Diff: main.cpp

Revision:

0:6432166d0781

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Apr 15 02:38:04 2014 +0000
@@ -0,0 +1,172 @@
+#include "mbed.h"
+#include "TFC.h"
+
+ 
+//This macro is to maintain compatibility with Codewarrior version of the sample.   This version uses the MBED libraries for serial port access
+Serial PC(USBTX,USBRX);
+
+#define TERMINAL_PRINTF     PC.printf
+
+ 
+ //This ticker code is used to maintain compability with the Codewarrior version of the sample.   This code uses an MBED Ticker for background timing.
+ 
+#define NUM_TFC_TICKERS 4
+
+Ticker TFC_TickerObj;
+ 
+volatile uint32_t TFC_Ticker[NUM_TFC_TICKERS];
+ 
+void TFC_TickerUpdate()
+{
+    int i;
+ 
+    for(i=0; i<NUM_TFC_TICKERS; i++)
+     {
+        if(TFC_Ticker[i]<0xFFFFFFFF) 
+        {
+            TFC_Ticker[i]++;
+        }
+    }
+}
+ 
+ 
+ 
+ 
+int main()
+{
+    uint32_t i,t = 0;
+  
+    PC.baud(115200);
+    TFC_TickerObj.attach_us(&TFC_TickerUpdate,2000);
+   
+    TFC_Init();
+    
+    for(;;)
+    {      
+        //TFC_Task must be called in your main loop.  This keeps certain processing happy (I.E. Serial port queue check)
+         //   TFC_Task();
+
+            //This Demo program will look at the middle 2 switch to select one of 4 demo modes.
+            //Let's look at the middle 2 switches
+            switch((TFC_GetDIP_Switch()>>1)&0x03)
+            {
+            default:
+            case 0 :
+                //Demo mode 0 just tests the switches and LED's
+                if(TFC_PUSH_BUTTON_0_PRESSED)
+                    TFC_BAT_LED0_ON;
+                else
+                    TFC_BAT_LED0_OFF;
+                
+                if(TFC_PUSH_BUTTON_1_PRESSED)
+                    TFC_BAT_LED3_ON;
+                else
+                    TFC_BAT_LED3_OFF;
+                
+                
+                if(TFC_GetDIP_Switch()&0x01)
+                    TFC_BAT_LED1_ON;
+                else
+                    TFC_BAT_LED1_OFF;
+                
+                if(TFC_GetDIP_Switch()&0x08)
+                    TFC_BAT_LED2_ON;
+                else
+                    TFC_BAT_LED2_OFF;
+                
+                break;
+                    
+            case 1:
+                
+                //Demo mode 1 will just move the servos with the on-board potentiometers
+                if(TFC_Ticker[0]>=20)
+                {
+                    TFC_Ticker[0] = 0; //reset the Ticker
+                    //Every 20 mSeconds, update the Servos
+                    TFC_SetServo(0,TFC_ReadPot(0));
+                    TFC_SetServo(1,TFC_ReadPot(1));
+                }
+                //Let's put a pattern on the LEDs
+                if(TFC_Ticker[1] >= 125)
+                {
+                    TFC_Ticker[1] = 0;
+                    t++;
+                    if(t>4)
+                    {
+                        t=0;
+                    }           
+                    TFC_SetBatteryLED_Level(t);
+                }
+                
+                TFC_SetMotorPWM(0,0); //Make sure motors are off
+                TFC_HBRIDGE_DISABLE;
+            
+
+                break;
+                
+            case 2 :
+                
+                //Demo Mode 2 will use the Pots to make the motors move
+                TFC_HBRIDGE_ENABLE;
+               
+                TFC_SetMotorPWM(TFC_ReadPot(0),TFC_ReadPot(1));
+                
+                        
+                //Let's put a pattern on the LEDs
+                if(TFC_Ticker[1] >= 125)
+                    {
+                        TFC_Ticker[1] = 0;
+                            t++;
+                            if(t>4)
+                            {
+                                t=0;
+                            }           
+                        TFC_SetBatteryLED_Level(t);
+                    }
+                break;
+            
+            case 3 :
+            
+         
+                //Demo Mode 3 will be in Freescale Garage Mode.  It will beam data from the Camera to the 
+                //Labview Application
+                
+                
+                if(TFC_Ticker[0]>50 && TFC_LineScanImageReady>0)
+                    {
+                     TFC_Ticker[0] = 0;
+                     TFC_LineScanImageReady=0;
+                     TERMINAL_PRINTF("\r\n");
+                     TERMINAL_PRINTF("L:");
+                     
+                        if(t==0)
+                            t=4;
+                        else
+                            t--;
+                        
+                         TFC_SetBatteryLED_Level(t);
+                        
+                         // camera 1
+                         for(i=0;i<128;i++)
+                         {
+                               TERMINAL_PRINTF("%X,",TFC_LineScanImage0[i]);
+                         }
+                        
+                        // camera 2
+                         for(i=0;i<128;i++)
+                         {
+                                 if(i==127)
+                                     TERMINAL_PRINTF("%X\r\n",TFC_LineScanImage1[i]);
+                                 else
+                                     TERMINAL_PRINTF("%X,",TFC_LineScanImage1[i]);
+                           
+                         }
+                    }
+                 
+                break;
+            }
+    }
+    
+ 
+}
+