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@3:843b830ee8bd, 2015-11-11 (annotated)

Committer:
dreamselec
Date:
Wed Nov 11 03:45:30 2015 +0000
Revision:
3:843b830ee8bd
Parent:
2:7a55cb10259f
Child:
4:4eebb4de22a7
The MBED program is supposed to work both when connected to PC, and on it's own.  So making use of Serial (UART) interrupts, to listen for incoming commands when PC is connected. Currently only mbed control works, no commands are sent to PC, or FPGA

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 PRINT_LCD(TEXT) lcd->printf(TEXT);
dreamselec 0:fe5cb0a8fc5a 16 #define CLEAR_LCD() lcd->cls();
dreamselec 0:fe5cb0a8fc5a 17 #define LCDFL() lcd->locate(0,0);
dreamselec 0:fe5cb0a8fc5a 18 #define LCDSL() lcd->locate(1,0);
dreamselec 2:7a55cb10259f 19 #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 20 #define U_LEDS_OFF() myLED1 = 0; myLED2 = 0; myLED3 = 0; myLED4 = 0;
dreamselec 0:fe5cb0a8fc5a 21
dreamselec 2:7a55cb10259f 22 DigitalOut myLED1(LED1);
dreamselec 2:7a55cb10259f 23 DigitalOut myLED2(LED2);
dreamselec 2:7a55cb10259f 24 DigitalOut myLED3(LED3);
dreamselec 2:7a55cb10259f 25 DigitalOut myLED4(LED4);
dreamselec 0:fe5cb0a8fc5a 26
dreamselec 0:fe5cb0a8fc5a 27 MCP23017 *i2cport;
dreamselec 0:fe5cb0a8fc5a 28 WattBob_TextLCD *lcd;
dreamselec 0:fe5cb0a8fc5a 29
dreamselec 2:7a55cb10259f 30 TCS3472_I2C rgb_sensor(p28, p27);
dreamselec 2:7a55cb10259f 31 Serial pc(USBTX, USBRX);
dreamselec 3:843b830ee8bd 32 uint8_t rxBuffer[5 + 1];
dreamselec 2:7a55cb10259f 33
dreamselec 2:7a55cb10259f 34 Command myCommand;
dreamselec 3:843b830ee8bd 35 bool connectedToPC = false;
dreamselec 2:7a55cb10259f 36
dreamselec 3:843b830ee8bd 37 void detectPC();
dreamselec 3:843b830ee8bd 38
dreamselec 3:843b830ee8bd 39 void initInternal(){
dreamselec 3:843b830ee8bd 40 i2cport = new MCP23017(p9, p10, 0x40);
dreamselec 3:843b830ee8bd 41 lcd = new WattBob_TextLCD(i2cport);
dreamselec 3:843b830ee8bd 42 myLED1 = 1;
dreamselec 3:843b830ee8bd 43 BACKLIGHT_ON(i2cport);
dreamselec 3:843b830ee8bd 44 CLEAR_LCD();
dreamselec 3:843b830ee8bd 45 LCDFL();
dreamselec 3:843b830ee8bd 46 PRINT_LCD("Initilizing...");
dreamselec 3:843b830ee8bd 47 myLED2 = 1;
dreamselec 3:843b830ee8bd 48 return;
dreamselec 3:843b830ee8bd 49 }
dreamselec 3:843b830ee8bd 50
dreamselec 3:843b830ee8bd 51 void initPort(int baudRate=gBaudRate){
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 3:843b830ee8bd 60 int readSwitches(){
dreamselec 3:843b830ee8bd 61 do {
dreamselec 3:843b830ee8bd 62 if(i2cport->read_bit(8)) {
dreamselec 3:843b830ee8bd 63 return 1;
dreamselec 3:843b830ee8bd 64 } else if (i2cport->read_bit(9)) {
dreamselec 3:843b830ee8bd 65 return 2;
dreamselec 3:843b830ee8bd 66 } else if (i2cport->read_bit(10)) {
dreamselec 3:843b830ee8bd 67 return 3;
dreamselec 3:843b830ee8bd 68 } else if (i2cport->read_bit(11)) {
dreamselec 3:843b830ee8bd 69 return 4;
dreamselec 3:843b830ee8bd 70 } else {
dreamselec 3:843b830ee8bd 71 return 0;
dreamselec 3:843b830ee8bd 72 }
dreamselec 3:843b830ee8bd 73 } while (1);
dreamselec 3:843b830ee8bd 74 }
dreamselec 3:843b830ee8bd 75
dreamselec 3:843b830ee8bd 76 void detectPC(){
dreamselec 3:843b830ee8bd 77 CLEAR_LCD();
dreamselec 3:843b830ee8bd 78 LCDFL();
dreamselec 3:843b830ee8bd 79 lcd->printf("Detected PC.");
dreamselec 3:843b830ee8bd 80 LCDSL();
dreamselec 3:843b830ee8bd 81 lcd->printf("Connecting");
dreamselec 3:843b830ee8bd 82 initPort();
dreamselec 3:843b830ee8bd 83 }
dreamselec 3:843b830ee8bd 84
dreamselec 3:843b830ee8bd 85 bool displayAboardDialog(){
dreamselec 3:843b830ee8bd 86 CLEAR_LCD();
dreamselec 3:843b830ee8bd 87 LCDFL();
dreamselec 3:843b830ee8bd 88 lcd->printf("Aboard operation?");
dreamselec 3:843b830ee8bd 89 LCDSL();
dreamselec 3:843b830ee8bd 90 lcd->printf("1: YES, 2,3,4: NO");
dreamselec 3:843b830ee8bd 91 int reply = readSwitches();
dreamselec 3:843b830ee8bd 92 if (reply == 1) { return true; }
dreamselec 3:843b830ee8bd 93 else { return false; }
dreamselec 2:7a55cb10259f 94 }
dreamselec 0:fe5cb0a8fc5a 95
dreamselec 0:fe5cb0a8fc5a 96 int main(){
dreamselec 3:843b830ee8bd 97 initInternal();
dreamselec 2:7a55cb10259f 98 initPort();
dreamselec 1:92a2a5ef65a8 99 srand((unsigned)time(NULL));
dreamselec 2:7a55cb10259f 100 U_LEDS_OFF();
dreamselec 2:7a55cb10259f 101 CLEAR_LCD();
dreamselec 2:7a55cb10259f 102 myLED1 = 1;
dreamselec 0:fe5cb0a8fc5a 103
dreamselec 3:843b830ee8bd 104 // Create a serial intereput for RxIrq so when PC is connected it sends '$' to tell MBED it's there.
dreamselec 3:843b830ee8bd 105 // https://developer.mbed.org/cookbook/Serial-Interrupts
dreamselec 3:843b830ee8bd 106
dreamselec 3:843b830ee8bd 107 for (;;) {
dreamselec 3:843b830ee8bd 108 i2cport->write_bit(1, 12);
dreamselec 3:843b830ee8bd 109 lcd->printf("1: Start sorting.");
dreamselec 3:843b830ee8bd 110 LCDSL();
dreamselec 3:843b830ee8bd 111 i2cport->write_bit(1,13);
dreamselec 3:843b830ee8bd 112 lcd->printf("2: Connect to PC");
dreamselec 3:843b830ee8bd 113
dreamselec 3:843b830ee8bd 114 int selection = 0;
dreamselec 3:843b830ee8bd 115 do {
dreamselec 3:843b830ee8bd 116 selection = readSwitches();
dreamselec 3:843b830ee8bd 117 } while (selection == 1 || selection == 2);
dreamselec 3:843b830ee8bd 118
dreamselec 3:843b830ee8bd 119 if (selection == 1) {
dreamselec 3:843b830ee8bd 120 // User selected op 1: Start sorting autonomaously.
dreamselec 3:843b830ee8bd 121 i2cport->write_bit(0, 13);
dreamselec 3:843b830ee8bd 122 CLEAR_LCD();
dreamselec 3:843b830ee8bd 123 LCDFL();
dreamselec 3:843b830ee8bd 124 lcd->printf("Starting sorting operation");
dreamselec 3:843b830ee8bd 125 wait(1);
dreamselec 3:843b830ee8bd 126
dreamselec 3:843b830ee8bd 127 for(;;) {
dreamselec 3:843b830ee8bd 128 CLEAR_LCD();
dreamselec 3:843b830ee8bd 129 lcd->printf("Waiting for block");
dreamselec 3:843b830ee8bd 130 i2cport->write_bit(1, 15);
dreamselec 3:843b830ee8bd 131 bool aboardOperation = false;
dreamselec 3:843b830ee8bd 132
dreamselec 3:843b830ee8bd 133 int blockInserted = 0;
dreamselec 3:843b830ee8bd 134 // Wait until a block is breaking the beam, or button 4 is pressed to aboard.
dreamselec 3:843b830ee8bd 135 do {
dreamselec 3:843b830ee8bd 136 blockInserted = blockIsInserted();
dreamselec 3:843b830ee8bd 137 if (i2cport->read_bit(11)) {
dreamselec 3:843b830ee8bd 138 aboardOperation = displayAboardDialog();
dreamselec 3:843b830ee8bd 139 // Cancel the aboard
dreamselec 3:843b830ee8bd 140 if (aboardOperation == false) {
dreamselec 3:843b830ee8bd 141 CLEAR_LCD();
dreamselec 3:843b830ee8bd 142 LCDFL();
dreamselec 3:843b830ee8bd 143 lcd->printf("Waiting for block");
dreamselec 3:843b830ee8bd 144 }
dreamselec 3:843b830ee8bd 145 }
dreamselec 3:843b830ee8bd 146 } while (aboardOperation == false && blockInserted != 1);
dreamselec 3:843b830ee8bd 147
dreamselec 3:843b830ee8bd 148 // Break and return to main menu i.e. Start Op, or Connect to PC.
dreamselec 3:843b830ee8bd 149 if (aboardOperation == true) { break; }
dreamselec 3:843b830ee8bd 150 // Cannot aboard any longer. Block is inserted.
dreamselec 3:843b830ee8bd 151 int largeBlock = blockIsLarge();
dreamselec 3:843b830ee8bd 152
dreamselec 3:843b830ee8bd 153 if (largeBlock == hazBlock.blockSizeEnum){
dreamselec 3:843b830ee8bd 154 // detectColour()
dreamselec 3:843b830ee8bd 155 CLEAR_LCD();
dreamselec 3:843b830ee8bd 156 lcd->printf("Detecting Colour");
dreamselec 3:843b830ee8bd 157 }
dreamselec 3:843b830ee8bd 158 }
dreamselec 3:843b830ee8bd 159
dreamselec 3:843b830ee8bd 160 }
dreamselec 3:843b830ee8bd 161
dreamselec 3:843b830ee8bd 162 else if (selection == 2) {
dreamselec 3:843b830ee8bd 163 // Wait for PC to send '$' char to make sure it's there.
dreamselec 3:843b830ee8bd 164 CLEAR_LCD();
dreamselec 3:843b830ee8bd 165 LCDFL();
dreamselec 3:843b830ee8bd 166 lcd->printf("Waiting for PC...");
dreamselec 3:843b830ee8bd 167 LCDSL();
dreamselec 3:843b830ee8bd 168 lcd->printf("4: Main Menu");
dreamselec 3:843b830ee8bd 169
dreamselec 3:843b830ee8bd 170 }
dreamselec 3:843b830ee8bd 171
dreamselec 3:843b830ee8bd 172 }
dreamselec 3:843b830ee8bd 173
dreamselec 3:843b830ee8bd 174
dreamselec 2:7a55cb10259f 175 FOREVER {
dreamselec 3:843b830ee8bd 176 pc.printf("In FOREVER\n");
dreamselec 3:843b830ee8bd 177 Type type = INVALID;
dreamselec 3:843b830ee8bd 178 pc.printf("Type set to: %i\r\n", type);
dreamselec 2:7a55cb10259f 179 do {
dreamselec 3:843b830ee8bd 180 pc.printf("In DO-WHILE loop\r\n");
dreamselec 2:7a55cb10259f 181 type = listenForCommand();
dreamselec 3:843b830ee8bd 182 if (i2cport->read_bit(8)){
dreamselec 3:843b830ee8bd 183 pc.printf("Listening\r\n");
dreamselec 3:843b830ee8bd 184 }
dreamselec 3:843b830ee8bd 185 } while (type == -1);
dreamselec 3:843b830ee8bd 186
dreamselec 3:843b830ee8bd 187 pc.printf("Command Inbound\r\n");
dreamselec 3:843b830ee8bd 188
dreamselec 3:843b830ee8bd 189 myCommand.typeEnum = type;
dreamselec 3:843b830ee8bd 190 pc.printf("Type: %i\r\n-------------\r\n", myCommand.typeEnum);
dreamselec 2:7a55cb10259f 191 recieveCommand(&myCommand, type);
dreamselec 3:843b830ee8bd 192
dreamselec 3:843b830ee8bd 193 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 194 // decodeCommand(&myCommand);
dreamselec 2:7a55cb10259f 195
dreamselec 2:7a55cb10259f 196
dreamselec 2:7a55cb10259f 197 }
dreamselec 0:fe5cb0a8fc5a 198 }