Jonathan Jones / Mbed 2 deprecated Base Station

RoboCup Base Station

Dependencies:   mbed mbed-rtos Wireless Drivers

main.cpp@4:ec95917c3211, 2014-12-31 (annotated)

Committer:
jjones646
Date:
Wed Dec 31 22:16:17 2014 +0000
Revision:
4:ec95917c3211
Parent:
3:c3114df544e8 
adding dummy cc1101 support

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 4:ec95917c3211 5 uint8_t channel;
jjones646 4:ec95917c3211 6
jjones646 0:a606cf2249ad 7 // Function for writing a number to the 7-segment display
jjones646 2:7fd95eae5731 8 void writeSegment(uint8_t val, DigitalOut& latch)
jjones646 0:a606cf2249ad 9 {
jjones646 2:7fd95eae5731 10 // Outputs used as input values to the 7-segment binary decoder - uses latching inputs
jjones646 2:7fd95eae5731 11 DigitalOut signal[4] = { RJ_7_SEG_PINS };
jjones646 2:7fd95eae5731 12
jjones646 0:a606cf2249ad 13 // write out the new value
jjones646 0:a606cf2249ad 14 for (int i=0; i<4; i++)
jjones646 0:a606cf2249ad 15 signal[i] = ((1<<i) & (val)) & 0x0F;
jjones646 0:a606cf2249ad 16
jjones646 0:a606cf2249ad 17 // latch the value
jjones646 0:a606cf2249ad 18 for (int i=0; i<2; i++)
jjones646 0:a606cf2249ad 19 latch = !latch;
jjones646 0:a606cf2249ad 20 }
jjones646 0:a606cf2249ad 21
jjones646 2:7fd95eae5731 22 void seg_task(void const *arg)
jjones646 2:7fd95eae5731 23 {
jjones646 2:7fd95eae5731 24 // latch pin for 7-seg
jjones646 2:7fd95eae5731 25 DigitalOut latch( RJ_7_SEG_LATCH_PIN, 0 );
jjones646 3:c3114df544e8 26
jjones646 2:7fd95eae5731 27 // Decimal point initialized to OFF
jjones646 2:7fd95eae5731 28 DigitalOut decimal( RJ_7_SEG_DOT_PIN, 1 );
jjones646 2:7fd95eae5731 29
jjones646 4:ec95917c3211 30 channel = 8;
jjones646 2:7fd95eae5731 31 writeSegment(channel, latch);
jjones646 2:7fd95eae5731 32
jjones646 2:7fd95eae5731 33 // wait to be signaled before beginning
jjones646 2:7fd95eae5731 34 osSignalWait(0x01, osWaitForever);
jjones646 3:c3114df544e8 35
jjones646 2:7fd95eae5731 36 // give a small delay to ensure the startup value stays lit for some time
jjones646 2:7fd95eae5731 37 Thread::wait(500);
jjones646 3:c3114df544e8 38
jjones646 2:7fd95eae5731 39 // turn the decimal point off
jjones646 2:7fd95eae5731 40 decimal = 0;
jjones646 2:7fd95eae5731 41
jjones646 2:7fd95eae5731 42 while(1) { // loop forever
jjones646 2:7fd95eae5731 43 // send numerical value to 7-segment & hold for a while
jjones646 4:ec95917c3211 44 writeSegment(channel, latch);
jjones646 4:ec95917c3211 45 // channel = (channel > 9) ? 0 : channel; // reset value if too high
jjones646 2:7fd95eae5731 46 Thread::wait(1000);
jjones646 2:7fd95eae5731 47 }
jjones646 2:7fd95eae5731 48 }
jjones646 2:7fd95eae5731 49
jjones646 0:a606cf2249ad 50 int main()
jjones646 0:a606cf2249ad 51 {
jjones646 2:7fd95eae5731 52 // RGB Status LED
jjones646 2:7fd95eae5731 53 PwmOut rgb_led[3] = { RJ_RGB_LED_PINS };
jjones646 1:e5373c63f642 54
jjones646 2:7fd95eae5731 55 // Primary radio status LEDs
jjones646 2:7fd95eae5731 56 DigitalOut r1_led[3] = { RJ_PRIMARY_RADIO_LEDS };
jjones646 2:7fd95eae5731 57
jjones646 2:7fd95eae5731 58 // Secondary radio status LEDs
jjones646 2:7fd95eae5731 59 DigitalOut r2_led[3] = { RJ_SECONDARY_RADIO_LEDS };
jjones646 0:a606cf2249ad 60
jjones646 2:7fd95eae5731 61 // Used for controlling power to the RGB LED's shared annode lead
jjones646 2:7fd95eae5731 62 DigitalOut rgb_pwr( RJ_RGB_LED_ANNODE, 0 );
jjones646 2:7fd95eae5731 63
jjones646 2:7fd95eae5731 64 // Start 7-segment task
jjones646 2:7fd95eae5731 65 Thread thread_seg_task(seg_task);
jjones646 0:a606cf2249ad 66
jjones646 2:7fd95eae5731 67 // turn all LEDs off initially - values are inverted since LEDs are sinking the current
jjones646 2:7fd95eae5731 68 for (int i=0; i<3; i++) {
jjones646 2:7fd95eae5731 69 rgb_led[i] = 1;
jjones646 2:7fd95eae5731 70 r1_led[i] = 1;
jjones646 2:7fd95eae5731 71 r2_led[i] = 1;
jjones646 1:e5373c63f642 72 }
jjones646 1:e5373c63f642 73
jjones646 2:7fd95eae5731 74 // =========== Cyle primary & secondary radio status LEDs ===========
jjones646 2:7fd95eae5731 75 // turn on all radio status LEDs
jjones646 1:e5373c63f642 76 for (int i=0; i<3; i++) {
jjones646 3:c3114df544e8 77
jjones646 3:c3114df544e8 78 // initialze off at the start of every iteration
jjones646 3:c3114df544e8 79 for(int j=0; j<3; j++) {
jjones646 3:c3114df544e8 80 r1_led[j] = 1;
jjones646 3:c3114df544e8 81 r2_led[j] = 1;
jjones646 3:c3114df544e8 82 }
jjones646 3:c3114df544e8 83
jjones646 3:c3114df544e8 84 if (i != 2) {
jjones646 3:c3114df544e8 85 // cycle 2 LEDs
jjones646 3:c3114df544e8 86 for (int j=i; j<2; j++) {
jjones646 3:c3114df544e8 87 r1_led[j] = 0;
jjones646 3:c3114df544e8 88 r2_led[j] = 0;
jjones646 3:c3114df544e8 89 Thread::wait(50);
jjones646 3:c3114df544e8 90 }
jjones646 3:c3114df544e8 91 } else {
jjones646 3:c3114df544e8 92 r1_led[i] = 0;
jjones646 3:c3114df544e8 93 r2_led[i] = 0;
jjones646 3:c3114df544e8 94 Thread::wait(50);
jjones646 3:c3114df544e8 95 r1_led[i] = 1;
jjones646 3:c3114df544e8 96 r2_led[i] = 1;
jjones646 3:c3114df544e8 97 }
jjones646 2:7fd95eae5731 98 }
jjones646 4:ec95917c3211 99
jjones646 2:7fd95eae5731 100 // give power to all colors of the RGB LED and turn off decimal point
jjones646 2:7fd95eae5731 101 rgb_pwr = 1;
jjones646 3:c3114df544e8 102
jjones646 4:ec95917c3211 103 // 915MHz band radio object
jjones646 4:ec95917c3211 104 CC1101 cc1101(
jjones646 4:ec95917c3211 105 RJ_SPI_PINS,
jjones646 4:ec95917c3211 106 RJ_PRIMARY_RADIO_CS_PIN,
jjones646 4:ec95917c3211 107 RJ_PRIMARY_RADIO_LED_TX,
jjones646 4:ec95917c3211 108 RJ_PRIMARY_RADIO_LED_RX,
jjones646 4:ec95917c3211 109 RJ_PRIMARY_RADIO_INT_PIN
jjones646 4:ec95917c3211 110 );
jjones646 4:ec95917c3211 111
jjones646 4:ec95917c3211 112 // set pointer for base class calls
jjones646 4:ec95917c3211 113 Radio *radio_p = &cc1101;
jjones646 4:ec95917c3211 114
jjones646 4:ec95917c3211 115 channel = radio_p->channel();
jjones646 2:7fd95eae5731 116 // tell the segment thread to begin its task
jjones646 2:7fd95eae5731 117 thread_seg_task.signal_set(0x01);
jjones646 2:7fd95eae5731 118
jjones646 4:ec95917c3211 119 uint8_t color;
jjones646 4:ec95917c3211 120 if (radio_p->hasError()) {
jjones646 4:ec95917c3211 121 color = 0;
jjones646 4:ec95917c3211 122 } else {
jjones646 4:ec95917c3211 123 color = 1;
jjones646 4:ec95917c3211 124 }
jjones646 4:ec95917c3211 125
jjones646 4:ec95917c3211 126 // fade the RGB LED up to the right status color at half power
jjones646 2:7fd95eae5731 127 for (float i=1.0; i>0.5; i-=0.01) {
jjones646 4:ec95917c3211 128 rgb_led[color] = i;
jjones646 2:7fd95eae5731 129 Thread::wait(20);
jjones646 2:7fd95eae5731 130 }
jjones646 1:e5373c63f642 131
jjones646 4:ec95917c3211 132
jjones646 1:e5373c63f642 133
jjones646 2:7fd95eae5731 134 // loop forever ====================
jjones646 2:7fd95eae5731 135 while(1) {
jjones646 2:7fd95eae5731 136
jjones646 4:ec95917c3211 137 //
jjones646 2:7fd95eae5731 138
jjones646 2:7fd95eae5731 139 // delay
jjones646 2:7fd95eae5731 140 Thread::wait(300);
jjones646 0:a606cf2249ad 141 }
jjones646 0:a606cf2249ad 142 }