Chandan Siyag / Mbed 2 deprecated AlooMBED

3rd year group project. Electronic and Electrical Engineering. Heriot-Watt University. This is the code for the mbed for the Automatic Little Object Organiser (ALOO).

Dependencies:   MCP23017 TCS3472_I2C WattBob_TextLCD mbed

main.cpp@4:4eebb4de22a7, 2015-11-16 (annotated)

Committer:
dreamselec
Date:
Mon Nov 16 01:15:45 2015 +0000
Revision:
4:4eebb4de22a7
Parent:
3:843b830ee8bd
Child:
6:98fe30430194
Published

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dreamselec 0:fe5cb0a8fc5a 1 #include "mbed.h"
dreamselec 0:fe5cb0a8fc5a 2 #include "WattBob_TextLCD.h"
dreamselec 0:fe5cb0a8fc5a 3 #include "TCS3472_I2C.h"
dreamselec 0:fe5cb0a8fc5a 4 #include "MCP23017.h"
dreamselec 0:fe5cb0a8fc5a 5 #include <string>
dreamselec 1:92a2a5ef65a8 6 #include <time.h>
dreamselec 2:7a55cb10259f 7 //#include <future>
dreamselec 2:7a55cb10259f 8 #include "globals.h"
dreamselec 2:7a55cb10259f 9 #include "commander.h"
dreamselec 3:843b830ee8bd 10 #include "fpga.h"
dreamselec 0:fe5cb0a8fc5a 11
dreamselec 0:fe5cb0a8fc5a 12 #define BACKLIGHT_ON(INTERFACE) INTERFACE->write_bit(1, 4);
dreamselec 0:fe5cb0a8fc5a 13 #define BACKLIGHT_OFF(INTERFACE) INTERFACE->write_bit(0, 4);
dreamselec 0:fe5cb0a8fc5a 14
dreamselec 0:fe5cb0a8fc5a 15 #define LCDFL() lcd->locate(0,0);
dreamselec 0:fe5cb0a8fc5a 16 #define LCDSL() lcd->locate(1,0);
dreamselec 2:7a55cb10259f 17 #define D_LEDS_OFF() i2cport->write_bit(0, 12); i2cport->write_bit(0, 13); i2cport->write_bit(0, 14); i2cport->write_bit(0, 15);
dreamselec 2:7a55cb10259f 18 #define U_LEDS_OFF() myLED1 = 0; myLED2 = 0; myLED3 = 0; myLED4 = 0;
dreamselec 0:fe5cb0a8fc5a 19
dreamselec 2:7a55cb10259f 20 DigitalOut myLED1(LED1);
dreamselec 2:7a55cb10259f 21 DigitalOut myLED2(LED2);
dreamselec 2:7a55cb10259f 22 DigitalOut myLED3(LED3);
dreamselec 2:7a55cb10259f 23 DigitalOut myLED4(LED4);
dreamselec 0:fe5cb0a8fc5a 24
dreamselec 0:fe5cb0a8fc5a 25 MCP23017 *i2cport;
dreamselec 0:fe5cb0a8fc5a 26 WattBob_TextLCD *lcd;
dreamselec 0:fe5cb0a8fc5a 27
dreamselec 2:7a55cb10259f 28 TCS3472_I2C rgb_sensor(p28, p27);
dreamselec 2:7a55cb10259f 29 Serial pc(USBTX, USBRX);
dreamselec 3:843b830ee8bd 30 uint8_t rxBuffer[5 + 1];
dreamselec 2:7a55cb10259f 31
dreamselec 4:4eebb4de22a7 32 Command *myCommand;
dreamselec 3:843b830ee8bd 33 bool connectedToPC = false;
dreamselec 2:7a55cb10259f 34
dreamselec 3:843b830ee8bd 35 void detectPC();
dreamselec 3:843b830ee8bd 36
dreamselec 4:4eebb4de22a7 37 void initInternal()
dreamselec 4:4eebb4de22a7 38 {
dreamselec 3:843b830ee8bd 39 i2cport = new MCP23017(p9, p10, 0x40);
dreamselec 3:843b830ee8bd 40 lcd = new WattBob_TextLCD(i2cport);
dreamselec 3:843b830ee8bd 41 myLED1 = 1;
dreamselec 3:843b830ee8bd 42 BACKLIGHT_ON(i2cport);
dreamselec 4:4eebb4de22a7 43 lcd->cls();
dreamselec 3:843b830ee8bd 44 LCDFL();
dreamselec 4:4eebb4de22a7 45 lcd->printf("Initilizing...");
dreamselec 3:843b830ee8bd 46 myLED2 = 1;
dreamselec 3:843b830ee8bd 47 return;
dreamselec 3:843b830ee8bd 48 }
dreamselec 3:843b830ee8bd 49
dreamselec 4:4eebb4de22a7 50 void initPort(int baudRate=gBaudRate)
dreamselec 4:4eebb4de22a7 51 {
dreamselec 2:7a55cb10259f 52 myLED3 = 1;
dreamselec 3:843b830ee8bd 53 pc.baud(baudRate);
dreamselec 2:7a55cb10259f 54 pc.format(8, SerialBase::None, gStopBits);
dreamselec 2:7a55cb10259f 55 myLED4 = 1;
dreamselec 2:7a55cb10259f 56 wait (0.1);
dreamselec 3:843b830ee8bd 57 return;
dreamselec 3:843b830ee8bd 58 }
dreamselec 3:843b830ee8bd 59
dreamselec 4:4eebb4de22a7 60 int readSwitches()
dreamselec 4:4eebb4de22a7 61 {
dreamselec 3:843b830ee8bd 62 do {
dreamselec 3:843b830ee8bd 63 if(i2cport->read_bit(8)) {
dreamselec 3:843b830ee8bd 64 return 1;
dreamselec 3:843b830ee8bd 65 } else if (i2cport->read_bit(9)) {
dreamselec 3:843b830ee8bd 66 return 2;
dreamselec 3:843b830ee8bd 67 } else if (i2cport->read_bit(10)) {
dreamselec 3:843b830ee8bd 68 return 3;
dreamselec 3:843b830ee8bd 69 } else if (i2cport->read_bit(11)) {
dreamselec 3:843b830ee8bd 70 return 4;
dreamselec 3:843b830ee8bd 71 } else {
dreamselec 3:843b830ee8bd 72 return 0;
dreamselec 3:843b830ee8bd 73 }
dreamselec 3:843b830ee8bd 74 } while (1);
dreamselec 3:843b830ee8bd 75 }
dreamselec 3:843b830ee8bd 76
dreamselec 4:4eebb4de22a7 77 void detectPC()
dreamselec 4:4eebb4de22a7 78 {
dreamselec 4:4eebb4de22a7 79 lcd->cls();
dreamselec 3:843b830ee8bd 80 LCDFL();
dreamselec 3:843b830ee8bd 81 lcd->printf("Detected PC.");
dreamselec 3:843b830ee8bd 82 LCDSL();
dreamselec 3:843b830ee8bd 83 lcd->printf("Connecting");
dreamselec 3:843b830ee8bd 84 initPort();
dreamselec 3:843b830ee8bd 85 }
dreamselec 3:843b830ee8bd 86
dreamselec 4:4eebb4de22a7 87 bool displayAboardDialog()
dreamselec 4:4eebb4de22a7 88 {
dreamselec 4:4eebb4de22a7 89 lcd->cls();
dreamselec 3:843b830ee8bd 90 LCDFL();
dreamselec 3:843b830ee8bd 91 lcd->printf("Aboard operation?");
dreamselec 3:843b830ee8bd 92 LCDSL();
dreamselec 3:843b830ee8bd 93 lcd->printf("1: YES, 2,3,4: NO");
dreamselec 3:843b830ee8bd 94 int reply = readSwitches();
dreamselec 4:4eebb4de22a7 95 if (reply == 1) {
dreamselec 4:4eebb4de22a7 96 return true;
dreamselec 4:4eebb4de22a7 97 } else {
dreamselec 4:4eebb4de22a7 98 return false;
dreamselec 4:4eebb4de22a7 99 }
dreamselec 2:7a55cb10259f 100 }
dreamselec 0:fe5cb0a8fc5a 101
dreamselec 4:4eebb4de22a7 102 int main()
dreamselec 4:4eebb4de22a7 103 {
dreamselec 4:4eebb4de22a7 104 initInternal();
dreamselec 4:4eebb4de22a7 105 initPort();
dreamselec 4:4eebb4de22a7 106 srand((unsigned)time(NULL));
dreamselec 4:4eebb4de22a7 107 U_LEDS_OFF();
dreamselec 4:4eebb4de22a7 108 lcd->cls();
dreamselec 4:4eebb4de22a7 109 myLED1 = 1;
dreamselec 4:4eebb4de22a7 110
dreamselec 4:4eebb4de22a7 111 // Create a serial intereput for RxIrq so when PC is connected it sends '$' to tell MBED it's there.
dreamselec 4:4eebb4de22a7 112 // https://developer.mbed.org/cookbook/Serial-Interrupts
dreamselec 3:843b830ee8bd 113
dreamselec 4:4eebb4de22a7 114 for (;;) {
dreamselec 4:4eebb4de22a7 115 i2cport->write_bit(1, 12);
dreamselec 4:4eebb4de22a7 116 lcd->printf("1: Start sorting.");
dreamselec 4:4eebb4de22a7 117 LCDSL();
dreamselec 4:4eebb4de22a7 118 i2cport->write_bit(1,13);
dreamselec 4:4eebb4de22a7 119 lcd->printf("2: Connect to PC");
dreamselec 4:4eebb4de22a7 120
dreamselec 4:4eebb4de22a7 121 int selection = 0;
dreamselec 4:4eebb4de22a7 122 do {
dreamselec 4:4eebb4de22a7 123 selection = readSwitches();
dreamselec 4:4eebb4de22a7 124 } while (selection == 1 || selection == 2);
dreamselec 3:843b830ee8bd 125
dreamselec 4:4eebb4de22a7 126 if (selection == 1) {
dreamselec 4:4eebb4de22a7 127 // User selected op 1: Start sorting autonomaously.
dreamselec 4:4eebb4de22a7 128 i2cport->write_bit(0, 13);
dreamselec 4:4eebb4de22a7 129 lcd->cls();
dreamselec 4:4eebb4de22a7 130 LCDFL();
dreamselec 4:4eebb4de22a7 131 lcd->printf("Starting sorting operation");
dreamselec 4:4eebb4de22a7 132 wait(1);
dreamselec 3:843b830ee8bd 133
dreamselec 4:4eebb4de22a7 134 for(;;) {
dreamselec 4:4eebb4de22a7 135 lcd->cls();
dreamselec 4:4eebb4de22a7 136 lcd->printf("Waiting for block");
dreamselec 4:4eebb4de22a7 137 i2cport->write_bit(1, 15);
dreamselec 4:4eebb4de22a7 138 bool aboardOperation = false;
dreamselec 3:843b830ee8bd 139
dreamselec 4:4eebb4de22a7 140 int blockInserted = 0;
dreamselec 4:4eebb4de22a7 141 // Wait until a block is breaking the beam, or button 4 is pressed to aboard.
dreamselec 4:4eebb4de22a7 142 do {
dreamselec 4:4eebb4de22a7 143 blockInserted = checkForBlock();
dreamselec 4:4eebb4de22a7 144 if (i2cport->read_bit(11)) {
dreamselec 4:4eebb4de22a7 145 aboardOperation = displayAboardDialog();
dreamselec 4:4eebb4de22a7 146 // Cancel the aboard
dreamselec 4:4eebb4de22a7 147 if (aboardOperation == false) {
dreamselec 4:4eebb4de22a7 148 lcd->cls();
dreamselec 4:4eebb4de22a7 149 LCDFL();
dreamselec 4:4eebb4de22a7 150 lcd->printf("Waiting for block");
dreamselec 3:843b830ee8bd 151 }
dreamselec 4:4eebb4de22a7 152 }
dreamselec 4:4eebb4de22a7 153 } while (aboardOperation == false && blockInserted != 1);
dreamselec 4:4eebb4de22a7 154
dreamselec 4:4eebb4de22a7 155 // Break and return to main menu i.e. Start Op, or Connect to PC.
dreamselec 4:4eebb4de22a7 156 if (aboardOperation == true) {
dreamselec 4:4eebb4de22a7 157 break;
dreamselec 4:4eebb4de22a7 158 }
dreamselec 4:4eebb4de22a7 159 // Cannot aboard any longer. Block is inserted.
dreamselec 4:4eebb4de22a7 160 int largeBlock = blockIsLarge();
dreamselec 4:4eebb4de22a7 161
dreamselec 4:4eebb4de22a7 162 if (largeBlock == hazBlock.blockSizeEnum) {
dreamselec 3:843b830ee8bd 163 // detectColour()
dreamselec 4:4eebb4de22a7 164 lcd->cls();
dreamselec 4:4eebb4de22a7 165 lcd->printf("Detecting Colour");
dreamselec 3:843b830ee8bd 166 }
dreamselec 3:843b830ee8bd 167 }
dreamselec 4:4eebb4de22a7 168
dreamselec 4:4eebb4de22a7 169 }
dreamselec 4:4eebb4de22a7 170
dreamselec 4:4eebb4de22a7 171 else if (selection == 2) {
dreamselec 4:4eebb4de22a7 172 // Wait for PC to send '$' char to make sure it's there.
dreamselec 4:4eebb4de22a7 173 lcd->cls();
dreamselec 4:4eebb4de22a7 174 LCDFL();
dreamselec 4:4eebb4de22a7 175 lcd->printf("Waiting for PC...");
dreamselec 4:4eebb4de22a7 176 LCDSL();
dreamselec 4:4eebb4de22a7 177 lcd->printf("4: Main Menu");
dreamselec 4:4eebb4de22a7 178
dreamselec 4:4eebb4de22a7 179 }
dreamselec 4:4eebb4de22a7 180
dreamselec 4:4eebb4de22a7 181 }
dreamselec 4:4eebb4de22a7 182
dreamselec 4:4eebb4de22a7 183
dreamselec 4:4eebb4de22a7 184 FOREVER {
dreamselec 4:4eebb4de22a7 185 pc.printf("In FOREVER\n");
dreamselec 4:4eebb4de22a7 186 Type type = INVALID;
dreamselec 4:4eebb4de22a7 187 pc.printf("Type set to: %i\r\n", type);
dreamselec 4:4eebb4de22a7 188 do {
dreamselec 4:4eebb4de22a7 189 pc.printf("In DO-WHILE loop\r\n");
dreamselec 4:4eebb4de22a7 190 type = listenForCommand();
dreamselec 4:4eebb4de22a7 191 if (i2cport->read_bit(8)) {
dreamselec 4:4eebb4de22a7 192 pc.printf("Listening\r\n");
dreamselec 4:4eebb4de22a7 193 }
dreamselec 4:4eebb4de22a7 194 } while (type == -1);
dreamselec 4:4eebb4de22a7 195
dreamselec 4:4eebb4de22a7 196 pc.printf("Command Inbound\r\n");
dreamselec 4:4eebb4de22a7 197
dreamselec 4:4eebb4de22a7 198 myCommand.typeEnum = type;
dreamselec 4:4eebb4de22a7 199 pc.printf("Type: %i\r\n-------------\r\n", myCommand.typeEnum);
dreamselec 4:4eebb4de22a7 200 recieveCommand(&myCommand, type);
dreamselec 4:4eebb4de22a7 201
dreamselec 4:4eebb4de22a7 202 pc.printf("inputstring:%s\r\n%s\r\n<%s>\r\n%s;\r\n", myCommand.inputString, myCommand.commandType, myCommand.commandObject, myCommand.commandString);
dreamselec 3:843b830ee8bd 203 // decodeCommand(&myCommand);
dreamselec 4:4eebb4de22a7 204
dreamselec 4:4eebb4de22a7 205
dreamselec 4:4eebb4de22a7 206 }
dreamselec 0:fe5cb0a8fc5a 207 }