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@4:34aca2142df9, 2014-09-25 (annotated)

Committer:
mkarlsso
Date:
Thu Sep 25 23:42:30 2014 +0000
Revision:
4:34aca2142df9
Parent:
3:ae33b7f5a7c1 
Longer script loading without hanging due to memory limitations

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 4:34aca2142df9 17 __attribute((section("AHBSRAM0"),aligned)) char buffer[256];
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 4:34aca2142df9 64 //Camera trigger signal
mkarlsso 4:34aca2142df9 65 //DigitalOut camera30Hz(p27);
mkarlsso 4:34aca2142df9 66
mkarlsso 2:298679fff37c 67
mkarlsso 2:298679fff37c 68 //Pins for digital ports. Each port has 1 out and 1 in
mkarlsso 2:298679fff37c 69 //DigitalOut out1(LED1); //route to LED for debugging
mkarlsso 2:298679fff37c 70 DigitalOut out1(p11);
mkarlsso 2:298679fff37c 71 DigitalIn in1(p12);
mkarlsso 2:298679fff37c 72 InterruptIn int1(p12);
mkarlsso 2:298679fff37c 73 __attribute((section("AHBSRAM0"),aligned)) digitalPort port1(&out1, &in1);
mkarlsso 2:298679fff37c 74
mkarlsso 2:298679fff37c 75 DigitalOut out2(p13);
mkarlsso 2:298679fff37c 76 DigitalIn in2(p14);
mkarlsso 2:298679fff37c 77 InterruptIn int2(p14);
mkarlsso 2:298679fff37c 78 __attribute((section("AHBSRAM0"),aligned)) digitalPort port2(&out2, &in2);
mkarlsso 2:298679fff37c 79
mkarlsso 2:298679fff37c 80
mkarlsso 2:298679fff37c 81 DigitalOut out3(p15);
mkarlsso 2:298679fff37c 82 DigitalIn in3(p16);
mkarlsso 2:298679fff37c 83 InterruptIn int3(p16);
mkarlsso 2:298679fff37c 84 __attribute((section("AHBSRAM0"),aligned)) digitalPort port3(&out3, &in3);
mkarlsso 2:298679fff37c 85
mkarlsso 2:298679fff37c 86 DigitalOut out4(p18);
mkarlsso 2:298679fff37c 87 DigitalIn in4(p17);
mkarlsso 2:298679fff37c 88 InterruptIn int4(p17);
mkarlsso 2:298679fff37c 89 __attribute((section("AHBSRAM0"),aligned)) digitalPort port4(&out4, &in4);
mkarlsso 2:298679fff37c 90
mkarlsso 2:298679fff37c 91 DigitalOut out5(p21);
mkarlsso 2:298679fff37c 92 DigitalIn in5(p22);
mkarlsso 2:298679fff37c 93 InterruptIn int5(p22);
mkarlsso 2:298679fff37c 94 __attribute((section("AHBSRAM0"),aligned)) digitalPort port5(&out5, &in5);
mkarlsso 2:298679fff37c 95
mkarlsso 2:298679fff37c 96 DigitalOut out6(p23);
mkarlsso 2:298679fff37c 97 DigitalIn in6(p24);
mkarlsso 2:298679fff37c 98 InterruptIn int6(p24);
mkarlsso 2:298679fff37c 99 __attribute((section("AHBSRAM0"),aligned)) digitalPort port6(&out6, &in6);
mkarlsso 2:298679fff37c 100
mkarlsso 2:298679fff37c 101 DigitalOut out7(p25);
mkarlsso 2:298679fff37c 102 DigitalIn in7(p26);
mkarlsso 2:298679fff37c 103 InterruptIn int7(p26);
mkarlsso 2:298679fff37c 104 __attribute((section("AHBSRAM0"),aligned)) digitalPort port7(&out7, &in7);
mkarlsso 2:298679fff37c 105
mkarlsso 2:298679fff37c 106 DigitalOut out8(p29);
mkarlsso 2:298679fff37c 107 DigitalIn in8(p30);
mkarlsso 2:298679fff37c 108 InterruptIn int8(p30);
mkarlsso 2:298679fff37c 109 __attribute((section("AHBSRAM0"),aligned)) digitalPort port8(&out8, &in8);
mkarlsso 2:298679fff37c 110 //Serial communication
mkarlsso 2:298679fff37c 111 Serial pc(USBTX, USBRX); // tx, rx
mkarlsso 2:298679fff37c 112
mkarlsso 2:298679fff37c 113 //Main event queue
mkarlsso 2:298679fff37c 114 eventQueue mainQueue(portVector, &timeKeeper);
mkarlsso 2:298679fff37c 115
mkarlsso 2:298679fff37c 116 //The script parser
mkarlsso 2:298679fff37c 117 scriptStream parser(&pc, portVector, NUMPORTS, &mainQueue);
mkarlsso 2:298679fff37c 118
mkarlsso 2:298679fff37c 119 //The sound output uses a SmartWav device and their simple serial library
mkarlsso 2:298679fff37c 120 SMARTWAV sWav(p9,p10,p19); //(TX,RX,Reset);
mkarlsso 2:298679fff37c 121
mkarlsso 2:298679fff37c 122 //Erases the input buffer for serial input
mkarlsso 2:298679fff37c 123 void eraseBuffer(char* buffer,int numToErase) {
mkarlsso 2:298679fff37c 124 for (int i = 0; i < numToErase; i++) {
mkarlsso 2:298679fff37c 125 buffer[i] = NULL;
mkarlsso 2:298679fff37c 126 }
mkarlsso 2:298679fff37c 127 }
mkarlsso 2:298679fff37c 128
simon 0:fb6bbc10ffa0 129
mkarlsso 2:298679fff37c 130 //Called by clockBroadCast timer to output a 32-bit timestamp. When the timestmap has been
mkarlsso 2:298679fff37c 131 //sent, the function is detached from the timer.
mkarlsso 2:298679fff37c 132 void broadcastNextBit() {
mkarlsso 2:298679fff37c 133
mkarlsso 2:298679fff37c 134 if (currentBroadcastBit < 32) {
mkarlsso 2:298679fff37c 135 broadcastHigh = !broadcastHigh; //flip the sync signal
mkarlsso 2:298679fff37c 136 if (broadcastHigh) {
mkarlsso 2:298679fff37c 137 clockOutSync = 1;
mkarlsso 2:298679fff37c 138 clockOutSignal = (currentBroadcastTime & ( 1 << currentBroadcastBit)) >> currentBroadcastBit;
mkarlsso 2:298679fff37c 139
mkarlsso 2:298679fff37c 140 } else {
mkarlsso 2:298679fff37c 141 clockOutSync = 0;
mkarlsso 2:298679fff37c 142 clockOutSignal = 0;
mkarlsso 2:298679fff37c 143 currentBroadcastBit++;
mkarlsso 2:298679fff37c 144 }
mkarlsso 2:298679fff37c 145 }
mkarlsso 2:298679fff37c 146 }
mkarlsso 2:298679fff37c 147
mkarlsso 2:298679fff37c 148
mkarlsso 2:298679fff37c 149 //intiatiation of timer2 (specific to the LPC17xx chip). This is used in
mkarlsso 2:298679fff37c 150 //standalone mode to increment the clock every ms.
mkarlsso 2:298679fff37c 151 //we use lower-lever code here to get better control over the timer if we reset it
mkarlsso 2:298679fff37c 152 void timer0_init(void)
mkarlsso 2:298679fff37c 153 {
mkarlsso 2:298679fff37c 154 //LPC_SC->PCLKSEL1 &= (3 << 12); //mask
mkarlsso 2:298679fff37c 155 //LPC_SC->PCLKSEL1 |= (1 << 12); //sets it to 1*SystemCoreClock - table 42 (page 57 in user manual)
mkarlsso 2:298679fff37c 156
mkarlsso 2:298679fff37c 157 //LPC_SC->PCLKSEL0 &= (3 << 3); //mask
mkarlsso 2:298679fff37c 158 //LPC_SC->PCLKSEL0 |= (1 << 3); //sets it to 1*SystemCoreClock - table 42 (page 57 in user manual)
mkarlsso 2:298679fff37c 159 LPC_SC->PCONP |=1<1; //timer0 power on
mkarlsso 2:298679fff37c 160 LPC_TIM0->MR0 = 23980; //1 msec
mkarlsso 2:298679fff37c 161 //LPC_TIM0->PR = (SystemCoreClock / 1000000); //microsecond steps
mkarlsso 2:298679fff37c 162 //LPC_TIM0->MR0 = 1000; //100 msec
mkarlsso 2:298679fff37c 163 //LPC_TIM0->MR0 = (SystemCoreClock / 1000000); //microsecond steps
mkarlsso 2:298679fff37c 164 LPC_TIM0->MCR = 3; //interrupt and reset control
mkarlsso 2:298679fff37c 165 //3 = Interrupt & reset timer0 on match
mkarlsso 2:298679fff37c 166 //1 = Interrupt only, no reset of timer0
mkarlsso 2:298679fff37c 167 NVIC_EnableIRQ(TIMER0_IRQn); //enable timer0 interrupt
mkarlsso 2:298679fff37c 168 LPC_TIM0->TCR = 1; //enable Timer0
mkarlsso 2:298679fff37c 169
mkarlsso 2:298679fff37c 170
mkarlsso 2:298679fff37c 171 /*
mkarlsso 2:298679fff37c 172 LPC_SC->PCONP |= (0x1<<22); // turn on power for timer 2
mkarlsso 2:298679fff37c 173 LPC_TIM2->TCR = 0x02; // reset timer
mkarlsso 2:298679fff37c 174 LPC_TIM2->PR = (SystemCoreClock / 1000000); //microsecond steps
mkarlsso 2:298679fff37c 175 LPC_TIM2->MR0 = 1000; // 1000 microsecond interval interrupts
mkarlsso 2:298679fff37c 176 LPC_TIM2->IR = 0x3f; // reset all interrrupts
mkarlsso 2:298679fff37c 177 LPC_TIM2->MCR = 0x03; // reset timer on match and generate interrupt (MR0)
mkarlsso 2:298679fff37c 178 LPC_TIM2->TCR = 0x01; // start timer
mkarlsso 2:298679fff37c 179
mkarlsso 2:298679fff37c 180 NVIC_EnableIRQ(TIMER2_IRQn); // Enable the interrupt
mkarlsso 2:298679fff37c 181 */
mkarlsso 2:298679fff37c 182 //pc.printf("Done timer_init\n\r");
mkarlsso 2:298679fff37c 183 }
mkarlsso 2:298679fff37c 184
mkarlsso 2:298679fff37c 185 //This is the callback for timer2
mkarlsso 2:298679fff37c 186 extern "C" void TIMER0_IRQHandler (void) {
mkarlsso 2:298679fff37c 187
mkarlsso 2:298679fff37c 188 if((LPC_TIM0->IR & 0x01) == 0x01) { // if MR0 interrupt, proceed
mkarlsso 2:298679fff37c 189
mkarlsso 2:298679fff37c 190 LPC_TIM0->IR |= 1 << 0; // Clear MR0 interrupt flag
mkarlsso 2:298679fff37c 191 timeKeeper++;
mkarlsso 2:298679fff37c 192
mkarlsso 2:298679fff37c 193 if (resetTimer) {
mkarlsso 2:298679fff37c 194 timeKeeper = 0;
mkarlsso 2:298679fff37c 195 resetTimer = false;
mkarlsso 2:298679fff37c 196 }
mkarlsso 2:298679fff37c 197
mkarlsso 2:298679fff37c 198 if (currentBroadcastBit > 31) {
mkarlsso 2:298679fff37c 199 clockBroadCast.detach();
mkarlsso 2:298679fff37c 200 currentBroadcastBit = 0;
mkarlsso 2:298679fff37c 201 }
mkarlsso 2:298679fff37c 202
mkarlsso 4:34aca2142df9 203
mkarlsso 2:298679fff37c 204 //Every second, we broadcast out the current time
mkarlsso 2:298679fff37c 205 if ((timeKeeper % 1000) == 0) {
mkarlsso 2:298679fff37c 206 currentBroadcastTime = timeKeeper;
mkarlsso 2:298679fff37c 207 clockOutSync = 1;
mkarlsso 2:298679fff37c 208
mkarlsso 2:298679fff37c 209 currentBroadcastBit = 0;
mkarlsso 2:298679fff37c 210
mkarlsso 2:298679fff37c 211 clockOutSignal = (currentBroadcastTime & ( 1 << currentBroadcastBit)) >> currentBroadcastBit;
mkarlsso 2:298679fff37c 212 broadcastHigh = true;
mkarlsso 2:298679fff37c 213 clockBroadCast.attach_us(&broadcastNextBit, 1000);
mkarlsso 2:298679fff37c 214 }
mkarlsso 2:298679fff37c 215 }
mkarlsso 2:298679fff37c 216 }
mkarlsso 2:298679fff37c 217
mkarlsso 2:298679fff37c 218
mkarlsso 2:298679fff37c 219 //In slave mode, the clock is updated with an external trigger every ms. No need for
mkarlsso 2:298679fff37c 220 //100us resolution.
mkarlsso 2:298679fff37c 221 void callback_clockExternalIncrement(void) {
mkarlsso 2:298679fff37c 222
mkarlsso 2:298679fff37c 223 timeKeeper++;
mkarlsso 2:298679fff37c 224
mkarlsso 2:298679fff37c 225 if (resetTimer) {
mkarlsso 2:298679fff37c 226 timeKeeper = 0;
mkarlsso 2:298679fff37c 227 resetTimer = false;
mkarlsso 2:298679fff37c 228 }
mkarlsso 2:298679fff37c 229
mkarlsso 2:298679fff37c 230 if (currentBroadcastBit > 31) {
mkarlsso 2:298679fff37c 231 clockBroadCast.detach();
mkarlsso 2:298679fff37c 232 currentBroadcastBit = 0;
mkarlsso 2:298679fff37c 233 }
mkarlsso 2:298679fff37c 234
mkarlsso 2:298679fff37c 235 //Every second, we broadcast out the current time
mkarlsso 2:298679fff37c 236 if ((timeKeeper % 1000) == 0) {
mkarlsso 2:298679fff37c 237 currentBroadcastTime = timeKeeper;
mkarlsso 2:298679fff37c 238 clockOutSync = 1;
mkarlsso 2:298679fff37c 239
mkarlsso 2:298679fff37c 240 currentBroadcastBit = 0;
mkarlsso 2:298679fff37c 241
mkarlsso 2:298679fff37c 242 clockOutSignal = (currentBroadcastTime & ( 1 << currentBroadcastBit)) >> currentBroadcastBit;
mkarlsso 2:298679fff37c 243 broadcastHigh = true;
mkarlsso 2:298679fff37c 244 clockBroadCast.attach_us(&broadcastNextBit, 1000);
mkarlsso 2:298679fff37c 245 }
mkarlsso 2:298679fff37c 246 }
mkarlsso 2:298679fff37c 247
mkarlsso 2:298679fff37c 248 //Every digital port's in pin has a hardware interrupt. We use a callback stub for each port
mkarlsso 2:298679fff37c 249 //that routes the int_callback.
mkarlsso 2:298679fff37c 250 void int_callback(int portNum, int direction) {
mkarlsso 2:298679fff37c 251 portVector[portNum]->addStateChange(direction, timeKeeper);
mkarlsso 2:298679fff37c 252 }
mkarlsso 2:298679fff37c 253
mkarlsso 2:298679fff37c 254 //Callback stubs
mkarlsso 2:298679fff37c 255 void callback_port1_rise(void) { int_callback(1, 1); }
mkarlsso 2:298679fff37c 256 void callback_port1_fall(void) { int_callback(1, 0); }
mkarlsso 2:298679fff37c 257 void callback_port2_rise(void) { int_callback(2, 1); }
mkarlsso 2:298679fff37c 258 void callback_port2_fall(void) { int_callback(2, 0); }
mkarlsso 2:298679fff37c 259 void callback_port3_rise(void) { int_callback(3, 1); }
mkarlsso 2:298679fff37c 260 void callback_port3_fall(void) { int_callback(3, 0); }
mkarlsso 2:298679fff37c 261 void callback_port4_rise(void) { int_callback(4, 1); }
mkarlsso 2:298679fff37c 262 void callback_port4_fall(void) { int_callback(4, 0); }
mkarlsso 2:298679fff37c 263 void callback_port5_rise(void) { int_callback(5, 1); }
mkarlsso 2:298679fff37c 264 void callback_port5_fall(void) { int_callback(5, 0); }
mkarlsso 2:298679fff37c 265 void callback_port6_rise(void) { int_callback(6, 1); }
mkarlsso 2:298679fff37c 266 void callback_port6_fall(void) { int_callback(6, 0); }
mkarlsso 2:298679fff37c 267 void callback_port7_rise(void) { int_callback(7, 1); }
mkarlsso 2:298679fff37c 268 void callback_port7_fall(void) { int_callback(7, 0); }
mkarlsso 2:298679fff37c 269 void callback_port8_rise(void) { int_callback(8, 1); }
mkarlsso 2:298679fff37c 270 void callback_port8_fall(void) { int_callback(8, 0); }
mkarlsso 2:298679fff37c 271
mkarlsso 2:298679fff37c 272 //This function is attached to an interrupt pin for external clock reset
mkarlsso 2:298679fff37c 273 void callback_clockReset(void) {
mkarlsso 2:298679fff37c 274 if (timeKeeper > 100) {
mkarlsso 2:298679fff37c 275 LPC_TIM2->TCR = 0x02; // reset timer
mkarlsso 2:298679fff37c 276 timeKeeper = 0;
mkarlsso 2:298679fff37c 277 pc.printf("%d Clock reset\r\n", timeKeeper);
mkarlsso 2:298679fff37c 278 }
mkarlsso 2:298679fff37c 279 }
mkarlsso 2:298679fff37c 280
simon 0:fb6bbc10ffa0 281
simon 0:fb6bbc10ffa0 282 int main() {
mkarlsso 2:298679fff37c 283 timeKeeper = 0; //set main clock to 0;
mkarlsso 2:298679fff37c 284 sWav.reset();
mkarlsso 2:298679fff37c 285 pc.baud(115200);
mkarlsso 2:298679fff37c 286 //pc.baud(9600);
mkarlsso 2:298679fff37c 287
mkarlsso 2:298679fff37c 288 for (int i = 0; i < 9; i++) {
mkarlsso 2:298679fff37c 289 portVector[i] = NULL;
mkarlsso 2:298679fff37c 290 }
mkarlsso 2:298679fff37c 291 //We keep portVector 1-based to eliminate confusion
mkarlsso 2:298679fff37c 292 portVector[1] = &port1;
mkarlsso 2:298679fff37c 293 portVector[2] = &port2;
mkarlsso 2:298679fff37c 294 portVector[3] = &port3;
mkarlsso 2:298679fff37c 295 portVector[4] = &port4;
mkarlsso 2:298679fff37c 296 portVector[5] = &port5;
mkarlsso 2:298679fff37c 297 portVector[6] = &port6;
mkarlsso 2:298679fff37c 298 portVector[7] = &port7;
mkarlsso 2:298679fff37c 299 portVector[8] = &port8;
mkarlsso 2:298679fff37c 300
mkarlsso 2:298679fff37c 301 //Callback to update the main clock
mkarlsso 2:298679fff37c 302 //timeTick1.attach_us(&incrementTime, 100);
mkarlsso 2:298679fff37c 303
mkarlsso 2:298679fff37c 304 timer0_init();
mkarlsso 2:298679fff37c 305
mkarlsso 2:298679fff37c 306
mkarlsso 2:298679fff37c 307 //Set up callbacks for the port interrupts
mkarlsso 2:298679fff37c 308 int1.rise(&callback_port1_rise);
mkarlsso 2:298679fff37c 309 int1.fall(&callback_port1_fall);
mkarlsso 2:298679fff37c 310 int2.rise(&callback_port2_rise);
mkarlsso 2:298679fff37c 311 int2.fall(&callback_port2_fall);
mkarlsso 2:298679fff37c 312 int3.rise(&callback_port3_rise);
mkarlsso 2:298679fff37c 313 int3.fall(&callback_port3_fall);
mkarlsso 2:298679fff37c 314 int4.rise(&callback_port4_rise);
mkarlsso 2:298679fff37c 315 int4.fall(&callback_port4_fall);
mkarlsso 2:298679fff37c 316 int5.rise(&callback_port5_rise);
mkarlsso 2:298679fff37c 317 int5.fall(&callback_port5_fall);
mkarlsso 2:298679fff37c 318 int6.rise(&callback_port6_rise);
mkarlsso 2:298679fff37c 319 int6.fall(&callback_port6_fall);
mkarlsso 2:298679fff37c 320 int7.rise(&callback_port7_rise);
mkarlsso 2:298679fff37c 321 int7.fall(&callback_port7_fall);
mkarlsso 2:298679fff37c 322 int8.rise(&callback_port8_rise);
mkarlsso 2:298679fff37c 323 int8.fall(&callback_port8_fall);
mkarlsso 2:298679fff37c 324
mkarlsso 2:298679fff37c 325 clockResetInt.rise(&callback_clockReset);
mkarlsso 2:298679fff37c 326 clockResetInt.mode(PullDown);
mkarlsso 2:298679fff37c 327
mkarlsso 2:298679fff37c 328 clockExternalIncrement.mode(PullDown);
mkarlsso 2:298679fff37c 329
mkarlsso 2:298679fff37c 330 //The inputs are set for pull-up mode (might need to change this)
mkarlsso 2:298679fff37c 331 in1.mode(PullDown);
mkarlsso 2:298679fff37c 332 in2.mode(PullDown);
mkarlsso 2:298679fff37c 333 in3.mode(PullDown);
mkarlsso 2:298679fff37c 334 in4.mode(PullDown);
mkarlsso 2:298679fff37c 335 in5.mode(PullDown);
mkarlsso 2:298679fff37c 336 in6.mode(PullDown);
mkarlsso 2:298679fff37c 337 in7.mode(PullDown);
mkarlsso 2:298679fff37c 338 in8.mode(PullDown);
mkarlsso 2:298679fff37c 339
mkarlsso 2:298679fff37c 340 //Set up input buffer for the serial port
mkarlsso 2:298679fff37c 341 //char buffer[128];
mkarlsso 2:298679fff37c 342 int bufferPos = 0;
mkarlsso 4:34aca2142df9 343 eraseBuffer(buffer,256);
mkarlsso 2:298679fff37c 344
mkarlsso 2:298679fff37c 345 ostringstream timeConvert; // stream used for the conversion
mkarlsso 2:298679fff37c 346 ostringstream stateConvert;
mkarlsso 2:298679fff37c 347 char junkChar;
mkarlsso 2:298679fff37c 348 int tmpChar;
mkarlsso 2:298679fff37c 349
mkarlsso 2:298679fff37c 350 while (pc.readable()) {
mkarlsso 2:298679fff37c 351 junkChar = pc.getc();
mkarlsso 2:298679fff37c 352 }
mkarlsso 2:298679fff37c 353
mkarlsso 2:298679fff37c 354 FILE *fp = fopen("/local/STARTUP.TXT", "r");
mkarlsso 2:298679fff37c 355 if (fp != NULL) {
mkarlsso 2:298679fff37c 356 pc.printf("Executing startup script...\r\n");
mkarlsso 2:298679fff37c 357 do {
mkarlsso 2:298679fff37c 358 tmpChar = fgetc(fp);
mkarlsso 2:298679fff37c 359 if ((tmpChar >= 32) && (tmpChar <= 126)) {
mkarlsso 2:298679fff37c 360 buffer[bufferPos] = tmpChar;
mkarlsso 2:298679fff37c 361 bufferPos++;
mkarlsso 2:298679fff37c 362 }
mkarlsso 2:298679fff37c 363 if ((tmpChar == 13) || (tmpChar == 10)) { //carrriage return
mkarlsso 2:298679fff37c 364 parser.addLineToCurrentBlock(buffer);
mkarlsso 2:298679fff37c 365 bufferPos = 0;
mkarlsso 4:34aca2142df9 366 eraseBuffer(buffer,256);
mkarlsso 2:298679fff37c 367 }
mkarlsso 2:298679fff37c 368 //pc.putc(tmpChar);
mkarlsso 2:298679fff37c 369 } while (tmpChar != EOF);
mkarlsso 2:298679fff37c 370
mkarlsso 2:298679fff37c 371 buffer[bufferPos] = 59;
mkarlsso 2:298679fff37c 372 parser.addLineToCurrentBlock(buffer);
mkarlsso 4:34aca2142df9 373 eraseBuffer(buffer,256);
mkarlsso 2:298679fff37c 374 fclose(fp);
mkarlsso 2:298679fff37c 375 } else {
mkarlsso 2:298679fff37c 376 pc.printf("No startup script found.\r\n");
mkarlsso 2:298679fff37c 377 }
mkarlsso 2:298679fff37c 378
mkarlsso 2:298679fff37c 379 //main loop
simon 0:fb6bbc10ffa0 380 while(1) {
mkarlsso 2:298679fff37c 381 //check the main event queue to see if anything needs to be done
mkarlsso 2:298679fff37c 382 mainQueue.check();
mkarlsso 2:298679fff37c 383
mkarlsso 2:298679fff37c 384 //check if anything has been written to the serial input
mkarlsso 2:298679fff37c 385 if (pc.readable()) {
mkarlsso 2:298679fff37c 386
mkarlsso 2:298679fff37c 387 buffer[bufferPos] = pc.getc();
mkarlsso 2:298679fff37c 388 bufferPos++;
mkarlsso 2:298679fff37c 389
mkarlsso 2:298679fff37c 390 //'Return' key pressed
mkarlsso 2:298679fff37c 391 if ((buffer[bufferPos-1] == 13) || (buffer[bufferPos-1] == 10)) {
mkarlsso 2:298679fff37c 392 //pc.printf("\r\n");
mkarlsso 2:298679fff37c 393 buffer[bufferPos-1] = '\0';
mkarlsso 2:298679fff37c 394 parser.addLineToCurrentBlock(buffer);
mkarlsso 2:298679fff37c 395 bufferPos = 0;
mkarlsso 2:298679fff37c 396 eraseBuffer(buffer,128);
mkarlsso 2:298679fff37c 397
mkarlsso 2:298679fff37c 398 } else {
mkarlsso 2:298679fff37c 399 //pc.putc(buffer[bufferPos-1]);
mkarlsso 2:298679fff37c 400 //Backspace was pressed
mkarlsso 3:ae33b7f5a7c1 401 if (((buffer[bufferPos-1] == 127)||(buffer[bufferPos-1] == 8)) && (bufferPos > 0)) {
mkarlsso 3:ae33b7f5a7c1 402
mkarlsso 2:298679fff37c 403 bufferPos = bufferPos-2;
mkarlsso 2:298679fff37c 404 }
mkarlsso 2:298679fff37c 405 }
mkarlsso 2:298679fff37c 406 }
mkarlsso 2:298679fff37c 407
mkarlsso 2:298679fff37c 408 // __disable_irq();
mkarlsso 2:298679fff37c 409
mkarlsso 2:298679fff37c 410
mkarlsso 2:298679fff37c 411 //Check all the digital ports to see if anything has changed. In the update routine, the port's
mkarlsso 2:298679fff37c 412 //script callbacks are called if the port was triggered
mkarlsso 2:298679fff37c 413 digitalInChanged = false;
mkarlsso 2:298679fff37c 414 digitalOutChanged = false;
mkarlsso 2:298679fff37c 415 changeTime = timeKeeper;
mkarlsso 2:298679fff37c 416 for (int i = 0; i < NUMPORTS; i++) {
mkarlsso 2:298679fff37c 417 if (portVector[i+1]->update()) {
mkarlsso 2:298679fff37c 418 digitalInChanged = true;
mkarlsso 2:298679fff37c 419 changeTime = min(changeTime,portVector[i+1]->lastChangeTime);
mkarlsso 2:298679fff37c 420
mkarlsso 2:298679fff37c 421 //The input state of all the ports in condensed into one number (each bit contains the info)
mkarlsso 2:298679fff37c 422 if (portVector[i+1]->getLastChangeState() == 1) {
mkarlsso 2:298679fff37c 423 currentDIOstate[0] = currentDIOstate[0] | (1 << i);
mkarlsso 2:298679fff37c 424 } else {
mkarlsso 2:298679fff37c 425 currentDIOstate[0] = currentDIOstate[0] & (255^(1 << i));
mkarlsso 2:298679fff37c 426 }
mkarlsso 2:298679fff37c 427 }
mkarlsso 2:298679fff37c 428 if (portVector[i+1]->outStateChanged) {
mkarlsso 2:298679fff37c 429 digitalOutChanged = true;
mkarlsso 2:298679fff37c 430 changeTime = min(changeTime,portVector[i+1]->lastOutChangeTime);
mkarlsso 2:298679fff37c 431 //The out state of all the ports in condensed into one number (each bit contains the info)
mkarlsso 2:298679fff37c 432 if (portVector[i+1]->outState == 1) {
mkarlsso 2:298679fff37c 433 currentDIOstate[1] = currentDIOstate[1] | (1 << i);
mkarlsso 2:298679fff37c 434 } else {
mkarlsso 2:298679fff37c 435 currentDIOstate[1] = currentDIOstate[1] & (255^(1 << i));
mkarlsso 2:298679fff37c 436 }
mkarlsso 2:298679fff37c 437 portVector[i+1]->outStateChanged = false;
mkarlsso 2:298679fff37c 438 }
mkarlsso 2:298679fff37c 439 }
mkarlsso 2:298679fff37c 440
mkarlsso 2:298679fff37c 441 //If anything changed, we write the new values to the serial port (this can be turned off
mkarlsso 2:298679fff37c 442 //with broadCastStateChanges)
mkarlsso 2:298679fff37c 443 if ( (digitalInChanged||digitalOutChanged) && broadCastStateChanges) {
mkarlsso 2:298679fff37c 444 timeConvert << changeTime; //broadcast the earliest timestamp when a change occured
mkarlsso 2:298679fff37c 445 //stateConvert << currentDIOstate[0] << " " << currentDIOstate[1];
mkarlsso 2:298679fff37c 446 stateConvert << currentDIOstate[0] << " " << currentDIOstate[1] << " ";
mkarlsso 2:298679fff37c 447 textDisplay.send(timeConvert.str() + " " + stateConvert.str() + "\r\n");
mkarlsso 2:298679fff37c 448 timeConvert.clear();
mkarlsso 2:298679fff37c 449 timeConvert.seekp(0);
mkarlsso 2:298679fff37c 450 stateConvert.clear();
mkarlsso 2:298679fff37c 451 stateConvert.seekp(0);
mkarlsso 2:298679fff37c 452 digitalInChanged = false;
mkarlsso 2:298679fff37c 453 digitalOutChanged = false;
mkarlsso 2:298679fff37c 454 }
mkarlsso 2:298679fff37c 455
mkarlsso 2:298679fff37c 456 //We use a buffer to send text via the serial port. For every loop
mkarlsso 2:298679fff37c 457 //in the main loop, we send one character if there is enything to send.
mkarlsso 2:298679fff37c 458 //This way, outputting text to serial does not hold up other time-sensitive
mkarlsso 2:298679fff37c 459 //things in the event queue
mkarlsso 2:298679fff37c 460 if ((textDisplay.unsentData) && (textStreaming)) {
mkarlsso 2:298679fff37c 461 pc.printf("%c", textDisplay.getNextChar());
mkarlsso 2:298679fff37c 462 }
mkarlsso 2:298679fff37c 463
mkarlsso 2:298679fff37c 464 //Here is how we toggle between standalone and slave mode for the clock updating.
mkarlsso 2:298679fff37c 465 if (changeToSlave) {
mkarlsso 2:298679fff37c 466 //timeTick1.detach();
mkarlsso 2:298679fff37c 467 NVIC_DisableIRQ(TIMER2_IRQn); // Disable the interrupt
mkarlsso 2:298679fff37c 468 clockExternalIncrement.rise(&callback_clockExternalIncrement);
mkarlsso 2:298679fff37c 469 clockSlave = true;
mkarlsso 2:298679fff37c 470 changeToSlave = false;
mkarlsso 2:298679fff37c 471 changeToStandAlone = false;
mkarlsso 2:298679fff37c 472 } else if (changeToStandAlone) {
mkarlsso 2:298679fff37c 473 //timeTick1.attach_us(&incrementTime, 100);
mkarlsso 2:298679fff37c 474 timer0_init();
mkarlsso 2:298679fff37c 475 clockExternalIncrement.rise(NULL); //remove the callback to the external interrupt
mkarlsso 2:298679fff37c 476 clockSlave = false;
mkarlsso 2:298679fff37c 477 changeToSlave = false;
mkarlsso 2:298679fff37c 478 changeToStandAlone = false;
mkarlsso 2:298679fff37c 479 }
mkarlsso 2:298679fff37c 480
mkarlsso 2:298679fff37c 481 //__enable_irq();
mkarlsso 2:298679fff37c 482
simon 0:fb6bbc10ffa0 483 }
simon 0:fb6bbc10ffa0 484 }