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@6:98fe30430194, 2015-11-16 (annotated)

Committer:
dreamselec
Date:
Mon Nov 16 05:10:17 2015 +0000
Revision:
6:98fe30430194
Parent:
4:4eebb4de22a7
Child:
7:b6e31bfdb2af
Started using class-object structure instead of structs. More control.

New classes: Commander, FPGA, Block, Colour.

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 6:98fe30430194 32 Commander _commander = Commander();
dreamselec 6:98fe30430194 33 Commander *commander = &_commander;
dreamselec 6:98fe30430194 34 FPGA _fpga = FPGA();
dreamselec 6:98fe30430194 35 FPGA *fpga = &fpga;
dreamselec 6:98fe30430194 36
dreamselec 6:98fe30430194 37 extern Block _HazBlock;
dreamselec 6:98fe30430194 38 Block *HazBlock = &_HazBlock;
dreamselec 6:98fe30430194 39
dreamselec 3:843b830ee8bd 40 bool connectedToPC = false;
dreamselec 2:7a55cb10259f 41
dreamselec 3:843b830ee8bd 42 void detectPC();
dreamselec 6:98fe30430194 43 void initInternal();
dreamselec 6:98fe30430194 44 void initPort(int baudRate=kBaudRate);
dreamselec 6:98fe30430194 45 int readSwitches();
dreamselec 6:98fe30430194 46 void printPCDetectedText();
dreamselec 6:98fe30430194 47 bool displayAboardDialog();
dreamselec 6:98fe30430194 48 void Rx_interrupt();
dreamselec 6:98fe30430194 49
dreamselec 6:98fe30430194 50
dreamselec 6:98fe30430194 51 int main()
dreamselec 6:98fe30430194 52 {
dreamselec 6:98fe30430194 53 initInternal();
dreamselec 6:98fe30430194 54 initPort();
dreamselec 6:98fe30430194 55 srand((unsigned)time(NULL));
dreamselec 6:98fe30430194 56 U_LEDS_OFF();
dreamselec 6:98fe30430194 57 lcd->cls();
dreamselec 6:98fe30430194 58 myLED1 = 1;
dreamselec 6:98fe30430194 59
dreamselec 6:98fe30430194 60 // Create a serial intereput for RxIrq so when PC is connected it sends '$' to tell MBED it's there.
dreamselec 6:98fe30430194 61 // https://developer.mbed.org/cookbook/Serial-Interrupts
dreamselec 6:98fe30430194 62 pc.attach(&Rx_interrupt, Serial::RxIrq);
dreamselec 6:98fe30430194 63
dreamselec 6:98fe30430194 64 for (;;) {
dreamselec 6:98fe30430194 65 i2cport->write_bit(1, 12);
dreamselec 6:98fe30430194 66 lcd->printf("1: Start sorting.");
dreamselec 6:98fe30430194 67 LCDSL();
dreamselec 6:98fe30430194 68 i2cport->write_bit(1,13);
dreamselec 6:98fe30430194 69 lcd->printf("2: Connect to PC");
dreamselec 6:98fe30430194 70
dreamselec 6:98fe30430194 71 int selection = 0;
dreamselec 6:98fe30430194 72 do {
dreamselec 6:98fe30430194 73 selection = readSwitches();
dreamselec 6:98fe30430194 74 } while (selection == 1 || selection == 2);
dreamselec 6:98fe30430194 75
dreamselec 6:98fe30430194 76 if (selection == 1) {
dreamselec 6:98fe30430194 77 // User selected op 1: Start sorting autonomously.
dreamselec 6:98fe30430194 78 i2cport->write_bit(0, 13);
dreamselec 6:98fe30430194 79 lcd->cls();
dreamselec 6:98fe30430194 80 LCDFL();
dreamselec 6:98fe30430194 81 lcd->printf("Starting sorting operation");
dreamselec 6:98fe30430194 82 wait(1);
dreamselec 6:98fe30430194 83
dreamselec 6:98fe30430194 84 for(;;) {
dreamselec 6:98fe30430194 85 lcd->cls();
dreamselec 6:98fe30430194 86 lcd->printf("Waiting for block");
dreamselec 6:98fe30430194 87 i2cport->write_bit(1, 15);
dreamselec 6:98fe30430194 88 bool aboardOperation = false;
dreamselec 6:98fe30430194 89
dreamselec 6:98fe30430194 90 int blockInserted = 0;
dreamselec 6:98fe30430194 91 // Wait until a block is breaking the beam, or button 4 is pressed to aboard.
dreamselec 6:98fe30430194 92 do {
dreamselec 6:98fe30430194 93 blockInserted = fpga->checkForBlock();
dreamselec 6:98fe30430194 94 if (i2cport->read_bit(11)) {
dreamselec 6:98fe30430194 95 aboardOperation = displayAboardDialog();
dreamselec 6:98fe30430194 96 // Cancel the aboard
dreamselec 6:98fe30430194 97 if (aboardOperation == false) {
dreamselec 6:98fe30430194 98 lcd->cls();
dreamselec 6:98fe30430194 99 LCDFL();
dreamselec 6:98fe30430194 100 lcd->printf("Waiting for block");
dreamselec 6:98fe30430194 101 }
dreamselec 6:98fe30430194 102 }
dreamselec 6:98fe30430194 103 } while (aboardOperation == false && blockInserted != 1);
dreamselec 6:98fe30430194 104
dreamselec 6:98fe30430194 105 // Break and return to main menu i.e. Start Op, or Connect to PC.
dreamselec 6:98fe30430194 106 if (aboardOperation == true) {
dreamselec 6:98fe30430194 107 break;
dreamselec 6:98fe30430194 108 }
dreamselec 6:98fe30430194 109 // Cannot aboard any longer. Block is inserted.
dreamselec 6:98fe30430194 110 int blockSize = fpga->checkForSize();
dreamselec 6:98fe30430194 111
dreamselec 6:98fe30430194 112 if (blockSize == HazBlock->size) {
dreamselec 6:98fe30430194 113 // detectColour()
dreamselec 6:98fe30430194 114 lcd->cls();
dreamselec 6:98fe30430194 115 lcd->printf("Detecting Colour");
dreamselec 6:98fe30430194 116 }
dreamselec 6:98fe30430194 117 }
dreamselec 6:98fe30430194 118
dreamselec 6:98fe30430194 119 } else if (selection == 2) {
dreamselec 6:98fe30430194 120 // Wait for PC to send '!<pc>init;' command.
dreamselec 6:98fe30430194 121 lcd->cls();
dreamselec 6:98fe30430194 122 LCDFL();
dreamselec 6:98fe30430194 123 lcd->printf("Waiting for PC...");
dreamselec 6:98fe30430194 124 LCDSL();
dreamselec 6:98fe30430194 125 lcd->printf("4: Main Menu");
dreamselec 6:98fe30430194 126
dreamselec 6:98fe30430194 127 int aboardOperation = false;
dreamselec 6:98fe30430194 128 while (connectedToPC == false && aboardOperation == false){
dreamselec 6:98fe30430194 129 aboardOperation = readSwitches() == 4;
dreamselec 6:98fe30430194 130 }
dreamselec 6:98fe30430194 131 if (aboardOperation == true) { break; }
dreamselec 6:98fe30430194 132 else if (connectedToPC == true){
dreamselec 6:98fe30430194 133 lcd->cls();
dreamselec 6:98fe30430194 134 LCDFL();
dreamselec 6:98fe30430194 135 lcd->printf("Connected to PC");
dreamselec 6:98fe30430194 136 LCDSL();
dreamselec 6:98fe30430194 137 lcd->printf("4: Disconnect.");
dreamselec 6:98fe30430194 138 }
dreamselec 6:98fe30430194 139
dreamselec 6:98fe30430194 140 while (aboardOperation == false){
dreamselec 6:98fe30430194 141 aboardOperation = readSwitches() == 4;
dreamselec 6:98fe30430194 142 }
dreamselec 6:98fe30430194 143 if (aboardOperation == true ) { break; }
dreamselec 6:98fe30430194 144 }
dreamselec 6:98fe30430194 145
dreamselec 6:98fe30430194 146 }
dreamselec 6:98fe30430194 147 }
dreamselec 6:98fe30430194 148
dreamselec 6:98fe30430194 149 /// Called every-time it receives an char from PC.
dreamselec 6:98fe30430194 150 void Rx_interrupt(){
dreamselec 6:98fe30430194 151
dreamselec 6:98fe30430194 152 }
dreamselec 3:843b830ee8bd 153
dreamselec 4:4eebb4de22a7 154 void initInternal()
dreamselec 4:4eebb4de22a7 155 {
dreamselec 6:98fe30430194 156 i2cport = new MCP23017(p9, p10, 0x40);
dreamselec 6:98fe30430194 157 lcd = new WattBob_TextLCD(i2cport);
dreamselec 6:98fe30430194 158 myLED1 = 1;
dreamselec 6:98fe30430194 159 BACKLIGHT_ON(i2cport);
dreamselec 6:98fe30430194 160 lcd->cls();
dreamselec 6:98fe30430194 161 LCDFL();
dreamselec 6:98fe30430194 162 lcd->printf("Initilizing...");
dreamselec 6:98fe30430194 163 myLED2 = 1;
dreamselec 6:98fe30430194 164 return;
dreamselec 3:843b830ee8bd 165 }
dreamselec 3:843b830ee8bd 166
dreamselec 6:98fe30430194 167 void initPort(int baudRate=kBaudRate)
dreamselec 4:4eebb4de22a7 168 {
dreamselec 6:98fe30430194 169 myLED3 = 1;
dreamselec 6:98fe30430194 170 pc.baud(baudRate);
dreamselec 6:98fe30430194 171 pc.format(8, SerialBase::None, gStopBits);
dreamselec 6:98fe30430194 172 myLED4 = 1;
dreamselec 6:98fe30430194 173 wait (0.1);
dreamselec 6:98fe30430194 174 return;
dreamselec 3:843b830ee8bd 175 }
dreamselec 3:843b830ee8bd 176
dreamselec 4:4eebb4de22a7 177 int readSwitches()
dreamselec 4:4eebb4de22a7 178 {
dreamselec 6:98fe30430194 179
dreamselec 6:98fe30430194 180 if(i2cport->read_bit(8)) {
dreamselec 6:98fe30430194 181 return 1;
dreamselec 6:98fe30430194 182 } else if (i2cport->read_bit(9)) {
dreamselec 6:98fe30430194 183 return 2;
dreamselec 6:98fe30430194 184 } else if (i2cport->read_bit(10)) {
dreamselec 6:98fe30430194 185 return 3;
dreamselec 6:98fe30430194 186 } else if (i2cport->read_bit(11)) {
dreamselec 6:98fe30430194 187 return 4;
dreamselec 6:98fe30430194 188 } else {
dreamselec 6:98fe30430194 189 return 0;
dreamselec 6:98fe30430194 190 }
dreamselec 6:98fe30430194 191
dreamselec 3:843b830ee8bd 192 }
dreamselec 3:843b830ee8bd 193
dreamselec 6:98fe30430194 194 void printPCDetectedText()
dreamselec 4:4eebb4de22a7 195 {
dreamselec 6:98fe30430194 196 lcd->cls();
dreamselec 6:98fe30430194 197 LCDFL();
dreamselec 6:98fe30430194 198 lcd->printf("Detected PC.");
dreamselec 6:98fe30430194 199 LCDSL();
dreamselec 6:98fe30430194 200 lcd->printf("Connecting");
dreamselec 6:98fe30430194 201 initPort();
dreamselec 3:843b830ee8bd 202 }
dreamselec 3:843b830ee8bd 203
dreamselec 4:4eebb4de22a7 204 bool displayAboardDialog()
dreamselec 4:4eebb4de22a7 205 {
dreamselec 6:98fe30430194 206 lcd->cls();
dreamselec 6:98fe30430194 207 LCDFL();
dreamselec 6:98fe30430194 208 lcd->printf("Aboard operation?");
dreamselec 6:98fe30430194 209 LCDSL();
dreamselec 6:98fe30430194 210 lcd->printf("1: YES, 2,3,4: NO");
dreamselec 6:98fe30430194 211 int reply = readSwitches();
dreamselec 6:98fe30430194 212 if (reply == 1) {
dreamselec 6:98fe30430194 213 return true;
dreamselec 6:98fe30430194 214 } else {
dreamselec 6:98fe30430194 215 return false;
dreamselec 6:98fe30430194 216 }
dreamselec 2:7a55cb10259f 217 }