Shumelev dima / TFC-RACING-DEMO

This is an example program that actually allows the car to race using the FRDM-TFC library!

Dependencies:   FRDM-TFC

Fork of TFC-RACING-DEMO by Daniel Hadad

main.cpp@0:98e98e01a6ce, 2014-04-20 (annotated)

Committer:
redxeth
Date:
Sun Apr 20 03:33:03 2014 +0000
Revision:
0:98e98e01a6ce
Child:
1:2ca599933725
Initial version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
redxeth 0:98e98e01a6ce 1 #include "mbed.h"
redxeth 0:98e98e01a6ce 2 #include "TFC.h"
redxeth 0:98e98e01a6ce 3
redxeth 0:98e98e01a6ce 4 #include "common.h"
redxeth 0:98e98e01a6ce 5 #include "Spices.h"
redxeth 0:98e98e01a6ce 6
redxeth 0:98e98e01a6ce 7
redxeth 0:98e98e01a6ce 8 void TFC_TickerUpdate()
redxeth 0:98e98e01a6ce 9 {
redxeth 0:98e98e01a6ce 10 int i;
redxeth 0:98e98e01a6ce 11
redxeth 0:98e98e01a6ce 12 for(i=0; i<NUM_TFC_TICKERS; i++)
redxeth 0:98e98e01a6ce 13 {
redxeth 0:98e98e01a6ce 14 if(TFC_Ticker[i]<0xFFFFFFFF)
redxeth 0:98e98e01a6ce 15 {
redxeth 0:98e98e01a6ce 16 TFC_Ticker[i]++;
redxeth 0:98e98e01a6ce 17 }
redxeth 0:98e98e01a6ce 18 }
redxeth 0:98e98e01a6ce 19 }
redxeth 0:98e98e01a6ce 20
redxeth 0:98e98e01a6ce 21 void DemoProgram()
redxeth 0:98e98e01a6ce 22 {
redxeth 0:98e98e01a6ce 23 uint32_t i,j,t = 0;
redxeth 0:98e98e01a6ce 24 float ReadPot0, ReadPot1;
redxeth 0:98e98e01a6ce 25
redxeth 0:98e98e01a6ce 26
redxeth 0:98e98e01a6ce 27 //This Demo program will look at the middle 2 switch to select one of 4 demo modes.
redxeth 0:98e98e01a6ce 28 //Let's look at the middle 2 switches
redxeth 0:98e98e01a6ce 29 switch((TFC_GetDIP_Switch()>>1)&0x03)
redxeth 0:98e98e01a6ce 30 {
redxeth 0:98e98e01a6ce 31 default:
redxeth 0:98e98e01a6ce 32 case 0 :
redxeth 0:98e98e01a6ce 33 //Demo mode 0 just tests the switches and LED's
redxeth 0:98e98e01a6ce 34 if(TFC_PUSH_BUTTON_0_PRESSED)
redxeth 0:98e98e01a6ce 35 TFC_BAT_LED0_ON;
redxeth 0:98e98e01a6ce 36 else
redxeth 0:98e98e01a6ce 37 TFC_BAT_LED0_OFF;
redxeth 0:98e98e01a6ce 38
redxeth 0:98e98e01a6ce 39 if(TFC_PUSH_BUTTON_1_PRESSED)
redxeth 0:98e98e01a6ce 40 TFC_BAT_LED3_ON;
redxeth 0:98e98e01a6ce 41 else
redxeth 0:98e98e01a6ce 42 TFC_BAT_LED3_OFF;
redxeth 0:98e98e01a6ce 43
redxeth 0:98e98e01a6ce 44
redxeth 0:98e98e01a6ce 45 /* if(TFC_GetDIP_Switch()&0x01)
redxeth 0:98e98e01a6ce 46 TFC_BAT_LED1_ON;
redxeth 0:98e98e01a6ce 47 else
redxeth 0:98e98e01a6ce 48 TFC_BAT_LED1_OFF;
redxeth 0:98e98e01a6ce 49
redxeth 0:98e98e01a6ce 50 if(TFC_GetDIP_Switch()&0x08)
redxeth 0:98e98e01a6ce 51 TFC_BAT_LED2_ON;
redxeth 0:98e98e01a6ce 52 else
redxeth 0:98e98e01a6ce 53 TFC_BAT_LED2_OFF; */
redxeth 0:98e98e01a6ce 54
redxeth 0:98e98e01a6ce 55 break;
redxeth 0:98e98e01a6ce 56
redxeth 0:98e98e01a6ce 57 case 1:
redxeth 0:98e98e01a6ce 58 TFC_HBRIDGE_DISABLE;
redxeth 0:98e98e01a6ce 59
redxeth 0:98e98e01a6ce 60 // if (TFC_HBRIDGE_ENABLED) {
redxeth 0:98e98e01a6ce 61
redxeth 0:98e98e01a6ce 62 // TFC_HBRIDGE_ENABLED = false;
redxeth 0:98e98e01a6ce 63 // }
redxeth 0:98e98e01a6ce 64
redxeth 0:98e98e01a6ce 65 //Demo mode 1 will just move the servos with the on-board potentiometers
redxeth 0:98e98e01a6ce 66 if(TFC_Ticker[0]>=20) // every 40mS...
redxeth 0:98e98e01a6ce 67 {
redxeth 0:98e98e01a6ce 68 TFC_Ticker[0] = 0; //reset the Ticker
redxeth 0:98e98e01a6ce 69 //update the Servos
redxeth 0:98e98e01a6ce 70 ReadPot0 = TFC_ReadPot(0);
redxeth 0:98e98e01a6ce 71 ReadPot1 = TFC_ReadPot(1);
redxeth 0:98e98e01a6ce 72 TFC_SetServo(0,ReadPot0);
redxeth 0:98e98e01a6ce 73 TFC_SetServo(1,ReadPot1);
redxeth 0:98e98e01a6ce 74 TERMINAL_PRINTF("Pot0 = %1.2f\r\n", ReadPot0);
redxeth 0:98e98e01a6ce 75 // TERMINAL_PRINTF("Pot1 = %1.2f\r\n", ReadPot1);
redxeth 0:98e98e01a6ce 76 }
redxeth 0:98e98e01a6ce 77 //Let's put a pattern on the LEDs
redxeth 0:98e98e01a6ce 78 if(TFC_Ticker[1] >= 125) // every 250mS... cycle through LEDs
redxeth 0:98e98e01a6ce 79 {
redxeth 0:98e98e01a6ce 80 TFC_Ticker[1] = 0;
redxeth 0:98e98e01a6ce 81 t++;
redxeth 0:98e98e01a6ce 82 if(t>4)
redxeth 0:98e98e01a6ce 83 {
redxeth 0:98e98e01a6ce 84 t=0;
redxeth 0:98e98e01a6ce 85 }
redxeth 0:98e98e01a6ce 86 TFC_SetBatteryLED_Level(t);
redxeth 0:98e98e01a6ce 87 }
redxeth 0:98e98e01a6ce 88
redxeth 0:98e98e01a6ce 89 TFC_SetMotorPWM(0,0); //Make sure motors are off
redxeth 0:98e98e01a6ce 90 TFC_HBRIDGE_DISABLE;
redxeth 0:98e98e01a6ce 91
redxeth 0:98e98e01a6ce 92 break;
redxeth 0:98e98e01a6ce 93
redxeth 0:98e98e01a6ce 94 case 2 :
redxeth 0:98e98e01a6ce 95 TFC_HBRIDGE_ENABLE;
redxeth 0:98e98e01a6ce 96
redxeth 0:98e98e01a6ce 97 ReadPot0 = TFC_ReadPot(0);
redxeth 0:98e98e01a6ce 98 ReadPot1 = TFC_ReadPot(1);
redxeth 0:98e98e01a6ce 99 // TERMINAL_PRINTF("Pot0 = %1.2f\n", ReadPot0);
redxeth 0:98e98e01a6ce 100 // TERMINAL_PRINTF("Pot1 = %1.2f\n", ReadPot1);
redxeth 0:98e98e01a6ce 101 TFC_SetMotorPWM(ReadPot0,ReadPot1);
redxeth 0:98e98e01a6ce 102
redxeth 0:98e98e01a6ce 103 //Let's put a pattern on the LEDs
redxeth 0:98e98e01a6ce 104 if(TFC_Ticker[1] >= 125)
redxeth 0:98e98e01a6ce 105 {
redxeth 0:98e98e01a6ce 106 TFC_Ticker[1] = 0;
redxeth 0:98e98e01a6ce 107 t++;
redxeth 0:98e98e01a6ce 108 if(t>4)
redxeth 0:98e98e01a6ce 109 {
redxeth 0:98e98e01a6ce 110 t=0;
redxeth 0:98e98e01a6ce 111 }
redxeth 0:98e98e01a6ce 112 TFC_SetBatteryLED_Level(t);
redxeth 0:98e98e01a6ce 113 }
redxeth 0:98e98e01a6ce 114 break;
redxeth 0:98e98e01a6ce 115
redxeth 0:98e98e01a6ce 116 case 3 :
redxeth 0:98e98e01a6ce 117 //Demo Mode 3 will be in Freescale Garage Mode. It will beam data from the Camera to the
redxeth 0:98e98e01a6ce 118 //Labview Application
redxeth 0:98e98e01a6ce 119 //note that there are some issues
redxeth 0:98e98e01a6ce 120 if(TFC_Ticker[0]>1000 && TFC_LineScanImageReady>0) // every 2s ...
redxeth 0:98e98e01a6ce 121 {
redxeth 0:98e98e01a6ce 122 TFC_Ticker[0] = 0;
redxeth 0:98e98e01a6ce 123 TFC_LineScanImageReady=0; // must reset to 0 after detecting non-zero
redxeth 0:98e98e01a6ce 124
redxeth 0:98e98e01a6ce 125 if(t==0)
redxeth 0:98e98e01a6ce 126 t=4;
redxeth 0:98e98e01a6ce 127 else
redxeth 0:98e98e01a6ce 128 t--;
redxeth 0:98e98e01a6ce 129
redxeth 0:98e98e01a6ce 130 TFC_SetBatteryLED_Level(t);
redxeth 0:98e98e01a6ce 131
redxeth 0:98e98e01a6ce 132 for(i=0;i<8;i++) // print one line worth of data (128) from Camera 0
redxeth 0:98e98e01a6ce 133 {
redxeth 0:98e98e01a6ce 134 for(j=0;j<16;j++)
redxeth 0:98e98e01a6ce 135 {
redxeth 0:98e98e01a6ce 136
redxeth 0:98e98e01a6ce 137 TERMINAL_PRINTF("0x%X",TFC_LineScanImage0[(i*16)+j]);
redxeth 0:98e98e01a6ce 138
redxeth 0:98e98e01a6ce 139 if((i==7) && (j==15)) // when last data reached put in line return
redxeth 0:98e98e01a6ce 140 TERMINAL_PRINTF("\r\n",TFC_LineScanImage0[(i*16)+j]);
redxeth 0:98e98e01a6ce 141 else
redxeth 0:98e98e01a6ce 142 TERMINAL_PRINTF(",",TFC_LineScanImage0[(i*16)+j]);
redxeth 0:98e98e01a6ce 143
redxeth 0:98e98e01a6ce 144 }
redxeth 0:98e98e01a6ce 145 wait_ms(10);
redxeth 0:98e98e01a6ce 146 }
redxeth 0:98e98e01a6ce 147
redxeth 0:98e98e01a6ce 148 /* for(i=0;i<8;i++) // print one line worth of data (128) from Camera 1 ??
redxeth 0:98e98e01a6ce 149 {
redxeth 0:98e98e01a6ce 150 for(j=0;j<16;j++)
redxeth 0:98e98e01a6ce 151 {
redxeth 0:98e98e01a6ce 152 TERMINAL_PRINTF("0x%X",TFC_LineScanImage1[(i*16)+j]);
redxeth 0:98e98e01a6ce 153
redxeth 0:98e98e01a6ce 154 if((i==7) && (j==15)) // when last data reached put in line return
redxeth 0:98e98e01a6ce 155 TERMINAL_PRINTF("\r\n",TFC_LineScanImage1[(i*16)+j]);
redxeth 0:98e98e01a6ce 156 else
redxeth 0:98e98e01a6ce 157 TERMINAL_PRINTF(",",TFC_LineScanImage1[(i*16)+j]);
redxeth 0:98e98e01a6ce 158 }
redxeth 0:98e98e01a6ce 159
redxeth 0:98e98e01a6ce 160 wait_ms(10);
redxeth 0:98e98e01a6ce 161 } */
redxeth 0:98e98e01a6ce 162
redxeth 0:98e98e01a6ce 163 }
redxeth 0:98e98e01a6ce 164
redxeth 0:98e98e01a6ce 165
redxeth 0:98e98e01a6ce 166
redxeth 0:98e98e01a6ce 167 break;
redxeth 0:98e98e01a6ce 168 } // end case
redxeth 0:98e98e01a6ce 169
redxeth 0:98e98e01a6ce 170 }
redxeth 0:98e98e01a6ce 171
redxeth 0:98e98e01a6ce 172
redxeth 0:98e98e01a6ce 173 int main()
redxeth 0:98e98e01a6ce 174 {
redxeth 0:98e98e01a6ce 175 // TERMINAL TYPE
redxeth 0:98e98e01a6ce 176 PC.baud(115200); // works with Excel and TeraTerm
redxeth 0:98e98e01a6ce 177 //PC.baud(9600); // works with USB Serial Monitor Lite: https://play.google.com/store/apps/details?id=jp.ksksue.app.terminal; doesn't work > 9600
redxeth 0:98e98e01a6ce 178 TFC_TickerObj.attach_us(&TFC_TickerUpdate,2000); // update ticker array every 2mS (2000 uS)
redxeth 0:98e98e01a6ce 179
redxeth 0:98e98e01a6ce 180 TFC_Init();
redxeth 0:98e98e01a6ce 181
redxeth 0:98e98e01a6ce 182 for(;;)
redxeth 0:98e98e01a6ce 183 {
redxeth 0:98e98e01a6ce 184 //TFC_Task must be called in your main loop. This keeps certain processing happy (I.E. Serial port queue check)
redxeth 0:98e98e01a6ce 185 // TFC_Task();
redxeth 0:98e98e01a6ce 186
redxeth 0:98e98e01a6ce 187
redxeth 0:98e98e01a6ce 188 // If DIP switch 1 is high, then run MCP, else Demo program
redxeth 0:98e98e01a6ce 189 if(TFC_GetDIP_Switch()&0x01)
redxeth 0:98e98e01a6ce 190 // Run MCP
redxeth 0:98e98e01a6ce 191 MasterControlProgram();
redxeth 0:98e98e01a6ce 192 else
redxeth 0:98e98e01a6ce 193 // Run Demo Program
redxeth 0:98e98e01a6ce 194 DemoProgram();
redxeth 0:98e98e01a6ce 195
redxeth 0:98e98e01a6ce 196 } // end of infinite for loop
redxeth 0:98e98e01a6ce 197
redxeth 0:98e98e01a6ce 198
redxeth 0:98e98e01a6ce 199 }
redxeth 0:98e98e01a6ce 200