Diff: main.cpp

Revision:

0:d0306c0cbee6

Child:

2:ddae311a4533

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 28 18:26:28 2013 +0000
@@ -0,0 +1,201 @@
+ /**
+ * @file    main.c
+ * @brief   Main thread controlling everything
+ * @details This main thread received USB commands and executes them to other modules					
+ *
+ * @Author	Jeroen Lodder
+ * @Date		October 2013
+ *
+ * @{
+ */
+ 
+#include "mbed.h"
+#include "smc.h"
+#include "watchdog.h"
+#include "USBHID.h"
+#include "ByteOperations.h"
+#include "USBHIDProtocol.h"
+#include "CT16B1_PWM.h"
+
+/* Main routine handles USB and SMC api */
+
+#define VERSION	0x02
+
+/**
+ * @brief   USB HID Declarations
+ * @{
+ */
+USBHID *hid;
+HID_REPORT send_report __attribute__((aligned (4))); // Aligned for fast access
+HID_REPORT recv_report __attribute__((aligned (4))); // Aligned for fast access
+/** 
+ * @} 
+ */
+
+/* Input Output */
+DigitalOut led(P0_21);  /**< @brief User led */
+DigitalIn button(P0_1); /**< @brief User button input (bootloader pin) */
+DigitalOut aux(P0_22); 	/**< @brief Auxilary mosfet channel */
+
+/**
+ * @brief		Debounced button reader
+ */
+Ticker Ticker_button;
+volatile uint32_t button_history = 0xFF;
+void Ticker_button_handler(void){
+	button_history <<= 1;
+	button_history |= button;
+}
+
+/**
+ * @brief   LED Blink Handler
+ */
+Ticker Ticker_led;
+void Ticker_led_handler(void){
+	led = !led;
+}
+
+/**
+ * @brief   Clear buffer contents
+ * @note    Requires 4 byte alignement of data
+ * @param[in] c   Pointer to @p HID_REPORT.
+ */
+void empty_report(HID_REPORT *data){
+	register uint32_t *p = (uint32_t *)data->data;
+	for( register int i=0; i<((sizeof(HID_REPORT)-1)/4); i++ ){
+		*p = 0xFFFFFFFF;
+		p++;
+	}
+}
+ 
+/* Program entry */
+int main(void){
+/* Init */
+	// reset flags
+	LPC_SYSCON->SYSRSTSTAT = 0x1F;
+	// Motor Control IO config
+	SMC_init();
+	// aux init
+	aux = 0;
+	// LED
+	led = 0;
+	// USB Initialize	
+	static USBHID hid_object(64, 64);
+	hid = &hid_object;
+	send_report.length = 64;
+	// button config
+	Ticker_button.attach_us(&Ticker_button_handler, 20000);
+		
+	// Ready
+	while(1){
+		// insert idle time, since we cant be running USB stuff all the time
+		wait_us(5000);		
+		//try to read a msg
+		if(hid->readNB(&recv_report)){
+			// Data packet received, start parsing
+			int irx=0;
+			int itx=0;
+			send_report.data[itx++] = recv_report.data[0];
+			switch( recv_report.data[irx++] ){
+				case 	CMD_SYS_CHECK		:
+					send_report.data[itx++]	=  VERSION;
+				break;
+				case 	CMD_SYS_RESET		: 
+					  // Soft reset
+						SMC_deinit();
+						SMC_init();
+						CT16B1_deinit(0);
+						led = 1;
+						aux = 0;
+						empty_report(&recv_report);
+				break;
+				case 	CMD_LED_OFF			:
+					led = 1;	// inverted led
+					Ticker_led.detach();
+				break;
+				case 	CMD_LED_ON			:
+					led = 0;	// inverted led
+					Ticker_led.detach();
+				break;
+				case 	CMD_LED_BLINK		:
+					Ticker_led.attach_us(&Ticker_led_handler, 100000);
+				break;
+				case 	CMD_LED_BREATH	:
+					// Not implemented
+				break;
+				case 	CMD_GET_BUTTON	:
+					write_32_to_8(&itx, send_report.data, button_history);					
+				break;
+				case 	CMD_SMC_STEP		:	{		
+					uint32_t arg_step =	read_8_to_32(&irx, recv_report.data);				
+					uint8_t  arg_dir 	=	recv_report.data[irx++];
+					uint32_t arg_time =	read_8_to_32(&irx, recv_report.data);				
+					uint8_t  arg_free	=	recv_report.data[irx++];
+					SMC_step(arg_step, arg_dir, arg_time, arg_free);
+				}
+				break;
+				case 	CMD_SMC_STATE		:
+					write_32_to_8(&itx, send_report.data, SMC_getState());	
+				break;
+				case 	CMD_SMC_STOP		:
+					SMC_deinit();
+				break;
+				case 	CMD_SMC_PAUSE		:
+					SMC_pause();
+				break;
+				case 	CMD_SMC_CONTINUE:
+					SMC_continue();
+				break;
+				case 	CMD_SMC_FREE		:
+					SMC_free();
+				break;
+				case 	CMD_SMC_BRAKE		:
+					SMC_brake();
+				break;
+				case 	CMD_AUX_OFF			:
+					CT16B1_deinit(0);
+					aux = 0;	
+					//if(CT16B1_isStarted())
+					
+				break;
+				case 	CMD_AUX_ON			:
+					CT16B1_deinit(1);
+					aux = 1;
+					//if(CT16B1_isStarted())
+				break;
+				case 	CMD_AUX_PWM			: {
+					uint16_t dutycycle, period, prescaler;
+					dutycycle = read_8_to_16(&irx, recv_report.data);
+					period 		= read_8_to_16(&irx, recv_report.data);
+					prescaler = read_8_to_16(&irx, recv_report.data);
+					/* Invert PWM, since timer is inverted */
+					dutycycle = period - dutycycle;
+					if(CT16B1_isStarted()){
+					  CT16B1_wait_refresh();
+						CT16B1_set(1, dutycycle);
+					}else{
+						CT16B1_initpwm(period,dutycycle,prescaler);
+						CT16B1_start();
+					}
+				}					
+				break;
+				case 0xEE	: {
+					hid->sendNB(&send_report);	
+					SMC_egg();
+					WatchDog_us bello(100);
+					}
+				break;
+				default:
+					send_report.data[0] =	0xFF;	//Failure
+				break;
+			} // Switch	
+			// Return command + optional new args
+			hid->send(&send_report);
+			// 0xFF unused bytes
+			empty_report(&recv_report);			
+			empty_report(&send_report);
+		}		// if packet
+	} // While
+} // Main
+/** @} */
+