fl@c@ Johnson
This is the device firmware for the controlBoard in the DIY 3D Printable Raspberry Pi Raman Spectrometer. For more information please visit: http://hackaday.io/project/1279
main.cpp
- Committer:
- flatcat
- Date:
- 2014-08-15
- Revision:
- 0:14942e263231
File content as of revision 0:14942e263231:
#include "mbed.h"
#include "DS18B20.h"
#include "OneWireDefs.h"
#define THERMOMETER DS18B20
#define msg_cuvette_tray 0x10
#define msg_cuvette_temp 0x11
#define msg_cuvette_status 0x12
#define msg_cuvette_tray_pos 0x13
#define msg_cuvette_pelt_status 0x14
#define msg_cuvette_stepper 0x15
#define msg_filter_wheel 0x20
#define msg_filter_pos 0x21
#define msg_laser_temp 0x30
#define msg_laser_power_status 0x31
#define msg_laser_ttl_status 0x32
#define msg_laser_good_status 0x33
#define msg_laser_color 0x34
#define msg_uv_index 0x35
#define msg_ccd_pelt_status 0x40
#define msg_shutter_servo_pos 0x50
#define msg_shutter_status 0x51
#define msg_board_ID 0x60
#define msg_board_serial 0x61
#define msg_board_status 0x62
#define msg_board_time 0x63
#define msg_board_model 0x64
#define msg_board_version 0x65
#define req_reboot 0x66
#define msg_ambient_temp 0x70
#define req_baro 0x71
#define req_humidity 0x72
#define cmd_cuvette 0xA0
#define tray_open 0xA1
#define tray_close 0xA2
#define cuvette_peltier 0xA3
#define req_cuvette_status 0xA4
#define req_cuvette_temp 0xA5
#define req_cuvette_pelt_status 0xA6
#define req_cuvette_tray_pos 0xA7
#define cmd_filter_wheel 0xB0
#define filter_select 0xB1
#define filter_reset 0xB2
#define req_filter_ID 0xB3
#define req_filter_status 0xB4
#define req_filter_count 0xB5
#define req_filter_pos 0xB6
#define cmd_laser 0xC0
#define laser_power 0xC1
#define laser_ttl 0xC2
#define req_laser_good_status 0xC3
#define req_laser_color 0xC4
#define req_laser_temp 0xC5
#define req_uv_index 0xC6
#define cmd_ccd_peltier 0xD0
#define cmd_ccd_pelt_power 0xD1
#define cmd_cuvette_peltier 0xD2
#define cmd_cuvette_pelt_power 0xD3
#define req_pelt_cool 0xD4
#define req_pelt_heat 0xD5
#define req_pelt_off 0xD6
#define cmd_shutter_servo 0xE0
#define shutter_open 0xE1
#define shutter_close 0xE2
#define shutter_deflect 0xE3
#define shutter_alternate 0xE4
#define req_shutter_state 0xE5
#define req_shutter_status 0xE6
#define packet_start 0xF0
#define packet_ack 0xF1
#define packet_flag 0xF2
#define packet_end 0xF3
#define packet_err 0xF4
#define cmd_err 0xF5
#define req_err 0xF6
#define brd_err 0xF7
#define env_err 0x80
#define cuvette_err 0x81
#define laser_err 0x82
#define filter_err 0x83
#define ccd_pelt_err 0x84
#define cuvette_pelt_err 0x85
#define shutter_err 0x86
#define board_err 0x87
DigitalIn button(USER_BUTTON);
DigitalOut grnLED(LED1);
DigitalOut cuvette_IN1(PC_14);
DigitalOut cuvette_IN2(PC_15);
DigitalOut cuvette_IN3(PH_0);
DigitalOut cuvette_IN4(PH_1);
DigitalOut filter_IN1(PA_4);
DigitalOut filter_IN2(PB_0);
DigitalOut filter_IN3(PC_1);
DigitalOut filter_IN4(PC_0);
PwmOut cuvettePeltA(PB_13); // in4
PwmOut cuvettePeltB(PB_14); // in3
PwmOut ccdPeltA(PB_1); // in2
PwmOut ccdPeltB(PB_15); // in1
AnalogIn peltCurrent(PC_5);
const int mDelay=1;
double temp;
int z;
int trayOpen;
THERMOMETER device(PC_8);
Serial raspi(USBTX, USBRX);
typedef union bytes {
double d ;
char c[8];
} bytes;
void printDoubleToHex(double d)
{
bytes b;
b.d = d;
raspi.printf("%f -> %x %x %x %x %x %x %x %x\r\n", b.d, b.c[0], b.c[1], b.c[2], b.c[3], b.c[4], b.c[5], b.c[6], b.c[7]);
}
void printHexToDouble(char *arr)
{
bytes b;
for (int i=0; i<8; ++i)
b.c[i] = arr[i];
raspi.printf("received hex: %x %x %x %x %x %x %x %x \r\n", b.c[0], b.c[1], b.c[2], b.c[3], b.c[4], b.c[5], b.c[6], b.c[7]);
raspi.printf("convert to: %f\r\n", b.d);
}
void readTemp(int deviceNum)
{
temp = device.readTemperature(deviceNum);
if (deviceNum == 0) {
// raspi.printf("Cuvette Temperature: %f\r\n", temp);
// const char begin[2]= {packet_flag, packet_start};
// raspi.printf(begin);
printDoubleToHex(temp);
// const char stop[2]= {packet_flag, packet_end};
// raspi.printf(stop);
}
if (deviceNum == 1) {
// raspi.printf("Laser Emitter Temperature: %f\r\n", temp);
// const char begin[2]= {packet_flag, packet_start};
// raspi.printf(begin);
printDoubleToHex(temp);
// const char stop[2]= {packet_flag, packet_end};
// raspi.printf(stop);
}
// raspi.printf("Device %d is %f",deviceNum, temp);
wait(0.5);
}
int openTray()
{
while (z < 500) {
z++;
grnLED = 1;
wait_ms(1);
cuvette_IN1 = 0;
cuvette_IN2= 0;
cuvette_IN3= 0;
cuvette_IN4= 1;
wait_ms(mDelay);
cuvette_IN1= 0;
cuvette_IN2= 0;
cuvette_IN3= 1;
cuvette_IN4= 1;
wait_ms(mDelay);
cuvette_IN1= 0;
cuvette_IN2= 0;
cuvette_IN3= 1;
cuvette_IN4= 0;
wait_ms(mDelay);
cuvette_IN1= 0;
cuvette_IN2= 1;
cuvette_IN3= 1;
cuvette_IN4= 0;
wait_ms(mDelay);
cuvette_IN1= 0;
cuvette_IN2= 1;
cuvette_IN3= 0;
cuvette_IN4= 0;
wait_ms(mDelay);
cuvette_IN1= 1;
cuvette_IN2= 1;
cuvette_IN3= 0;
cuvette_IN4= 0;
wait_ms(mDelay);
cuvette_IN1= 1;
cuvette_IN2= 0;
cuvette_IN3= 0;
cuvette_IN4= 0;
wait_ms(mDelay);
cuvette_IN1= 1;
cuvette_IN2= 0;
cuvette_IN3= 0;
cuvette_IN4= 1;
wait_ms(mDelay);
cuvette_IN1= 0;
cuvette_IN2= 0;
cuvette_IN3= 0;
cuvette_IN4= 0;
}
trayOpen = 1;
z = 0;
return(0);
}
int closeTray()
{
while (z < 500) {
z++;
grnLED = 1;
wait_ms(1);
cuvette_IN1= 1;
cuvette_IN2= 0;
cuvette_IN3= 0;
cuvette_IN4= 1;
wait_ms(mDelay);
cuvette_IN1= 1;
cuvette_IN2= 0;
cuvette_IN3= 0;
cuvette_IN4= 0;
wait_ms(mDelay);
cuvette_IN1= 1;
cuvette_IN2= 1;
cuvette_IN3= 0;
cuvette_IN4= 0;
wait_ms(mDelay);
cuvette_IN1= 0;
cuvette_IN2= 1;
cuvette_IN3= 0;
cuvette_IN4= 0;
wait_ms(mDelay);
cuvette_IN1= 0;
cuvette_IN2= 1;
cuvette_IN3= 1;
cuvette_IN4= 0;
wait_ms(mDelay);
cuvette_IN1= 0;
cuvette_IN2= 0;
cuvette_IN3= 1;
cuvette_IN4= 0;
wait_ms(mDelay);
cuvette_IN1= 0;
cuvette_IN2= 0;
cuvette_IN3= 1;
cuvette_IN4= 1;
wait_ms(mDelay);
cuvette_IN1= 0;
cuvette_IN2= 0;
cuvette_IN3= 0;
cuvette_IN4= 1;
wait_ms(mDelay);
cuvette_IN1= 0;
cuvette_IN2= 0;
cuvette_IN3= 0;
cuvette_IN4= 0;
}
trayOpen = 0;
z = 0;
return(0);
}
int filterForward()
{
while (z < 500) {
z++;
grnLED = 1;
wait_ms(1);
filter_IN1 = 0;
filter_IN2= 0;
filter_IN3= 0;
filter_IN4= 1;
wait_ms(mDelay);
filter_IN1= 0;
filter_IN2= 0;
filter_IN3= 1;
filter_IN4= 1;
wait_ms(mDelay);
filter_IN1= 0;
filter_IN2= 0;
filter_IN3= 1;
filter_IN4= 0;
wait_ms(mDelay);
filter_IN1= 0;
filter_IN2= 1;
filter_IN3= 1;
filter_IN4= 0;
wait_ms(mDelay);
filter_IN1= 0;
filter_IN2= 1;
filter_IN3= 0;
filter_IN4= 0;
wait_ms(mDelay);
filter_IN1= 1;
filter_IN2= 1;
filter_IN3= 0;
filter_IN4= 0;
wait_ms(mDelay);
filter_IN1= 1;
filter_IN2= 0;
filter_IN3= 0;
filter_IN4= 0;
wait_ms(mDelay);
filter_IN1= 1;
filter_IN2= 0;
filter_IN3= 0;
filter_IN4= 1;
wait_ms(mDelay);
filter_IN1= 0;
filter_IN2= 0;
filter_IN3= 0;
filter_IN4= 0;
}
z = 0;
return(0);
}
int filterBack()
{
while (z < 500) {
z++;
grnLED = 0;
wait_ms(1);
filter_IN1= 1;
filter_IN2= 0;
filter_IN3= 0;
filter_IN4= 1;
wait_ms(mDelay);
filter_IN1= 1;
filter_IN2= 0;
filter_IN3= 0;
filter_IN4= 0;
wait_ms(mDelay);
filter_IN1= 1;
filter_IN2= 1;
filter_IN3= 0;
filter_IN4= 0;
wait_ms(mDelay);
filter_IN1= 0;
filter_IN2= 1;
filter_IN3= 0;
filter_IN4= 0;
wait_ms(mDelay);
filter_IN1= 0;
filter_IN2= 1;
filter_IN3= 1;
filter_IN4= 0;
wait_ms(mDelay);
filter_IN1= 0;
filter_IN2= 0;
filter_IN3= 1;
filter_IN4= 0;
wait_ms(mDelay);
filter_IN1= 0;
filter_IN2= 0;
filter_IN3= 1;
filter_IN4= 1;
wait_ms(mDelay);
filter_IN1= 0;
filter_IN2= 0;
filter_IN3= 0;
filter_IN4= 1;
wait_ms(mDelay);
filter_IN1= 0;
filter_IN2= 0;
filter_IN3= 0;
filter_IN4= 0;
}
z = 0;
return(0);
}
int cuvettePeltCycle(){
cuvettePeltA = 0;
cuvettePeltB = 0;
wait(3);
cuvettePeltA = 1;
cuvettePeltB = 1;
wait(3);
cuvettePeltA = 1;
cuvettePeltB = 0;
wait(3);
cuvettePeltA = 0;
cuvettePeltB = 1;
wait(3);
cuvettePeltA = 0;
cuvettePeltB = 0;
return 0;
}
int err;
char* command;
int packetFlag = 0;
int main()
{
trayOpen = 0;
raspi.baud(921600);
cuvettePeltCycle();
wait(10);
// raspi.printf("meridianScientific_ramanSpectrometer_controlBoard_V0\r\n");
while (!device.initialize()); // keep calling until it works
int deviceCount = device.getDeviceCount();
// raspi.printf("Located %d sensors\n\r",deviceCount);
z = 0;
device.setResolution(twelveBit);
while(1) {
// for (int i = 0; i < deviceCount; i++) {
// readTemp(i);
// }
if (raspi.readable()) { // check if serial port is reaadable
switch (raspi.getc()) { // retrieve a character from serial
case packet_start: // case for packet start flag
switch (raspi.getc()) { // set condition for listening to another character
case packet_flag: // case for packet flag
packetFlag = 1; // turn the flag on
while (packetFlag == 1) { // start a loop that runs while the flag is on
switch (raspi.getc()) { // set another condition for listening to another character
case cmd_laser: // case for cmd_laser
grnLED = 1; // turn the led on
raspi.printf("%x", cmd_laser); // return cmd_laser to the raspi
switch (raspi.getc()) { // set another condition for listening to another character
case req_laser_temp: // case for req_laser_temp
raspi.printf("%x\r\n", req_laser_temp); // return req_laser_temp to the raspi
readTemp(0); // read the temperature for device 0 which is the laser temp sensor
grnLED = 0; // turn led off
continue; // continue through loop
default: // default if nothing matches
break; // break from loop
}
case cmd_cuvette: // case for cmd_cuvette
grnLED = 1; // turn led on
raspi.printf("%x", cmd_cuvette); // return cmd_cuvette to raspi
switch (raspi.getc()) { // set condition for listening to another character
case req_cuvette_temp: // case for req_cuvette_temp
raspi.printf("%x\r\n", req_cuvette_temp); // return req_cuvette_temp to raspi
readTemp(1); // read the temperature for device 1 which is the cuvette temp sensor
grnLED = 0; // turn the led off
continue; // continue through the loop
case tray_open: // case for tray_open
raspi.printf("%x\r\n", tray_open); // return tray_open to raspi
if (trayOpen == 0) { // check to see if the tray is closed
openTray(); // if not, open tray
} else { // otherwise
raspi.printf("%x\r\n", cuvette_err); // send a cuvette error to the raspi
}
grnLED = 0; // turn led off
continue; // continue through the loop
case tray_close: // case for tray close
raspi.printf("%x\r\n", tray_close); // return tray_close to raspi
if (trayOpen == 1) { // check to see if tray is open
closeTray(); // if not, close tray
} else { // otherwise
raspi.printf("%x\r\n", cuvette_err); // send a cuvette error to the raspi
}
grnLED = 0; // turn led off
continue; // continue through loop
default: // default if nothing matches
break; // break from loop
}
case cmd_filter_wheel: // case for cmd_filter_wheel
grnLED = 1; // turn led on
raspi.printf("%x", cmd_filter_wheel); // return cmd_filter_wheel to raspi
switch (raspi.getc()) { // set condidition for listening to another character
case filter_select: // case for filter_select
raspi.printf("%x\r\n", filter_select); // return filter_select to raspi
filterForward(); // move filter wheel forward one filter
filterBack(); // move filter wheel reverse one filter (this is just to test the commands)
grnLED = 0; // turn led off
continue; // continue through loop
default: // default if nothing matches
break; // break from loop
}
case cmd_cuvette_peltier:
grnLED = 1; // turn led on
raspi.printf("%x", cmd_cuvette_peltier); // return cmd_ccd_peltier to raspi
switch (raspi.getc()) { // set condidition for listening to another character
case cmd_cuvette_pelt_power:
switch (raspi.getc()) { // set condidition for listening to another character
case 0x00: // case for cmd_ccd_peltier OFF
raspi.printf("%x\r\n", cmd_cuvette_pelt_power); // return filter_select to raspi
cuvettePeltA = 0; // set PWM A to zero
cuvettePeltB = 0; // set PWM B to zero
grnLED = 0; // turn led off
break;
case 0x01: // case for cmd_cuvette_peltier COOL
raspi.printf("%x\r\n", cmd_cuvette_pelt_power); // return filter_select to raspi
cuvettePeltA = 0.5; // set PWM A to 0.5
cuvettePeltB = 0; // set PWM B to zero
grnLED = 0; // turn led off
break;
case 0x02: // case for cmd_cuvette_peltier HEAT
raspi.printf("%x\r\n", cmd_cuvette_pelt_power); // return filter_select to raspi
cuvettePeltA = 0; // set PWM A to 0.5
cuvettePeltB = 0.5; // set PWM B to zero
grnLED = 0; // turn led off
break;
default:
break;
}
continue;
default:
break;
}
case cmd_ccd_peltier:
grnLED = 1; // turn led on
raspi.printf("%x", cmd_ccd_peltier); // return cmd_ccd_peltier to raspi
switch (raspi.getc()) { // set condidition for listening to another character
case cmd_ccd_pelt_power:
switch (raspi.getc()) { // set condidition for listening to another character
case 0x00: // case for cmd_ccd_peltier OFF
raspi.printf("%x\r\n", cmd_ccd_pelt_power); // return filter_select to raspi
ccdPeltA = 0; // set PWM A to zero
ccdPeltB = 0; // set PWM B to zero
grnLED = 0; // turn led off
break;
case 0x01: // case for cmd_ccd_peltier COOL
raspi.printf("%x\r\n", cmd_ccd_pelt_power); // return filter_select to raspi
ccdPeltA = 0.5; // set PWM A to 0.5
ccdPeltB = 0; // set PWM B to zero
grnLED = 0; // turn led off
break;
case 0x02: // case for cmd_ccd_peltier HEAT
raspi.printf("%x\r\n", cmd_ccd_pelt_power); // return filter_select to raspi
ccdPeltA = 0; // set PWM A to 0.5
ccdPeltB = 0.5; // set PWM B to zero
grnLED = 0; // turn led off
break;
default:
break;
}
continue;
default:
break;
} case packet_end: // case for packed_end
packetFlag = 0; // set the packetFlag to 0
break; // break from loop
default: // default if nothing matches
break; // break from loop
}
}
default: // defailt if nothing matches
break; // break from loop
}
default: // default if nothing matches
break; // break from loop
}
}
}
}