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@9:dc8f155b71c8, 2015-11-16 (annotated)

Committer:
dreamselec
Date:
Mon Nov 16 23:44:44 2015 +0000
Revision:
9:dc8f155b71c8
Parent:
8:e1da2ae62885
Child:
10:16ba52f8e025
Testing of command parsing successful. Implementing ability to declare new has block.

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 8:e1da2ae62885 30 uint8_t rxBuffer[kSmallBufferSize + 1];
dreamselec 8:e1da2ae62885 31 int rxIndex = 0;
dreamselec 2:7a55cb10259f 32
dreamselec 6:98fe30430194 33 Commander _commander = Commander();
dreamselec 6:98fe30430194 34 Commander *commander = &_commander;
dreamselec 6:98fe30430194 35 FPGA _fpga = FPGA();
dreamselec 9:dc8f155b71c8 36 extern FPGA *fpga = &_fpga;
dreamselec 6:98fe30430194 37
dreamselec 6:98fe30430194 38 extern Block _HazBlock;
dreamselec 6:98fe30430194 39 Block *HazBlock = &_HazBlock;
dreamselec 6:98fe30430194 40
dreamselec 3:843b830ee8bd 41 void detectPC();
dreamselec 6:98fe30430194 42 void initInternal();
dreamselec 7:b6e31bfdb2af 43 void initPort(int baudRate=kDefaultBaudRate);
dreamselec 6:98fe30430194 44 int readSwitches();
dreamselec 6:98fe30430194 45 void printPCDetectedText();
dreamselec 6:98fe30430194 46 bool displayAboardDialog();
dreamselec 6:98fe30430194 47 void Rx_interrupt();
dreamselec 6:98fe30430194 48
dreamselec 6:98fe30430194 49
dreamselec 6:98fe30430194 50 int main()
dreamselec 6:98fe30430194 51 {
dreamselec 6:98fe30430194 52 initInternal();
dreamselec 6:98fe30430194 53 initPort();
dreamselec 6:98fe30430194 54 srand((unsigned)time(NULL));
dreamselec 6:98fe30430194 55 U_LEDS_OFF();
dreamselec 6:98fe30430194 56 lcd->cls();
dreamselec 6:98fe30430194 57 myLED1 = 1;
dreamselec 6:98fe30430194 58
dreamselec 6:98fe30430194 59 // Create a serial intereput for RxIrq so when PC is connected it sends '$' to tell MBED it's there.
dreamselec 6:98fe30430194 60 // https://developer.mbed.org/cookbook/Serial-Interrupts
dreamselec 6:98fe30430194 61 pc.attach(&Rx_interrupt, Serial::RxIrq);
dreamselec 6:98fe30430194 62
dreamselec 6:98fe30430194 63 for (;;) {
dreamselec 9:dc8f155b71c8 64 lcd->cls();
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 9:dc8f155b71c8 73 myLED4 = selection;
dreamselec 6:98fe30430194 74 selection = readSwitches();
dreamselec 9:dc8f155b71c8 75 } while (selection != 1 && selection != 2 && connectedToPC == false);
dreamselec 9:dc8f155b71c8 76 D_LEDS_OFF();
dreamselec 6:98fe30430194 77 if (selection == 1) {
dreamselec 6:98fe30430194 78 // User selected op 1: Start sorting autonomously.
dreamselec 9:dc8f155b71c8 79 i2cport->write_bit(1, 12);
dreamselec 6:98fe30430194 80 lcd->cls();
dreamselec 6:98fe30430194 81 LCDFL();
dreamselec 9:dc8f155b71c8 82 lcd->printf("Starting sorting");
dreamselec 9:dc8f155b71c8 83 wait(0.5);
dreamselec 9:dc8f155b71c8 84 D_LEDS_OFF();
dreamselec 9:dc8f155b71c8 85
dreamselec 6:98fe30430194 86 for(;;) {
dreamselec 6:98fe30430194 87 lcd->cls();
dreamselec 9:dc8f155b71c8 88 lcd->printf("Waiting...");
dreamselec 9:dc8f155b71c8 89
dreamselec 6:98fe30430194 90 i2cport->write_bit(1, 15);
dreamselec 6:98fe30430194 91 bool aboardOperation = false;
dreamselec 6:98fe30430194 92
dreamselec 6:98fe30430194 93 int blockInserted = 0;
dreamselec 6:98fe30430194 94 // Wait until a block is breaking the beam, or button 4 is pressed to aboard.
dreamselec 6:98fe30430194 95 do {
dreamselec 6:98fe30430194 96 blockInserted = fpga->checkForBlock();
dreamselec 6:98fe30430194 97 if (i2cport->read_bit(11)) {
dreamselec 6:98fe30430194 98 aboardOperation = displayAboardDialog();
dreamselec 6:98fe30430194 99 // Cancel the aboard
dreamselec 6:98fe30430194 100 if (aboardOperation == false) {
dreamselec 6:98fe30430194 101 lcd->cls();
dreamselec 6:98fe30430194 102 LCDFL();
dreamselec 9:dc8f155b71c8 103 lcd->printf("Waiting...");
dreamselec 9:dc8f155b71c8 104 i2cport->write_bit(1, 15);
dreamselec 6:98fe30430194 105 }
dreamselec 6:98fe30430194 106 }
dreamselec 6:98fe30430194 107 } while (aboardOperation == false && blockInserted != 1);
dreamselec 6:98fe30430194 108
dreamselec 6:98fe30430194 109 // Break and return to main menu i.e. Start Op, or Connect to PC.
dreamselec 6:98fe30430194 110 if (aboardOperation == true) {
dreamselec 9:dc8f155b71c8 111 D_LEDS_OFF();
dreamselec 6:98fe30430194 112 break;
dreamselec 6:98fe30430194 113 }
dreamselec 8:e1da2ae62885 114
dreamselec 6:98fe30430194 115 // Cannot aboard any longer. Block is inserted.
dreamselec 8:e1da2ae62885 116 // Detach rx interrupt until block processed.
dreamselec 8:e1da2ae62885 117 NVIC_DisableIRQ(UART1_IRQn);
dreamselec 8:e1da2ae62885 118
dreamselec 6:98fe30430194 119 int blockSize = fpga->checkForSize();
dreamselec 6:98fe30430194 120
dreamselec 6:98fe30430194 121 if (blockSize == HazBlock->size) {
dreamselec 6:98fe30430194 122 // detectColour()
dreamselec 6:98fe30430194 123 lcd->cls();
dreamselec 6:98fe30430194 124 lcd->printf("Detecting Colour");
dreamselec 6:98fe30430194 125 }
dreamselec 8:e1da2ae62885 126
dreamselec 8:e1da2ae62885 127 // Re-Attach rx interrupt
dreamselec 8:e1da2ae62885 128 NVIC_EnableIRQ(UART1_IRQn);
dreamselec 6:98fe30430194 129 }
dreamselec 6:98fe30430194 130
dreamselec 9:dc8f155b71c8 131 } else if (selection == 2 || connectedToPC == true) {
dreamselec 8:e1da2ae62885 132 for (;;){
dreamselec 9:dc8f155b71c8 133 if (!connectedToPC) {
dreamselec 9:dc8f155b71c8 134 i2cport->write_bit(1, 13);
dreamselec 9:dc8f155b71c8 135 // Wait for PC to send '!<pc>connect;' command.
dreamselec 9:dc8f155b71c8 136 lcd->cls();
dreamselec 9:dc8f155b71c8 137 LCDFL();
dreamselec 9:dc8f155b71c8 138 lcd->printf("Waiting for PC...");
dreamselec 9:dc8f155b71c8 139 wait(0.5);
dreamselec 9:dc8f155b71c8 140 D_LEDS_OFF();
dreamselec 9:dc8f155b71c8 141 LCDSL();
dreamselec 9:dc8f155b71c8 142 lcd->printf("4: Main Menu");
dreamselec 9:dc8f155b71c8 143 }
dreamselec 9:dc8f155b71c8 144 i2cport->write_bit(1, 15);
dreamselec 8:e1da2ae62885 145 int aboardOperation = false;
dreamselec 8:e1da2ae62885 146 while (connectedToPC == false && aboardOperation == false){
dreamselec 8:e1da2ae62885 147 aboardOperation = readSwitches() == 4;
dreamselec 8:e1da2ae62885 148 }
dreamselec 9:dc8f155b71c8 149 if (aboardOperation == true) { D_LEDS_OFF(); break; }
dreamselec 8:e1da2ae62885 150 else if (connectedToPC == true){
dreamselec 8:e1da2ae62885 151 lcd->cls();
dreamselec 8:e1da2ae62885 152 LCDFL();
dreamselec 8:e1da2ae62885 153 lcd->printf("Connected to PC");
dreamselec 8:e1da2ae62885 154 LCDSL();
dreamselec 8:e1da2ae62885 155 lcd->printf("4: Disconnect.");
dreamselec 8:e1da2ae62885 156 }
dreamselec 8:e1da2ae62885 157
dreamselec 8:e1da2ae62885 158 while (aboardOperation == false && connectedToPC == true){
dreamselec 8:e1da2ae62885 159 aboardOperation = readSwitches() == 4;
dreamselec 8:e1da2ae62885 160 }
dreamselec 9:dc8f155b71c8 161
dreamselec 9:dc8f155b71c8 162 if (aboardOperation == true ) { D_LEDS_OFF(); break; }
dreamselec 6:98fe30430194 163 }
dreamselec 6:98fe30430194 164 }
dreamselec 6:98fe30430194 165
dreamselec 6:98fe30430194 166 }
dreamselec 6:98fe30430194 167 }
dreamselec 6:98fe30430194 168
dreamselec 6:98fe30430194 169 /// Called every-time it receives an char from PC.
dreamselec 6:98fe30430194 170 void Rx_interrupt(){
dreamselec 8:e1da2ae62885 171 char interruptChar = pc.getc();
dreamselec 9:dc8f155b71c8 172 // Uncomment to Echo to USB serial to watch data flow
dreamselec 9:dc8f155b71c8 173 pc.putc(interruptChar);
dreamselec 6:98fe30430194 174
dreamselec 8:e1da2ae62885 175 NVIC_DisableIRQ(UART1_IRQn);
dreamselec 8:e1da2ae62885 176
dreamselec 8:e1da2ae62885 177 if (interruptChar == CommandTypeValue[Query]){
dreamselec 8:e1da2ae62885 178 commander->decodeCommand(Query);
dreamselec 8:e1da2ae62885 179 }else if (interruptChar == CommandTypeValue[Set]){
dreamselec 8:e1da2ae62885 180 commander->decodeCommand(Set);
dreamselec 8:e1da2ae62885 181 }else if (interruptChar== CommandTypeValue[Reply]){
dreamselec 8:e1da2ae62885 182 commander->decodeCommand(Reply);
dreamselec 8:e1da2ae62885 183 }
dreamselec 8:e1da2ae62885 184
dreamselec 8:e1da2ae62885 185 NVIC_EnableIRQ(UART1_IRQn);
dreamselec 6:98fe30430194 186 }
dreamselec 3:843b830ee8bd 187
dreamselec 4:4eebb4de22a7 188 void initInternal()
dreamselec 4:4eebb4de22a7 189 {
dreamselec 6:98fe30430194 190 i2cport = new MCP23017(p9, p10, 0x40);
dreamselec 6:98fe30430194 191 lcd = new WattBob_TextLCD(i2cport);
dreamselec 6:98fe30430194 192 myLED1 = 1;
dreamselec 6:98fe30430194 193 BACKLIGHT_ON(i2cport);
dreamselec 6:98fe30430194 194 lcd->cls();
dreamselec 6:98fe30430194 195 LCDFL();
dreamselec 6:98fe30430194 196 lcd->printf("Initilizing...");
dreamselec 6:98fe30430194 197 myLED2 = 1;
dreamselec 6:98fe30430194 198 return;
dreamselec 3:843b830ee8bd 199 }
dreamselec 3:843b830ee8bd 200
dreamselec 7:b6e31bfdb2af 201 void initPort(int baudRate)
dreamselec 4:4eebb4de22a7 202 {
dreamselec 6:98fe30430194 203 myLED3 = 1;
dreamselec 6:98fe30430194 204 pc.baud(baudRate);
dreamselec 6:98fe30430194 205 pc.format(8, SerialBase::None, gStopBits);
dreamselec 6:98fe30430194 206 myLED4 = 1;
dreamselec 6:98fe30430194 207 wait (0.1);
dreamselec 6:98fe30430194 208 return;
dreamselec 3:843b830ee8bd 209 }
dreamselec 3:843b830ee8bd 210
dreamselec 4:4eebb4de22a7 211 int readSwitches()
dreamselec 4:4eebb4de22a7 212 {
dreamselec 6:98fe30430194 213
dreamselec 6:98fe30430194 214 if(i2cport->read_bit(8)) {
dreamselec 6:98fe30430194 215 return 1;
dreamselec 6:98fe30430194 216 } else if (i2cport->read_bit(9)) {
dreamselec 6:98fe30430194 217 return 2;
dreamselec 6:98fe30430194 218 } else if (i2cport->read_bit(10)) {
dreamselec 6:98fe30430194 219 return 3;
dreamselec 6:98fe30430194 220 } else if (i2cport->read_bit(11)) {
dreamselec 6:98fe30430194 221 return 4;
dreamselec 6:98fe30430194 222 } else {
dreamselec 6:98fe30430194 223 return 0;
dreamselec 6:98fe30430194 224 }
dreamselec 6:98fe30430194 225
dreamselec 3:843b830ee8bd 226 }
dreamselec 3:843b830ee8bd 227
dreamselec 6:98fe30430194 228 void printPCDetectedText()
dreamselec 4:4eebb4de22a7 229 {
dreamselec 6:98fe30430194 230 lcd->cls();
dreamselec 6:98fe30430194 231 LCDFL();
dreamselec 6:98fe30430194 232 lcd->printf("Detected PC.");
dreamselec 6:98fe30430194 233 LCDSL();
dreamselec 6:98fe30430194 234 lcd->printf("Connecting");
dreamselec 6:98fe30430194 235 initPort();
dreamselec 3:843b830ee8bd 236 }
dreamselec 3:843b830ee8bd 237
dreamselec 4:4eebb4de22a7 238 bool displayAboardDialog()
dreamselec 4:4eebb4de22a7 239 {
dreamselec 9:dc8f155b71c8 240 while (i2cport->read_bit(11) == 1){}
dreamselec 9:dc8f155b71c8 241 i2cport->write_bit(1, 12);
dreamselec 9:dc8f155b71c8 242
dreamselec 6:98fe30430194 243 lcd->cls();
dreamselec 6:98fe30430194 244 LCDFL();
dreamselec 9:dc8f155b71c8 245 lcd->printf("Aboard?");
dreamselec 6:98fe30430194 246 LCDSL();
dreamselec 9:dc8f155b71c8 247 lcd->printf("1:YES, 2,3,4:NO");
dreamselec 9:dc8f155b71c8 248 int reply = 0;
dreamselec 9:dc8f155b71c8 249 do {
dreamselec 9:dc8f155b71c8 250 reply = readSwitches();
dreamselec 9:dc8f155b71c8 251 } while(reply == 0);
dreamselec 9:dc8f155b71c8 252
dreamselec 9:dc8f155b71c8 253 D_LEDS_OFF();
dreamselec 6:98fe30430194 254 if (reply == 1) {
dreamselec 6:98fe30430194 255 return true;
dreamselec 6:98fe30430194 256 } else {
dreamselec 6:98fe30430194 257 return false;
dreamselec 6:98fe30430194 258 }
dreamselec 2:7a55cb10259f 259 }