Mateusz Jaskula
/
KL25Z_TangoIO
KL25 driver for Tango Control System
main.h@0:5d27c333afa6, 2014-08-25 (annotated)
- Committer:
- jskl
- Date:
- Mon Aug 25 12:00:15 2014 +0000
- Revision:
- 0:5d27c333afa6
Initial Release
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jskl | 0:5d27c333afa6 | 1 | /** @file main.cpp */ |
jskl | 0:5d27c333afa6 | 2 | /** @file main.h |
jskl | 0:5d27c333afa6 | 3 | * |
jskl | 0:5d27c333afa6 | 4 | * \brief |
jskl | 0:5d27c333afa6 | 5 | * Program main features: |
jskl | 0:5d27c333afa6 | 6 | * - enables communication via ethernet |
jskl | 0:5d27c333afa6 | 7 | * - reads data from GY-80 sensor |
jskl | 0:5d27c333afa6 | 8 | * - reads data from built-in touch sensor |
jskl | 0:5d27c333afa6 | 9 | * - enables configuration of Wiz550io ethernet card via PC serial port |
jskl | 0:5d27c333afa6 | 10 | * |
jskl | 0:5d27c333afa6 | 11 | * |
jskl | 0:5d27c333afa6 | 12 | * Peripherals connection details: |
jskl | 0:5d27c333afa6 | 13 | * |
jskl | 0:5d27c333afa6 | 14 | * WIZ550io pins are connected to: |
jskl | 0:5d27c333afa6 | 15 | * - MOSI -> PTD2 |
jskl | 0:5d27c333afa6 | 16 | * - MISO -> PTD3 |
jskl | 0:5d27c333afa6 | 17 | * - SCLK -> PTD1 |
jskl | 0:5d27c333afa6 | 18 | * - CS -> PTD0 |
jskl | 0:5d27c333afa6 | 19 | * - RST -> PTA20 |
jskl | 0:5d27c333afa6 | 20 | * - VCC -> +3.3V |
jskl | 0:5d27c333afa6 | 21 | * - GND -> GND |
jskl | 0:5d27c333afa6 | 22 | * |
jskl | 0:5d27c333afa6 | 23 | * IMU GY-80 pins: |
jskl | 0:5d27c333afa6 | 24 | * - VCC -> +5V |
jskl | 0:5d27c333afa6 | 25 | * - GND -> GND |
jskl | 0:5d27c333afa6 | 26 | * - SDA -> PTC9 |
jskl | 0:5d27c333afa6 | 27 | * - SCL -> PTC8 |
jskl | 0:5d27c333afa6 | 28 | * - Connection to other I2C port may not work!!! |
jskl | 0:5d27c333afa6 | 29 | * |
jskl | 0:5d27c333afa6 | 30 | * Serial port communication is available via virtual OpenSDA COM port. |
jskl | 0:5d27c333afa6 | 31 | * Detailed description about configuring OpenSDA available here: https://mbed.org/handbook/Windows-serial-configuration . |
jskl | 0:5d27c333afa6 | 32 | * |
jskl | 0:5d27c333afa6 | 33 | * Digital I/O ports pins and names: |
jskl | 0:5d27c333afa6 | 34 | * - PTE20 -> P1 |
jskl | 0:5d27c333afa6 | 35 | * - PTE21 -> P2 |
jskl | 0:5d27c333afa6 | 36 | * - PTE22 -> P3 |
jskl | 0:5d27c333afa6 | 37 | * - PTE23 -> P4 |
jskl | 0:5d27c333afa6 | 38 | * - PTE29 -> P5 |
jskl | 0:5d27c333afa6 | 39 | * - PTE30 -> P6 |
jskl | 0:5d27c333afa6 | 40 | * |
jskl | 0:5d27c333afa6 | 41 | * Ethernet commands: |
jskl | 0:5d27c333afa6 | 42 | * Available commands: |
jskl | 0:5d27c333afa6 | 43 | * - "read_sensor" - reads all sensor data - Reply form: "Sensor data: magnX, magnY, magnZ, accelX, accelY, accelZ, gyroX, gyroY, gyroZ, TSIposition" |
jskl | 0:5d27c333afa6 | 44 | * - "check_ports" - reads ports P1 to P6 status - Reply form: "Port values: P1: %d, P2: %d, P3: %d, P4: %d, P5: %d, P6: %d" |
jskl | 0:5d27c333afa6 | 45 | * Single port commands: |
jskl | 0:5d27c333afa6 | 46 | * - "set_P$_i" - sets port as input - Reply: "P1 is now set as input" |
jskl | 0:5d27c333afa6 | 47 | * - "set_P$_o" - sets port as output - Reply: "P1 is now set as output" |
jskl | 0:5d27c333afa6 | 48 | * - "set_P$_1" - sets port as 1 (High) - Reply: "P1 value is now: %d " |
jskl | 0:5d27c333afa6 | 49 | * - "set_P$_0" - sets port as 0 (low) - Reply: "P1 value is now: %d " |
jskl | 0:5d27c333afa6 | 50 | * - "get_P$" - gets port value - Reply: "P1 value: %d" |
jskl | 0:5d27c333afa6 | 51 | * - $ mark is port number from 1-6 |
jskl | 0:5d27c333afa6 | 52 | * |
jskl | 0:5d27c333afa6 | 53 | * @author Mateusz Jaskula |
jskl | 0:5d27c333afa6 | 54 | * |
jskl | 0:5d27c333afa6 | 55 | */ |
jskl | 0:5d27c333afa6 | 56 | |
jskl | 0:5d27c333afa6 | 57 | |
jskl | 0:5d27c333afa6 | 58 | |
jskl | 0:5d27c333afa6 | 59 | // Set server communication port to 22 |
jskl | 0:5d27c333afa6 | 60 | #define ECHO_SERVER_PORT 22 |
jskl | 0:5d27c333afa6 | 61 | |
jskl | 0:5d27c333afa6 | 62 | |
jskl | 0:5d27c333afa6 | 63 | /// SPI communication with WIZ550io initialization |
jskl | 0:5d27c333afa6 | 64 | SPI spi(PTD2, PTD3, PTD1); /// mosi, miso, sclk |
jskl | 0:5d27c333afa6 | 65 | |
jskl | 0:5d27c333afa6 | 66 | /// Ethernet communication via WIZ550io |
jskl | 0:5d27c333afa6 | 67 | WIZnetInterface eth(&spi, PTD0, PTA20); /// spi, cs, reset |
jskl | 0:5d27c333afa6 | 68 | |
jskl | 0:5d27c333afa6 | 69 | /// Serial communication init |
jskl | 0:5d27c333afa6 | 70 | Serial pc(USBTX,USBRX); |
jskl | 0:5d27c333afa6 | 71 | |
jskl | 0:5d27c333afa6 | 72 | /// TSI Electrodes definition: |
jskl | 0:5d27c333afa6 | 73 | #define ELEC0 9 |
jskl | 0:5d27c333afa6 | 74 | /// TSI Electrodes definition: |
jskl | 0:5d27c333afa6 | 75 | #define ELEC1 10 |
jskl | 0:5d27c333afa6 | 76 | |
jskl | 0:5d27c333afa6 | 77 | |
jskl | 0:5d27c333afa6 | 78 | /// port P1 is connected to PTE20 pin |
jskl | 0:5d27c333afa6 | 79 | DigitalInOut P1(PTE20); |
jskl | 0:5d27c333afa6 | 80 | /// port P1 is connected to PTE21 pin |
jskl | 0:5d27c333afa6 | 81 | DigitalInOut P2(PTE21); |
jskl | 0:5d27c333afa6 | 82 | /// port P2 is connected to PTE22 pin |
jskl | 0:5d27c333afa6 | 83 | DigitalInOut P3(PTE22); |
jskl | 0:5d27c333afa6 | 84 | /// port P3 is connected to PTE23 pin |
jskl | 0:5d27c333afa6 | 85 | DigitalInOut P4(PTE23); |
jskl | 0:5d27c333afa6 | 86 | /// port P4 is connected to PTE29 pin |
jskl | 0:5d27c333afa6 | 87 | DigitalInOut P5(PTE29); |
jskl | 0:5d27c333afa6 | 88 | /// port P5 is connected to PTE30 pin |
jskl | 0:5d27c333afa6 | 89 | DigitalInOut P6(PTE30); |
jskl | 0:5d27c333afa6 | 90 | |
jskl | 0:5d27c333afa6 | 91 | |
jskl | 0:5d27c333afa6 | 92 | /// Defines use of DHCP protocol or Static IP Configuration |
jskl | 0:5d27c333afa6 | 93 | bool USE_DHCP = true; |
jskl | 0:5d27c333afa6 | 94 | |
jskl | 0:5d27c333afa6 | 95 | // Static IP setting. Using MAC stored in WIZ550io |
jskl | 0:5d27c333afa6 | 96 | char IP_Addr[16] = "192.168.133.015"; /// IP |
jskl | 0:5d27c333afa6 | 97 | char IP_Subnet[16] = "255.255.255.000"; /// Subnet Mask |
jskl | 0:5d27c333afa6 | 98 | char IP_Gateway[16] = "192.168.133.001"; /// Gateway |
jskl | 0:5d27c333afa6 | 99 | |
jskl | 0:5d27c333afa6 | 100 | /// MAC Adress global variable |
jskl | 0:5d27c333afa6 | 101 | uint8_t mac[6]; |
jskl | 0:5d27c333afa6 | 102 | |
jskl | 0:5d27c333afa6 | 103 | /// GY80 IMU sensor Object |
jskl | 0:5d27c333afa6 | 104 | GY80 sensor; |
jskl | 0:5d27c333afa6 | 105 | |
jskl | 0:5d27c333afa6 | 106 | // GY80 Data is being hold here |
jskl | 0:5d27c333afa6 | 107 | float magn[3]; /// Current magnitude |
jskl | 0:5d27c333afa6 | 108 | float accel[3]; /// Current acceleration |
jskl | 0:5d27c333afa6 | 109 | float gyro[3]; /// current gyroscope |
jskl | 0:5d27c333afa6 | 110 | |
jskl | 0:5d27c333afa6 | 111 | /// TSI Slider object: |
jskl | 0:5d27c333afa6 | 112 | TSIAnalogSlider tsi(ELEC0, ELEC1, 100); |
jskl | 0:5d27c333afa6 | 113 | |
jskl | 0:5d27c333afa6 | 114 | /// TSI Slider position: |
jskl | 0:5d27c333afa6 | 115 | float TSI_pos; |
jskl | 0:5d27c333afa6 | 116 | |
jskl | 0:5d27c333afa6 | 117 | /// Ticker generates time based interrups to read data from sensors in 10ms intervals. |
jskl | 0:5d27c333afa6 | 118 | Ticker tick1; |
jskl | 0:5d27c333afa6 | 119 | |
jskl | 0:5d27c333afa6 | 120 | |
jskl | 0:5d27c333afa6 | 121 | //Functions declaration: |
jskl | 0:5d27c333afa6 | 122 | // Initializes eth communication with MAC, IP, Subnet Mask asd Gateway |
jskl | 0:5d27c333afa6 | 123 | int init_eth(); |
jskl | 0:5d27c333afa6 | 124 | // Handles ethernet communication |
jskl | 0:5d27c333afa6 | 125 | void eth_comm(); |
jskl | 0:5d27c333afa6 | 126 | // Reads data from sensor with 1ms freq |
jskl | 0:5d27c333afa6 | 127 | void read_data(); |
jskl | 0:5d27c333afa6 | 128 | // Reads commands and takes action |
jskl | 0:5d27c333afa6 | 129 | void comm_handler(char* command); |
jskl | 0:5d27c333afa6 | 130 | // Enables configuration mode |
jskl | 0:5d27c333afa6 | 131 | void SerialInterHandler(); |
jskl | 0:5d27c333afa6 | 132 | // 5 sec serial menu with info how to enter configuration mode |
jskl | 0:5d27c333afa6 | 133 | void menu_prop(); |