Firmware for the controller of the JRO Radar Controller.
Dependencies: CR2 EthernetInterface FreescaleIAP I2CLCD SerialDriver jro k64f_EthLink mbed-rtos mbed
Fork of JRO_DDSv2 by
main.cpp@1:072a0ab47d9c, 2015-02-05 (annotated)
- Committer:
- miguelcordero191
- Date:
- Thu Feb 05 21:32:22 2015 +0000
- Revision:
- 1:072a0ab47d9c
- Parent:
- 0:c9bdd57867af
- Child:
- 2:f9e1bcb3409a
Serial and Ethernet are working very well.; Screen object was deleted.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
miguelcordero191 | 0:c9bdd57867af | 1 | /* |
miguelcordero191 | 0:c9bdd57867af | 2 | * Author: MIGUEL URCO |
miguelcordero191 | 0:c9bdd57867af | 3 | * Date: 10/11/2014 |
miguelcordero191 | 0:c9bdd57867af | 4 | * Notes: Checks the Ethernet cable connection |
miguelcordero191 | 0:c9bdd57867af | 5 | */ |
miguelcordero191 | 0:c9bdd57867af | 6 | #if 1 |
miguelcordero191 | 0:c9bdd57867af | 7 | |
miguelcordero191 | 0:c9bdd57867af | 8 | #include "mbed.h" |
miguelcordero191 | 0:c9bdd57867af | 9 | #include "rtos.h" |
miguelcordero191 | 1:072a0ab47d9c | 10 | #include "EthernetInterface.h" |
miguelcordero191 | 0:c9bdd57867af | 11 | #include "JroDDS.h" |
miguelcordero191 | 0:c9bdd57867af | 12 | #include "JroIpdata.h" |
miguelcordero191 | 0:c9bdd57867af | 13 | #include "SerialDriver.h" |
miguelcordero191 | 0:c9bdd57867af | 14 | |
miguelcordero191 | 1:072a0ab47d9c | 15 | //Device commands |
miguelcordero191 | 1:072a0ab47d9c | 16 | #define CMD_RESET 0X01 |
miguelcordero191 | 1:072a0ab47d9c | 17 | #define CMD_ENABLE 0x02 |
miguelcordero191 | 1:072a0ab47d9c | 18 | #define CMD_CHANGE_IP 0x03 |
miguelcordero191 | 1:072a0ab47d9c | 19 | |
miguelcordero191 | 0:c9bdd57867af | 20 | #define BUFFER_SIZE 256 |
miguelcordero191 | 0:c9bdd57867af | 21 | static char rx_buffer[BUFFER_SIZE]; |
miguelcordero191 | 0:c9bdd57867af | 22 | static char tx_buffer[BUFFER_SIZE]; |
miguelcordero191 | 0:c9bdd57867af | 23 | |
miguelcordero191 | 0:c9bdd57867af | 24 | //SERIAL |
miguelcordero191 | 1:072a0ab47d9c | 25 | #define SERIAL_BAUDRATE 1000000 |
miguelcordero191 | 1:072a0ab47d9c | 26 | const char* OK_MSG = "DDSv2: Successful"; |
miguelcordero191 | 1:072a0ab47d9c | 27 | const char* KO_MSG = "DDSv2: Unsuccessful"; |
miguelcordero191 | 1:072a0ab47d9c | 28 | |
miguelcordero191 | 0:c9bdd57867af | 29 | SerialDriver screen(USBTX, USBRX); |
miguelcordero191 | 0:c9bdd57867af | 30 | SerialDriver uart(D1, D0); |
miguelcordero191 | 0:c9bdd57867af | 31 | Thread *ser_thread_ptr; |
miguelcordero191 | 0:c9bdd57867af | 32 | |
miguelcordero191 | 0:c9bdd57867af | 33 | //ETHERNET |
miguelcordero191 | 1:072a0ab47d9c | 34 | #define ECHO_SERVER_PORT 2000 |
miguelcordero191 | 1:072a0ab47d9c | 35 | const char* DEVICE_NAME = "DDSv2015"; |
miguelcordero191 | 1:072a0ab47d9c | 36 | const char* IP = "10.10.20.63"; // IP |
miguelcordero191 | 1:072a0ab47d9c | 37 | const char* MASK = "255.255.255.0"; // MASK |
miguelcordero191 | 1:072a0ab47d9c | 38 | const char* GATEWAY = "10.10.20.1"; // GATEWAY |
miguelcordero191 | 1:072a0ab47d9c | 39 | |
miguelcordero191 | 0:c9bdd57867af | 40 | IpData ipData(tx_buffer); |
miguelcordero191 | 0:c9bdd57867af | 41 | EthernetInterface eth; |
miguelcordero191 | 0:c9bdd57867af | 42 | TCPSocketServer server; |
miguelcordero191 | 0:c9bdd57867af | 43 | |
miguelcordero191 | 0:c9bdd57867af | 44 | Thread *eth_thread_ptr; |
miguelcordero191 | 0:c9bdd57867af | 45 | |
miguelcordero191 | 0:c9bdd57867af | 46 | //DDS |
miguelcordero191 | 0:c9bdd57867af | 47 | SPI spi_device(D11, D12, D13); |
miguelcordero191 | 0:c9bdd57867af | 48 | |
miguelcordero191 | 0:c9bdd57867af | 49 | DigitalOut dds_mreset(D4); |
miguelcordero191 | 0:c9bdd57867af | 50 | DigitalOut dds_outramp(D5); |
miguelcordero191 | 0:c9bdd57867af | 51 | DigitalOut dds_sp_mode(D6); |
miguelcordero191 | 0:c9bdd57867af | 52 | DigitalOut dds_cs(D7); |
miguelcordero191 | 0:c9bdd57867af | 53 | DigitalOut dds_io_reset(D9); |
miguelcordero191 | 0:c9bdd57867af | 54 | DigitalInOut dds_updclk(D10); |
miguelcordero191 | 0:c9bdd57867af | 55 | |
miguelcordero191 | 0:c9bdd57867af | 56 | DDS dds_device(&spi_device, &dds_mreset, &dds_outramp, &dds_sp_mode, &dds_cs, &dds_io_reset, &dds_updclk); |
miguelcordero191 | 0:c9bdd57867af | 57 | |
miguelcordero191 | 0:c9bdd57867af | 58 | //LEDS |
miguelcordero191 | 0:c9bdd57867af | 59 | DigitalOut LedR(LED1); |
miguelcordero191 | 0:c9bdd57867af | 60 | DigitalOut LedG(LED2); |
miguelcordero191 | 0:c9bdd57867af | 61 | DigitalOut LedB(LED3); |
miguelcordero191 | 0:c9bdd57867af | 62 | |
miguelcordero191 | 0:c9bdd57867af | 63 | void waitSerialData_thread(void const *args){ |
miguelcordero191 | 0:c9bdd57867af | 64 | |
miguelcordero191 | 0:c9bdd57867af | 65 | int n; |
miguelcordero191 | 1:072a0ab47d9c | 66 | bool successful; |
miguelcordero191 | 0:c9bdd57867af | 67 | |
miguelcordero191 | 1:072a0ab47d9c | 68 | //Thread::signal_wait(0x1); |
miguelcordero191 | 1:072a0ab47d9c | 69 | |
miguelcordero191 | 1:072a0ab47d9c | 70 | //screen.putc(0x34); |
miguelcordero191 | 1:072a0ab47d9c | 71 | //screen.putc(0x30); |
miguelcordero191 | 0:c9bdd57867af | 72 | |
miguelcordero191 | 0:c9bdd57867af | 73 | //uart.baud(SERIAL_BAUDRATE); |
miguelcordero191 | 0:c9bdd57867af | 74 | |
miguelcordero191 | 0:c9bdd57867af | 75 | //jroUart.Init(SERIAL_BAUDRATE); |
miguelcordero191 | 0:c9bdd57867af | 76 | |
miguelcordero191 | 0:c9bdd57867af | 77 | while(1){ |
miguelcordero191 | 0:c9bdd57867af | 78 | //__screen.printf("\r\nWaiting serial data...\r\n"); |
miguelcordero191 | 1:072a0ab47d9c | 79 | successful = false; |
miguelcordero191 | 0:c9bdd57867af | 80 | |
miguelcordero191 | 0:c9bdd57867af | 81 | if (uart.isRxBufferEmpty()){ |
miguelcordero191 | 0:c9bdd57867af | 82 | Thread::wait(10); |
miguelcordero191 | 0:c9bdd57867af | 83 | continue; |
miguelcordero191 | 0:c9bdd57867af | 84 | } |
miguelcordero191 | 0:c9bdd57867af | 85 | |
miguelcordero191 | 0:c9bdd57867af | 86 | Thread::wait(100); |
miguelcordero191 | 1:072a0ab47d9c | 87 | n = uart.read(rx_buffer, 255, false); |
miguelcordero191 | 1:072a0ab47d9c | 88 | /* |
miguelcordero191 | 0:c9bdd57867af | 89 | screen.putc(0x6E); |
miguelcordero191 | 0:c9bdd57867af | 90 | screen.putc(0x3D); |
miguelcordero191 | 0:c9bdd57867af | 91 | screen.putc(n); |
miguelcordero191 | 1:072a0ab47d9c | 92 | */ |
miguelcordero191 | 0:c9bdd57867af | 93 | //for (int i=0; i<n; i++) |
miguelcordero191 | 0:c9bdd57867af | 94 | // screen.putc(rx_buffer[i]); |
miguelcordero191 | 0:c9bdd57867af | 95 | |
miguelcordero191 | 1:072a0ab47d9c | 96 | if (n == 40) |
miguelcordero191 | 1:072a0ab47d9c | 97 | if (dds_device.setAllDevice(rx_buffer) == 1) |
miguelcordero191 | 1:072a0ab47d9c | 98 | successful = true; |
miguelcordero191 | 0:c9bdd57867af | 99 | |
miguelcordero191 | 1:072a0ab47d9c | 100 | if (successful){ |
miguelcordero191 | 1:072a0ab47d9c | 101 | for (int i=0; i<strlen(OK_MSG); i++){ |
miguelcordero191 | 1:072a0ab47d9c | 102 | uart.putc(OK_MSG[i]); |
miguelcordero191 | 1:072a0ab47d9c | 103 | } |
miguelcordero191 | 0:c9bdd57867af | 104 | } |
miguelcordero191 | 1:072a0ab47d9c | 105 | else{ |
miguelcordero191 | 1:072a0ab47d9c | 106 | for (int i=0; i<strlen(KO_MSG); i++){ |
miguelcordero191 | 1:072a0ab47d9c | 107 | uart.putc(KO_MSG[i]); |
miguelcordero191 | 1:072a0ab47d9c | 108 | } |
miguelcordero191 | 0:c9bdd57867af | 109 | } |
miguelcordero191 | 0:c9bdd57867af | 110 | |
miguelcordero191 | 0:c9bdd57867af | 111 | } |
miguelcordero191 | 0:c9bdd57867af | 112 | |
miguelcordero191 | 0:c9bdd57867af | 113 | } |
miguelcordero191 | 0:c9bdd57867af | 114 | |
miguelcordero191 | 0:c9bdd57867af | 115 | void waitEthData_thread(void const *args){ |
miguelcordero191 | 0:c9bdd57867af | 116 | |
miguelcordero191 | 1:072a0ab47d9c | 117 | TCPSocketConnection client; |
miguelcordero191 | 1:072a0ab47d9c | 118 | int status; |
miguelcordero191 | 1:072a0ab47d9c | 119 | int n, totalSize=0; |
miguelcordero191 | 0:c9bdd57867af | 120 | |
miguelcordero191 | 1:072a0ab47d9c | 121 | //Thread::signal_wait(0x1); |
miguelcordero191 | 0:c9bdd57867af | 122 | |
miguelcordero191 | 0:c9bdd57867af | 123 | LedR = 0; |
miguelcordero191 | 0:c9bdd57867af | 124 | |
miguelcordero191 | 1:072a0ab47d9c | 125 | //screen.putc(0x35); |
miguelcordero191 | 1:072a0ab47d9c | 126 | //screen.putc(0x30); |
miguelcordero191 | 1:072a0ab47d9c | 127 | eth.setName(DEVICE_NAME); |
miguelcordero191 | 1:072a0ab47d9c | 128 | status = eth.init(IP, MASK, GATEWAY); |
miguelcordero191 | 1:072a0ab47d9c | 129 | status = eth.connect(); |
miguelcordero191 | 0:c9bdd57867af | 130 | |
miguelcordero191 | 1:072a0ab47d9c | 131 | server.bind(ECHO_SERVER_PORT); |
miguelcordero191 | 1:072a0ab47d9c | 132 | server.listen(1); |
miguelcordero191 | 0:c9bdd57867af | 133 | |
miguelcordero191 | 0:c9bdd57867af | 134 | LedR = 1; |
miguelcordero191 | 0:c9bdd57867af | 135 | |
miguelcordero191 | 1:072a0ab47d9c | 136 | //screen.putc(0x35); |
miguelcordero191 | 1:072a0ab47d9c | 137 | //screen.putc(0x31); |
miguelcordero191 | 0:c9bdd57867af | 138 | |
miguelcordero191 | 0:c9bdd57867af | 139 | //__screen.printf("\r\nEth thread initialized...\r\n"); |
miguelcordero191 | 0:c9bdd57867af | 140 | |
miguelcordero191 | 1:072a0ab47d9c | 141 | while(1) |
miguelcordero191 | 1:072a0ab47d9c | 142 | { |
miguelcordero191 | 0:c9bdd57867af | 143 | LedB = 0; |
miguelcordero191 | 1:072a0ab47d9c | 144 | n = 0; |
miguelcordero191 | 1:072a0ab47d9c | 145 | totalSize = 0; |
miguelcordero191 | 0:c9bdd57867af | 146 | //screen.printf("\r\n ********************** \r\n"); |
miguelcordero191 | 0:c9bdd57867af | 147 | //__screen.printf("\r\nWait for new connection...\r\n"); |
miguelcordero191 | 1:072a0ab47d9c | 148 | server.accept(client); |
miguelcordero191 | 1:072a0ab47d9c | 149 | |
miguelcordero191 | 1:072a0ab47d9c | 150 | client.set_blocking(false, 500); // Timeout after (1.5)s |
miguelcordero191 | 1:072a0ab47d9c | 151 | |
miguelcordero191 | 1:072a0ab47d9c | 152 | //__screen.printf("Connection from: %s\r\n", client.get_address()); |
miguelcordero191 | 0:c9bdd57867af | 153 | |
miguelcordero191 | 1:072a0ab47d9c | 154 | while (true) { |
miguelcordero191 | 1:072a0ab47d9c | 155 | n = client.receive(rx_buffer, sizeof(rx_buffer)); |
miguelcordero191 | 1:072a0ab47d9c | 156 | if (n <= 0) break; |
miguelcordero191 | 1:072a0ab47d9c | 157 | totalSize += n; |
miguelcordero191 | 1:072a0ab47d9c | 158 | Thread::wait(100); |
miguelcordero191 | 1:072a0ab47d9c | 159 | } |
miguelcordero191 | 1:072a0ab47d9c | 160 | |
miguelcordero191 | 1:072a0ab47d9c | 161 | //screen.putc(0x35); |
miguelcordero191 | 1:072a0ab47d9c | 162 | //screen.putc(0x32); |
miguelcordero191 | 0:c9bdd57867af | 163 | |
miguelcordero191 | 1:072a0ab47d9c | 164 | if (totalSize < 1) |
miguelcordero191 | 0:c9bdd57867af | 165 | continue; |
miguelcordero191 | 0:c9bdd57867af | 166 | |
miguelcordero191 | 1:072a0ab47d9c | 167 | if (ipData.decode(rx_buffer, totalSize) == 0) |
miguelcordero191 | 0:c9bdd57867af | 168 | continue; |
miguelcordero191 | 0:c9bdd57867af | 169 | |
miguelcordero191 | 0:c9bdd57867af | 170 | if (ipData.getCmd() == CMD_CHANGE_IP){ |
miguelcordero191 | 0:c9bdd57867af | 171 | //changing ip and reseting device |
miguelcordero191 | 0:c9bdd57867af | 172 | } |
miguelcordero191 | 0:c9bdd57867af | 173 | |
miguelcordero191 | 0:c9bdd57867af | 174 | dds_device.setCommand(ipData.getCmd(), ipData.getPayload(), ipData.getPayloadLen()); |
miguelcordero191 | 0:c9bdd57867af | 175 | ipData.encode(ipData.getCmd(), dds_device.getCmdAnswer(), dds_device.getCmdAnswerLen()); |
miguelcordero191 | 0:c9bdd57867af | 176 | |
miguelcordero191 | 1:072a0ab47d9c | 177 | client.send(ipData.getTxData(), ipData.getTxDataLen()); |
miguelcordero191 | 1:072a0ab47d9c | 178 | client.close(); |
miguelcordero191 | 1:072a0ab47d9c | 179 | |
miguelcordero191 | 1:072a0ab47d9c | 180 | //screen.putc(0x35); |
miguelcordero191 | 1:072a0ab47d9c | 181 | //screen.putc(0x32); |
miguelcordero191 | 0:c9bdd57867af | 182 | |
miguelcordero191 | 0:c9bdd57867af | 183 | } |
miguelcordero191 | 0:c9bdd57867af | 184 | } |
miguelcordero191 | 0:c9bdd57867af | 185 | |
miguelcordero191 | 0:c9bdd57867af | 186 | int main() |
miguelcordero191 | 0:c9bdd57867af | 187 | { |
miguelcordero191 | 0:c9bdd57867af | 188 | screen.baud(9600); |
miguelcordero191 | 0:c9bdd57867af | 189 | uart.baud(SERIAL_BAUDRATE); |
miguelcordero191 | 1:072a0ab47d9c | 190 | |
miguelcordero191 | 0:c9bdd57867af | 191 | screen.putc(0x0A); |
miguelcordero191 | 0:c9bdd57867af | 192 | screen.putc(0x0D); |
miguelcordero191 | 0:c9bdd57867af | 193 | screen.putc(0x33); |
miguelcordero191 | 0:c9bdd57867af | 194 | screen.putc(0x30); |
miguelcordero191 | 0:c9bdd57867af | 195 | |
miguelcordero191 | 1:072a0ab47d9c | 196 | |
miguelcordero191 | 0:c9bdd57867af | 197 | //ser_thread_ptr = new Thread(&forwardUart); |
miguelcordero191 | 0:c9bdd57867af | 198 | |
miguelcordero191 | 1:072a0ab47d9c | 199 | ser_thread_ptr = new Thread(&waitSerialData_thread); |
miguelcordero191 | 0:c9bdd57867af | 200 | eth_thread_ptr = new Thread(&waitEthData_thread); |
miguelcordero191 | 0:c9bdd57867af | 201 | |
miguelcordero191 | 0:c9bdd57867af | 202 | //__screen.printf("\r\n ******************************************* \r\n"); |
miguelcordero191 | 0:c9bdd57867af | 203 | //__screen.printf("\r\n ******************************************* \r\n"); |
miguelcordero191 | 0:c9bdd57867af | 204 | |
miguelcordero191 | 0:c9bdd57867af | 205 | //__screen.printf("\nInitializing program...\r\n"); |
miguelcordero191 | 0:c9bdd57867af | 206 | //screen.putc(0x33); |
miguelcordero191 | 0:c9bdd57867af | 207 | //screen.putc(0x30); |
miguelcordero191 | 0:c9bdd57867af | 208 | |
miguelcordero191 | 0:c9bdd57867af | 209 | //LedR.period_ms(100); |
miguelcordero191 | 0:c9bdd57867af | 210 | |
miguelcordero191 | 0:c9bdd57867af | 211 | LedG = 0; |
miguelcordero191 | 0:c9bdd57867af | 212 | |
miguelcordero191 | 0:c9bdd57867af | 213 | //__screen.printf("\r\nHabilitando threads...\r\n"); |
miguelcordero191 | 0:c9bdd57867af | 214 | //ser_thread_ptr->signal_set(0x1); |
miguelcordero191 | 0:c9bdd57867af | 215 | //Thread::wait(300); |
miguelcordero191 | 1:072a0ab47d9c | 216 | //eth_thread_ptr->signal_set(0x1); |
miguelcordero191 | 1:072a0ab47d9c | 217 | //Thread::wait(1500); |
miguelcordero191 | 0:c9bdd57867af | 218 | |
miguelcordero191 | 0:c9bdd57867af | 219 | screen.putc(0x33); |
miguelcordero191 | 0:c9bdd57867af | 220 | screen.putc(0x31); |
miguelcordero191 | 0:c9bdd57867af | 221 | //__screen.printf("\r\nInitializing DDS...\r\n"); |
miguelcordero191 | 0:c9bdd57867af | 222 | |
miguelcordero191 | 0:c9bdd57867af | 223 | while(true){ |
miguelcordero191 | 0:c9bdd57867af | 224 | if (dds_device.init()) |
miguelcordero191 | 0:c9bdd57867af | 225 | break; |
miguelcordero191 | 0:c9bdd57867af | 226 | |
miguelcordero191 | 0:c9bdd57867af | 227 | Thread::wait(250); |
miguelcordero191 | 0:c9bdd57867af | 228 | } |
miguelcordero191 | 0:c9bdd57867af | 229 | |
miguelcordero191 | 0:c9bdd57867af | 230 | LedG = 1; |
miguelcordero191 | 0:c9bdd57867af | 231 | |
miguelcordero191 | 0:c9bdd57867af | 232 | screen.putc(0x33); |
miguelcordero191 | 0:c9bdd57867af | 233 | screen.putc(0x32); |
miguelcordero191 | 0:c9bdd57867af | 234 | |
miguelcordero191 | 0:c9bdd57867af | 235 | LedB = 0; |
miguelcordero191 | 0:c9bdd57867af | 236 | |
miguelcordero191 | 0:c9bdd57867af | 237 | //__screen.printf("\r\nSetting defaults values to DDS...\r\n"); |
miguelcordero191 | 1:072a0ab47d9c | 238 | dds_device.defaultSettings(); |
miguelcordero191 | 0:c9bdd57867af | 239 | LedB = 1; |
miguelcordero191 | 0:c9bdd57867af | 240 | |
miguelcordero191 | 0:c9bdd57867af | 241 | screen.putc(0x33); |
miguelcordero191 | 0:c9bdd57867af | 242 | screen.putc(0x33); |
miguelcordero191 | 0:c9bdd57867af | 243 | |
miguelcordero191 | 1:072a0ab47d9c | 244 | Thread::wait(5000); |
miguelcordero191 | 1:072a0ab47d9c | 245 | //int c=0; |
miguelcordero191 | 1:072a0ab47d9c | 246 | while(true){ |
miguelcordero191 | 1:072a0ab47d9c | 247 | Thread::wait(1000); |
miguelcordero191 | 1:072a0ab47d9c | 248 | //screen.putc(0x2D + c); |
miguelcordero191 | 1:072a0ab47d9c | 249 | //c = (c+1) % 3; |
miguelcordero191 | 0:c9bdd57867af | 250 | } |
miguelcordero191 | 0:c9bdd57867af | 251 | |
miguelcordero191 | 0:c9bdd57867af | 252 | } |
miguelcordero191 | 0:c9bdd57867af | 253 | |
miguelcordero191 | 0:c9bdd57867af | 254 | #endif |