Diff: main.cpp

Revision:

0:5e49c3bc05f5

Child:

1:eabd95ed3f53

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed May 11 16:58:41 2016 +0000
@@ -0,0 +1,133 @@
+#include "mbed.h"
+#include "SerialRPCInterface.h"
+#include "L6470.h"
+#include "HC595.h"
+
+// Global objects
+DigitalOut led_red(LED_RED);                                    // active low to turn on red part of RGB LED on FRDM-K22F
+DigitalOut led_green(LED_GREEN);                                // active low to turn on green part of RGB LED on FRDM-K22F
+DigitalOut led_blue(LED_BLUE);                                  // active low to turn on blue part of RGB LED on FRDM-K22F
+
+SerialRPCInterface rpc(USBTX, USBRX, 115200);                   // create serial rpc interface on usb virtual com port
+L6470 motor(PTD6, PTD7, PTD5, PTD4);                            // create motor object with mosi, miso, sclk, cs on FRDM-K22F
+
+HC595 hc595(PTC5, PTC10, PTC7);                                 // create led bar driver with ser, oe, rclk, and srclk
+AnalogIn lightSense(PTB0);                                      // analog voltage from light sensor on PDU
+PwmOut brightness(PTA5);                                        // brightness of PDU
+DigitalIn sw0(PTC9);
+DigitalIn sw1(PTC8);
+DigitalIn sw2(PTA12);
+DigitalIn sw3(PTA13);
+
+float ledbar = 1;
+
+// RPC Function calls
+void GetStatus(Arguments *input, Reply *output)
+{
+    led_green = !led_green;
+    int temp = motor.GetStatus();
+    output->putData(temp & 0xFFFFFF);
+};
+
+void GetABSPOS(Arguments *input, Reply *output)
+{
+    led_green = !led_green;
+    // uint32_t temp = motor.GetParameter(ABS_POS);
+    int temp = motor.GetParameter(ABS_POS);
+    temp = (temp & 0x3FFFFF);   // mask 22 bit value
+    output->putData(temp);
+};
+
+// motor.move(direction, step)
+void Move(Arguments *input, Reply *output)
+{
+    led_green = !led_green;
+    int arg0 = input->getArg<int>();
+    int arg1 = input->getArg<int>();
+    motor.Move(arg0, arg1);
+};
+
+void Run(Arguments *input, Reply *output)
+{
+    led_green = !led_green;
+    int arg0 = input->getArg<int>();
+    motor.Run(arg0);
+};
+void Stop(Arguments *input, Reply *output)
+{
+    led_green = !led_green;
+    motor.HardStop();
+};
+
+void ResetPosition(Arguments *input, Reply *output)
+{
+    led_green = !led_green;
+    motor.ResetPosition();
+};
+
+void SetParameter(Arguments *input, Reply *output)
+{
+    led_green = !led_green;
+    // uint8_t arg0 = input->getArg<int>();
+    // uint32_t arg1 = input->getArg<int>();
+    int arg0 = input->getArg<int>();
+    int arg1 = input->getArg<int>();
+    motor.SetParameter(arg0, arg1);
+};
+
+void SetLEDBar(Arguments *input, Reply *output)
+{
+    led_green = !led_green;
+    int arg0 = input->getArg<int>();
+    hc595.bar(arg0);
+    //output->putData(arg0);
+}
+
+void GetParameter(Arguments *input, Reply *output)
+{
+    led_green = !led_green;
+    //uint8_t arg0 = input->getArg<int>();
+    //uint32_t temp = motor.GetParameter(arg0);
+    int arg0 = input->getArg<int>();
+    int temp = motor.GetParameter(arg0);
+    output->putData(temp);
+}
+
+// RPC variable and function assignments
+RPCFunction rpc_GetStatus(&GetStatus, "GetStatus");
+RPCFunction rpc_GetABSPOS(&GetABSPOS, "GetABSPOS");
+RPCFunction rpc_Move(&Move, "Move");
+RPCFunction rpc_Run(&Run, "Run");
+RPCFunction rpc_Stop(&Stop, "Stop");
+RPCFunction rpc_ResetPosition(&ResetPosition, "ResetPosition");
+RPCFunction rpc_SetParameter(&SetParameter, "SetParameter");
+RPCFunction rpc_GetParameter(&GetParameter, "GetParameter");
+RPCFunction rpc_SetLEDBar(&SetLEDBar, "SetLEDBar");
+
+int main(){
+    // Turn off LED's
+    led_red = 1; led_green = 1; led_blue = 1;
+    
+    // set motor parameters
+    motor.Reset();
+    motor.HardStop();
+    motor.SetParameter(ACC, 0xFF);
+    motor.SetParameter(DEC, 0xFF);
+    motor.SetParameter(MAX_SPEED, 0x17);
+    motor.SetParameter(MIN_SPEED, 0x00);
+    motor.SetParameter(KVAL_HOLD, 0x29);
+    motor.SetParameter(KVAL_RUN, 0x29);
+    motor.SetParameter(KVAL_ACC, 0x29);
+    motor.SetParameter(KVAL_DEC, 0x29);
+    
+    motor.SetParameter(STALL_TH, 0x30);
+    
+    while(1){
+        if (sw0)
+          led_red = 0;
+        else
+          led_red = 1;
+        
+        wait_ms(500);
+    }
+}