Marcel Visser
ok
Dependencies: PinDetect TextLCD mbed
Diff: main.cpp
- Revision:
- 0:2132d7ad612f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Nov 30 11:12:00 2015 +0000
@@ -0,0 +1,199 @@
+/*
+
+ mbed LPC1768
+ ___________________
+ 1 |GND | | VOUT|40
+ 2 |VIN | | VU|39
+ 3 |VB |____| IF-|38
+ 4 |nR IF+|37
+ SPI NRF24L01+ 5 |MOSI ETH RD-|36
+ SPI NRF24L01+ 6 |MISO ETH RD+|35
+ SPI NRF24L01+ 7 |SCK ETH TD-|34
+ SPI (CSN) NRF24L01+ 8 | ETH TD+|33
+ SPI (CE) NRF24L01+ 9 |TX/SDA USB D-|32
+ SPI (IRQ) NRF24L01+ 10|RX/SCL USB D+|31
+ 11|MOSI (CAN)RD|30 CAN bus
+ 12|MISO (CAN)TD|29 CAN bus
+ 13|TX/SCK SDA/TX|28 I2C 16x2 Display
+ 14|RX SCL/RX|27 I2C 16x2 Display
+ Left indicator input 15|AI PWMOUT|26
+ Right indicator input 16|AI PWMOUT|25
+ Headlights input 17|AI PWMOUT|24 Dashboard left indicator output
+ Brake input 18|AI/AOUT PWMOUT|23 Dashboard right indicator output
+ 19|AI PWMOUT|22 Dashboard headlights output
+ 20|AI PWMOUT|21 Dashboard warning output
+ -------------------
+
+*/
+
+#define DEBUG 1 //1 = debugging via USB serial port, 0 = debugging off
+
+#include "mbed.h"
+#include "PinDetect.h"
+#include "TextLCD.h"
+
+//pinouts
+PinDetect PIN_LEFT_IN (p15);
+PinDetect PIN_RIGHT_IN (p16);
+PinDetect PIN_HEADLIGHTS_IN (p17);
+PinDetect PIN_BRAKE_IN (p18);
+DigitalOut PIN_WARNING_OUT (p21);
+DigitalOut PIN_HEADLIGHTS_OUT (p22);
+DigitalOut PIN_RIGHT_OUT (p23);
+DigitalOut PIN_LEFT_OUT (p24);
+DigitalOut LED_1 (LED1); //onboard
+DigitalOut LED_2 (LED2); //onboard
+DigitalOut LED_3 (LED3); //onboard
+DigitalOut LED_4 (LED4); //onboard
+
+//Setup serial pins for debugging
+Serial pc(USBTX, USBRX);
+
+//Setup I2C pins for 16x2 display
+I2C i2c_lcd(p28,p27); //SDA, SCL
+TextLCD_I2C lcd(&i2c_lcd, 0x4E, TextLCD::LCD16x2); // I2C exp: I2C bus, PCF8574 Slaveaddress, LCD Type
+
+//Setup CAN busses 1 en 2
+CAN CAN1(p9, p10);
+CAN CAN2(p30, p29);
+char CANcounter = 'a';
+Ticker CANticker;
+
+//Setup tickers for blinking the indicator and warning lights on the dashboard
+Ticker ticker_left;
+Ticker ticker_right;
+Ticker ticker_warning;
+
+void CANsend() //Sends a message from CAN1
+{
+ pc.printf("send()\n");
+ CANMessage CANmsgTX(CANMessage(887, &CANcounter, 1));
+ if(CAN1.write(CANmsgTX))
+ {
+ CANcounter++;
+ pc.printf("MESSAGE SENT: %d, %d\n", CANcounter, CANmsgTX.data[0]);
+ LED_1 = !LED_1;
+ }
+ else
+ {
+ pc.printf("Failed to send the message\n");
+ }
+}
+
+void toggle_left() { PIN_LEFT_OUT = !PIN_LEFT_OUT; }
+void toggle_right() { PIN_RIGHT_OUT = !PIN_RIGHT_OUT; }
+void toggle_warning() { PIN_WARNING_OUT = !PIN_WARNING_OUT; }
+
+void start_left()
+
+{
+ PIN_LEFT_OUT = 1;
+ ticker_left.attach(&toggle_left, 0.5);
+ //SEND CAN TO LEFT_FRONT_MODULE AND BACK_MODULE
+ if(DEBUG) pc.printf("Left on\n");
+}
+
+void stop_left()
+{
+ ticker_left.detach();
+ PIN_LEFT_OUT = 0;
+ //SEND CAN TO LEFT_FRONT_MODULE AND BACK_MODULE
+ if(DEBUG) pc.printf("Left off\n");
+}
+
+void start_right()
+{
+ PIN_RIGHT_OUT = 1;
+ ticker_right.attach(&toggle_right, 0.5);
+ //SEND CAN TO RIGHT_FRONT_MODULE AND BACK_MODULE
+ if(DEBUG) pc.printf("Right on\n");
+}
+
+void stop_right()
+{
+ ticker_right.detach();
+ PIN_RIGHT_OUT = 0;
+ //SEND CAN TO RIGHT_FRONT_MODULE AND BACK_MODULE
+ if(DEBUG) pc.printf("Right off\n");
+}
+
+void start_headlights()
+{
+ PIN_HEADLIGHTS_OUT = 1;
+ //SEND CAN TO LEFT_FRONT_MODULE AND RIGHT_FRONT_MODULE
+ if(DEBUG) pc.printf("Headlights on\n");
+}
+
+void stop_headlights()
+{
+ PIN_HEADLIGHTS_OUT = 0;
+ //SEND CAN TO LEFT_FRONT_MODULE AND RIGHT_FRONT_MODULE
+ if(DEBUG) pc.printf("Headlights off\n");
+}
+
+void start_brake()
+{
+ PIN_WARNING_OUT = 1;
+ ticker_warning.attach(&toggle_warning, 0.2);
+ //SEND CAN TO BACK_MODULE
+ if(DEBUG) pc.printf("Brake start\n");
+}
+
+void stop_brake()
+{
+ ticker_warning.detach();
+ PIN_WARNING_OUT = 0;
+ //SEND CAN TO BACK_MODULE
+ if(DEBUG) pc.printf("Brake stop\n");
+}
+
+int main()
+{
+ if(DEBUG) pc.baud(230400); //default 9600, but we want it to be as fast as possible
+ if(DEBUG) pc.printf("BRW Urban Features Controller\n\n");
+ if(DEBUG) pc.printf("Setting up...\n");
+
+ //setup PinDetect; input interrupts with built-in debounce (important!)
+ PIN_LEFT_IN.attach_asserted (&start_left); //press
+ PIN_LEFT_IN.attach_deasserted (&stop_left); //release
+ PIN_LEFT_IN.setSampleFrequency (); //defaults to 20ms.
+ PIN_RIGHT_IN.attach_asserted (&start_right);
+ PIN_RIGHT_IN.attach_deasserted (&stop_right);
+ PIN_RIGHT_IN.setSampleFrequency ();
+ PIN_HEADLIGHTS_IN.attach_asserted (&start_headlights);
+ PIN_HEADLIGHTS_IN.attach_deasserted (&stop_headlights);
+ PIN_HEADLIGHTS_IN.setSampleFrequency ();
+ PIN_BRAKE_IN.attach_asserted (&start_brake);
+ PIN_BRAKE_IN.attach_deasserted (&stop_brake);
+ PIN_BRAKE_IN.setSampleFrequency ();
+ if(DEBUG) pc.printf("Pin interrupts set\n");
+
+ //setup 16x2 display
+ lcd.setCursor(TextLCD::CurOff_BlkOff); //cursor off, blinking off
+ lcd.cls(); //clear screen
+ if(DEBUG) pc.printf("Display initialized\n");
+
+ //setup CAN bus
+ CAN1.frequency(615000);
+ CAN2.frequency(615000);
+ CANticker.attach(&CANsend, 1); //Calls the function CANsend() every second
+ CANMessage CANmsgRX;
+
+ if(DEBUG) pc.printf("Setup complete.\n\n");
+
+ pc.printf("main()\n");
+
+ while(1) { //Constantly check for a Rx'ed message on CAN2, and notify if there is one
+ //pc.printf("loop()\n");
+ //pc.printf("RXed MSG:%d\n", can2.read(msg1));
+ if(CAN2.read(CANmsgRX)) {
+ char ch = CANmsgRX.data[0];
+ lcd.locate(0,0);
+ lcd.printf("Message received: ");
+ lcd.putc(ch);
+ LED_2 = !LED_2;
+ wait(0.5);
+ lcd.cls();
+ }
+ }
+}
\ No newline at end of file