Diff: main.cpp

Revision:

22:c024b20a0e2d

Parent:

21:31647d80614f

Child:

23:bb57966cb776

--- a/main.cpp	Tue Jun 12 15:02:44 2018 +0000
+++ b/main.cpp	Wed Jun 13 09:06:55 2018 +0000
@@ -5,6 +5,7 @@
 #include "Switch.h"
 #include "Track.h"
 #include "Detector.h"
+#include "MCP23017.h"
 
 //Board 1
 /*----------------------------------------------------------------------------
@@ -35,8 +36,9 @@
 DigitalIn sw4(p12);
 
 //InterruptIn sw1(p5);
-InterruptIn inter0(p13);
-InterruptIn inter1(p14);
+InterruptIn int0(p13);
+InterruptIn int1(p14);
+I2C i2c(p28, p27);
 MCP23017 *mcp;
 
 /*----------------------------------------------------------------------------
@@ -77,7 +79,12 @@
 *----------------------------------------------------------------------------*/
 bool readDetector(DigitalIn detector);
 bool readSwitch(DigitalIn theSwitch);
-void initialize_mcp();
+//void initialize_mcp();
+void on_int0_change();
+void on_int1_change();
+void init_mcp();
+void init();
+
 
 
 //Trains
@@ -99,23 +106,32 @@
     sw1.fall(&testInterupt);
     inter0.rise(&riseFunction);
     inter1.rise(&riseFunction);*/
-    
-    initialize_mcp();
-    int res[2] = {2,4};
+    lcd.printf("Start journey");
+    init_mcp();
+    init();
+    /*int res[2] = {2,4};
     dect.reserveDetector(res); //Run trains counterclockwise and reserve the 
     int res2[2] = {12,13};
     dect.reserveDetector(res2);//detectors in front 
-
+    */
     while(1){ 
+        
         if(readSwitch(sw1)){ //Control switches
-        switch1.switchOn();    
+        /*switch1.switchOn();    
         lcd.printf("Switch 1 on");
         //switch2.switchOn();  // Need to turn it off immediately!!!
         switch3.switchOn();
-        switch4.switchOn();
+        switch4.switchOn();*/
+        
+            // Clear current interrupts
+            mcp->_read(GPIOA);
+            mcp->_read(GPIOB);
+            // Register callbacks
+            int0.fall(&on_int0_change);
+            int1.fall(&on_int1_change);
     
         }
-        else{
+        /*else{
         //DCC_send_command(DCCaddress_switch,DCCinst_deactive_switch,10);
         switch1.switchOff();
         //switch2.switchOff();
@@ -140,8 +156,8 @@
             else
                 silverTrain.changeSpeed(DCCinst_step2);
         
-    }
-} 
+        }
+    } */
     
     /*lcd.printf("Start the journey");
     time_t tstart, tend; 
@@ -150,6 +166,7 @@
     lcd.printf("%d", data);
     wait(2);
     */
+    }
 }
 
 /*----------------------------------------------------------------------------
@@ -158,7 +175,7 @@
 
 
 bool testInterupt(){
-    int pos = mcp->readRegister(0x12); 
+    int pos = 0;// mcp->readRegister(0x12); 
     lcd.cls();
     //Check which train got the interupt
     Train *temptrain;
@@ -179,6 +196,7 @@
     switch(pos){
     case 0:
     case 1:
+        //Slow down
     case 2:
         //IF Clock 2->1
             //Disable Switch2
@@ -335,7 +353,7 @@
 
 bool readSwitch(DigitalIn theSwitch){
     int val = theSwitch.read();
-    lcd.printf("%d", val);
+    //lcd.printf("%d", val);
     if(val == 1)
     return true;
     else
@@ -354,21 +372,53 @@
     return false;
 }
 
-void initialize_mcp(){
-    mcp = new MCP23017(p28, p27, 0x40);
-    mcp->reset();     
-    mcp->writeRegister(0x00, (unsigned char )0xff);     
-    mcp->writeRegister(0x01, (unsigned char )0xff);     
-    mcp->writeRegister(0x02, (unsigned char )0x00);     
-    mcp->writeRegister(0x03, (unsigned char )0x00);
-    mcp->writeRegister(0x04, (unsigned char )0xff);     
-    mcp->writeRegister(0x05, (unsigned char )0xff);     
-    mcp->writeRegister(0x06, (unsigned char )0xff);     
-    mcp->writeRegister(0x07, (unsigned char )0xff);     
-    mcp->writeRegister(0x08, (unsigned char )0xff);     
-    mcp->writeRegister(0x09, (unsigned char )0xff);     
-    mcp->writeRegister(0x0a, (unsigned char )0x42);     
-    mcp->writeRegister(0x0b, (unsigned char )0x42);     
-    mcp->writeRegister(0x0c, (unsigned char )0x00);     
-    mcp->writeRegister(0x0d, (unsigned char )0x00);
+void init_mcp() {
+    // Initialisation of MCP registers,documentation on registers is availableatNiels/Jacco/Natalia
+    mcp = new MCP23017(i2c, 0x40);
+    mcp->_write(IODIRA, (unsigned char )0xff);
+    mcp->_write(IODIRB, (unsigned char )0xff);
+    mcp->_write(IPOLA, (unsigned char )0x00);
+    mcp->_write(IPOLB, (unsigned char )0x00);
+    mcp->_write(DEFVALA, (unsigned char )0xff);
+    mcp->_write(DEFVALB, (unsigned char )0xff);
+    mcp->_write(INTCONA, (unsigned char )0xff);
+    mcp->_write(INTCONB, (unsigned char )0xff);
+    mcp->_write(IOCONA, (unsigned char )0x2);
+    mcp->_write(IOCONB, (unsigned char )0x2);
+    mcp->_write(GPPUA, (unsigned char )0xff);
+    mcp->_write(GPPUB, (unsigned char )0xff);
 }
+
+void init() {
+    // Clear current interrupts
+    mcp->_read(GPIOA);
+    mcp->_read(GPIOB);
+    // Register callbacks
+    int0.fall(&on_int0_change);
+    int1.fall(&on_int1_change);
+    // Enable interrupts on MCP
+    mcp->_write(GPINTENA, (unsigned char )0xff);
+    mcp->_write(GPINTENB, (unsigned char )0xff);// Ready to go!
+}
+
+void on_int0_change() {
+    lcd.printf("In int0)");
+    // In your code, you might want to move this logic out of the interrupt routine
+    // (for instance, by setting a flag and checking this flagin your main-loop)
+    wait_us(200000);
+    int sensor_data = mcp->_read(INTCAPA);
+    // The only thing we do with the interrupt signal is printing it
+    lcd.cls();
+    lcd.printf("GOT INT0 (0x%x)\n", sensor_data);
+}
+
+void on_int1_change() {
+    lcd.printf("In int1)");
+    // In your code, you might want to move this logic out of the interrupt routine
+    // (for instance, by setting a flag and checking this flagin your main-loop)
+    wait_us(200000);
+    int sensor_data = mcp->_read(INTCAPB);
+    // The only thing we do with the interrupt signal is printing it
+    lcd.cls();
+    lcd.printf("GOT INT0 (1) (0x%x)\n", sensor_data);
+}
\ No newline at end of file