Marc Bax
Firmware for Eton breadboard
Revision 0:2017f5924a22, committed 2011-03-23
- Comitter:
- marcbax
- Date:
- Wed Mar 23 09:39:57 2011 +0000
- Commit message:
- v0.80, date 23/3/2011
Changed in this revision
diff -r 000000000000 -r 2017f5924a22 Servo.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Wed Mar 23 09:39:57 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Servo/#36b69a7ced07
diff -r 000000000000 -r 2017f5924a22 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Mar 23 09:39:57 2011 +0000
@@ -0,0 +1,499 @@
+//Firmware to drive Eton bee trainer breadboard
+char* fwversion = "0.80"; //For published versions use format "n.nn"
+ //For development versions add "D" to end of string
+//This version published on 23/03/2011
+
+//Include libraries
+#include "mbed.h"
+#include "Servo.h" //need this library to control servos
+
+//Pin assignments and external functions
+DigitalOut led1(LED1), led2(LED2), led3(LED3), led4(LED4); //for debugging purposes only
+DigitalOut buzzer(p5); //pin high means buzzer on
+DigitalOut airswitcher(p7); //pin high shorts coax for air switcher valve
+Serial display(p9,p10); //serial display controller by ByVAC BV4618 controller
+AnalogOut irLED(p18); //only one analog out controls both IR LEDS in parallel
+AnalogIn ptor1(p19), ptor2(p20); //analog input for beeholder phototransistors
+Servo arm1(p21), elbow1(p22); //servos for station 1 robot arm
+Servo arm2(p23), elbow2(p24); //servos for station 2 robot arm
+I2C beeholder(p28,p27); //set up I2C communication to read beeholder serial no
+DigitalOut bhsel1(p29), bhsel2(p30); //select lines for station 1 and station 2 - pull low to select holder
+DigitalIn upsw(p13), risw(p14), dnsw(p15), lesw(p16), oksw(p17); //footswitch connected parallel to OK switch
+LocalFileSystem local("local"); //allow access to the mbed "thumbdrive" as a file system
+FILE *logfile = fopen("/local/etonlog.csv","w"); //creates new file etonlog.csv and set for writing. Overwrites existing file!
+
+//Definition of global constants
+ //station 1 (left) robot arm positions
+ float arm1basepos = 0.4;
+ float elbow1basepos = 0.07;
+ float arm1dippos = 0.2;
+ float elbow1dippos = 0.6;
+ float arm1ticklepos = 0.68;
+ float elbow1ticklepos = 0.07;
+ float arm1feedpos = 0.73;
+ float elbow1feedpos = 0.4;
+
+ //station 2 (right) robot arm positions
+ float arm2basepos = 0.4;
+ float elbow2basepos = 0.07;
+ float arm2dippos = 0.2;
+ float elbow2dippos = 0.07;
+ float arm2ticklepos = 0.2;
+ float elbow2ticklepos = 0.07;
+ float arm2feedpos = 0.2;
+ float elbow2feedpos = 0.07;
+
+ //robot arm hold times all times are in seconds
+ float diptime = 1; //time that brush stays down dipped in sugar water
+ float tickletimeout = 1.5; //maximum time to tickle if no PER is detected
+ float feedtime = 3; //feeding time
+
+ //PER detection parameters
+ float calsetval = 1.4; //voltage to which phototransistor output will be calibrated
+ float PERsetval = 2.1; //phototransistor output needs to be above this voltage for PER
+ float PERtime = 0.2; //phototransistor output needs to stay high this long in seconds
+
+ //I2C address
+ int addr = 0xA2; //address is actually 0x51, but mbed expects left-shifted address
+
+//Definition of global variables
+
+struct holderrecord { //used to hold data on beeholder
+ int serialno; //beeholder serial number 0-9999
+ float calvalue; //IR-LED calibration value
+ char cycleno; //number of cycles gone through in this session
+ char reslastcycle; //result of last cycle, 1 for PER
+ char ticklenextcycle; //whether tickling was done for last cycle
+ time_t tstamp; //timestamp when last cycle was run
+};
+
+holderrecord currentholder; //struct record for the current beeholder
+holderrecord sessionrecord[30]; //sessionrecord contains holderrecords for up to 30 beeholders
+
+int numbeeholders; //number of beeholders used in current session
+int station; //which station is used in this session
+
+
+
+//Function declarations
+
+//Short beep
+void beeponce() {
+ buzzer = 1;
+ wait(0.1);
+ buzzer = 0;
+}
+
+//beep beep beep
+void multibeeps(int number, float interval) {
+ for(int i=0;i<number;i++){
+ beeponce();
+ wait(interval);
+ }
+}
+
+//Clears and homes the display
+void cleardisplay() {
+ display.printf("\e[2J\e[H");
+}
+
+//Returns both robot arms to base position
+void armstobase() {
+ elbow1 = elbow1basepos;
+ elbow2 = elbow2basepos;
+ wait(0.5); //need this delay to avoid snagging brush on IR LED
+ arm1 = arm1basepos;
+ arm2 = arm2basepos;
+}
+
+//Initialises sessionrecords
+void sessionrecordinit() {
+ for (int i=0; i<30; i++) { //set base values for all possible beeholders
+ sessionrecord[i].serialno = 0; //set serialno to 0 so we can detect a unresponsive holder
+ sessionrecord[i].calvalue = 0;
+ sessionrecord[i].cycleno = 0;
+ sessionrecord[i].reslastcycle = 0;
+ sessionrecord[i].ticklenextcycle = 1; //default is to tickle on each cycle
+ }
+}
+
+//Initialisation on power-on
+void initialise() {
+
+ //Set pins to a defined state
+ led1 = led2 = led3 = led4 =0; //internal LEDs only used for debugging purposes
+ buzzer = 0; //buzzer off
+ airswitcher = 0; //relay contacts open, clean air position
+ bhsel1 = bhsel2 = 1; //I2C select lines high to deselect both beeholders
+ upsw.mode(PullUp); //set pull-up on all frontpanel switches
+ risw.mode(PullUp);
+ dnsw.mode(PullUp);
+ lesw.mode(PullUp);
+ oksw.mode(PullUp);
+
+ //Set robot arms to base positions
+ armstobase();
+
+ //initialise the display
+ display.baud(19200); //set display baud rate to 19200
+ display.putc(0x0d); //send CR to display - this needs to be first character sent after power-up
+ wait(0.5); //wait for display to adjust to serial baud rate
+ display.printf("\e[4L\e[20c"); //set display to 4 lines of 20 characters
+ cleardisplay(); //clear screen and home cursor
+
+ //display splash screen with time
+ display.printf("Eton trainer v%s\r", fwversion); //show firmware release version
+ time_t seconds = time(NULL); //creates timestamp
+ char bufferd[20], buffert[20];
+ strftime(bufferd, 20, "%d/%m/%Y", localtime(&seconds)); //formats date part of timestamp
+ display.printf("Date: %s\r", bufferd); //displays date
+ strftime(buffert, 20, "%X", localtime(&seconds)); //formats time part of timestamp
+ display.printf("Time: %s\r", buffert); //displays time
+ wait(5); //how long splash screen will be displayed
+ cleardisplay(); //clear screen and home cursor
+
+ //initialise sessionrecord
+ sessionrecordinit();
+
+ //enter info in logfile.csv
+ fprintf(logfile, "%s\r", bufferd); //writes date, time and firmware version
+ fprintf(logfile, "%s\r", buffert);
+ fprintf(logfile, "v%s\r", fwversion);
+
+ multibeeps(3, 0.4); //three beeps to signal initialisation ready
+}
+
+//Converts the last 4 digits in the serial number string into a integer 0-9999
+int serialstring2int(char bser[8]) {
+ int tempserial = 0;
+ tempserial = tempserial + (bser[4]-0x30)*1000; //5th digit is thousands
+ tempserial = tempserial + (bser[5]-0x30)*100; //6th digit is hundreds
+ tempserial = tempserial + (bser[6]-0x30)*10; //7th digit is tens
+ tempserial = tempserial + (bser[7]-0x30); //8th digit is units
+ return tempserial;
+}
+
+//beeholder resets on rising edge of select line
+void resetbeeholder() { //need this as mounting beeholder causes undefined start of beeholder firmware
+ bhsel1 = bhsel2 = 0;
+ wait(0.1);
+ bhsel1 = bhsel2 = 1;
+ wait(0.3);
+}
+
+//Reads beeholder serial number from station 1 or 2
+int getserialno(int station) {
+ char bser[8]; //define 8-byte serial number string to read
+ resetbeeholder(); //does not work without this!!
+ for (int i=0;i<8;i++) bser[i]=0x30;
+ if (station==1) bhsel1=0; //pull select line station 1 low
+ if (station==2) bhsel2=0; //pull select line station 2 low
+ wait(0.2);
+ beeholder.stop(); //I2C stop condition
+ wait(0.2); //delay for beeholder to respond
+ beeholder.write(addr,0x0,1); //initial write before read
+ beeholder.read(addr,bser,8); //read 8 byte serial number
+ bhsel1 = bhsel2= 1; //pull both select lines high
+ int serialno = serialstring2int(bser); //translate serial number string to integer
+ return serialno;
+}
+
+//Returns 1 if a PER is detected on this beeholder within timeout seconds
+int detectPER(int station, float timeout) {
+ Timer ttotal, tper;
+ ttotal.start(); //start timers for time-out and PER-detect
+ ttotal.reset();
+ tper.start();
+ tper.reset();
+ if (station == 1) {
+ while ((ttotal.read() < timeout) && (tper.read() < PERtime)) { //loop until timeout or PER detected
+ wait_ms(10);
+ if (ptor1 * 3.3 < PERsetval) tper.reset(); //if phototransistor voltage below treshold keep PER timer in reset
+ //if above treshold let timer run until it reaches PERtime
+ }
+ }
+ if (station == 2) {
+ while ((ttotal.read() < timeout) && (tper.read() < PERtime)) {
+ if (ptor2 * 3.3 < PERsetval) tper.reset();
+ }
+ }
+ ttotal.stop();
+ tper.stop();
+ return (tper.read() >= PERtime); //if the loop exit condition was a PER, return a TRUE value
+}
+
+//Checks if bee shows PER when stimulated with odour but without feeding
+int checktrained(int station) {
+ airswitcher = 1;
+ int responded = detectPER(station, 6); //PER needs to be detected within 6 seconds
+ airswitcher = 0;
+ return responded;
+}
+
+//Function performs beeholder/IR-led calibration
+float calibrate(int station, int runs) {
+ float tempcal;
+ tempcal=0.5; //start calibration at 50% voltage
+ irLED=tempcal;
+ float calstep; //start calstep at 25% voltage
+ calstep = tempcal/2;
+ for (int i=0; i<10; i++) { //does a "10-bit binary search" for the correct voltage to get a good response
+ irLED = tempcal;
+ wait(0.1); //important to allow AD converter to settle
+ if (ptor1 < calsetval/3.3) { //check phototransistor voltage against desired value
+ tempcal = tempcal - calstep; //if phototransistor voltage is too low then reduce brightness
+ }
+ else {
+ tempcal = tempcal + calstep; //if phototransistor voltage is too high then increase brightness
+ }
+ calstep = calstep/2; //on each loop of the for-cycle make smaller changes to IR LED voltage
+ }
+ float calib;
+ calib = tempcal; //set preliminary calibration to the value just measured
+ for (int j=1; j<runs; j++) { //run another j-1 runs, this corrects for antennae-movement as
+ tempcal=0.5; //we use the lowest calibration value from j runs
+ irLED=tempcal; //this is similar to what we do in the cassettes
+ calstep = tempcal/2;
+ for (int i=0;i<10;i++) {
+ irLED = tempcal;
+ wait(0.1);
+ if (ptor1 < calsetval/3.3) {
+ tempcal = tempcal - calstep;
+ }
+ else {
+ tempcal = tempcal + calstep;
+ }
+ calstep = calstep/2;
+ }
+ if (tempcal < calib) calib = tempcal; //use the lowest of j calibration values
+ }
+ return calib;
+}
+
+//switches the IR LED on at the right brightness level for the beeholder
+void IRledON(int i) {
+ irLED = sessionrecord[i].calvalue;
+ }
+
+//Performs a conditioning cycle. if tickle==0, no tickling takes place. Return==1 if a PER has been detected
+int condcycle(int station, int tickle) {
+ int perseen;
+ perseen = 0;
+ //for station 1
+ if (station == 1) {
+ //dip brush
+ arm1 = arm1dippos;
+ wait(0.5);
+ elbow1 = elbow1dippos;
+ wait (diptime);
+ elbow1 = elbow1basepos;
+ wait(0.3);
+ arm1 = arm1basepos;
+ //switch air to supply trace vapour
+ airswitcher = 1; //air contains target vapour
+ display.printf("Vapour ON");
+ wait (0.5);
+ //tickle
+ if (tickle) { //if tickling, first tickle then wait for PER or timeout
+ elbow1 = elbow1ticklepos;
+ arm1 = arm1ticklepos;
+ perseen = detectPER(1, tickletimeout); //tickle until timeout or PER detected
+ }
+ //or not tickle
+ else {
+ perseen = detectPER(1, tickletimeout); //if not tickling, wait for PER or timeout then move to pre-feeding position
+ arm1 = arm1ticklepos - 0.05; //move to position between LED and holder
+ wait(0.3); //this is needed to avoid the brush snagging on the phototransistor
+ elbow1 = elbow1ticklepos;
+ }
+ //feeding only if you have tickled or a PER has been detected
+ if (tickle || perseen) { //only feed if a PER has been detector, or "tickle" is true
+ elbow1 = elbow1feedpos;
+ arm1 = arm1feedpos;
+ wait(feedtime);
+ arm1 = arm1ticklepos -0.05;
+ elbow1 = elbow1ticklepos;
+ }
+ //move back to base position
+ arm1 = arm1basepos;
+ elbow1 = elbow1basepos;
+ airswitcher = 0; //air valve to clean air
+ display.printf("\e[DFF\r"); //rewrite "ON" to "OFF" on display
+ }
+ //for station 2
+ if (station == 2) {
+ //dip brush
+ arm2 = arm2dippos;
+ wait(0.5);
+ elbow2 = elbow2dippos;
+ wait (diptime);
+ elbow2 = elbow2basepos;
+ wait(0.3);
+ arm2 = arm2basepos;
+ //switch air to supply trace vapour
+ //airswitcher = 1; //no air switching for station 2
+ wait (0.5);
+ //tickle
+ if (tickle) { //if tickling, first tickle then wait for PER or timeout
+ elbow2 = elbow2ticklepos;
+ arm2 = arm2ticklepos;
+ perseen = detectPER(2, tickletimeout);
+ }
+ else {
+ perseen = detectPER(2, tickletimeout); //if not tickling, wait for PER or timeout then move to pre-feeding position
+ arm2 = arm2ticklepos - 0.05;
+ wait(0.3); //this is needed to avoid the brush snagging on the phototransistor
+ elbow2 = elbow2ticklepos;
+ }
+ //feeding only if tickling takes place or a PER has been detected
+ if (tickle || perseen) {
+ elbow2 = elbow2feedpos;
+ arm2 = arm2feedpos;
+ wait(feedtime);
+ arm2 = arm2ticklepos -0.05;
+ elbow2 = elbow2ticklepos;
+ }
+ //move back to base position
+ arm2 = arm2basepos;
+ elbow2 = elbow2basepos;
+ }
+ return perseen;
+}
+
+//User to input choice between station 1 and 2 for this session
+int stationchoice() {
+ int station;
+ station = 1;
+ cleardisplay(); //clear screen and home cursor
+ display.printf(" Station selection ");
+ display.printf("Left=1 2=Right");
+ while (lesw && risw) { //lesw and risw become false when pressed!
+ wait(0.02);
+ if (!lesw) station=1; //on LEFT select station 1
+ if (!risw) station=2; //on RIGHT select station 2
+ }
+ display.printf("\rStation %1u selected", station);
+ fprintf(logfile, "%3u, station selected\r", station);
+ return station;
+}
+
+//Registers and calibrates all beeholders used in this session
+int registerbeeholders() {
+ int i;
+ bool done;
+ char buffert[30];
+ i = done = 0;
+ cleardisplay(); //clear screen and home cursor
+ fprintf(logfile, "calibration record:\r");
+ fprintf(logfile, "i, serialno, LED V, time\r");
+ while (i<30 && !done) { //register and calibrate a maximum of 30 beeholders
+ display.printf("calibrating %u\r",i+1);
+ sessionrecord[i].serialno = getserialno(station); //read serial number
+ if (sessionrecord[i].serialno != 0) { //check if serial number correctly read - if not it will be 0000
+ sessionrecord[i].calvalue = calibrate(station, 5); //5 calibration cycles
+ sessionrecord[i].tstamp = time(NULL); //create timestamp NOW
+ strftime(buffert, 20, "%X", localtime(&sessionrecord[i].tstamp)); //formats time part of timestamp
+ cleardisplay();
+ display.printf("SN %4u - cal %4.2fV\r", sessionrecord[i].serialno, sessionrecord[i].calvalue*3.3);
+ display.printf("OK for next\r");
+ display.printf("DOWN for training");
+ fprintf(logfile, "%4u,%6u,%6.2f, %s, calibrate\r", i, sessionrecord[i].serialno, sessionrecord[i].calvalue*3.3, buffert);
+ i++;
+ while (!done && oksw) { //loop until OK or DOWN are pressed
+ wait(0.02);
+ done = !dnsw; //DOWN exits registration cycle and moves to training
+ }
+ }
+ else { //retry when serialno can't be read (is 0000)
+ cleardisplay();
+ display.printf("invalid serial no\r");
+ display.printf("reseat beeholder\r");
+ display.printf("press OK");
+ while (oksw) wait(0.02); //loop until OK is pressed to start calibration loop again
+ }
+ cleardisplay();
+ }
+ return i; //upon done condition, i== number of beeholders calibrated
+}
+
+//gets holderrecord for the holder with a certain serial number
+int getholderindex(int serialno) {
+ for (int i=0; i<numbeeholders; i++) { //reverse lookup of index for a certain serial number
+ if (sessionrecord[i].serialno == serialno) return i;
+ }
+ return 29; //if the record is not found, returns i==29
+}
+
+//all the elements making up a single training cycle with one beeholder
+void trainingcycle() {
+ wait(0.2);
+ time_t tstamp = time(NULL); //create timestamp NOW
+ char buffert[30];
+ strftime(buffert, 20, "%X", localtime(&tstamp)); //format timestamp to time string
+ int serialno = getserialno(station); //read serial number
+ int i = getholderindex(serialno); //get index i for serial number
+ IRledON(i); //switch IR LED on at correct brightness
+ sessionrecord[i].cycleno++; //increment cycle number for this beeholder
+ cleardisplay();
+ display.printf("SN: %4u, cycle %u\r", serialno, sessionrecord[i].cycleno);
+ sessionrecord[i].reslastcycle = condcycle(station, sessionrecord[i].ticklenextcycle); //do a conditioning cycle
+ fprintf(logfile, "%s,",buffert);
+ fprintf(logfile, " %4u,",serialno);
+ fprintf(logfile, " %2u,", sessionrecord[i].cycleno);
+ if (sessionrecord[i].reslastcycle) { //log PER or TimeOut
+ fprintf(logfile, " PER,");
+ }
+ else {
+ fprintf(logfile, " TO,");
+ }
+ fprintf(logfile, " training\r");
+ if (sessionrecord[i].reslastcycle) {
+ display.printf("PER detected\r");
+ }
+ else {
+ display.printf("PER time-out\r");
+ }
+ display.printf("mount holder + OK\r");
+ display.printf("DOWN to finish");
+}
+
+//main program
+int main() {
+ initialise();
+
+ //Choose which station this session will use
+ station = stationchoice ();
+ cleardisplay();
+
+ //Register and calibrate beeholders used in this session
+ display.printf("Now register holders\r");
+ display.printf("seat first holder\rpress OK\r");
+ while (oksw) wait(0.02); //loop so first beeholder can be mounted, then OK pressed
+ numbeeholders = registerbeeholders();
+ display.printf("%2u holders entered\r", numbeeholders);
+ wait(3);
+ cleardisplay();
+
+ //Conduct training
+ display.printf("Start training cycle\r");
+ display.printf("mount holder + OK\r");
+ display.printf("DOWN to finish");
+ fprintf(logfile, "Training started\r");
+ fprintf(logfile, "time, serial, cycleno, result\r");
+ wait(1);
+ InterruptIn oksw(p17); //redefine OK and footswitch as interrupts
+ oksw.mode(PullUp);
+ bool finishsession;
+ finishsession = 0;
+ oksw.fall(&trainingcycle); //call subroutine "trainingcycle" on OK/footswitch interrupt
+ while (!finishsession) { //loop while servicing interrupts
+ wait(0.02);
+ finishsession = !dnsw; //until DOWN button is pressed, which exits to program close
+ }
+
+ //Close logfile
+ fprintf(logfile, "session closed");
+ fclose(logfile); //close logfile for reading
+ cleardisplay();
+ display.printf("Session finished\r\rdownload etonlog.csvand rename");
+}
diff -r 000000000000 -r 2017f5924a22 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Mar 23 09:39:57 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912