Diff: main.cpp

Revision:

0:d152025b5c76

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Aug 11 09:34:18 2011 +0000
@@ -0,0 +1,174 @@
+/*
+ * main.cpp
+ *
+ * Copyright (c) 2011 Peter Brier
+ *
+ *   This file is part of the LaOS project (see: http://laoslaser.org)
+ *
+ *   LaOS is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU General Public License as published by
+ *   the Free Software Foundation, either version 3 of the License, or
+ *   (at your option) any later version.
+ *
+ *   LaOS is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *   GNU General Public License for more details.
+ *
+ *   You should have received a copy of the GNU General Public License
+ *   along with LaOS.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * This program tests the inputs and outputs of the laoslaser v1 board
+ * LED1 = xhome
+ * LED2 = yhome
+ * LED3 = zmin
+ * LED4 = zmax
+ *
+ */
+#include "mbed.h"
+#include "SDFileSystem.h"
+
+// USB Serial
+Serial pc(USBTX, USBRX); // tx, rx
+
+// SD card
+SDFileSystem sd(p11, p12, p13, p14, "sd");
+
+// Analog in/out (cover sensor) + NC
+DigitalIn cover(p19);
+
+// I2C
+I2C i2c(p9, p10);        // sda, scl
+#define _I2C_ADDRESS 0x04
+#define _I2C_HOME 0xFE
+#define _I2C_CLS 0xFF
+#define _I2C_BAUD 10000
+
+// status leds
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+// Inputs;
+DigitalIn xhome(p8);
+DigitalIn yhome(p17);
+DigitalIn zmin(p15);
+DigitalIn zmax(p16);
+
+
+// motors
+DigitalOut enable(p7);
+DigitalOut xdir(p23);
+DigitalOut xstep(p24);
+DigitalOut ydir(p25);
+DigitalOut ystep(p26);
+DigitalOut zdir(p27);
+DigitalOut zstep(p28);
+
+// laser
+DigitalOut o1(p22);
+DigitalOut o2(p21);
+DigitalOut o3(p6);
+DigitalOut o4(p5);
+
+void home()
+{
+  int i=0;
+  xdir = 0;
+  ydir = 0;
+  zdir = 0;
+  led1 = 0;
+  while ( 1 )
+  {
+    xstep = ystep = 0;
+    wait(0.0001);
+    xstep = xhome;
+    ystep = yhome;
+    wait(0.0001);
+    
+    led2 = !xhome;
+    led3 = !yhome;
+    led4 = ((i++) & 0x10000);
+    if ( (!xhome) && (!yhome) ) return;
+  }
+}
+
+#define TEST(c,x) case c: x = !x; printf("Test %c: " #x " is now %s \r\n", c, (x ? "ON" : "OFF")); break 
+
+/**
+*** main()
+**/
+int main() 
+{
+  led1 = led2 = led3 = led4 = 1;
+
+  i2c.frequency(_I2C_BAUD);
+  pc.baud(115200);
+
+  xhome.mode(PullUp);
+  yhome.mode(PullUp);
+  zmin.mode(PullUp);
+  zmax.mode(PullUp); 
+  
+  printf("Peforming io test, press 'X' to exit\r\n");
+  home();
+  int i=0;
+  int test=0;
+  while( 1 )
+  {
+    i++;
+    led1 = xhome;
+    led2 = yhome;
+    led3 = zmin;
+    led4 = zmax;
+    if ( pc.readable() )
+      test = pc.getc();
+    else 
+      test = 0;
+    switch( test )
+    {
+      TEST('e',enable);
+      TEST('X',xdir);
+      TEST('x',xstep);
+      TEST('Y',ydir);
+      TEST('y',ystep);
+      TEST('Z',zdir);
+      TEST('z',zstep);
+      TEST('1',o1);
+      TEST('2',o2);
+      TEST('3',o3);
+      TEST('4',o4);
+      case 's':
+        char buf[32];
+        memset(buf,0,sizeof(buf));
+        printf("Testing IO board SD card: Write...\r\n");
+        FILE *test1 = fopen("/sd/text.txt", "wb");
+        fwrite("bla bla\n",8, 1, test1); 
+        fclose(test1);
+        printf("Testing IO board SD card: Read...\r\n");
+        test1 = fopen("/sd/text.txt", "rb");
+        fread(&buf,8, 1, test1); 
+        printf("Result: '%s'\r\n", buf);
+        fclose(test1);
+        break;
+      case 'i': 
+        printf("I2C test:\r\n");
+        char s[32], key;
+        int result;
+        sprintf(s,"Hello world!");
+        i2c.write(_I2C_ADDRESS, s, strlen(s));
+        wait(0.01);
+        result = i2c.read(_I2C_ADDRESS,&key, 1);
+        printf("Result=%d, key=%d\r\n", result, key);
+        break;
+      case 'c':
+       printf("Cover switch: %s\r\n", (cover ? "OPEN" : "CLOSED"));
+       break;
+    }
+    if ( test ) 
+    {
+      printf("xhome=%d, yhome=%d, zmin=%d, zmax=%d\n\r", (int)xhome, (int)yhome, (int)zmin, (int)zmax);
+    }
+  }
+}