Jonathan Jones / Mbed 2 deprecated Base Station

RoboCup Base Station

Dependencies:   mbed mbed-rtos Wireless Drivers

main.cpp@2:7fd95eae5731, 2014-12-31 (annotated)

Committer:
jjones646
Date:
Wed Dec 31 09:17:06 2014 +0000
Revision:
2:7fd95eae5731
Parent:
1:e5373c63f642
Child:
3:c3114df544e8
updating startup routine

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jjones646 2:7fd95eae5731 1 // RoboCup dual-frequency band base station
jjones646 0:a606cf2249ad 2
jjones646 2:7fd95eae5731 3 #include "BaseStation.h"
jjones646 1:e5373c63f642 4
jjones646 0:a606cf2249ad 5 // Function for writing a number to the 7-segment display
jjones646 2:7fd95eae5731 6 void writeSegment(uint8_t val, DigitalOut& latch)
jjones646 0:a606cf2249ad 7 {
jjones646 2:7fd95eae5731 8 // Outputs used as input values to the 7-segment binary decoder - uses latching inputs
jjones646 2:7fd95eae5731 9 DigitalOut signal[4] = { RJ_7_SEG_PINS };
jjones646 2:7fd95eae5731 10
jjones646 0:a606cf2249ad 11 // write out the new value
jjones646 0:a606cf2249ad 12 for (int i=0; i<4; i++)
jjones646 0:a606cf2249ad 13 signal[i] = ((1<<i) & (val)) & 0x0F;
jjones646 0:a606cf2249ad 14
jjones646 0:a606cf2249ad 15 // latch the value
jjones646 0:a606cf2249ad 16 for (int i=0; i<2; i++)
jjones646 0:a606cf2249ad 17 latch = !latch;
jjones646 0:a606cf2249ad 18 }
jjones646 0:a606cf2249ad 19
jjones646 2:7fd95eae5731 20 void seg_task(void const *arg)
jjones646 2:7fd95eae5731 21 {
jjones646 2:7fd95eae5731 22 // latch pin for 7-seg
jjones646 2:7fd95eae5731 23 DigitalOut latch( RJ_7_SEG_LATCH_PIN, 0 );
jjones646 2:7fd95eae5731 24
jjones646 2:7fd95eae5731 25 // Decimal point initialized to OFF
jjones646 2:7fd95eae5731 26 DigitalOut decimal( RJ_7_SEG_DOT_PIN, 1 );
jjones646 2:7fd95eae5731 27
jjones646 2:7fd95eae5731 28 uint8_t channel = 8;
jjones646 2:7fd95eae5731 29 writeSegment(channel, latch);
jjones646 2:7fd95eae5731 30 channel = 0; // start from 0 once the main task's look begins
jjones646 2:7fd95eae5731 31
jjones646 2:7fd95eae5731 32 // wait to be signaled before beginning
jjones646 2:7fd95eae5731 33 osSignalWait(0x01, osWaitForever);
jjones646 2:7fd95eae5731 34
jjones646 2:7fd95eae5731 35 // give a small delay to ensure the startup value stays lit for some time
jjones646 2:7fd95eae5731 36 Thread::wait(500);
jjones646 2:7fd95eae5731 37
jjones646 2:7fd95eae5731 38 // turn the decimal point off
jjones646 2:7fd95eae5731 39 decimal = 0;
jjones646 2:7fd95eae5731 40
jjones646 2:7fd95eae5731 41 while(1) { // loop forever
jjones646 2:7fd95eae5731 42 // send numerical value to 7-segment & hold for a while
jjones646 2:7fd95eae5731 43 writeSegment(channel++, latch);
jjones646 2:7fd95eae5731 44 channel = (channel > 9) ? 0 : channel; // reset value if too high
jjones646 2:7fd95eae5731 45 Thread::wait(1000);
jjones646 2:7fd95eae5731 46 }
jjones646 2:7fd95eae5731 47 }
jjones646 2:7fd95eae5731 48
jjones646 0:a606cf2249ad 49 int main()
jjones646 0:a606cf2249ad 50 {
jjones646 2:7fd95eae5731 51 // RGB Status LED
jjones646 2:7fd95eae5731 52 PwmOut rgb_led[3] = { RJ_RGB_LED_PINS };
jjones646 1:e5373c63f642 53
jjones646 2:7fd95eae5731 54 // Primary radio status LEDs
jjones646 2:7fd95eae5731 55 DigitalOut r1_led[3] = { RJ_PRIMARY_RADIO_LEDS };
jjones646 2:7fd95eae5731 56
jjones646 2:7fd95eae5731 57 // Secondary radio status LEDs
jjones646 2:7fd95eae5731 58 DigitalOut r2_led[3] = { RJ_SECONDARY_RADIO_LEDS };
jjones646 0:a606cf2249ad 59
jjones646 2:7fd95eae5731 60 // Used for controlling power to the RGB LED's shared annode lead
jjones646 2:7fd95eae5731 61 DigitalOut rgb_pwr( RJ_RGB_LED_ANNODE, 0 );
jjones646 2:7fd95eae5731 62
jjones646 2:7fd95eae5731 63 // Start 7-segment task
jjones646 2:7fd95eae5731 64 Thread thread_seg_task(seg_task);
jjones646 0:a606cf2249ad 65
jjones646 2:7fd95eae5731 66 // turn all LEDs off initially - values are inverted since LEDs are sinking the current
jjones646 2:7fd95eae5731 67 for (int i=0; i<3; i++) {
jjones646 2:7fd95eae5731 68 rgb_led[i] = 1;
jjones646 2:7fd95eae5731 69 r1_led[i] = 1;
jjones646 2:7fd95eae5731 70 r2_led[i] = 1;
jjones646 1:e5373c63f642 71 }
jjones646 1:e5373c63f642 72
jjones646 2:7fd95eae5731 73 // =========== Cyle primary & secondary radio status LEDs ===========
jjones646 2:7fd95eae5731 74 // turn on all radio status LEDs
jjones646 1:e5373c63f642 75 for (int i=0; i<3; i++) {
jjones646 2:7fd95eae5731 76 r1_led[i] = 0;
jjones646 2:7fd95eae5731 77 r2_led[i] = 0;
jjones646 2:7fd95eae5731 78 Thread::wait(50);
jjones646 2:7fd95eae5731 79 }
jjones646 2:7fd95eae5731 80 // turn off all radio status LEDs
jjones646 2:7fd95eae5731 81 for (int i=0; i<3; i++) {
jjones646 2:7fd95eae5731 82 r1_led[i] = 1;
jjones646 1:e5373c63f642 83 r2_led[i] = 1;
jjones646 2:7fd95eae5731 84 Thread::wait(50);
jjones646 1:e5373c63f642 85 }
jjones646 0:a606cf2249ad 86
jjones646 2:7fd95eae5731 87 // give power to all colors of the RGB LED and turn off decimal point
jjones646 2:7fd95eae5731 88 rgb_pwr = 1;
jjones646 2:7fd95eae5731 89
jjones646 2:7fd95eae5731 90 // tell the segment thread to begin its task
jjones646 2:7fd95eae5731 91 thread_seg_task.signal_set(0x01);
jjones646 2:7fd95eae5731 92
jjones646 2:7fd95eae5731 93 // fade the RGB LED up to green and half power
jjones646 2:7fd95eae5731 94 for (float i=1.0; i>0.5; i-=0.01) {
jjones646 2:7fd95eae5731 95 rgb_led[G] = i;
jjones646 2:7fd95eae5731 96 Thread::wait(20);
jjones646 2:7fd95eae5731 97 }
jjones646 1:e5373c63f642 98
jjones646 2:7fd95eae5731 99 // at led_intensity[3] = { 0, 0, 0 };
jjones646 2:7fd95eae5731 100 srand(time(NULL));
jjones646 1:e5373c63f642 101
jjones646 2:7fd95eae5731 102 // loop forever ====================
jjones646 2:7fd95eae5731 103 while(1) {
jjones646 2:7fd95eae5731 104 uint8_t color = rand()%2;
jjones646 2:7fd95eae5731 105
jjones646 2:7fd95eae5731 106 // rgb_led[color] = (rand()%1000)/1000;
jjones646 2:7fd95eae5731 107
jjones646 2:7fd95eae5731 108 // delay
jjones646 2:7fd95eae5731 109 Thread::wait(300);
jjones646 0:a606cf2249ad 110 }
jjones646 0:a606cf2249ad 111 }