main.cpp

00001 #include "mbed.h"
00002 #include "TFC.h"
00003 
00004  
00005 //This macro is to maintain compatibility with Codewarrior version of the sample.   This version uses the MBED libraries for serial port access
00006 Serial PC(USBTX,USBRX);
00007 
00008 #define TERMINAL_PRINTF     PC.printf
00009 
00010  
00011  //This ticker code is used to maintain compability with the Codewarrior version of the sample.   This code uses an MBED Ticker for background timing.
00012  
00013 #define NUM_TFC_TICKERS 4
00014 
00015 Ticker TFC_TickerObj;
00016  
00017 volatile uint32_t TFC_Ticker[NUM_TFC_TICKERS];
00018  
00019 void TFC_TickerUpdate()
00020 {
00021     int i;
00022  
00023     for(i=0; i<NUM_TFC_TICKERS; i++)
00024      {
00025         if(TFC_Ticker[i]<0xFFFFFFFF) 
00026         {
00027             TFC_Ticker[i]++;
00028         }
00029     }
00030 }
00031  
00032  
00033  
00034  
00035 int main()
00036 {
00037     uint32_t i,t = 0;
00038   
00039     PC.baud(115200);
00040     TFC_TickerObj.attach_us(&TFC_TickerUpdate,2000);
00041    
00042     TFC_Init();
00043     
00044     for(;;)
00045     {      
00046         //TFC_Task must be called in your main loop.  This keeps certain processing happy (I.E. Serial port queue check)
00047          //   TFC_Task();
00048 
00049             //This Demo program will look at the middle 2 switch to select one of 4 demo modes.
00050             //Let's look at the middle 2 switches
00051             switch((TFC_GetDIP_Switch()>>1)&0x03)
00052             {
00053             default:
00054             case 0 :
00055                 //Demo mode 0 just tests the switches and LED's
00056                 if(TFC_PUSH_BUTTON_0_PRESSED)
00057                     TFC_BAT_LED0_ON;
00058                 else
00059                     TFC_BAT_LED0_OFF;
00060                 
00061                 if(TFC_PUSH_BUTTON_1_PRESSED)
00062                     TFC_BAT_LED3_ON;
00063                 else
00064                     TFC_BAT_LED3_OFF;
00065                 
00066                 
00067                 if(TFC_GetDIP_Switch()&0x01)
00068                     TFC_BAT_LED1_ON;
00069                 else
00070                     TFC_BAT_LED1_OFF;
00071                 
00072                 if(TFC_GetDIP_Switch()&0x08)
00073                     TFC_BAT_LED2_ON;
00074                 else
00075                     TFC_BAT_LED2_OFF;
00076                 
00077                 break;
00078                     
00079             case 1:
00080                 
00081                 //Demo mode 1 will just move the servos with the on-board potentiometers
00082                 if(TFC_Ticker[0]>=20)
00083                 {
00084                     TFC_Ticker[0] = 0; //reset the Ticker
00085                     //Every 20 mSeconds, update the Servos
00086                     TFC_SetServo(0,TFC_ReadPot(0));
00087                     TFC_SetServo(1,TFC_ReadPot(1));
00088                 }
00089                 //Let's put a pattern on the LEDs
00090                 if(TFC_Ticker[1] >= 125)
00091                 {
00092                     TFC_Ticker[1] = 0;
00093                     t++;
00094                     if(t>4)
00095                     {
00096                         t=0;
00097                     }           
00098                     TFC_SetBatteryLED_Level(t);
00099                 }
00100                 
00101                 TFC_SetMotorPWM(0,0); //Make sure motors are off
00102                 TFC_HBRIDGE_DISABLE;
00103             
00104 
00105                 break;
00106                 
00107             case 2 :
00108                 
00109                 //Demo Mode 2 will use the Pots to make the motors move
00110                 TFC_HBRIDGE_ENABLE;
00111                
00112                 TFC_SetMotorPWM(TFC_ReadPot(0),TFC_ReadPot(1));
00113                 
00114                         
00115                 //Let's put a pattern on the LEDs
00116                 if(TFC_Ticker[1] >= 125)
00117                     {
00118                         TFC_Ticker[1] = 0;
00119                             t++;
00120                             if(t>4)
00121                             {
00122                                 t=0;
00123                             }           
00124                         TFC_SetBatteryLED_Level(t);
00125                     }
00126                 break;
00127             
00128             case 3 :
00129             
00130          
00131                 //Demo Mode 3 will be in Freescale Garage Mode.  It will beam data from the Camera to the 
00132                 //Labview Application
00133                 
00134                 
00135                 if(TFC_Ticker[0]>50 && TFC_LineScanImageReady>0)
00136                     {
00137                      TFC_Ticker[0] = 0;
00138                      TFC_LineScanImageReady=0;
00139                      TERMINAL_PRINTF("\r\n");
00140                      TERMINAL_PRINTF("L:");
00141                      
00142                         if(t==0)
00143                             t=4;
00144                         else
00145                             t--;
00146                         
00147                          TFC_SetBatteryLED_Level(t);
00148                         
00149                          // camera 1
00150                          for(i=0;i<128;i++)
00151                          {
00152                                TERMINAL_PRINTF("%X,",TFC_LineScanImage0[i]);
00153                          }
00154                         
00155                         // camera 2
00156                          for(i=0;i<128;i++)
00157                          {
00158                                  if(i==127)
00159                                      TERMINAL_PRINTF("%X\r\n",TFC_LineScanImage1[i]);
00160                                  else
00161                                      TERMINAL_PRINTF("%X,",TFC_LineScanImage1[i]);
00162                            
00163                          }
00164                     }
00165                  
00166                 break;
00167             }
00168     }
00169     
00170  
00171 }
00172