Feng Hong / Mbed OS Nucleo_rtos_basic

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main.cpp@19:0356e54240cc, 2019-09-24 (annotated)

Committer:
hi1000
Date:
Tue Sep 24 14:05:58 2019 +0000
Revision:
19:0356e54240cc
Parent:
18:e6ed582f7022
Child:
20:ec9d4f6a16ac
First Version of YODA2; -Buttons; -Menu; -LCD; -Scale; -CAN Bus; -EEPROM; work

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hi1000 0:765cf978c3e5 1 #include "mbed.h"
hi1000 1:eb499e2a1b9b 2 #include <HX711.h>
hi1000 2:61a0169765bf 3 #include <eeprom.h>
hi1000 7:e0c7e624c5fa 4 #include "eeprom_cust.h"
hi1000 5:4585215afd11 5 //#include "digitLCD.h"
hi1000 5:4585215afd11 6 #include "SB1602E.h"
hi1000 18:e6ed582f7022 7 #include "yoda2.h"
hi1000 19:0356e54240cc 8 #include "TextLCD.h"
hi1000 9:486f65124378 9
hi1000 14:2e17a27f56b2 10 EventFlags button_event_flags;
hi1000 19:0356e54240cc 11 EEPROM ep(SDA,SCL,EEPROM_ADDR,EEPROM::T24C32);
hi1000 19:0356e54240cc 12 extern void eeprom_test(void);
hi1000 19:0356e54240cc 13 #ifdef YODA2
hi1000 19:0356e54240cc 14 // I2C Communication
hi1000 19:0356e54240cc 15 I2C i2c_lcd(PB_9, PB_8); // SDA, SCL
hi1000 19:0356e54240cc 16 TextLCD_I2C_N lcd(&i2c_lcd, ST7032_SA, TextLCD::LCD16x2, NC, TextLCD::ST7032_3V3);
hi1000 19:0356e54240cc 17 #endif
hi1000 19:0356e54240cc 18 #if 1
hi1000 19:0356e54240cc 19 int current_weight;
hi1000 19:0356e54240cc 20 //EEPROM ep(SDA,SCL,EEPROM_ADDR,EEPROM::T24C256);
hi1000 19:0356e54240cc 21 int device_address = DEVICE_DEFAULT_ADDRESS; // address 11 bits: last 8 bits is device_address
hi1000 19:0356e54240cc 22 int device_type; //address 11 bits: first 3 bits is device_type
hi1000 19:0356e54240cc 23 int init_id = 0x00300000; // first 11 bit is the address
hi1000 19:0356e54240cc 24 int init_filter_handle, broadcast_filter_handle;
hi1000 19:0356e54240cc 25 int broadcast_id = 0x1ffC0000;
hi1000 19:0356e54240cc 26 #endif
hi1000 19:0356e54240cc 27
hi1000 19:0356e54240cc 28
hi1000 19:0356e54240cc 29 #if 1
hi1000 19:0356e54240cc 30
hi1000 14:2e17a27f56b2 31 EventFlags LCD_update_flags;
hi1000 14:2e17a27f56b2 32 extern void main_menu();
hi1000 7:e0c7e624c5fa 33 extern void analyzePayload();
hi1000 19:0356e54240cc 34 extern Device_Type_d device_type_v;
hi1000 19:0356e54240cc 35 extern data_field_d can_txdata_frame;
hi1000 19:0356e54240cc 36 extern CANMessage tx_message;
hi1000 11:8702316d7fc8 37 #if 1
hi1000 11:8702316d7fc8 38 #ifdef STM32F207xx
hi1000 11:8702316d7fc8 39 HX711 hx711(PB_11, PB_10);// data, clk
hi1000 11:8702316d7fc8 40 #endif
hi1000 11:8702316d7fc8 41
hi1000 11:8702316d7fc8 42 #ifdef STM32F303xE
hi1000 11:8702316d7fc8 43 //HX711 hx711(D8, D9);// data, clk
hi1000 19:0356e54240cc 44 #ifdef OWN_SOLDER_BOARD
hi1000 11:8702316d7fc8 45 HX711 hx711(PA_14, PA_15);
hi1000 11:8702316d7fc8 46 #endif
hi1000 19:0356e54240cc 47 #ifdef YODA2
hi1000 19:0356e54240cc 48 HX711 hx711(PA_1, PA_0);
hi1000 19:0356e54240cc 49 #endif
hi1000 19:0356e54240cc 50 #endif
hi1000 18:e6ed582f7022 51 extern void scaleCalibration(bool release_led);
hi1000 11:8702316d7fc8 52 extern void init_scale();
hi1000 11:8702316d7fc8 53 Thread scale_thread;
hi1000 11:8702316d7fc8 54 extern void scale_reading();
hi1000 9:486f65124378 55 #endif
hi1000 8:6105ffbaf237 56 unsigned char rx_buffer[8], tx_buffer[8];
hi1000 7:e0c7e624c5fa 57 unsigned char rx_length, tx_length;
hi1000 0:765cf978c3e5 58
hi1000 19:0356e54240cc 59 //#define LCD_1602
hi1000 9:486f65124378 60 #ifdef STM32F207xx
hi1000 5:4585215afd11 61 SB1602E lcd( PB_9, PB_8 ); // SDA, SCL
hi1000 0:765cf978c3e5 62 CAN can1(PD_0, PD_1);
hi1000 0:765cf978c3e5 63 CAN can2(PB_5, PB_6);
hi1000 1:eb499e2a1b9b 64 DigitalOut led1(LED1);
hi1000 1:eb499e2a1b9b 65 DigitalOut led2(LED2);
hi1000 1:eb499e2a1b9b 66 //FlashIAP flashIAP;
hi1000 1:eb499e2a1b9b 67
hi1000 5:4585215afd11 68 //#define LCD_1621
hi1000 5:4585215afd11 69 //digitLCD lcd(PA_5,PA_4,PB_5); // WO, CS, DATA
hi1000 9:486f65124378 70 #endif
hi1000 9:486f65124378 71 #ifdef STM32F303xE
hi1000 19:0356e54240cc 72
hi1000 19:0356e54240cc 73 #ifdef LCD_1602
hi1000 9:486f65124378 74 SB1602E lcd(D14, D15 ); // SDA, SCL
hi1000 19:0356e54240cc 75 #endif
hi1000 9:486f65124378 76 CAN can1(PA_11, PA_12); // RD, TD
hi1000 9:486f65124378 77 DigitalOut led1(LED1); // only one LED PA_5
hi1000 9:486f65124378 78 DigitalOut led2(LED2); // only one LED PA_5
hi1000 9:486f65124378 79 #endif
hi1000 7:e0c7e624c5fa 80
hi1000 19:0356e54240cc 81 #if 0
hi1000 12:5cb359f981f3 82 DigitalOut output1(PC_3);
hi1000 12:5cb359f981f3 83 DigitalOut output2(PC_2);
hi1000 12:5cb359f981f3 84 DigitalOut output3(PB_7);
hi1000 12:5cb359f981f3 85 DigitalIn input1(PC_6);
hi1000 12:5cb359f981f3 86 DigitalIn input2(PC_8);
hi1000 19:0356e54240cc 87 #endif
hi1000 19:0356e54240cc 88
hi1000 1:eb499e2a1b9b 89
hi1000 9:486f65124378 90 uint8_t can_tx_data[8];
hi1000 9:486f65124378 91 uint8_t can_rx_data[8];
hi1000 19:0356e54240cc 92 #endif
hi1000 0:765cf978c3e5 93 void print_char(char c = '*')
hi1000 0:765cf978c3e5 94 {
hi1000 0:765cf978c3e5 95 printf("%c\r\n", c);
hi1000 0:765cf978c3e5 96 fflush(stdout);
hi1000 0:765cf978c3e5 97 }
hi1000 0:765cf978c3e5 98
hi1000 19:0356e54240cc 99 #if 1
hi1000 8:6105ffbaf237 100 Thread can_receivethread;
hi1000 8:6105ffbaf237 101 Thread can_handlethread;
hi1000 14:2e17a27f56b2 102 Thread mainmenu_thread;
hi1000 19:0356e54240cc 103 bool can_register_success = false;
hi1000 0:765cf978c3e5 104 CANMessage msg;
hi1000 8:6105ffbaf237 105 MemoryPool<CANMessage, 16> can_mpool;
hi1000 8:6105ffbaf237 106 Queue<CANMessage, 16> can_queue;
hi1000 19:0356e54240cc 107 #endif
hi1000 12:5cb359f981f3 108 InterruptIn button0(USER_BUTTON);
hi1000 12:5cb359f981f3 109 volatile bool button0_pressed = false; // Used in the main loop
hi1000 12:5cb359f981f3 110 volatile bool button0_enabled = true; // Used for debouncing
hi1000 12:5cb359f981f3 111 Timeout button0_timeout; // Used for debouncing
hi1000 19:0356e54240cc 112 InterruptIn button1(BUTTON1);
hi1000 0:765cf978c3e5 113 volatile bool button1_pressed = false; // Used in the main loop
hi1000 0:765cf978c3e5 114 volatile bool button1_enabled = true; // Used for debouncing
hi1000 0:765cf978c3e5 115 Timeout button1_timeout; // Used for debouncing
hi1000 19:0356e54240cc 116 InterruptIn button2(BUTTON2);
hi1000 12:5cb359f981f3 117 volatile bool button2_pressed = false; // Used in the main loop
hi1000 12:5cb359f981f3 118 volatile bool button2_enabled = true; // Used for debouncing
hi1000 12:5cb359f981f3 119 Timeout button2_timeout; // Used for debouncing
hi1000 19:0356e54240cc 120 InterruptIn button3(BUTTON3);
hi1000 12:5cb359f981f3 121 volatile bool button3_pressed = false; // Used in the main loop
hi1000 12:5cb359f981f3 122 volatile bool button3_enabled = true; // Used for debouncing
hi1000 12:5cb359f981f3 123 Timeout button3_timeout; // Used for debouncing
hi1000 19:0356e54240cc 124 InterruptIn button4(BUTTON4);
hi1000 12:5cb359f981f3 125 volatile bool button4_pressed = false; // Used in the main loop
hi1000 12:5cb359f981f3 126 volatile bool button4_enabled = true; // Used for debouncing
hi1000 12:5cb359f981f3 127 Timeout button4_timeout; // Used for debouncing
hi1000 12:5cb359f981f3 128
hi1000 0:765cf978c3e5 129
hi1000 0:765cf978c3e5 130 // Enables button when bouncing is over
hi1000 12:5cb359f981f3 131 //button0
hi1000 12:5cb359f981f3 132 void button0_enabled_cb(void)
hi1000 12:5cb359f981f3 133 {
hi1000 12:5cb359f981f3 134 int button_status;
hi1000 12:5cb359f981f3 135 button_status = button0.read();
hi1000 12:5cb359f981f3 136 if (button_status == 0)
hi1000 12:5cb359f981f3 137 {
hi1000 12:5cb359f981f3 138 printf("button0 down\r\n");
hi1000 18:e6ed582f7022 139 scaleCalibration(true);
hi1000 14:2e17a27f56b2 140 button_status = button0.read();
hi1000 14:2e17a27f56b2 141 if (button_status == 0)
hi1000 14:2e17a27f56b2 142 {
hi1000 14:2e17a27f56b2 143 printf("button0 hold\r\n");
hi1000 14:2e17a27f56b2 144 }
hi1000 14:2e17a27f56b2 145 else
hi1000 14:2e17a27f56b2 146 {
hi1000 14:2e17a27f56b2 147 printf("button0 press hold and release\r\n");
hi1000 14:2e17a27f56b2 148 }
hi1000 12:5cb359f981f3 149 }
hi1000 12:5cb359f981f3 150 else
hi1000 12:5cb359f981f3 151 printf("button0 released\r\n");
hi1000 12:5cb359f981f3 152 button0_enabled = true;
hi1000 12:5cb359f981f3 153 }
hi1000 12:5cb359f981f3 154
hi1000 12:5cb359f981f3 155 // ISR handling button pressed event
hi1000 12:5cb359f981f3 156 void button0_onpressed_cb(void)
hi1000 12:5cb359f981f3 157 {
hi1000 12:5cb359f981f3 158 if (button0_enabled) { // Disabled while the button is bouncing
hi1000 12:5cb359f981f3 159 button0_enabled = false;
hi1000 12:5cb359f981f3 160 button0_pressed = true; // To be read by the main loop
hi1000 12:5cb359f981f3 161 button0_timeout.attach(callback(button0_enabled_cb), 0.3); // Debounce time 300 ms
hi1000 12:5cb359f981f3 162 }
hi1000 12:5cb359f981f3 163 }
hi1000 12:5cb359f981f3 164 //button0--
hi1000 12:5cb359f981f3 165 //button1
hi1000 0:765cf978c3e5 166 void button1_enabled_cb(void)
hi1000 0:765cf978c3e5 167 {
hi1000 12:5cb359f981f3 168 int button_status;
hi1000 12:5cb359f981f3 169 button_status = button1.read();
hi1000 12:5cb359f981f3 170 if (button_status == 0)
hi1000 12:5cb359f981f3 171 {
hi1000 12:5cb359f981f3 172 printf("button1 down\r\n");
hi1000 14:2e17a27f56b2 173 button_event_flags.set(BUTTON1_HOLD_EVENT);
hi1000 12:5cb359f981f3 174 }
hi1000 12:5cb359f981f3 175 else
hi1000 14:2e17a27f56b2 176 {
hi1000 12:5cb359f981f3 177 printf("button1 released\r\n");
hi1000 14:2e17a27f56b2 178 button_event_flags.set(BUTTON1_PRESSED_EVENT);
hi1000 14:2e17a27f56b2 179 }
hi1000 0:765cf978c3e5 180 button1_enabled = true;
hi1000 0:765cf978c3e5 181 }
hi1000 0:765cf978c3e5 182
hi1000 0:765cf978c3e5 183 // ISR handling button pressed event
hi1000 0:765cf978c3e5 184 void button1_onpressed_cb(void)
hi1000 0:765cf978c3e5 185 {
hi1000 0:765cf978c3e5 186 if (button1_enabled) { // Disabled while the button is bouncing
hi1000 0:765cf978c3e5 187 button1_enabled = false;
hi1000 0:765cf978c3e5 188 button1_pressed = true; // To be read by the main loop
hi1000 0:765cf978c3e5 189 button1_timeout.attach(callback(button1_enabled_cb), 0.3); // Debounce time 300 ms
hi1000 0:765cf978c3e5 190 }
hi1000 0:765cf978c3e5 191 }
hi1000 12:5cb359f981f3 192 //button1--
hi1000 12:5cb359f981f3 193 //button2
hi1000 12:5cb359f981f3 194 void button2_enabled_cb(void)
hi1000 12:5cb359f981f3 195 {
hi1000 12:5cb359f981f3 196 int button_status;
hi1000 12:5cb359f981f3 197 button_status = button2.read();
hi1000 12:5cb359f981f3 198 if (button_status == 0)
hi1000 12:5cb359f981f3 199 {
hi1000 12:5cb359f981f3 200 printf("button2 down\r\n");
hi1000 14:2e17a27f56b2 201 button_event_flags.set(BUTTON2_HOLD_EVENT);
hi1000 12:5cb359f981f3 202 }
hi1000 12:5cb359f981f3 203 else
hi1000 14:2e17a27f56b2 204 {
hi1000 12:5cb359f981f3 205 printf("button2 released\r\n");
hi1000 14:2e17a27f56b2 206 button_event_flags.set(BUTTON2_PRESSED_EVENT);
hi1000 14:2e17a27f56b2 207 }
hi1000 12:5cb359f981f3 208 button2_enabled = true;
hi1000 12:5cb359f981f3 209 }
hi1000 0:765cf978c3e5 210
hi1000 12:5cb359f981f3 211 // ISR handling button pressed event
hi1000 12:5cb359f981f3 212 void button2_onpressed_cb(void)
hi1000 12:5cb359f981f3 213 {
hi1000 12:5cb359f981f3 214 if (button2_enabled) { // Disabled while the button is bouncing
hi1000 12:5cb359f981f3 215 button2_enabled = false;
hi1000 12:5cb359f981f3 216 button2_pressed = true; // To be read by the main loop
hi1000 12:5cb359f981f3 217 button2_timeout.attach(callback(button2_enabled_cb), 0.3); // Debounce time 300 ms
hi1000 12:5cb359f981f3 218 }
hi1000 12:5cb359f981f3 219 }
hi1000 12:5cb359f981f3 220 //button2--
hi1000 12:5cb359f981f3 221 //button3
hi1000 12:5cb359f981f3 222 void button3_enabled_cb(void)
hi1000 12:5cb359f981f3 223 {
hi1000 12:5cb359f981f3 224 int button_status;
hi1000 12:5cb359f981f3 225 button_status = button3.read();
hi1000 12:5cb359f981f3 226 if (button_status == 0)
hi1000 12:5cb359f981f3 227 {
hi1000 12:5cb359f981f3 228 printf("button3 down\r\n");
hi1000 14:2e17a27f56b2 229 button_event_flags.set(BUTTON3_HOLD_EVENT);
hi1000 12:5cb359f981f3 230 }
hi1000 12:5cb359f981f3 231 else
hi1000 14:2e17a27f56b2 232 {
hi1000 12:5cb359f981f3 233 printf("button3 released\r\n");
hi1000 14:2e17a27f56b2 234 button_event_flags.set(BUTTON3_PRESSED_EVENT);
hi1000 14:2e17a27f56b2 235 }
hi1000 12:5cb359f981f3 236 button3_enabled = true;
hi1000 12:5cb359f981f3 237 }
hi1000 12:5cb359f981f3 238
hi1000 12:5cb359f981f3 239 // ISR handling button pressed event
hi1000 12:5cb359f981f3 240 void button3_onpressed_cb(void)
hi1000 12:5cb359f981f3 241 {
hi1000 12:5cb359f981f3 242 if (button3_enabled) { // Disabled while the button is bouncing
hi1000 12:5cb359f981f3 243 button3_enabled = false;
hi1000 12:5cb359f981f3 244 button3_pressed = true; // To be read by the main loop
hi1000 12:5cb359f981f3 245 button3_timeout.attach(callback(button3_enabled_cb), 0.3); // Debounce time 300 ms
hi1000 12:5cb359f981f3 246 }
hi1000 12:5cb359f981f3 247 }
hi1000 12:5cb359f981f3 248 //button3--
hi1000 12:5cb359f981f3 249 //button4
hi1000 12:5cb359f981f3 250 void button4_enabled_cb(void)
hi1000 12:5cb359f981f3 251 {
hi1000 12:5cb359f981f3 252 int button_status;
hi1000 12:5cb359f981f3 253 button_status = button4.read();
hi1000 12:5cb359f981f3 254 if (button_status == 0)
hi1000 12:5cb359f981f3 255 {
hi1000 12:5cb359f981f3 256 printf("button4 down\r\n");
hi1000 14:2e17a27f56b2 257 button_event_flags.set(BUTTON4_HOLD_EVENT);
hi1000 12:5cb359f981f3 258 }
hi1000 12:5cb359f981f3 259 else
hi1000 14:2e17a27f56b2 260 {
hi1000 12:5cb359f981f3 261 printf("button4 released\r\n");
hi1000 14:2e17a27f56b2 262 button_event_flags.set(BUTTON4_PRESSED_EVENT);
hi1000 14:2e17a27f56b2 263 }
hi1000 12:5cb359f981f3 264 button4_enabled = true;
hi1000 12:5cb359f981f3 265 }
hi1000 12:5cb359f981f3 266
hi1000 12:5cb359f981f3 267 // ISR handling button pressed event
hi1000 12:5cb359f981f3 268 void button4_onpressed_cb(void)
hi1000 12:5cb359f981f3 269 {
hi1000 12:5cb359f981f3 270 if (button4_enabled) { // Disabled while the button is bouncing
hi1000 12:5cb359f981f3 271 button4_enabled = false;
hi1000 12:5cb359f981f3 272 button4_pressed = true; // To be read by the main loop
hi1000 12:5cb359f981f3 273 button4_timeout.attach(callback(button4_enabled_cb), 0.3); // Debounce time 300 ms
hi1000 12:5cb359f981f3 274 }
hi1000 12:5cb359f981f3 275 }
hi1000 12:5cb359f981f3 276 //button4--
hi1000 19:0356e54240cc 277 #if 1
hi1000 17:faa4d4976d22 278 void can_sendData(int can_id, uint8_t *tx_data, int length)
hi1000 17:faa4d4976d22 279 {
hi1000 17:faa4d4976d22 280 CANMessage txmsg;
hi1000 17:faa4d4976d22 281
hi1000 17:faa4d4976d22 282 txmsg.format = CANExtended;
hi1000 17:faa4d4976d22 283 txmsg.id = can_id;
hi1000 17:faa4d4976d22 284 txmsg.len = length;
hi1000 17:faa4d4976d22 285 txmsg.data[0] = tx_data[0];
hi1000 17:faa4d4976d22 286 txmsg.data[1] = tx_data[1];
hi1000 17:faa4d4976d22 287 txmsg.data[2] = tx_data[2];
hi1000 17:faa4d4976d22 288 txmsg.data[3] = tx_data[3];
hi1000 17:faa4d4976d22 289 txmsg.data[4] = tx_data[4];
hi1000 17:faa4d4976d22 290 txmsg.data[5] = tx_data[5];
hi1000 17:faa4d4976d22 291 txmsg.data[6] = tx_data[6];
hi1000 17:faa4d4976d22 292 txmsg.data[7] = tx_data[7];
hi1000 17:faa4d4976d22 293
hi1000 19:0356e54240cc 294 // printf("can_sendData can_id=0x%08x \r\n", can_id);
hi1000 17:faa4d4976d22 295 can1.write(txmsg);
hi1000 17:faa4d4976d22 296 }
hi1000 17:faa4d4976d22 297
hi1000 8:6105ffbaf237 298 void can_rxthread()
hi1000 0:765cf978c3e5 299 {
hi1000 9:486f65124378 300 int loop;
hi1000 0:765cf978c3e5 301 while (true) {
hi1000 9:486f65124378 302 #if 1
hi1000 0:765cf978c3e5 303 if(can1.read(msg)) {
hi1000 0:765cf978c3e5 304 print_char();
hi1000 0:765cf978c3e5 305 printf("got message id=%d 0x%08x\r\n", msg.id, msg.id);
hi1000 0:765cf978c3e5 306 // b = *reinterpret_cast<int*>(msg.data);
hi1000 9:486f65124378 307 for (loop = 0; loop < msg.len; loop++)
hi1000 8:6105ffbaf237 308 {
hi1000 9:486f65124378 309 can_rx_data[loop] = msg.data[loop];
hi1000 8:6105ffbaf237 310 }
hi1000 8:6105ffbaf237 311
hi1000 9:486f65124378 312 printf("got data: length:%d\r\n", msg.len);
hi1000 9:486f65124378 313 for (loop = 0; loop < msg.len; loop++)
hi1000 9:486f65124378 314 {
hi1000 9:486f65124378 315 printf("data[%d]=%d\r\n", loop, can_rx_data[loop]);
hi1000 9:486f65124378 316 }
hi1000 14:2e17a27f56b2 317 // if(msg.id == 1337)
hi1000 14:2e17a27f56b2 318 {
hi1000 9:486f65124378 319 //only queue the message belongs to you
hi1000 9:486f65124378 320 CANMessage *can_message = can_mpool.alloc();
hi1000 9:486f65124378 321 memcpy((void *)can_message, (void *)&msg, sizeof(msg));
hi1000 9:486f65124378 322 if (!can_queue.full())
hi1000 9:486f65124378 323 can_queue.put(can_message);
hi1000 9:486f65124378 324 else
hi1000 9:486f65124378 325 {
hi1000 9:486f65124378 326 printf("message queue is full. \r\n");
hi1000 9:486f65124378 327 }
hi1000 0:765cf978c3e5 328 led2 = !led2;
hi1000 0:765cf978c3e5 329 }
hi1000 0:765cf978c3e5 330 }
hi1000 9:486f65124378 331 #endif
hi1000 0:765cf978c3e5 332 // wait(0.2);
hi1000 0:765cf978c3e5 333 }
hi1000 0:765cf978c3e5 334 }
hi1000 19:0356e54240cc 335 #endif
hi1000 19:0356e54240cc 336 void i2c_scanner(PinName sda, PinName scl)
hi1000 19:0356e54240cc 337 {
hi1000 19:0356e54240cc 338 I2C i2c(sda, scl);
hi1000 19:0356e54240cc 339
hi1000 19:0356e54240cc 340 int error, address;
hi1000 19:0356e54240cc 341 int nDevices;
hi1000 19:0356e54240cc 342
hi1000 19:0356e54240cc 343 i2c.frequency(100000);
hi1000 19:0356e54240cc 344 printf("i2c_scanner sda=%d scl=%d \r\n", (int)sda, (int)scl);
hi1000 19:0356e54240cc 345 printf("Scanning...\r\n");
hi1000 19:0356e54240cc 346
hi1000 19:0356e54240cc 347 nDevices = 0;
hi1000 19:0356e54240cc 348
hi1000 19:0356e54240cc 349 for(address = 0; address < 127; address++ )
hi1000 19:0356e54240cc 350 {
hi1000 19:0356e54240cc 351 i2c.start();
hi1000 19:0356e54240cc 352 // error = i2c.write(address << 1); //We shift it left because mbed takes in 8 bit addreses
hi1000 19:0356e54240cc 353 error = i2c.write(address << 1, "1", 1, false);
hi1000 19:0356e54240cc 354 i2c.stop();
hi1000 19:0356e54240cc 355 if (error == 0)
hi1000 19:0356e54240cc 356 {
hi1000 19:0356e54240cc 357 printf("I2C device found at address 7bit:0x%X (8bit:0x%X)\r\n", address, (address<<1)); //Returns 8-bit addres
hi1000 19:0356e54240cc 358 nDevices++;
hi1000 19:0356e54240cc 359 }
hi1000 19:0356e54240cc 360 }
hi1000 19:0356e54240cc 361 if (nDevices == 0)
hi1000 19:0356e54240cc 362 printf("No I2C devices found\r\n");
hi1000 19:0356e54240cc 363 else
hi1000 19:0356e54240cc 364 printf("\r\ndone\r\n");
hi1000 19:0356e54240cc 365 }
hi1000 0:765cf978c3e5 366 int main()
hi1000 0:765cf978c3e5 367 {
hi1000 9:486f65124378 368 int loop = 0;
hi1000 9:486f65124378 369 int8_t ival;
hi1000 19:0356e54240cc 370 unsigned int can_id;
hi1000 14:2e17a27f56b2 371 printf("\n\n*** RTOS starts ***\r\n");
hi1000 9:486f65124378 372
hi1000 9:486f65124378 373 // wait(1);
hi1000 19:0356e54240cc 374 #if 1
hi1000 14:2e17a27f56b2 375 ep.read((uint32_t)EEPROM_DEVICE_ADDRESS_ADDRESS,device_address);
hi1000 14:2e17a27f56b2 376 printf("EEPROM: read device address:%d 0x%08x\r\n", device_address, device_address);
hi1000 14:2e17a27f56b2 377 if ((device_address == 0) || (device_address == 0xFFFFFFFF))
hi1000 14:2e17a27f56b2 378 device_address = DEVICE_DEFAULT_ADDRESS;
hi1000 16:f4277e9b8612 379 device_type = (device_address & 0x00000700) >> 8;
hi1000 19:0356e54240cc 380 device_type_v = (Device_Type_d)device_type;
hi1000 8:6105ffbaf237 381 #ifdef LCD_1621
hi1000 4:40bb33497de4 382 lcd.clear(); // clears display
hi1000 4:40bb33497de4 383 lcd.allsegson();
hi1000 5:4585215afd11 384
hi1000 4:40bb33497de4 385 // lcd.printf("ABCDEFGHI"); // Standard printf function, All ASCII characters will display
hi1000 5:4585215afd11 386 #endif
hi1000 19:0356e54240cc 387 #ifdef YODA2
hi1000 19:0356e54240cc 388 lcd.cls();
hi1000 19:0356e54240cc 389 lcd.setContrast(31);
hi1000 19:0356e54240cc 390 lcd.setCursor(TextLCD::CurOff_BlkOff);
hi1000 19:0356e54240cc 391 lcd.setAddress(0,0);
hi1000 19:0356e54240cc 392 lcd.printf("Hello Yoda2!");
hi1000 19:0356e54240cc 393 #endif
hi1000 5:4585215afd11 394 #ifdef LCD_1602
hi1000 16:f4277e9b8612 395 // lcd.printf( 0, "Hello world!" ); // line# (0 or 1), string
hi1000 16:f4277e9b8612 396 // lcd.printf( 1, "pi = %.6f", 3.14159265 );
hi1000 16:f4277e9b8612 397 // lcd.putcxy(0x55, 5, 1);
hi1000 16:f4277e9b8612 398 // lcd.printf(5, 0, "UUU");
hi1000 16:f4277e9b8612 399 // lcd.printf(0, 0, "pressed!" );
hi1000 9:486f65124378 400 #endif
hi1000 11:8702316d7fc8 401
hi1000 19:0356e54240cc 402 // input1.mode(PullUp);
hi1000 19:0356e54240cc 403 // input2.mode(PullUp);
hi1000 13:9f581a090e53 404
hi1000 0:765cf978c3e5 405 // can1.reset();
hi1000 0:765cf978c3e5 406 // can2.reset();
hi1000 16:f4277e9b8612 407 printf("device_address =0x%08x \r\n", (device_address<<18));
hi1000 2:61a0169765bf 408 can1.frequency(100000);
hi1000 14:2e17a27f56b2 409 can1.filter((device_address<<18), 0x1FFC0000, CANExtended, init_filter_handle); // 0x1FFC0000 to filter the last 18bits 0-17
hi1000 16:f4277e9b8612 410 device_address = (device_address & 0x000000FF);
hi1000 14:2e17a27f56b2 411 //only support one filter
hi1000 14:2e17a27f56b2 412 // can1.filter(broadcast_id, 0x1FFC0000, CANExtended, broadcast_filter_handle); // the broadcast id
hi1000 0:765cf978c3e5 413 // can2.frequency(100000);
hi1000 12:5cb359f981f3 414 //button0.mode(PullUp); // Activate pull-up
hi1000 13:9f581a090e53 415 can_receivethread.start(can_rxthread);
hi1000 13:9f581a090e53 416 can_handlethread.start(analyzePayload);
hi1000 19:0356e54240cc 417 #endif
hi1000 19:0356e54240cc 418 button1.mode(PullUp);
hi1000 19:0356e54240cc 419 button2.mode(PullUp);
hi1000 19:0356e54240cc 420 button3.mode(PullUp);
hi1000 19:0356e54240cc 421 button4.mode(PullUp);
hi1000 12:5cb359f981f3 422 button0.fall(callback(button0_onpressed_cb)); // Attach ISR to handle button press event
hi1000 12:5cb359f981f3 423 button0.rise(callback(button0_onpressed_cb)); // Attach ISR to handle button press event
hi1000 2:61a0169765bf 424 button1.fall(callback(button1_onpressed_cb)); // Attach ISR to handle button press event
hi1000 12:5cb359f981f3 425 button1.rise(callback(button1_onpressed_cb)); // Attach ISR to handle button press event
hi1000 12:5cb359f981f3 426 button2.fall(callback(button2_onpressed_cb)); // Attach ISR to handle button press event
hi1000 12:5cb359f981f3 427 button2.rise(callback(button2_onpressed_cb)); // Attach ISR to handle button press event
hi1000 12:5cb359f981f3 428 button3.fall(callback(button3_onpressed_cb)); // Attach ISR to handle button press event
hi1000 12:5cb359f981f3 429 button3.rise(callback(button3_onpressed_cb)); // Attach ISR to handle button press event
hi1000 12:5cb359f981f3 430 button4.fall(callback(button4_onpressed_cb)); // Attach ISR to handle button press event
hi1000 12:5cb359f981f3 431 button4.rise(callback(button4_onpressed_cb)); // Attach ISR to handle button press event
hi1000 19:0356e54240cc 432 // i2c_scanner(PB_9, PB_8);
hi1000 11:8702316d7fc8 433 // eeprom_test();
hi1000 0:765cf978c3e5 434
hi1000 11:8702316d7fc8 435 #if 1
hi1000 18:e6ed582f7022 436 // scaleCalibration(true);
hi1000 19:0356e54240cc 437 switch (device_type_v)
hi1000 19:0356e54240cc 438 {
hi1000 19:0356e54240cc 439 case CupTrack:
hi1000 19:0356e54240cc 440 case JamTrack:
hi1000 19:0356e54240cc 441 case TeaTrack:
hi1000 19:0356e54240cc 442 break;
hi1000 19:0356e54240cc 443 case Tea:
hi1000 19:0356e54240cc 444 case Jam:
hi1000 19:0356e54240cc 445 init_scale();
hi1000 19:0356e54240cc 446 scale_thread.start(scale_reading);
hi1000 19:0356e54240cc 447 break;
hi1000 19:0356e54240cc 448 case Shaker:
hi1000 19:0356e54240cc 449 break;
hi1000 19:0356e54240cc 450 default:
hi1000 19:0356e54240cc 451 break;
hi1000 19:0356e54240cc 452 }
hi1000 19:0356e54240cc 453
hi1000 14:2e17a27f56b2 454 mainmenu_thread.start(main_menu);
hi1000 14:2e17a27f56b2 455
hi1000 11:8702316d7fc8 456 #endif
hi1000 14:2e17a27f56b2 457 while(1) {
hi1000 19:0356e54240cc 458 wait(2);
hi1000 19:0356e54240cc 459 #if 1
hi1000 19:0356e54240cc 460 if (!can_register_success)
hi1000 19:0356e54240cc 461 {
hi1000 19:0356e54240cc 462 can_txdata_frame.cmd = COMMAND_REGISTER;
hi1000 19:0356e54240cc 463 can_txdata_frame.value1 = 0;
hi1000 19:0356e54240cc 464 can_txdata_frame.value2 = 0;
hi1000 19:0356e54240cc 465 can_txdata_frame.value3 = 0;
hi1000 19:0356e54240cc 466 memcpy(can_tx_data, (unsigned char *)&can_txdata_frame, sizeof(can_tx_data));
hi1000 19:0356e54240cc 467 // printf("cmd=0x%08x value1=0x%08x size=%d %d\r\n", can_txdata_frame.cmd, can_txdata_frame.value1, sizeof(can_tx_data), sizeof(can_txdata_frame));
hi1000 19:0356e54240cc 468 // printf("data 0x%02x 0x%02x 0x%02x 0x%02x 0x%02x 0x%02x 0x%02x 0x%02x \r\n", can_tx_data[0], can_tx_data[1], can_tx_data[2], can_tx_data[3], can_tx_data[4], can_tx_data[5], can_tx_data[6], can_tx_data[7]);
hi1000 19:0356e54240cc 469 can_id = (RASPBERRY_PI_CAN_ADDRESS << 18) | (((device_type << 8) |device_address) << 7) | 0x80000000;
hi1000 19:0356e54240cc 470 // printf("device_address = 0x%08x can_id=0x%08x \r\n", device_address, can_id);
hi1000 19:0356e54240cc 471 can_sendData(can_id, can_tx_data, 8);
hi1000 19:0356e54240cc 472 }
hi1000 19:0356e54240cc 473 #endif
hi1000 14:2e17a27f56b2 474 }
hi1000 14:2e17a27f56b2 475
hi1000 14:2e17a27f56b2 476 #if 0
hi1000 0:765cf978c3e5 477 int idx = 0; // Just for printf below
hi1000 9:486f65124378 478 can_tx_data[0] = 0;
hi1000 0:765cf978c3e5 479 while(1) {
hi1000 12:5cb359f981f3 480 if (button0_pressed) { // Set when button is pressed
hi1000 9:486f65124378 481 #if 0
hi1000 1:eb499e2a1b9b 482 printf("scale value %f. \r\n", hx711.getGram());
hi1000 9:486f65124378 483 #endif
hi1000 9:486f65124378 484 can_tx_data[1] = can_tx_data[0]+1;
hi1000 9:486f65124378 485 can_tx_data[2] = can_tx_data[1]+1;
hi1000 9:486f65124378 486 can_tx_data[3] = can_tx_data[2]+1;
hi1000 9:486f65124378 487 can_tx_data[4] = can_tx_data[3]+1;
hi1000 9:486f65124378 488 can_tx_data[5] = can_tx_data[4]+1;
hi1000 9:486f65124378 489 can_tx_data[6] = can_tx_data[5]+1;
hi1000 9:486f65124378 490 can_tx_data[7] = can_tx_data[6]+1;
hi1000 12:5cb359f981f3 491 button0_pressed = false;
hi1000 2:61a0169765bf 492 printf("Button pressed %d\r\n", idx++);
hi1000 9:486f65124378 493 printf("ID=%d data[0]=%d. \r\n", init_id + idx%10, can_tx_data[0]);
hi1000 9:486f65124378 494 #ifdef LCD_1602
hi1000 9:486f65124378 495 lcd.printf(0, 0, "%d ", idx ); // line# (0 or 1), string
hi1000 9:486f65124378 496 #endif
hi1000 17:faa4d4976d22 497 can1.write(CANMessage((init_id + idx%10), reinterpret_cast<char*>(can_tx_data), 8, CANData,CANExtended));
hi1000 0:765cf978c3e5 498 led1 = !led1;
hi1000 9:486f65124378 499 can_tx_data[0]++;
hi1000 0:765cf978c3e5 500 }
hi1000 0:765cf978c3e5 501 }
hi1000 14:2e17a27f56b2 502 #endif
hi1000 9:486f65124378 503
hi1000 0:765cf978c3e5 504 }