 0:9d97f34c6f46 282 void callback_port8_rise(void) { int_callback(8, 1); }
alustig3 0:9d97f34c6f46 283 void callback_port8_fall(void) { int_callback(8, 0); }
alustig3 0:9d97f34c6f46 284 void callback_port9_rise(void) { int_callback(9, 1); }
alustig3 0:9d97f34c6f46 285 void callback_port9_fall(void) { int_callback(9, 0); }
alustig3 0:9d97f34c6f46 286
alustig3 0:9d97f34c6f46 287
alustig3 0:9d97f34c6f46 288 //This function is attached to an interrupt pin for external clock reset
alustig3 0:9d97f34c6f46 289 void callback_clockReset(void) {
alustig3 0:9d97f34c6f46 290 if (timeKeeper > 100) {
alustig3 0:9d97f34c6f46 291 LPC_TIM2->TCR = 0x02; // reset timer
alustig3 0:9d97f34c6f46 292 timeKeeper = 0;
alustig3 0:9d97f34c6f46 293 pc.printf("%d Clock reset\r\n", timeKeeper);
alustig3 0:9d97f34c6f46 294 }
alustig3 0:9d97f34c6f46 295 }
alustig3 0:9d97f34c6f46 296
alustig3 0:9d97f34c6f46 297
alustig3 0:9d97f34c6f46 298 int main() {
alustig3 0:9d97f34c6f46 299 timeKeeper = 0; //set main clock to 0;
alustig3 0:9d97f34c6f46 300 sWav.reset();
alustig3 0:9d97f34c6f46 301 pc.baud(115200);
alustig3 0:9d97f34c6f46 302 // device.baud(4800);
alustig3 0:9d97f34c6f46 303 //pc.baud(9600);
alustig3 0:9d97f34c6f46 304
alustig3 0:9d97f34c6f46 305 for (int i = 0; i <NUMPORTS+1; i++) {
alustig3 0:9d97f34c6f46 306 portVector[i] = NULL;
alustig3 0:9d97f34c6f46 307 }
alustig3 0:9d97f34c6f46 308 //We keep portVector 1-based to eliminate confusion
alustig3 0:9d97f34c6f46 309 portVector[1] = &port1;
alustig3 0:9d97f34c6f46 310 portVector[2] = &port2;
alustig3 0:9d97f34c6f46 311 portVector[3] = &port3;
alustig3 0:9d97f34c6f46 312 portVector[4] = &port4;
alustig3 0:9d97f34c6f46 313 portVector[5] = &port5;
alustig3 0:9d97f34c6f46 314 portVector[6] = &port6;
alustig3 0:9d97f34c6f46 315 portVector[7] = &port7;
alustig3 0:9d97f34c6f46 316 portVector[8] = &port8;
alustig3 0:9d97f34c6f46 317 portVector[9] = &port9;
alustig3 0:9d97f34c6f46 318 portVector[10] = &port10;
alustig3 0:9d97f34c6f46 319 portVector[11] = &port11;
alustig3 0:9d97f34c6f46 320
alustig3 0:9d97f34c6f46 321 //Callback to update the main clock
alustig3 0:9d97f34c6f46 322 //timeTick1.attach_us(&incrementTime, 100);
alustig3 0:9d97f34c6f46 323
alustig3 0:9d97f34c6f46 324 timer0_init();
alustig3 0:9d97f34c6f46 325
alustig3 0:9d97f34c6f46 326
alustig3 0:9d97f34c6f46 327 //Set up callbacks for the port interrupts
alustig3 0:9d97f34c6f46 328 int1.rise(&callback_port1_rise);
alustig3 0:9d97f34c6f46 329 int1.fall(&callback_port1_fall);
alustig3 0:9d97f34c6f46 330 int2.rise(&callback_port2_rise);
alustig3 0:9d97f34c6f46 331 int2.fall(&callback_port2_fall);
alustig3 0:9d97f34c6f46 332 int3.rise(&callback_port3_rise);
alustig3 0:9d97f34c6f46 333 int3.fall(&callback_port3_fall);
alustig3 0:9d97f34c6f46 334 int4.rise(&callback_port4_rise);
alustig3 0:9d97f34c6f46 335 int4.fall(&callback_port4_fall);
alustig3 0:9d97f34c6f46 336 int5.rise(&callback_port5_rise);
alustig3 0:9d97f34c6f46 337 int5.fall(&callback_port5_fall);
alustig3 0:9d97f34c6f46 338 int6.rise(&callback_port6_rise);
alustig3 0:9d97f34c6f46 339 int6.fall(&callback_port6_fall);
alustig3 0:9d97f34c6f46 340 int7.rise(&callback_port7_rise);
alustig3 0:9d97f34c6f46 341 int7.fall(&callback_port7_fall);
alustig3 0:9d97f34c6f46 342 int8.rise(&callback_port8_rise);
alustig3 0:9d97f34c6f46 343 int8.fall(&callback_port8_fall);
alustig3 0:9d97f34c6f46 344 int9.rise(&callback_port9_rise);
alustig3 0:9d97f34c6f46 345 int9.fall(&callback_port9_fall);
alustig3 0:9d97f34c6f46 346
alustig3 0:9d97f34c6f46 347 //clockResetInt.rise(&callback_clockReset);
alustig3 0:9d97f34c6f46 348 //clockResetInt.mode(PullDown);
alustig3 0:9d97f34c6f46 349
alustig3 0:9d97f34c6f46 350 clockExternalIncrement.mode(PullDown);
alustig3 0:9d97f34c6f46 351
alustig3 0:9d97f34c6f46 352 //The inputs are set for pull-up mode (might need to change this)
alustig3 0:9d97f34c6f46 353 in1.mode(PullDown);
alustig3 0:9d97f34c6f46 354 in2.mode(PullDown);
alustig3 0:9d97f34c6f46 355 in3.mode(PullDown);
alustig3 0:9d97f34c6f46 356 in4.mode(PullDown);
alustig3 0:9d97f34c6f46 357 in5.mode(PullDown);
alustig3 0:9d97f34c6f46 358 in6.mode(PullDown);
alustig3 0:9d97f34c6f46 359 in7.mode(PullDown);
alustig3 0:9d97f34c6f46 360 in8.mode(PullDown);
alustig3 0:9d97f34c6f46 361 in9.mode(PullDown);
alustig3 0:9d97f34c6f46 362
alustig3 0:9d97f34c6f46 363 //Set up input buffer for the serial port
alustig3 0:9d97f34c6f46 364 //char buffer[128];
alustig3 0:9d97f34c6f46 365 int bufferPos = 0;
alustig3 0:9d97f34c6f46 366 eraseBuffer(buffer,128);
alustig3 0:9d97f34c6f46 367
alustig3 0:9d97f34c6f46 368 ostringstream timeConvert; // stream used for the conversion
alustig3 0:9d97f34c6f46 369 ostringstream stateConvert;
alustig3 0:9d97f34c6f46 370 char junkChar;
alustig3 0:9d97f34c6f46 371 int tmpChar;
alustig3 0:9d97f34c6f46 372
alustig3 0:9d97f34c6f46 373 //while (pc.readable()) {
alustig3 0:9d97f34c6f46 374 while (pc.readable()) {
alustig3 0:9d97f34c6f46 375 junkChar = pc.getc();
alustig3 0:9d97f34c6f46 376 }
alustig3 0:9d97f34c6f46 377
alustig3 0:9d97f34c6f46 378 FILE *fp = fopen("/local/STARTUP.TXT", "r");
alustig3 0:9d97f34c6f46 379 if (fp != NULL) {
alustig3 0:9d97f34c6f46 380 pc.printf("Executing startup script...\r\n");
alustig3 0:9d97f34c6f46 381 do {
alustig3 0:9d97f34c6f46 382 tmpChar = fgetc(fp);
alustig3 0:9d97f34c6f46 383 if ((tmpChar >= 32) && (tmpChar <= 126)) {
alustig3 0:9d97f34c6f46 384 buffer[bufferPos] = tmpChar;
alustig3 0:9d97f34c6f46 385 bufferPos++;
alustig3 0:9d97f34c6f46 386 }
alustig3 0:9d97f34c6f46 387 if ((tmpChar == 13) || (tmpChar == 10)) { //carrriage return
alustig3 0:9d97f34c6f46 388 parser.addLineToCurrentBlock(buffer);
alustig3 0:9d97f34c6f46 389 bufferPos = 0;
alustig3 0:9d97f34c6f46 390 eraseBuffer(buffer,128);
alustig3 0:9d97f34c6f46 391 }
alustig3 0:9d97f34c6f46 392 //pc.putc(tmpChar);
alustig3 0:9d97f34c6f46 393 } while (tmpChar != EOF);
alustig3 0:9d97f34c6f46 394
alustig3 0:9d97f34c6f46 395 buffer[bufferPos] = 59;
alustig3 0:9d97f34c6f46 396 parser.addLineToCurrentBlock(buffer);
alustig3 0:9d97f34c6f46 397 eraseBuffer(buffer,128);
alustig3 0:9d97f34c6f46 398 fclose(fp);
alustig3 0:9d97f34c6f46 399 } else {
alustig3 0:9d97f34c6f46 400 pc.printf("No startup script found.\r\n");
alustig3 0:9d97f34c6f46 401 }
alustig3 0:9d97f34c6f46 402
alustig3 0:9d97f34c6f46 403 //main loop
alustig3 0:9d97f34c6f46 404 while(1) {
alustig3 0:9d97f34c6f46 405 //check the main event queue to see if anything needs to be done
alustig3 0:9d97f34c6f46 406 mainQueue.check();
alustig3 0:9d97f34c6f46 407
alustig3 0:9d97f34c6f46 408 //https://developer.mbed.org/handbook/Serial
alustig3 0:9d97f34c6f46 409 //if(device.readable()) {
alustig3 0:9d97f34c6f46 410 // pc.putc(device.getc());
alustig3 0:9d97f34c6f46 411 // }
alustig3 0:9d97f34c6f46 412 //check if anything has been written to the serial input
alustig3 0:9d97f34c6f46 413 //if (pc.readable()) {
alustig3 0:9d97f34c6f46 414 if (pc.readable()) {
alustig3 0:9d97f34c6f46 415
alustig3 0:9d97f34c6f46 416 buffer[bufferPos] = pc.getc();
alustig3 0:9d97f34c6f46 417 bufferPos++;
alustig3 0:9d97f34c6f46 418
alustig3 0:9d97f34c6f46 419 //'Return' key pressed
alustig3 0:9d97f34c6f46 420 if ((buffer[bufferPos-1] == 13) || (buffer[bufferPos-1] == 10)) {
alustig3 0:9d97f34c6f46 421 //pc.printf("\r\n");
alustig3 0:9d97f34c6f46 422 buffer[bufferPos-1] = '\0';
alustig3 0:9d97f34c6f46 423 parser.addLineToCurrentBlock(buffer);
alustig3 0:9d97f34c6f46 424 bufferPos = 0;
alustig3 0:9d97f34c6f46 425 eraseBuffer(buffer,128);
alustig3 0:9d97f34c6f46 426
alustig3 0:9d97f34c6f46 427 } else {
alustig3 0:9d97f34c6f46 428 //pc.putc(buffer[bufferPos-1]);
alustig3 0:9d97f34c6f46 429 //Backspace was pressed
alustig3 0:9d97f34c6f46 430 if (((buffer[bufferPos-1] == 127)||(buffer[bufferPos-1] == 8)) && (bufferPos > 0)) {
alustig3 0:9d97f34c6f46 431
alustig3 0:9d97f34c6f46 432 bufferPos = bufferPos-2;
alustig3 0:9d97f34c6f46 433 }
alustig3 0:9d97f34c6f46 434 }
alustig3 0:9d97f34c6f46 435 }
alustig3 0:9d97f34c6f46 436
alustig3 0:9d97f34c6f46 437 // __disable_irq();
alustig3 0:9d97f34c6f46 438
alustig3 0:9d97f34c6f46 439
alustig3 0:9d97f34c6f46 440 //Check all the digital ports to see if anything has changed. In the update routine, the port's
alustig3 0:9d97f34c6f46 441 //script callbacks are called if the port was triggered
alustig3 0:9d97f34c6f46 442 digitalInChanged = false;
alustig3 0:9d97f34c6f46 443 digitalOutChanged = false;
alustig3 0:9d97f34c6f46 444 changeTime = timeKeeper;
alustig3 0:9d97f34c6f46 445 for (int i = 0; i < NUMPORTS; i++) {
alustig3 0:9d97f34c6f46 446 if (portVector[i+1]->update()) {
alustig3 0:9d97f34c6f46 447 digitalInChanged = true;
alustig3 0:9d97f34c6f46 448 changeTime = min(changeTime,portVector[i+1]->lastChangeTime);
alustig3 0:9d97f34c6f46 449
alustig3 0:9d97f34c6f46 450 //The input state of all the ports in condensed into one number (each bit contains the info)
alustig3 0:9d97f34c6f46 451 if (portVector[i+1]->getLastChangeState() == 1) {
alustig3 0:9d97f34c6f46 452 currentDIOstate[0] = currentDIOstate[0] | (1 << i);
alustig3 0:9d97f34c6f46 453 } else {
alustig3 0:9d97f34c6f46 454 currentDIOstate[0] = currentDIOstate[0] & (255^(1 << i));
alustig3 0:9d97f34c6f46 455 }
alustig3 0:9d97f34c6f46 456 }
alustig3 0:9d97f34c6f46 457 if (portVector[i+1]->outStateChanged) {
alustig3 0:9d97f34c6f46 458 digitalOutChanged = true;
alustig3 0:9d97f34c6f46 459 changeTime = min(changeTime,portVector[i+1]->lastOutChangeTime);
alustig3 0:9d97f34c6f46 460 //The out state of all the ports in condensed into one number (each bit contains the info)
alustig3 0:9d97f34c6f46 461 if (portVector[i+1]->outState == 1) {
alustig3 0:9d97f34c6f46 462 currentDIOstate[1] = currentDIOstate[1] | (1 << i);
alustig3 0:9d97f34c6f46 463 } else {
alustig3 0:9d97f34c6f46 464 currentDIOstate[1] = currentDIOstate[1] & (255^(1 << i));
alustig3 0:9d97f34c6f46 465 }
alustig3 0:9d97f34c6f46 466 portVector[i+1]->outStateChanged = false;
alustig3 0:9d97f34c6f46 467 }
alustig3 0:9d97f34c6f46 468 }
alustig3 0:9d97f34c6f46 469
alustig3 0:9d97f34c6f46 470 //If anything changed, we write the new values to the serial port (this can be turned off
alustig3 0:9d97f34c6f46 471 //with broadCastStateChanges)
alustig3 0:9d97f34c6f46 472 if ( (digitalInChanged||digitalOutChanged) && broadCastStateChanges) {
alustig3 0:9d97f34c6f46 473 timeConvert << changeTime; //broadcast the earliest timestamp when a change occured
alustig3 0:9d97f34c6f46 474 //stateConvert << currentDIOstate[0] << " " << currentDIOstate[1];
alustig3 0:9d97f34c6f46 475 stateConvert << currentDIOstate[0] << " " << currentDIOstate[1] << " ";
alustig3 0:9d97f34c6f46 476 textDisplay.send(timeConvert.str() + " " + stateConvert.str() + "\r\n");
alustig3 0:9d97f34c6f46 477 timeConvert.clear();
alustig3 0:9d97f34c6f46 478 timeConvert.seekp(0);
alustig3 0:9d97f34c6f46 479 stateConvert.clear();
alustig3 0:9d97f34c6f46 480 stateConvert.seekp(0);
alustig3 0:9d97f34c6f46 481 digitalInChanged = false;
alustig3 0:9d97f34c6f46 482 digitalOutChanged = false;
alustig3 0:9d97f34c6f46 483 }
alustig3 0:9d97f34c6f46 484
alustig3 0:9d97f34c6f46 485 //We use a buffer to send text via the serial port. For every loop
alustig3 0:9d97f34c6f46 486 //in the main loop, we send one character if there is enything to send.
alustig3 0:9d97f34c6f46 487 //This way, outputting text to serial does not hold up other time-sensitive
alustig3 0:9d97f34c6f46 488 //things in the event queue
alustig3 0:9d97f34c6f46 489 if ((textDisplay.unsentData) && (textStreaming)) {
alustig3 0:9d97f34c6f46 490 pc.printf("%c", textDisplay.getNextChar());
alustig3 0:9d97f34c6f46 491 }
alustig3 0:9d97f34c6f46 492
alustig3 0:9d97f34c6f46 493 //Here is how we toggle between standalone and slave mode for the clock updating.
alustig3 0:9d97f34c6f46 494 if (changeToSlave) {
alustig3 0:9d97f34c6f46 495 //timeTick1.detach();
alustig3 0:9d97f34c6f46 496 NVIC_DisableIRQ(TIMER2_IRQn); // Disable the interrupt
alustig3 0:9d97f34c6f46 497 clockExternalIncrement.rise(&callback_clockExternalIncrement);
alustig3 0:9d97f34c6f46 498 clockSlave = true;
alustig3 0:9d97f34c6f46 499 changeToSlave = false;
alustig3 0:9d97f34c6f46 500 changeToStandAlone = false;
alustig3 0:9d97f34c6f46 501 } else if (changeToStandAlone) {
alustig3 0:9d97f34c6f46 502 //timeTick1.attach_us(&incrementTime, 100);
alustig3 0:9d97f34c6f46 503 timer0_init();
alustig3 0:9d97f34c6f46 504 clockExternalIncrement.rise(NULL); //remove the callback to the external interrupt
alustig3 0:9d97f34c6f46 505 clockSlave = false;
alustig3 0:9d97f34c6f46 506 changeToSlave = false;
alustig3 0:9d97f34c6f46 507 changeToStandAlone = false;
alustig3 0:9d97f34c6f46 508 }
alustig3 0:9d97f34c6f46 509
alustig3 0:9d97f34c6f46 510 //__enable_irq();
alustig3 0:9d97f34c6f46 511
alustig3 0:9d97f34c6f46 512 }
alustig3 0:9d97f34c6f46 513 }