Mattias Karlsson / Mbed 2 deprecated stateScript

A scripting environment used to define precise output/input temporal relationships.

Dependencies:   SMARTWAV mbed HelloWorld

Dependents:   perturbRoom_legacy

Fork of HelloWorld by Simon Ford

main.cpp@3:ae33b7f5a7c1, 2014-07-19 (annotated)

Committer:
mkarlsso
Date:
Sat Jul 19 03:03:36 2014 +0000
Revision:
3:ae33b7f5a7c1
Parent:
2:298679fff37c
Child:
4:34aca2142df9
fixed a = b+c bug

Who changed what in which revision?

UserRevisionLine numberNew contents of line
simon 0:fb6bbc10ffa0 1 #include "mbed.h"
mkarlsso 2:298679fff37c 2 #include <stdint.h>
mkarlsso 2:298679fff37c 3 #include "behave.h"
mkarlsso 2:298679fff37c 4 #include <string.h>
mkarlsso 2:298679fff37c 5 #include <sstream>
mkarlsso 2:298679fff37c 6 #include "SMARTWAV.h"
mkarlsso 2:298679fff37c 7
mkarlsso 2:298679fff37c 8
mkarlsso 2:298679fff37c 9 uint32_t timeKeeper; //the main clock (updated every ms)
mkarlsso 2:298679fff37c 10 bool resetTimer = false; //if true, the clock is reset
mkarlsso 2:298679fff37c 11 bool clockSlave = false; //slave mode
mkarlsso 2:298679fff37c 12 bool changeToSlave = false;
mkarlsso 2:298679fff37c 13 bool changeToStandAlone = false;
mkarlsso 2:298679fff37c 14
mkarlsso 2:298679fff37c 15 //static char buf1[0x2000] __attribute__((section("AHBSRAM0")));
mkarlsso 2:298679fff37c 16 __attribute((section("AHBSRAM0"),aligned)) outputStream textDisplay(512);
mkarlsso 2:298679fff37c 17 __attribute((section("AHBSRAM0"),aligned)) char buffer[128];
mkarlsso 2:298679fff37c 18
mkarlsso 2:298679fff37c 19
mkarlsso 2:298679fff37c 20 __attribute((section("AHBSRAM1"),aligned)) event eventBlock[NUMEVENTS];
mkarlsso 2:298679fff37c 21
mkarlsso 2:298679fff37c 22 __attribute((section("AHBSRAM1"),aligned)) condition conditionBlock[NUMCONDITIONS];
mkarlsso 2:298679fff37c 23
mkarlsso 2:298679fff37c 24 __attribute((section("AHBSRAM1"),aligned)) intCompare intCompareBlock[NUMINTCOMPARE];
mkarlsso 2:298679fff37c 25
mkarlsso 2:298679fff37c 26 __attribute((section("AHBSRAM0"),aligned)) action actionBlock[NUMACTIONS];
mkarlsso 2:298679fff37c 27
mkarlsso 2:298679fff37c 28 __attribute((section("AHBSRAM0"),aligned)) portMessage portMessageBlock[NUMPORTMESSAGES];
mkarlsso 2:298679fff37c 29
mkarlsso 2:298679fff37c 30 //__attribute((section("AHBSRAM1"),aligned)) intVariable intVariableBlock[10];
mkarlsso 2:298679fff37c 31
mkarlsso 2:298679fff37c 32 __attribute((section("AHBSRAM0"),aligned)) intOperation intOperationBlock[NUMINTOPERATIONS];
mkarlsso 2:298679fff37c 33
mkarlsso 2:298679fff37c 34 __attribute((section("AHBSRAM0"),aligned)) displayAction displayActionBlock[NUMDISPLAYACTIONS];
mkarlsso 2:298679fff37c 35
mkarlsso 2:298679fff37c 36
mkarlsso 2:298679fff37c 37
mkarlsso 2:298679fff37c 38 Ticker clockBroadCast; //timer used when sending out timestamps on a GPIO
mkarlsso 2:298679fff37c 39 uint32_t currentBroadcastTime;
mkarlsso 2:298679fff37c 40 int currentBroadcastBit = 0;
mkarlsso 2:298679fff37c 41 bool broadcastHigh = false;
mkarlsso 2:298679fff37c 42
mkarlsso 2:298679fff37c 43 int currentDIOstate[2] = {0,0}; //the first number is a bit-wise representaion of the digital inputs, the 2nd is for the outputs
mkarlsso 2:298679fff37c 44 bool digitalInChanged = false;
mkarlsso 2:298679fff37c 45 bool digitalOutChanged = false;
mkarlsso 2:298679fff37c 46 bool broadCastStateChanges = true;
mkarlsso 2:298679fff37c 47 bool textStreaming = true;
mkarlsso 2:298679fff37c 48 uint32_t changeTime;
mkarlsso 2:298679fff37c 49
mkarlsso 2:298679fff37c 50 LocalFileSystem local("local");
mkarlsso 2:298679fff37c 51
mkarlsso 2:298679fff37c 52 digitalPort* portVector[NUMPORTS+1]; //create the digital ports
mkarlsso 2:298679fff37c 53
mkarlsso 2:298679fff37c 54 float brightness = 0.0;
mkarlsso 2:298679fff37c 55
mkarlsso 2:298679fff37c 56 //Define the digial ports
mkarlsso 2:298679fff37c 57
mkarlsso 2:298679fff37c 58 //Pins for clock syncing
mkarlsso 2:298679fff37c 59 InterruptIn clockResetInt(p5);
mkarlsso 2:298679fff37c 60 DigitalOut clockOutSync(p6);
mkarlsso 2:298679fff37c 61 DigitalOut clockOutSignal(p7);
mkarlsso 2:298679fff37c 62 InterruptIn clockExternalIncrement(p8);
mkarlsso 2:298679fff37c 63
mkarlsso 2:298679fff37c 64
mkarlsso 2:298679fff37c 65 //Pins for digital ports. Each port has 1 out and 1 in
mkarlsso 2:298679fff37c 66 //DigitalOut out1(LED1); //route to LED for debugging
mkarlsso 2:298679fff37c 67 DigitalOut out1(p11);
mkarlsso 2:298679fff37c 68 DigitalIn in1(p12);
mkarlsso 2:298679fff37c 69 InterruptIn int1(p12);
mkarlsso 2:298679fff37c 70 __attribute((section("AHBSRAM0"),aligned)) digitalPort port1(&out1, &in1);
mkarlsso 2:298679fff37c 71
mkarlsso 2:298679fff37c 72 DigitalOut out2(p13);
mkarlsso 2:298679fff37c 73 DigitalIn in2(p14);
mkarlsso 2:298679fff37c 74 InterruptIn int2(p14);
mkarlsso 2:298679fff37c 75 __attribute((section("AHBSRAM0"),aligned)) digitalPort port2(&out2, &in2);
mkarlsso 2:298679fff37c 76
mkarlsso 2:298679fff37c 77
mkarlsso 2:298679fff37c 78 DigitalOut out3(p15);
mkarlsso 2:298679fff37c 79 DigitalIn in3(p16);
mkarlsso 2:298679fff37c 80 InterruptIn int3(p16);
mkarlsso 2:298679fff37c 81 __attribute((section("AHBSRAM0"),aligned)) digitalPort port3(&out3, &in3);
mkarlsso 2:298679fff37c 82
mkarlsso 2:298679fff37c 83 DigitalOut out4(p18);
mkarlsso 2:298679fff37c 84 DigitalIn in4(p17);
mkarlsso 2:298679fff37c 85 InterruptIn int4(p17);
mkarlsso 2:298679fff37c 86 __attribute((section("AHBSRAM0"),aligned)) digitalPort port4(&out4, &in4);
mkarlsso 2:298679fff37c 87
mkarlsso 2:298679fff37c 88 DigitalOut out5(p21);
mkarlsso 2:298679fff37c 89 DigitalIn in5(p22);
mkarlsso 2:298679fff37c 90 InterruptIn int5(p22);
mkarlsso 2:298679fff37c 91 __attribute((section("AHBSRAM0"),aligned)) digitalPort port5(&out5, &in5);
mkarlsso 2:298679fff37c 92
mkarlsso 2:298679fff37c 93 DigitalOut out6(p23);
mkarlsso 2:298679fff37c 94 DigitalIn in6(p24);
mkarlsso 2:298679fff37c 95 InterruptIn int6(p24);
mkarlsso 2:298679fff37c 96 __attribute((section("AHBSRAM0"),aligned)) digitalPort port6(&out6, &in6);
mkarlsso 2:298679fff37c 97
mkarlsso 2:298679fff37c 98 DigitalOut out7(p25);
mkarlsso 2:298679fff37c 99 DigitalIn in7(p26);
mkarlsso 2:298679fff37c 100 InterruptIn int7(p26);
mkarlsso 2:298679fff37c 101 __attribute((section("AHBSRAM0"),aligned)) digitalPort port7(&out7, &in7);
mkarlsso 2:298679fff37c 102
mkarlsso 2:298679fff37c 103 DigitalOut out8(p29);
mkarlsso 2:298679fff37c 104 DigitalIn in8(p30);
mkarlsso 2:298679fff37c 105 InterruptIn int8(p30);
mkarlsso 2:298679fff37c 106 __attribute((section("AHBSRAM0"),aligned)) digitalPort port8(&out8, &in8);
mkarlsso 2:298679fff37c 107 //Serial communication
mkarlsso 2:298679fff37c 108 Serial pc(USBTX, USBRX); // tx, rx
mkarlsso 2:298679fff37c 109
mkarlsso 2:298679fff37c 110 //Main event queue
mkarlsso 2:298679fff37c 111 eventQueue mainQueue(portVector, &timeKeeper);
mkarlsso 2:298679fff37c 112
mkarlsso 2:298679fff37c 113 //The script parser
mkarlsso 2:298679fff37c 114 scriptStream parser(&pc, portVector, NUMPORTS, &mainQueue);
mkarlsso 2:298679fff37c 115
mkarlsso 2:298679fff37c 116 //The sound output uses a SmartWav device and their simple serial library
mkarlsso 2:298679fff37c 117 SMARTWAV sWav(p9,p10,p19); //(TX,RX,Reset);
mkarlsso 2:298679fff37c 118
mkarlsso 2:298679fff37c 119 //Erases the input buffer for serial input
mkarlsso 2:298679fff37c 120 void eraseBuffer(char* buffer,int numToErase) {
mkarlsso 2:298679fff37c 121 for (int i = 0; i < numToErase; i++) {
mkarlsso 2:298679fff37c 122 buffer[i] = NULL;
mkarlsso 2:298679fff37c 123 }
mkarlsso 2:298679fff37c 124 }
mkarlsso 2:298679fff37c 125
simon 0:fb6bbc10ffa0 126
mkarlsso 2:298679fff37c 127 //Called by clockBroadCast timer to output a 32-bit timestamp. When the timestmap has been
mkarlsso 2:298679fff37c 128 //sent, the function is detached from the timer.
mkarlsso 2:298679fff37c 129 void broadcastNextBit() {
mkarlsso 2:298679fff37c 130
mkarlsso 2:298679fff37c 131 if (currentBroadcastBit < 32) {
mkarlsso 2:298679fff37c 132 broadcastHigh = !broadcastHigh; //flip the sync signal
mkarlsso 2:298679fff37c 133 if (broadcastHigh) {
mkarlsso 2:298679fff37c 134 clockOutSync = 1;
mkarlsso 2:298679fff37c 135 clockOutSignal = (currentBroadcastTime & ( 1 << currentBroadcastBit)) >> currentBroadcastBit;
mkarlsso 2:298679fff37c 136
mkarlsso 2:298679fff37c 137 } else {
mkarlsso 2:298679fff37c 138 clockOutSync = 0;
mkarlsso 2:298679fff37c 139 clockOutSignal = 0;
mkarlsso 2:298679fff37c 140 currentBroadcastBit++;
mkarlsso 2:298679fff37c 141 }
mkarlsso 2:298679fff37c 142 }
mkarlsso 2:298679fff37c 143 }
mkarlsso 2:298679fff37c 144
mkarlsso 2:298679fff37c 145
mkarlsso 2:298679fff37c 146 //intiatiation of timer2 (specific to the LPC17xx chip). This is used in
mkarlsso 2:298679fff37c 147 //standalone mode to increment the clock every ms.
mkarlsso 2:298679fff37c 148 //we use lower-lever code here to get better control over the timer if we reset it
mkarlsso 2:298679fff37c 149 void timer0_init(void)
mkarlsso 2:298679fff37c 150 {
mkarlsso 2:298679fff37c 151 //LPC_SC->PCLKSEL1 &= (3 << 12); //mask
mkarlsso 2:298679fff37c 152 //LPC_SC->PCLKSEL1 |= (1 << 12); //sets it to 1*SystemCoreClock - table 42 (page 57 in user manual)
mkarlsso 2:298679fff37c 153
mkarlsso 2:298679fff37c 154 //LPC_SC->PCLKSEL0 &= (3 << 3); //mask
mkarlsso 2:298679fff37c 155 //LPC_SC->PCLKSEL0 |= (1 << 3); //sets it to 1*SystemCoreClock - table 42 (page 57 in user manual)
mkarlsso 2:298679fff37c 156 LPC_SC->PCONP |=1<1; //timer0 power on
mkarlsso 2:298679fff37c 157 LPC_TIM0->MR0 = 23980; //1 msec
mkarlsso 2:298679fff37c 158 //LPC_TIM0->PR = (SystemCoreClock / 1000000); //microsecond steps
mkarlsso 2:298679fff37c 159 //LPC_TIM0->MR0 = 1000; //100 msec
mkarlsso 2:298679fff37c 160 //LPC_TIM0->MR0 = (SystemCoreClock / 1000000); //microsecond steps
mkarlsso 2:298679fff37c 161 LPC_TIM0->MCR = 3; //interrupt and reset control
mkarlsso 2:298679fff37c 162 //3 = Interrupt & reset timer0 on match
mkarlsso 2:298679fff37c 163 //1 = Interrupt only, no reset of timer0
mkarlsso 2:298679fff37c 164 NVIC_EnableIRQ(TIMER0_IRQn); //enable timer0 interrupt
mkarlsso 2:298679fff37c 165 LPC_TIM0->TCR = 1; //enable Timer0
mkarlsso 2:298679fff37c 166
mkarlsso 2:298679fff37c 167
mkarlsso 2:298679fff37c 168 /*
mkarlsso 2:298679fff37c 169 LPC_SC->PCONP |= (0x1<<22); // turn on power for timer 2
mkarlsso 2:298679fff37c 170 LPC_TIM2->TCR = 0x02; // reset timer
mkarlsso 2:298679fff37c 171 LPC_TIM2->PR = (SystemCoreClock / 1000000); //microsecond steps
mkarlsso 2:298679fff37c 172 LPC_TIM2->MR0 = 1000; // 1000 microsecond interval interrupts
mkarlsso 2:298679fff37c 173 LPC_TIM2->IR = 0x3f; // reset all interrrupts
mkarlsso 2:298679fff37c 174 LPC_TIM2->MCR = 0x03; // reset timer on match and generate interrupt (MR0)
mkarlsso 2:298679fff37c 175 LPC_TIM2->TCR = 0x01; // start timer
mkarlsso 2:298679fff37c 176
mkarlsso 2:298679fff37c 177 NVIC_EnableIRQ(TIMER2_IRQn); // Enable the interrupt
mkarlsso 2:298679fff37c 178 */
mkarlsso 2:298679fff37c 179 //pc.printf("Done timer_init\n\r");
mkarlsso 2:298679fff37c 180 }
mkarlsso 2:298679fff37c 181
mkarlsso 2:298679fff37c 182 //This is the callback for timer2
mkarlsso 2:298679fff37c 183 extern "C" void TIMER0_IRQHandler (void) {
mkarlsso 2:298679fff37c 184
mkarlsso 2:298679fff37c 185 if((LPC_TIM0->IR & 0x01) == 0x01) { // if MR0 interrupt, proceed
mkarlsso 2:298679fff37c 186
mkarlsso 2:298679fff37c 187 LPC_TIM0->IR |= 1 << 0; // Clear MR0 interrupt flag
mkarlsso 2:298679fff37c 188 timeKeeper++;
mkarlsso 2:298679fff37c 189
mkarlsso 2:298679fff37c 190 if (resetTimer) {
mkarlsso 2:298679fff37c 191 timeKeeper = 0;
mkarlsso 2:298679fff37c 192 resetTimer = false;
mkarlsso 2:298679fff37c 193 }
mkarlsso 2:298679fff37c 194
mkarlsso 2:298679fff37c 195 if (currentBroadcastBit > 31) {
mkarlsso 2:298679fff37c 196 clockBroadCast.detach();
mkarlsso 2:298679fff37c 197 currentBroadcastBit = 0;
mkarlsso 2:298679fff37c 198 }
mkarlsso 2:298679fff37c 199
mkarlsso 2:298679fff37c 200 //Every second, we broadcast out the current time
mkarlsso 2:298679fff37c 201 if ((timeKeeper % 1000) == 0) {
mkarlsso 2:298679fff37c 202 currentBroadcastTime = timeKeeper;
mkarlsso 2:298679fff37c 203 clockOutSync = 1;
mkarlsso 2:298679fff37c 204
mkarlsso 2:298679fff37c 205 currentBroadcastBit = 0;
mkarlsso 2:298679fff37c 206
mkarlsso 2:298679fff37c 207 clockOutSignal = (currentBroadcastTime & ( 1 << currentBroadcastBit)) >> currentBroadcastBit;
mkarlsso 2:298679fff37c 208 broadcastHigh = true;
mkarlsso 2:298679fff37c 209 clockBroadCast.attach_us(&broadcastNextBit, 1000);
mkarlsso 2:298679fff37c 210 }
mkarlsso 2:298679fff37c 211 }
mkarlsso 2:298679fff37c 212 }
mkarlsso 2:298679fff37c 213
mkarlsso 2:298679fff37c 214
mkarlsso 2:298679fff37c 215 //In slave mode, the clock is updated with an external trigger every ms. No need for
mkarlsso 2:298679fff37c 216 //100us resolution.
mkarlsso 2:298679fff37c 217 void callback_clockExternalIncrement(void) {
mkarlsso 2:298679fff37c 218
mkarlsso 2:298679fff37c 219 timeKeeper++;
mkarlsso 2:298679fff37c 220
mkarlsso 2:298679fff37c 221 if (resetTimer) {
mkarlsso 2:298679fff37c 222 timeKeeper = 0;
mkarlsso 2:298679fff37c 223 resetTimer = false;
mkarlsso 2:298679fff37c 224 }
mkarlsso 2:298679fff37c 225
mkarlsso 2:298679fff37c 226 if (currentBroadcastBit > 31) {
mkarlsso 2:298679fff37c 227 clockBroadCast.detach();
mkarlsso 2:298679fff37c 228 currentBroadcastBit = 0;
mkarlsso 2:298679fff37c 229 }
mkarlsso 2:298679fff37c 230
mkarlsso 2:298679fff37c 231 //Every second, we broadcast out the current time
mkarlsso 2:298679fff37c 232 if ((timeKeeper % 1000) == 0) {
mkarlsso 2:298679fff37c 233 currentBroadcastTime = timeKeeper;
mkarlsso 2:298679fff37c 234 clockOutSync = 1;
mkarlsso 2:298679fff37c 235
mkarlsso 2:298679fff37c 236 currentBroadcastBit = 0;
mkarlsso 2:298679fff37c 237
mkarlsso 2:298679fff37c 238 clockOutSignal = (currentBroadcastTime & ( 1 << currentBroadcastBit)) >> currentBroadcastBit;
mkarlsso 2:298679fff37c 239 broadcastHigh = true;
mkarlsso 2:298679fff37c 240 clockBroadCast.attach_us(&broadcastNextBit, 1000);
mkarlsso 2:298679fff37c 241 }
mkarlsso 2:298679fff37c 242 }
mkarlsso 2:298679fff37c 243
mkarlsso 2:298679fff37c 244 //Every digital port's in pin has a hardware interrupt. We use a callback stub for each port
mkarlsso 2:298679fff37c 245 //that routes the int_callback.
mkarlsso 2:298679fff37c 246 void int_callback(int portNum, int direction) {
mkarlsso 2:298679fff37c 247 portVector[portNum]->addStateChange(direction, timeKeeper);
mkarlsso 2:298679fff37c 248 }
mkarlsso 2:298679fff37c 249
mkarlsso 2:298679fff37c 250 //Callback stubs
mkarlsso 2:298679fff37c 251 void callback_port1_rise(void) { int_callback(1, 1); }
mkarlsso 2:298679fff37c 252 void callback_port1_fall(void) { int_callback(1, 0); }
mkarlsso 2:298679fff37c 253 void callback_port2_rise(void) { int_callback(2, 1); }
mkarlsso 2:298679fff37c 254 void callback_port2_fall(void) { int_callback(2, 0); }
mkarlsso 2:298679fff37c 255 void callback_port3_rise(void) { int_callback(3, 1); }
mkarlsso 2:298679fff37c 256 void callback_port3_fall(void) { int_callback(3, 0); }
mkarlsso 2:298679fff37c 257 void callback_port4_rise(void) { int_callback(4, 1); }
mkarlsso 2:298679fff37c 258 void callback_port4_fall(void) { int_callback(4, 0); }
mkarlsso 2:298679fff37c 259 void callback_port5_rise(void) { int_callback(5, 1); }
mkarlsso 2:298679fff37c 260 void callback_port5_fall(void) { int_callback(5, 0); }
mkarlsso 2:298679fff37c 261 void callback_port6_rise(void) { int_callback(6, 1); }
mkarlsso 2:298679fff37c 262 void callback_port6_fall(void) { int_callback(6, 0); }
mkarlsso 2:298679fff37c 263 void callback_port7_rise(void) { int_callback(7, 1); }
mkarlsso 2:298679fff37c 264 void callback_port7_fall(void) { int_callback(7, 0); }
mkarlsso 2:298679fff37c 265 void callback_port8_rise(void) { int_callback(8, 1); }
mkarlsso 2:298679fff37c 266 void callback_port8_fall(void) { int_callback(8, 0); }
mkarlsso 2:298679fff37c 267
mkarlsso 2:298679fff37c 268 //This function is attached to an interrupt pin for external clock reset
mkarlsso 2:298679fff37c 269 void callback_clockReset(void) {
mkarlsso 2:298679fff37c 270 if (timeKeeper > 100) {
mkarlsso 2:298679fff37c 271 LPC_TIM2->TCR = 0x02; // reset timer
mkarlsso 2:298679fff37c 272 timeKeeper = 0;
mkarlsso 2:298679fff37c 273 pc.printf("%d Clock reset\r\n", timeKeeper);
mkarlsso 2:298679fff37c 274 }
mkarlsso 2:298679fff37c 275 }
mkarlsso 2:298679fff37c 276
simon 0:fb6bbc10ffa0 277
simon 0:fb6bbc10ffa0 278 int main() {
mkarlsso 2:298679fff37c 279 timeKeeper = 0; //set main clock to 0;
mkarlsso 2:298679fff37c 280 sWav.reset();
mkarlsso 2:298679fff37c 281 pc.baud(115200);
mkarlsso 2:298679fff37c 282 //pc.baud(9600);
mkarlsso 2:298679fff37c 283
mkarlsso 2:298679fff37c 284 for (int i = 0; i < 9; i++) {
mkarlsso 2:298679fff37c 285 portVector[i] = NULL;
mkarlsso 2:298679fff37c 286 }
mkarlsso 2:298679fff37c 287 //We keep portVector 1-based to eliminate confusion
mkarlsso 2:298679fff37c 288 portVector[1] = &port1;
mkarlsso 2:298679fff37c 289 portVector[2] = &port2;
mkarlsso 2:298679fff37c 290 portVector[3] = &port3;
mkarlsso 2:298679fff37c 291 portVector[4] = &port4;
mkarlsso 2:298679fff37c 292 portVector[5] = &port5;
mkarlsso 2:298679fff37c 293 portVector[6] = &port6;
mkarlsso 2:298679fff37c 294 portVector[7] = &port7;
mkarlsso 2:298679fff37c 295 portVector[8] = &port8;
mkarlsso 2:298679fff37c 296
mkarlsso 2:298679fff37c 297 //Callback to update the main clock
mkarlsso 2:298679fff37c 298 //timeTick1.attach_us(&incrementTime, 100);
mkarlsso 2:298679fff37c 299
mkarlsso 2:298679fff37c 300 timer0_init();
mkarlsso 2:298679fff37c 301
mkarlsso 2:298679fff37c 302
mkarlsso 2:298679fff37c 303 //Set up callbacks for the port interrupts
mkarlsso 2:298679fff37c 304 int1.rise(&callback_port1_rise);
mkarlsso 2:298679fff37c 305 int1.fall(&callback_port1_fall);
mkarlsso 2:298679fff37c 306 int2.rise(&callback_port2_rise);
mkarlsso 2:298679fff37c 307 int2.fall(&callback_port2_fall);
mkarlsso 2:298679fff37c 308 int3.rise(&callback_port3_rise);
mkarlsso 2:298679fff37c 309 int3.fall(&callback_port3_fall);
mkarlsso 2:298679fff37c 310 int4.rise(&callback_port4_rise);
mkarlsso 2:298679fff37c 311 int4.fall(&callback_port4_fall);
mkarlsso 2:298679fff37c 312 int5.rise(&callback_port5_rise);
mkarlsso 2:298679fff37c 313 int5.fall(&callback_port5_fall);
mkarlsso 2:298679fff37c 314 int6.rise(&callback_port6_rise);
mkarlsso 2:298679fff37c 315 int6.fall(&callback_port6_fall);
mkarlsso 2:298679fff37c 316 int7.rise(&callback_port7_rise);
mkarlsso 2:298679fff37c 317 int7.fall(&callback_port7_fall);
mkarlsso 2:298679fff37c 318 int8.rise(&callback_port8_rise);
mkarlsso 2:298679fff37c 319 int8.fall(&callback_port8_fall);
mkarlsso 2:298679fff37c 320
mkarlsso 2:298679fff37c 321 clockResetInt.rise(&callback_clockReset);
mkarlsso 2:298679fff37c 322 clockResetInt.mode(PullDown);
mkarlsso 2:298679fff37c 323
mkarlsso 2:298679fff37c 324 clockExternalIncrement.mode(PullDown);
mkarlsso 2:298679fff37c 325
mkarlsso 2:298679fff37c 326 //The inputs are set for pull-up mode (might need to change this)
mkarlsso 2:298679fff37c 327 in1.mode(PullDown);
mkarlsso 2:298679fff37c 328 in2.mode(PullDown);
mkarlsso 2:298679fff37c 329 in3.mode(PullDown);
mkarlsso 2:298679fff37c 330 in4.mode(PullDown);
mkarlsso 2:298679fff37c 331 in5.mode(PullDown);
mkarlsso 2:298679fff37c 332 in6.mode(PullDown);
mkarlsso 2:298679fff37c 333 in7.mode(PullDown);
mkarlsso 2:298679fff37c 334 in8.mode(PullDown);
mkarlsso 2:298679fff37c 335
mkarlsso 2:298679fff37c 336 //Set up input buffer for the serial port
mkarlsso 2:298679fff37c 337 //char buffer[128];
mkarlsso 2:298679fff37c 338 int bufferPos = 0;
mkarlsso 2:298679fff37c 339 eraseBuffer(buffer,128);
mkarlsso 2:298679fff37c 340
mkarlsso 2:298679fff37c 341 ostringstream timeConvert; // stream used for the conversion
mkarlsso 2:298679fff37c 342 ostringstream stateConvert;
mkarlsso 2:298679fff37c 343 char junkChar;
mkarlsso 2:298679fff37c 344 int tmpChar;
mkarlsso 2:298679fff37c 345
mkarlsso 2:298679fff37c 346 while (pc.readable()) {
mkarlsso 2:298679fff37c 347 junkChar = pc.getc();
mkarlsso 2:298679fff37c 348 }
mkarlsso 2:298679fff37c 349
mkarlsso 2:298679fff37c 350 FILE *fp = fopen("/local/STARTUP.TXT", "r");
mkarlsso 2:298679fff37c 351 if (fp != NULL) {
mkarlsso 2:298679fff37c 352 pc.printf("Executing startup script...\r\n");
mkarlsso 2:298679fff37c 353 do {
mkarlsso 2:298679fff37c 354 tmpChar = fgetc(fp);
mkarlsso 2:298679fff37c 355 if ((tmpChar >= 32) && (tmpChar <= 126)) {
mkarlsso 2:298679fff37c 356 buffer[bufferPos] = tmpChar;
mkarlsso 2:298679fff37c 357 bufferPos++;
mkarlsso 2:298679fff37c 358 }
mkarlsso 2:298679fff37c 359 if ((tmpChar == 13) || (tmpChar == 10)) { //carrriage return
mkarlsso 2:298679fff37c 360 parser.addLineToCurrentBlock(buffer);
mkarlsso 2:298679fff37c 361 bufferPos = 0;
mkarlsso 2:298679fff37c 362 eraseBuffer(buffer,128);
mkarlsso 2:298679fff37c 363 }
mkarlsso 2:298679fff37c 364 //pc.putc(tmpChar);
mkarlsso 2:298679fff37c 365 } while (tmpChar != EOF);
mkarlsso 2:298679fff37c 366
mkarlsso 2:298679fff37c 367 buffer[bufferPos] = 59;
mkarlsso 2:298679fff37c 368 parser.addLineToCurrentBlock(buffer);
mkarlsso 2:298679fff37c 369 eraseBuffer(buffer,128);
mkarlsso 2:298679fff37c 370 fclose(fp);
mkarlsso 2:298679fff37c 371 } else {
mkarlsso 2:298679fff37c 372 pc.printf("No startup script found.\r\n");
mkarlsso 2:298679fff37c 373 }
mkarlsso 2:298679fff37c 374
mkarlsso 2:298679fff37c 375 //main loop
simon 0:fb6bbc10ffa0 376 while(1) {
mkarlsso 2:298679fff37c 377 //check the main event queue to see if anything needs to be done
mkarlsso 2:298679fff37c 378 mainQueue.check();
mkarlsso 2:298679fff37c 379
mkarlsso 2:298679fff37c 380 //check if anything has been written to the serial input
mkarlsso 2:298679fff37c 381 if (pc.readable()) {
mkarlsso 2:298679fff37c 382
mkarlsso 2:298679fff37c 383 buffer[bufferPos] = pc.getc();
mkarlsso 2:298679fff37c 384 bufferPos++;
mkarlsso 2:298679fff37c 385
mkarlsso 2:298679fff37c 386 //'Return' key pressed
mkarlsso 2:298679fff37c 387 if ((buffer[bufferPos-1] == 13) || (buffer[bufferPos-1] == 10)) {
mkarlsso 2:298679fff37c 388 //pc.printf("\r\n");
mkarlsso 2:298679fff37c 389 buffer[bufferPos-1] = '\0';
mkarlsso 2:298679fff37c 390 parser.addLineToCurrentBlock(buffer);
mkarlsso 2:298679fff37c 391 bufferPos = 0;
mkarlsso 2:298679fff37c 392 eraseBuffer(buffer,128);
mkarlsso 2:298679fff37c 393
mkarlsso 2:298679fff37c 394 } else {
mkarlsso 2:298679fff37c 395 //pc.putc(buffer[bufferPos-1]);
mkarlsso 2:298679fff37c 396 //Backspace was pressed
mkarlsso 3:ae33b7f5a7c1 397 if (((buffer[bufferPos-1] == 127)||(buffer[bufferPos-1] == 8)) && (bufferPos > 0)) {
mkarlsso 3:ae33b7f5a7c1 398
mkarlsso 2:298679fff37c 399 bufferPos = bufferPos-2;
mkarlsso 2:298679fff37c 400 }
mkarlsso 2:298679fff37c 401 }
mkarlsso 2:298679fff37c 402 }
mkarlsso 2:298679fff37c 403
mkarlsso 2:298679fff37c 404 // __disable_irq();
mkarlsso 2:298679fff37c 405
mkarlsso 2:298679fff37c 406
mkarlsso 2:298679fff37c 407 //Check all the digital ports to see if anything has changed. In the update routine, the port's
mkarlsso 2:298679fff37c 408 //script callbacks are called if the port was triggered
mkarlsso 2:298679fff37c 409 digitalInChanged = false;
mkarlsso 2:298679fff37c 410 digitalOutChanged = false;
mkarlsso 2:298679fff37c 411 changeTime = timeKeeper;
mkarlsso 2:298679fff37c 412 for (int i = 0; i < NUMPORTS; i++) {
mkarlsso 2:298679fff37c 413 if (portVector[i+1]->update()) {
mkarlsso 2:298679fff37c 414 digitalInChanged = true;
mkarlsso 2:298679fff37c 415 changeTime = min(changeTime,portVector[i+1]->lastChangeTime);
mkarlsso 2:298679fff37c 416
mkarlsso 2:298679fff37c 417 //The input state of all the ports in condensed into one number (each bit contains the info)
mkarlsso 2:298679fff37c 418 if (portVector[i+1]->getLastChangeState() == 1) {
mkarlsso 2:298679fff37c 419 currentDIOstate[0] = currentDIOstate[0] | (1 << i);
mkarlsso 2:298679fff37c 420 } else {
mkarlsso 2:298679fff37c 421 currentDIOstate[0] = currentDIOstate[0] & (255^(1 << i));
mkarlsso 2:298679fff37c 422 }
mkarlsso 2:298679fff37c 423 }
mkarlsso 2:298679fff37c 424 if (portVector[i+1]->outStateChanged) {
mkarlsso 2:298679fff37c 425 digitalOutChanged = true;
mkarlsso 2:298679fff37c 426 changeTime = min(changeTime,portVector[i+1]->lastOutChangeTime);
mkarlsso 2:298679fff37c 427 //The out state of all the ports in condensed into one number (each bit contains the info)
mkarlsso 2:298679fff37c 428 if (portVector[i+1]->outState == 1) {
mkarlsso 2:298679fff37c 429 currentDIOstate[1] = currentDIOstate[1] | (1 << i);
mkarlsso 2:298679fff37c 430 } else {
mkarlsso 2:298679fff37c 431 currentDIOstate[1] = currentDIOstate[1] & (255^(1 << i));
mkarlsso 2:298679fff37c 432 }
mkarlsso 2:298679fff37c 433 portVector[i+1]->outStateChanged = false;
mkarlsso 2:298679fff37c 434 }
mkarlsso 2:298679fff37c 435 }
mkarlsso 2:298679fff37c 436
mkarlsso 2:298679fff37c 437 //If anything changed, we write the new values to the serial port (this can be turned off
mkarlsso 2:298679fff37c 438 //with broadCastStateChanges)
mkarlsso 2:298679fff37c 439 if ( (digitalInChanged||digitalOutChanged) && broadCastStateChanges) {
mkarlsso 2:298679fff37c 440 timeConvert << changeTime; //broadcast the earliest timestamp when a change occured
mkarlsso 2:298679fff37c 441 //stateConvert << currentDIOstate[0] << " " << currentDIOstate[1];
mkarlsso 2:298679fff37c 442 stateConvert << currentDIOstate[0] << " " << currentDIOstate[1] << " ";
mkarlsso 2:298679fff37c 443 textDisplay.send(timeConvert.str() + " " + stateConvert.str() + "\r\n");
mkarlsso 2:298679fff37c 444 timeConvert.clear();
mkarlsso 2:298679fff37c 445 timeConvert.seekp(0);
mkarlsso 2:298679fff37c 446 stateConvert.clear();
mkarlsso 2:298679fff37c 447 stateConvert.seekp(0);
mkarlsso 2:298679fff37c 448 digitalInChanged = false;
mkarlsso 2:298679fff37c 449 digitalOutChanged = false;
mkarlsso 2:298679fff37c 450 }
mkarlsso 2:298679fff37c 451
mkarlsso 2:298679fff37c 452 //We use a buffer to send text via the serial port. For every loop
mkarlsso 2:298679fff37c 453 //in the main loop, we send one character if there is enything to send.
mkarlsso 2:298679fff37c 454 //This way, outputting text to serial does not hold up other time-sensitive
mkarlsso 2:298679fff37c 455 //things in the event queue
mkarlsso 2:298679fff37c 456 if ((textDisplay.unsentData) && (textStreaming)) {
mkarlsso 2:298679fff37c 457 pc.printf("%c", textDisplay.getNextChar());
mkarlsso 2:298679fff37c 458 }
mkarlsso 2:298679fff37c 459
mkarlsso 2:298679fff37c 460 //Here is how we toggle between standalone and slave mode for the clock updating.
mkarlsso 2:298679fff37c 461 if (changeToSlave) {
mkarlsso 2:298679fff37c 462 //timeTick1.detach();
mkarlsso 2:298679fff37c 463 NVIC_DisableIRQ(TIMER2_IRQn); // Disable the interrupt
mkarlsso 2:298679fff37c 464 clockExternalIncrement.rise(&callback_clockExternalIncrement);
mkarlsso 2:298679fff37c 465 clockSlave = true;
mkarlsso 2:298679fff37c 466 changeToSlave = false;
mkarlsso 2:298679fff37c 467 changeToStandAlone = false;
mkarlsso 2:298679fff37c 468 } else if (changeToStandAlone) {
mkarlsso 2:298679fff37c 469 //timeTick1.attach_us(&incrementTime, 100);
mkarlsso 2:298679fff37c 470 timer0_init();
mkarlsso 2:298679fff37c 471 clockExternalIncrement.rise(NULL); //remove the callback to the external interrupt
mkarlsso 2:298679fff37c 472 clockSlave = false;
mkarlsso 2:298679fff37c 473 changeToSlave = false;
mkarlsso 2:298679fff37c 474 changeToStandAlone = false;
mkarlsso 2:298679fff37c 475 }
mkarlsso 2:298679fff37c 476
mkarlsso 2:298679fff37c 477 //__enable_irq();
mkarlsso 2:298679fff37c 478
simon 0:fb6bbc10ffa0 479 }
simon 0:fb6bbc10ffa0 480 }