Jasmine Karlsson / Mbed 2 deprecated train_rail

New project

Dependencies:   mbed TextLCD

main.cpp@14:a5fd98a957e6, 2018-06-06 (annotated)

Committer:
KwamsC
Date:
Wed Jun 06 23:09:22 2018 +0000
Revision:
14:a5fd98a957e6
Parent:
13:78a2481fd65b
Child:
15:8d96f7a06103
test sensors

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jasminealice 0:57cbecaac770 1 #include "mbed.h"
Kwame 2:9bb410612929 2 #include "TextLCD.h"
jasminealice 4:4b62680f91b5 3 #include <string>
jasminealice 4:4b62680f91b5 4 #include <iostream>
KwamsC 14:a5fd98a957e6 5 #include "mcp23017.h"
KwamsC 10:cda57976225f 6
KwamsC 10:cda57976225f 7 //board 1
KwamsC 10:cda57976225f 8
KwamsC 10:cda57976225f 9 I2C i2c(p28, p27); // sda, scl pins (you can also use the other I2C port pins: 9,10)
KwamsC 10:cda57976225f 10
KwamsC 10:cda57976225f 11 const int addr0 = 0x20 << 1; // 7-bit base address of the MCP23017 + address bits (which are 000 for the first one), shifted 1 place to the right (see top header)
KwamsC 10:cda57976225f 12
KwamsC 14:a5fd98a957e6 13 /* LED Definitions */
KwamsC 14:a5fd98a957e6 14 DigitalOut myled(LED1);
KwamsC 14:a5fd98a957e6 15 DigitalOut myled2(LED2);
KwamsC 14:a5fd98a957e6 16 DigitalOut myled3(LED3);
KwamsC 14:a5fd98a957e6 17 DigitalOut myled4(LED4);
KwamsC 14:a5fd98a957e6 18
KwamsC 14:a5fd98a957e6 19 TextLCD lcd(p22, p21, p23, p24, p25, p26); // lcd
KwamsC 14:a5fd98a957e6 20
KwamsC 10:cda57976225f 21 AnalogIn Ain(p20); // pot. met.
tanjinamicky 13:78a2481fd65b 22 DigitalOut Track(p21); // train track
KwamsC 10:cda57976225f 23
KwamsC 14:a5fd98a957e6 24 /* Train detectors d2, d21, d22 (trainstation) */
KwamsC 14:a5fd98a957e6 25 AnalogIn detect_21(p15);
tanjinamicky 13:78a2481fd65b 26 AnalogIn detect_22(p16);
tanjinamicky 13:78a2481fd65b 27 AnalogIn detect_2(p17);
KwamsC 10:cda57976225f 28
KwamsC 14:a5fd98a957e6 29 /* Switch Definitions */
KwamsC 14:a5fd98a957e6 30 DigitalIn sw1(p5);
KwamsC 14:a5fd98a957e6 31 DigitalIn sw2(p30);
KwamsC 14:a5fd98a957e6 32 DigitalIn sw3(p29);
KwamsC 14:a5fd98a957e6 33 DigitalIn sw4(p28);
jasminealice 0:57cbecaac770 34
KwamsC 14:a5fd98a957e6 35 /* Train Definitions */
tanjinamicky 13:78a2481fd65b 36 unsigned int DCCaddress_darkRed = 0x01;
tanjinamicky 13:78a2481fd65b 37 unsigned int DCCaddress_lightRed = 0x03;
KwamsC 14:a5fd98a957e6 38
KwamsC 14:a5fd98a957e6 39 /* Train movement */
KwamsC 14:a5fd98a957e6 40
KwamsC 14:a5fd98a957e6 41 /*----------------------------------------------------------------------------
KwamsC 14:a5fd98a957e6 42 Train movement
KwamsC 14:a5fd98a957e6 43 *----------------------------------------------------------------------------*/
KwamsC 14:a5fd98a957e6 44 //move forward
KwamsC 10:cda57976225f 45 unsigned int DCCinst_forward = 0x68; //forward half speed
KwamsC 10:cda57976225f 46
KwamsC 14:a5fd98a957e6 47 //move backwards/reverse
KwamsC 14:a5fd98a957e6 48 unsigned int DCCinst_reverse = 01001000; //reverse half speed
KwamsC 14:a5fd98a957e6 49
KwamsC 14:a5fd98a957e6 50 //speed dial
KwamsC 14:a5fd98a957e6 51 unsigned int DCCinst_step1 = 01100010; //step 1
KwamsC 14:a5fd98a957e6 52 unsigned int DCCinst_step2 = 01110010; //step 2
KwamsC 14:a5fd98a957e6 53 unsigned int DCCinst_step3 = 01100011; //step 3
KwamsC 14:a5fd98a957e6 54 unsigned int DCCinst_step4 = 01110011; //step 4
KwamsC 14:a5fd98a957e6 55 unsigned int DCCinst_step5 = 01100100; //step 5
KwamsC 14:a5fd98a957e6 56 unsigned int DCCinst_step6 = 01110100; //step 6 1/4 speed
KwamsC 14:a5fd98a957e6 57
KwamsC 14:a5fd98a957e6 58 unsigned int DCCinst_step13 = 01100000; //step 13 1/2 speed
KwamsC 14:a5fd98a957e6 59
KwamsC 14:a5fd98a957e6 60 unsigned int DCCinst_step20 = 01110101; //step 20 3/4 speed
KwamsC 14:a5fd98a957e6 61
KwamsC 14:a5fd98a957e6 62 unsigned int DCCinst_step28 = 01111111; //step 28 Full speed
KwamsC 14:a5fd98a957e6 63
KwamsC 14:a5fd98a957e6 64 //stop
tanjinamicky 13:78a2481fd65b 65 unsigned int DCCinst_forward_stop = 0x60; //forward and stop 01100000
tanjinamicky 13:78a2481fd65b 66
KwamsC 10:cda57976225f 67 //move forward
KwamsC 10:cda57976225f 68
KwamsC 10:cda57976225f 69 //speed dial
KwamsC 10:cda57976225f 70
KwamsC 10:cda57976225f 71 //stop
KwamsC 10:cda57976225f 72
KwamsC 10:cda57976225f 73 //read switch out
KwamsC 10:cda57976225f 74
KwamsC 10:cda57976225f 75 //read signal
KwamsC 10:cda57976225f 76
KwamsC 10:cda57976225f 77 //display message
KwamsC 10:cda57976225f 78
KwamsC 10:cda57976225f 79
KwamsC 14:a5fd98a957e6 80 /*----------------------------------------------------------------------------
KwamsC 14:a5fd98a957e6 81 Functions
KwamsC 14:a5fd98a957e6 82 *----------------------------------------------------------------------------*/
KwamsC 14:a5fd98a957e6 83 /* Functions definition */
KwamsC 14:a5fd98a957e6 84 void mcpWriteReg(uint8_t address, uint8_t reg, uint8_t data); // Write an I2C register
KwamsC 14:a5fd98a957e6 85 uint8_t mcpReadReg(uint8_t address, uint8_t reg); // Read an I2C register
KwamsC 14:a5fd98a957e6 86 void initMcp0(void); // Initialization of MCP23017 with address bits 000 (track sensors)
KwamsC 14:a5fd98a957e6 87 void testMcp0(void); // Test of MCP23017 with address bits 000
KwamsC 14:a5fd98a957e6 88 void readVoltage();
KwamsC 14:a5fd98a957e6 89 void readDetector();
KwamsC 14:a5fd98a957e6 90 void DCC_send_command(unsigned int address, unsigned int inst, unsigned int repeat_count); //send command
jasminealice 4:4b62680f91b5 91
jasminealice 5:49651a9f8ff7 92 int main() {
jasminealice 5:49651a9f8ff7 93 while(1){
tanjinamicky 13:78a2481fd65b 94 //unsigned int DCCaddress = 0x03;
tanjinamicky 13:78a2481fd65b 95 //unsigned int DCCaddress_darkRed = 0x01;
tanjinamicky 13:78a2481fd65b 96 readDetector();
tanjinamicky 13:78a2481fd65b 97 lcd.printf("Forward");
tanjinamicky 13:78a2481fd65b 98 DCC_send_command(DCCaddress_lightRed,DCCinst_forward,400); // forward half speed train address 3
tanjinamicky 13:78a2481fd65b 99 wait(0.5);
tanjinamicky 13:78a2481fd65b 100 lcd.printf("Stop");
tanjinamicky 13:78a2481fd65b 101 DCC_send_command(DCCaddress_lightRed,DCCinst_forward_stop,400); // forward half speed train address 3
tanjinamicky 13:78a2481fd65b 102 wait(1);
tanjinamicky 13:78a2481fd65b 103 //readVoltage();
tanjinamicky 13:78a2481fd65b 104 //myled=1;
tanjinamicky 13:78a2481fd65b 105 }
tanjinamicky 13:78a2481fd65b 106 }
tanjinamicky 13:78a2481fd65b 107
tanjinamicky 13:78a2481fd65b 108 void readDetector(){
tanjinamicky 13:78a2481fd65b 109 float val = detect_21.read();
tanjinamicky 13:78a2481fd65b 110 lcd.printf("%.2f", val);
tanjinamicky 13:78a2481fd65b 111 }
tanjinamicky 13:78a2481fd65b 112
tanjinamicky 13:78a2481fd65b 113 void readVoltage(){
jasminealice 5:49651a9f8ff7 114 float f = Ain.read(); //Read voltage value
jasminealice 5:49651a9f8ff7 115 float Vin = f *3.3;
jasminealice 5:49651a9f8ff7 116 lcd.printf("%.2f", Vin);
tanjinamicky 13:78a2481fd65b 117 wait(0.1);
jasminealice 5:49651a9f8ff7 118 lcd.printf("\n");
jasminealice 5:49651a9f8ff7 119 }
KwamsC 10:cda57976225f 120
KwamsC 10:cda57976225f 121 void mcpWriteReg(uint8_t address, uint8_t reg, uint8_t data){
KwamsC 10:cda57976225f 122 char cmd[2];cmd[0] = reg;
KwamsC 10:cda57976225f 123 cmd[1] = data;
KwamsC 10:cda57976225f 124 i2c.write(address, cmd, 2); // Write 2 bytes to device on specified address
KwamsC 10:cda57976225f 125 }
KwamsC 10:cda57976225f 126
KwamsC 10:cda57976225f 127 uint8_t mcpReadReg(uint8_t address, uint8_t reg){
KwamsC 10:cda57976225f 128 char cmd[1];
KwamsC 10:cda57976225f 129 cmd[0] = reg;
KwamsC 10:cda57976225f 130 i2c.write(address, cmd, 1); // Write address
KwamsC 10:cda57976225f 131 i2c.read(address, cmd, 1); // Read value (one byte)
KwamsC 10:cda57976225f 132
KwamsC 10:cda57976225f 133 return cmd[0]; // Return the read value
KwamsC 10:cda57976225f 134 }
KwamsC 10:cda57976225f 135
KwamsC 14:a5fd98a957e6 136 /* Initialization of the MCP23017 for the track sensors.
KwamsC 14:a5fd98a957e6 137 We should enable the MCP23017 interrupts here because the sensors will only give a short pulse to the MCP23017*/
KwamsC 10:cda57976225f 138 void initMcp0(void){
KwamsC 10:cda57976225f 139 mcpWriteReg(addr0, MCP_IODIRA, 0xff); // All inputs
KwamsC 10:cda57976225f 140 mcpWriteReg(addr0, MCP_IODIRB, 0xff); // All inputs
KwamsC 10:cda57976225f 141 }
KwamsC 10:cda57976225f 142
KwamsC 14:a5fd98a957e6 143 /* Test of the track sensors
KwamsC 14:a5fd98a957e6 144 * This does not use interrupts so the chance of actually detecting a train is very, very low
KwamsC 14:a5fd98a957e6 145 * With some patience it's good enough to test the hardware though.
KwamsC 14:a5fd98a957e6 146 */
KwamsC 14:a5fd98a957e6 147 void testMcp0(void) {
KwamsC 14:a5fd98a957e6 148 uint16_t sensors; // Put both ports in the sensor variable
KwamsC 14:a5fd98a957e6 149 sensors = (mcpReadReg(addr0, MCP_GPIOB) << 8) | mcpReadReg(addr0, MCP_GPIOA);
KwamsC 14:a5fd98a957e6 150 // Flip all bits, since the sensors are active low and it gives me headaches
KwamsC 14:a5fd98a957e6 151 // You could also set the IPOLA / IPOLB registers instead (see page 13 of the MCP23017 datasheet)
KwamsC 14:a5fd98a957e6 152 sensors = ~sensors;
KwamsC 14:a5fd98a957e6 153 lcd.printf("sensors: %04X\n", sensors);
KwamsC 14:a5fd98a957e6 154 }
KwamsC 14:a5fd98a957e6 155
KwamsC 10:cda57976225f 156 void DCC_send_command(unsigned int address, unsigned int inst, unsigned int repeat_count)
KwamsC 10:cda57976225f 157 {
KwamsC 10:cda57976225f 158 unsigned __int64 command = 0x0000000000000000; // __int64 is the 64-bit integer type
KwamsC 10:cda57976225f 159 unsigned __int64 temp_command = 0x0000000000000000;
KwamsC 10:cda57976225f 160 unsigned __int64 prefix = 0x3FFF; // 14 "1" bits needed at start
KwamsC 10:cda57976225f 161 unsigned int error = 0x00; //error byte
KwamsC 10:cda57976225f 162 //calculate error detection byte with xor
KwamsC 10:cda57976225f 163 error = address ^ inst;
KwamsC 10:cda57976225f 164 //combine packet bits in basic DCC format
KwamsC 10:cda57976225f 165 command = (prefix<<28)|(address<<19)|(inst<<10)|((error)<<1)|0x01;
KwamsC 10:cda57976225f 166 //printf("\n\r %llx \n\r",command);
KwamsC 10:cda57976225f 167 int i=0;
KwamsC 10:cda57976225f 168 //repeat DCC command lots of times
KwamsC 10:cda57976225f 169 while(i < repeat_count) {
KwamsC 10:cda57976225f 170 temp_command = command;
KwamsC 10:cda57976225f 171 //loops through packet bits encoding and sending out digital pulses for a DCC command
KwamsC 10:cda57976225f 172 for (int j=0; j<64; j++) {
KwamsC 10:cda57976225f 173 if((temp_command&0x8000000000000000)==0) { //test packet bit
KwamsC 10:cda57976225f 174 //send data for a "0" bit
KwamsC 10:cda57976225f 175 Track=0;
KwamsC 10:cda57976225f 176 wait_us(100);
KwamsC 10:cda57976225f 177 Track=1;
KwamsC 10:cda57976225f 178 wait_us(100);
KwamsC 10:cda57976225f 179 } else {
KwamsC 10:cda57976225f 180 //send data for a "1"bit
KwamsC 10:cda57976225f 181 Track=0;
KwamsC 10:cda57976225f 182 wait_us(58);
KwamsC 10:cda57976225f 183 Track=1;
KwamsC 10:cda57976225f 184 wait_us(58);
KwamsC 10:cda57976225f 185 }
KwamsC 10:cda57976225f 186 // next bit in packet
KwamsC 10:cda57976225f 187 temp_command = temp_command<<1;
KwamsC 10:cda57976225f 188 }
KwamsC 10:cda57976225f 189 i++;
KwamsC 10:cda57976225f 190 }
KwamsC 10:cda57976225f 191 }