Diff: main.cpp

Revision:

0:1e2fda723825

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Sep 19 12:16:23 2018 +0000
@@ -0,0 +1,141 @@
+// J. Bradshaw 20160111
+// Program for testing I/O on mbed ES201 Dev Board V1.1
+#include "mbed.h"
+#include "ServoOut.h"   //uses ServoOut.h library for generating servo pulses
+#include "MotCon.h"     //uses the MotCon.h library for controlling the motor ports
+#include "rtos.h"
+
+#define PI 3.1415926
+
+char DB9_M_char;
+
+DigitalOut led1(LED1);
+DigitalOut led3(LED3);
+
+//PC serial connection
+Serial pc(USBTX, USBRX);    //tx, rx via USB connection
+I2C i2c(p9,p10);    //SDA, SCL
+Serial DB9_male(p13, p14); //DB9 serial male
+
+//Port J5
+BusOut bus_J5(p5, p6, p7, p8, p11);
+
+//header for J5
+DigitalOut J5_p5(p5);
+DigitalOut J5_p6(p6);
+DigitalOut J5_p7(p7);
+DigitalOut J5_p8(p8);
+DigitalOut J5_p11(p11);
+
+//Analog port in J6
+AnalogIn    J6_P16(p16);
+AnalogIn    J6_P17(p17);
+AnalogIn    J6_P18(p18);
+AnalogIn    J6_P19(p19);
+AnalogIn    J6_P20(p20);
+
+// servo ports p21 - p24
+ServoOut sv1(p21);
+ServoOut sv2(p22);
+ServoOut sv3(p23);
+ServoOut sv4(p24);
+
+/*
+DigitalOut mot1_ph1(p28);
+DigitalOut mot1_ph2(p27);
+PwmOut mot_en1(p25);
+
+DigitalOut mot2_ph1(p29);
+DigitalOut mot2_ph2(p30);
+PwmOut mot_en2(p26);
+*/
+
+MotCon m1(p25, p27, p28);
+MotCon m2(p26, p29, p30);
+
+void mot1_thread(void const *args){
+        while(1){
+        // Run PWM and servo command signals
+        for(float cycle=0;cycle<2.0*PI;cycle+=.078){
+            sv1 = 1500 + (int)(sin(cycle)*500);
+            sv2 = 1500 + (int)(cos(cycle)*500);
+            sv3 = 1500 + (int)(sin(cycle)*500);
+            sv4 = 1500 + (int)(sin(cycle)*500);
+        
+            m1.mot_control(.85*sin(cycle));
+            m2.mot_control(.85*cos(cycle));
+                        
+            pc.printf("cycle = %.2f  \r", cycle);
+            Thread::wait(10);
+        } 
+    }//while(1)
+}
+
+void digOut_thread(void const *args){
+    //toggle bus I/O for testing
+    while(1){
+        bus_J5 = 0x1f;
+        Thread::wait(500);
+        bus_J5 = 0xAA;
+        Thread::wait(100);
+        bus_J5 = 0x55;
+        Thread::wait(100);
+        bus_J5 = 0xAA;
+        Thread::wait(100);
+        bus_J5 = 0x55;
+        Thread::wait(100);        
+        bus_J5 = 0; //all off
+        Thread::wait(500);    
+    }
+}
+
+void led1_flash(void const *args){
+    while(1){
+        led1 = !led1;
+        Thread::wait(500);
+    }
+}
+
+void serial_DB9M_test(void const *args){
+    while(1){        
+        for(char tx_char='a';tx_char <= 'z';tx_char++){
+            DB9_male.printf("%c", tx_char);
+            
+            if(DB9_male.readable()){
+                DB9_M_char = DB9_male.getc();
+            }            
+            Thread::wait(100);
+        }
+    }        
+}
+
+void i2c_test(void const *args){
+    while(1){        
+        //i2c.write(0x55);
+        Thread::wait(10);
+    }        
+}
+//------------ Main ------------------------------
+int main() {
+    float analogVal[6];
+    
+    i2c.frequency(100000);
+    pc.baud(9600);
+    DB9_male.baud(9600);
+    
+    Thread t1(mot1_thread);
+    Thread t2(digOut_thread);
+    Thread t3(led1_flash);
+    Thread t4(serial_DB9M_test);
+    Thread t5(i2c_test);
+        
+    while(1) {        
+        analogVal[0] = J6_P16;
+        analogVal[1] = J6_P17;
+        analogVal[2] = J6_P18;
+        analogVal[3] = J6_P19;
+        analogVal[4] = J6_P20;
+        pc.printf("%.2f %.2f %.2f %.2f %.2f DB9M=%c\r\n", analogVal[0],analogVal[1],analogVal[2],analogVal[3],analogVal[4], DB9_M_char);            
+        wait(.05);
+    }
+}