File content as of revision 5:d9f8c2f63323:

#include "mbed.h"
#include "C12832.h"
#include "LM75B.h"
#include "MMA7660.h"
#include "FXOS8700Q.h"
#include "comms.h"
#include "main.h"
# define M_PI           3.14159265358979323846  /* pi */

//OUTPUTS

DigitalOut lr(PTB22), lg(PTE26), lb(PTB21), xr(D5), xg(D9), xb(PTC12);
C12832 lcd(D11, D13, D12, D7, D10);
PwmOut spkr(D6);

//INPUTS

LM75B temp(D14, D15);
MMA7660 sAcc(D14, D15);

FXOS8700Q_acc bAcc( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); // Proper Ports and I2C Address for K64F Freedom board
FXOS8700Q_mag bMag( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); // Proper Ports and I2C Address for K64F Freedom board

InterruptIn sw2_int(SW2), sw3_int(SW3), up_int(A2), down_int(A3), left_int(A4), right_int(A5), fire_int(D4);
DigitalIn   sw2(SW2),     sw3(SW3),     up(A2),     down(A3),     left(A4),     right(A5),     fire(D4);

AnalogIn pot1(A0), pot2(A1);

//INTERRUPT FLAGS

uint16_t flags;
#define SW2_DOWN   0x0001
#define SW2_UP     0x0002
#define SW3_UP     0x0004
#define SW3_DOWN   0x0008
#define UP_UP      0x0010
#define UP_DOWN    0x0020
#define DOWN_UP    0x0040
#define DOWN_DOWN  0x0080
#define LEFT_UP    0x0100
#define LEFT_DOWN  0x0200
#define RIGHT_UP   0x0400
#define RIGHT_DOWN 0x0800
#define FIRE_UP    0x1000
#define FIRE_DOWN  0x2000

//COMMS

DataSerial pc(USBTX, USBRX);



//INTERRUPT HANDLERS

void sw2Down(){ flags |= SW2_DOWN; }
void sw2Up()  { flags |= SW2_UP; }

void sw3Down(){ flags |= SW3_DOWN; }
void sw3Up()  { flags |= SW3_UP; }

void upDown(){ flags |= UP_DOWN; }
void upUp()  { flags |= UP_UP; }

void downDown(){ flags |= DOWN_DOWN; }
void downUp()  { flags |= DOWN_UP; }

void leftDown(){ flags |= LEFT_DOWN; }
void leftUp()  { flags |= LEFT_UP; }

void rightDown(){ flags |= RIGHT_DOWN; }
void rightUp()  { flags |= RIGHT_UP; }

void fireDown(){ flags |= FIRE_DOWN; }
void fireUp()  { flags |= FIRE_UP; }

//PRETTY WAITING LEDS (Modified from Fred Barnes)

Ticker waitTicker;
int ctr;

void waitTick() {
    switch(ctr) {
        case 0:
            xr=xg=0; xb=1; break;
        case 1:
            xr=0; xg=xb=1; break;
        case 2:
            xr=xb=0; xg=1; break;
        case 3:
            xb=0; xr=xg=1; break;
        case 4:
            xg=xb=0; xr=1; break;
        case 5:
            lr=xg=lb=0; xr=lg=xb=1;
            ctr=0; return;
    }
    lr=!xr; lg=!xg; lb=!xb;
    ctr++;
}

/*
Return the state of a requested pin
*/
void read_digital() {
    bool val;
    switch(pc.readChar()) {
        case '2': val=sw2; break;
        case '3': val=sw3; break;
        case 'u': val=up; break;
        case 'd': val=down; break;
        case 'l': val=left; break;
        case 'r': val=right; break;
        case 'f': val=fire; break;
        default: return;
    }
    char c = val?'t':'f';
    pc.sendChar(c);
}

/*
Return the state of a requested potentiometer
*/
void read_pot() {
    float val;
    switch(pc.readChar()) {
        case '1': val=pot1; break;
        case '2': val=pot2; break;
        default: return;
    }
    pc.sendFloat(val);
}
void read_temp() { //read temp
    float t = temp.read();
    pc.sendFloat(t);
}

void read_shield_accel() {//read shield accel
    float x, y, z;
    x = sAcc.x();
    y = sAcc.y();
    z = sAcc.z();
    pc.sendFloat(x);
    pc.sendFloat(y);
    pc.sendFloat(z);
}

void set_shield_led() { //shield led
    char raw = pc.readChar();
    char r = ((raw>>2)&1)^1;
    char g = ((raw>>1)&1)^1;
    char b = (raw&1)^1;
    xr = r; xg = g; xb = b;
}

void get_orientation() { //read shield accel orientation
    MMA7660::Orientation o = sAcc.getOrientation();
    pc.sendChar((char)o);
}

void get_side() { //read shield accel orientation
    MMA7660::Orientation o = sAcc.getSide();
    pc.sendChar((char)o);
}

void get_heading() {
    MotionSensorDataUnits mag;
    bMag.getAxis(mag);
    float x = mag.x;
    float y = mag.y;
    float heading;
    if( y == 0 ) {
        heading = (x < 0 ? 0.0f : 180.0f);
    } else  {
        heading = (y > 0 ? 270.0f : 90.0f) - (atan((x/y))*(180.0f/(float)M_PI));
    }
    pc.sendFloat(heading);
}

void set_board_led() { // board led
    char raw = pc.readChar();
    char r = ((raw>>2)&1)^1;
    char g = ((raw>>1)&1)^1;
    char b = (raw&1)^1;
    lr = r; lg = g; lb = b;
}

void read_board_magno() { //read board magno
    MotionSensorDataUnits mag;
    bMag.getAxis(mag);
    pc.sendFloat(mag.x);
    pc.sendFloat(mag.y);
    pc.sendFloat(mag.z);
}

void read_board_accel() { //read board accel
    float f;
    bAcc.getX(&f); pc.sendFloat(f);
    bAcc.getY(&f); pc.sendFloat(f);
    bAcc.getZ(&f); pc.sendFloat(f);
}

void set_lcd_position() { //set lcd position
    unsigned char xy[2];
    pc.readData(xy,2);
    lcd.locate(xy[0],xy[1]);
}

void print_text() { //print lcd text
    char buff[256];
    char len = pc.readString(buff);
    buff[len]=0;
    lcd.printf(buff);
    lcd.copy_to_lcd();
}

void set_lcd_pixel() { //set lcd pixel
    char xyc[3];
    pc.readData(xyc, 3);
    lcd.pixel(xyc[0],xyc[1],xyc[2]);
    lcd.copy_to_lcd();
}

void set_piezo() { // set piezo buzzer
    float vol = pc.readFloat();
    float period = 1.0f/pc.readFloat();
    spkr=vol*0.5f; //convert volume to duty cycle
    spkr.period(period);
}

void clear_lcd() { //clear lcd
    lcd.cls();
}

void cleanup() {
    lr = lg = lb = 1;
    xr = xg = xb = 1;
    lcd.cls();
    
    pc.sendChar(RECONNECT);
}

void reconnect() { //reconnection
    cleanup();
}

int main() {  
    //SETUP
    pc.baud(115200);
    
    lr = lg = lb = 1;
    xr = xg = xb = 1;
    
    bAcc.enable();
    bMag.enable();
    
    sw2_int.mode (PullUp);
    sw2_int.fall(&sw2Down);
    sw2_int.rise(&sw2Up);
    
    sw3_int.mode (PullUp);
    sw3_int.fall(&sw3Down);
    sw3_int.rise(&sw3Up);
    
    up_int.mode (PullUp);
    up_int.rise(&upDown);
    up_int.fall(&upUp);
    
    down_int.mode (PullUp);
    down_int.rise(&downDown);
    down_int.fall(&downUp);
    
    left_int.mode (PullUp);
    left_int.rise(&leftDown);
    left_int.fall(&leftUp);
    
    right_int.mode (PullUp);
    right_int.rise(&rightDown);
    right_int.fall(&rightUp);
    
    fire_int.mode (PullUp);
    fire_int.rise(&fireDown);
    fire_int.fall(&fireUp);
    
    //Pretty wait
    ctr=0;
    lcd.locate(0,0);
    lcd.printf("Awaiting connection...");
    waitTicker.attach(&waitTick,0.5);
    while((!pc.readable()) && (pc.readChar()!=RECONNECT)) sleep();
    waitTicker.detach();
    cleanup();
    
    for(;;) {
        //Check if any interrupts fired
        if(flags&SW2_UP) {
            flags&=!SW2_UP;
            pc.sendSpecialCommand('2','u');
        }
        if(flags&SW2_DOWN) {
            flags&=!SW2_DOWN;
            pc.sendSpecialCommand('2','d');
        }
        if(flags&SW3_UP) {
            flags&=!SW3_UP;
            pc.sendSpecialCommand('3','u');
        }
        if(flags&SW3_DOWN) {
            flags&=!SW3_DOWN;
            pc.sendSpecialCommand('3','d');
        }
        if(flags&UP_UP) {
            flags&=!UP_UP;
            pc.sendSpecialCommand('u','u');
        }
        if(flags&UP_DOWN) {
            flags&=!UP_DOWN;
            pc.sendSpecialCommand('u','d');
        }
        if(flags&DOWN_UP) {
            flags&=!DOWN_UP;
            pc.sendSpecialCommand('d','u');
        }
        if(flags&DOWN_DOWN) {
            flags&=!DOWN_DOWN;
            pc.sendSpecialCommand('d','d');
        }
        if(flags&LEFT_UP) {
            flags&=!LEFT_UP;
            pc.sendSpecialCommand('l','u');
        }
        if(flags&LEFT_DOWN) {
            flags&=!LEFT_DOWN;
            pc.sendSpecialCommand('l','d');
        }
        if(flags&RIGHT_UP) {
            flags&=!RIGHT_UP;
            pc.sendSpecialCommand('r','u');
        }
        if(flags&RIGHT_DOWN) {
            flags&=!RIGHT_DOWN;
            pc.sendSpecialCommand('r','d');
        }
        if(flags&FIRE_UP) {
            flags&=!FIRE_UP;
            pc.sendSpecialCommand('f','u');
        }
        if(flags&FIRE_DOWN) {
            flags&=!FIRE_DOWN;
            pc.sendSpecialCommand('f','d');
        }
        
        //Check for host requests
        if(pc.readable()) {
            unsigned char cmd = pc.readChar();
            if(cmd<COMMAND_LENGTH) {
                commandFunctions[cmd]();
            }
        }
    }
}