Diff: main.cpp

Revision:

2:7fd95eae5731

Parent:

1:e5373c63f642

Child:

3:c3114df544e8

--- a/main.cpp	Wed Dec 31 03:33:35 2014 +0000
+++ b/main.cpp	Wed Dec 31 09:17:06 2014 +0000
@@ -1,21 +1,13 @@
-// Cycle through a 7-segment LCD display
-
-#include "mbed.h"
-
-// Outputs used as input values to the 7-segment binary decoder
-DigitalOut signal[4] = {p17, p18, p19, p20};
+// RoboCup dual-frequency band base station
 
-// For latching the 7 segment led's output
-DigitalOut latch(p16);
-
-// To show that the mbed is running
-DigitalOut status_led(LED1);
-
-DigitalOut r2_led[3] = {p24, p25, p26}; // TX, RX, ERR
+#include "BaseStation.h"
 
 // Function for writing a number to the 7-segment display
-void writeSegment(uint8_t val)
+void writeSegment(uint8_t val, DigitalOut& latch)
 {
+    // Outputs used as input values to the 7-segment binary decoder - uses latching inputs
+    DigitalOut signal[4] = { RJ_7_SEG_PINS };
+
     // write out the new value
     for (int i=0; i<4; i++)
         signal[i] = ((1<<i) & (val)) & 0x0F;
@@ -25,47 +17,95 @@
         latch = !latch;
 }
 
+void seg_task(void const *arg)
+{
+    // latch pin for 7-seg
+    DigitalOut latch( RJ_7_SEG_LATCH_PIN, 0 );
+    
+    // Decimal point initialized to OFF
+    DigitalOut decimal( RJ_7_SEG_DOT_PIN, 1 );
+
+    uint8_t channel = 8;
+    writeSegment(channel, latch);
+    channel = 0;    // start from 0 once the main task's look begins
+
+    // wait to be signaled before beginning
+    osSignalWait(0x01, osWaitForever);
+    
+    // give a small delay to ensure the startup value stays lit for some time
+    Thread::wait(500);
+    
+    // turn the decimal point off
+    decimal = 0;
+
+    while(1) {  // loop forever
+        // send numerical value to 7-segment & hold for a while
+        writeSegment(channel++, latch);
+        channel = (channel > 9) ? 0 : channel; // reset value if too high
+        Thread::wait(1000);
+    }
+}
+
 int main()
 {
-    // turn all LEDs off initially
-    for (int i=0; i<3; i++)
-        r2_led[i] = 1;
+    // RGB Status LED
+    PwmOut rgb_led[3] = { RJ_RGB_LED_PINS };
 
-    latch = 0;  // initialize the latch pin for the CD4511B decoder
-    status_led = 0; // initialize & turn off led for startup operations
+    // Primary radio status LEDs
+    DigitalOut r1_led[3] = { RJ_PRIMARY_RADIO_LEDS };
+
+    // Secondary radio status LEDs
+    DigitalOut r2_led[3] = { RJ_SECONDARY_RADIO_LEDS };
 
-    uint8_t channel;    // limit to 4 bits (0x00 to 0x0F)
-    channel = 8;    // light up all of the 7-segment's segments at startup - allows for the user to detect if there's a problem
-    writeSegment(channel);
-    channel = 0;    // start back over at 0
-    
-    wait(0.2);
+    // Used for controlling power to the RGB LED's shared annode lead
+    DigitalOut rgb_pwr( RJ_RGB_LED_ANNODE, 0 );
+
+    // Start 7-segment task
+    Thread thread_seg_task(seg_task);
 
-    // turn on all secondary radio status LEDs
-    for (int i=2; i>=0; i--) {
-        r2_led[i] = 0;
-        wait(0.2);
+    // turn all LEDs off initially - values are inverted since LEDs are sinking the current
+    for (int i=0; i<3; i++) {
+        rgb_led[i] = 1;
+        r1_led[i] = 1;
+        r2_led[i] = 1;
     }
 
-    // hold
-    wait(0.3);
-
-    // turn off all secondary radio status LEDs
+    // =========== Cyle primary & secondary radio status LEDs ===========
+    // turn on all radio status LEDs
     for (int i=0; i<3; i++) {
+        r1_led[i] = 0;
+        r2_led[i] = 0;
+        Thread::wait(50);
+    }
+    // turn off all radio status LEDs
+    for (int i=0; i<3; i++) {
+        r1_led[i] = 1;
         r2_led[i] = 1;
-        wait(0.2);
+        Thread::wait(50);
     }
 
-    while(1) {
-        // send numerical value to 7-segment & hold for a while
-        writeSegment(channel++);
-        wait(0.3);
-        status_led = !status_led;
+    // give power to all colors of the RGB LED and turn off decimal point
+    rgb_pwr = 1;
+    
+    // tell the segment thread to begin its task
+    thread_seg_task.signal_set(0x01);
+
+    // fade the RGB LED up to green and half power
+    for (float i=1.0; i>0.5; i-=0.01) {
+        rgb_led[G] = i;
+        Thread::wait(20);
+    }
 
-        // wait again just so that the status led and segment are out of sync
-        wait(0.2);
+    // at led_intensity[3] = { 0, 0, 0 };
+    srand(time(NULL));
 
-        // reset value if too high
-        channel = channel > 9 ? 0 : channel;
+    // loop forever ====================
+    while(1) {
+        uint8_t color = rand()%2;
+
+        // rgb_led[color] = (rand()%1000)/1000;
+
+        // delay
+        Thread::wait(300);
     }
 }
\ No newline at end of file