z ysaito / Mbed 2 deprecated MMC_ThrmTemMea_CtrlMain

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Dependencies:   F7_Ethernet mbed mbed-rtos

main.cpp@9:a4cc7dc2d92f, 2020-09-14 (annotated)

Committer:
sayzyas
Date:
Mon Sep 14 06:38:16 2020 +0000
Revision:
9:a4cc7dc2d92f
Parent:
8:23b1fba109b0 
1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 0:38cbb854d85f 1 #include "mbed.h"
sayzyas 9:a4cc7dc2d92f 2 #include "rtos.h"
emilmont 1:5cebe0e38cd2 3 #include "EthernetInterface.h"
sayzyas 9:a4cc7dc2d92f 4 #include "common.h"
sayzyas 9:a4cc7dc2d92f 5 #include "stdio.h"
mbed_official 8:23b1fba109b0 6
sayzyas 9:a4cc7dc2d92f 7 #define ECHO_SERVER_PORT 10004
sayzyas 9:a4cc7dc2d92f 8
sayzyas 9:a4cc7dc2d92f 9 /* Debug port */
sayzyas 9:a4cc7dc2d92f 10 Serial pc(USBTX, USBRX); // USBSerial serial setting
sayzyas 9:a4cc7dc2d92f 11
sayzyas 9:a4cc7dc2d92f 12 /* GPIO setting */
sayzyas 9:a4cc7dc2d92f 13 DigitalOut led1(LED1); // on board green
sayzyas 9:a4cc7dc2d92f 14 DigitalOut led2(LED2); // on board blue
sayzyas 9:a4cc7dc2d92f 15 DigitalOut led3(LED3); // on board red
sayzyas 9:a4cc7dc2d92f 16
sayzyas 9:a4cc7dc2d92f 17 DigitalInOut OneAxisSliderPulse(PE_11, PIN_OUTPUT, OpenDrain, 0);
sayzyas 9:a4cc7dc2d92f 18 DigitalInOut OneAxisSliderDir(PE_9, PIN_OUTPUT, OpenDrain, 0);
sayzyas 9:a4cc7dc2d92f 19 // DigitalOut OneAxisSliderPulse(PE_9);
sayzyas 9:a4cc7dc2d92f 20 //DigitalOut OneAxisSliderDir(PE_11);
sayzyas 9:a4cc7dc2d92f 21
sayzyas 9:a4cc7dc2d92f 22 DigitalOut OneAxisSliderORG(PF_3);
sayzyas 9:a4cc7dc2d92f 23 DigitalOut OneAxisSliderReset(PF_15);
sayzyas 9:a4cc7dc2d92f 24 DigitalOut OneAxisSliderServoOn(PF_11);
sayzyas 9:a4cc7dc2d92f 25
sayzyas 9:a4cc7dc2d92f 26 DigitalOut Relay(PC_8);
sayzyas 9:a4cc7dc2d92f 27
sayzyas 9:a4cc7dc2d92f 28 //DigitalInOut lamp_out(p23, PIN_OUTPUT, OpenDrain, 0);
sayzyas 9:a4cc7dc2d92f 29 //DigitalInOut lamp_out(p23, PIN_OUTPUT, OpenDrain, 0);
sayzyas 9:a4cc7dc2d92f 30
sayzyas 9:a4cc7dc2d92f 31
sayzyas 9:a4cc7dc2d92f 32 DigitalOut out1( PG_9 );
sayzyas 9:a4cc7dc2d92f 33 AnalogOut linear_out( PA_5 );
sayzyas 9:a4cc7dc2d92f 34 AnalogOut linear_out2( PA_4 );
sayzyas 9:a4cc7dc2d92f 35
sayzyas 9:a4cc7dc2d92f 36 DigitalIn limit1_din(PG_5); // limit1 in
sayzyas 9:a4cc7dc2d92f 37 DigitalIn limit2_din(PG_6); // limit2 in
sayzyas 9:a4cc7dc2d92f 38 AnalogIn weight_ain(PC_2); // analog input of load cell
sayzyas 9:a4cc7dc2d92f 39
sayzyas 9:a4cc7dc2d92f 40
sayzyas 9:a4cc7dc2d92f 41 /* Network setting */
sayzyas 9:a4cc7dc2d92f 42 UDPSocket userver; // UDP Server
sayzyas 9:a4cc7dc2d92f 43 const char* ip_address = "192.168.31.31";
sayzyas 9:a4cc7dc2d92f 44 const char* subnet_mask = "255.255.255.0";
sayzyas 9:a4cc7dc2d92f 45 const char* gateway = "192.168.31.0";
sayzyas 9:a4cc7dc2d92f 46
sayzyas 9:a4cc7dc2d92f 47 Thread thread1;
sayzyas 9:a4cc7dc2d92f 48 Thread thread2;
sayzyas 9:a4cc7dc2d92f 49 Thread thread3;
sayzyas 9:a4cc7dc2d92f 50 Thread thread4;
sayzyas 9:a4cc7dc2d92f 51
sayzyas 9:a4cc7dc2d92f 52 void move_distance( int dir , int dis_mm );
sayzyas 9:a4cc7dc2d92f 53
mbed_official 8:23b1fba109b0 54
sayzyas 9:a4cc7dc2d92f 55 /* Thread routine */
sayzyas 9:a4cc7dc2d92f 56 void OneAxisSliderCtrl_thread()
sayzyas 9:a4cc7dc2d92f 57 {
sayzyas 9:a4cc7dc2d92f 58 OneAxisSliderReset = 1;
sayzyas 9:a4cc7dc2d92f 59 led2 = 1;
sayzyas 9:a4cc7dc2d92f 60
sayzyas 9:a4cc7dc2d92f 61 wait(1);
sayzyas 9:a4cc7dc2d92f 62 led2 = 0;
sayzyas 9:a4cc7dc2d92f 63
sayzyas 9:a4cc7dc2d92f 64 OneAxisSliderReset = 0;
sayzyas 9:a4cc7dc2d92f 65
sayzyas 9:a4cc7dc2d92f 66 wait_ms(3000);
sayzyas 9:a4cc7dc2d92f 67
sayzyas 9:a4cc7dc2d92f 68 led3 = 1;
sayzyas 9:a4cc7dc2d92f 69 printf("Servo on\r\n");
sayzyas 9:a4cc7dc2d92f 70
sayzyas 9:a4cc7dc2d92f 71 // ORG-S: OFF
sayzyas 9:a4cc7dc2d92f 72
sayzyas 9:a4cc7dc2d92f 73 OneAxisSliderServoOn = 1;
sayzyas 9:a4cc7dc2d92f 74 printf("Servo on\r\n");
sayzyas 9:a4cc7dc2d92f 75
sayzyas 9:a4cc7dc2d92f 76
sayzyas 9:a4cc7dc2d92f 77
sayzyas 9:a4cc7dc2d92f 78 wait(1);
sayzyas 9:a4cc7dc2d92f 79 OneAxisSliderORG = 1;
sayzyas 9:a4cc7dc2d92f 80 printf("Move to Origin\r\n");
sayzyas 9:a4cc7dc2d92f 81
sayzyas 9:a4cc7dc2d92f 82 // **************************************
sayzyas 9:a4cc7dc2d92f 83 // while( ORG-S singnal is ON(=0V))
sayzyas 9:a4cc7dc2d92f 84 // if slider is located to ORIGIN then OGG-S signal will be ON(0V) until next RESET or SERVO off
sayzyas 9:a4cc7dc2d92f 85 // ORG-S: OFF
sayzyas 9:a4cc7dc2d92f 86 // **************************************
sayzyas 9:a4cc7dc2d92f 87
sayzyas 9:a4cc7dc2d92f 88
sayzyas 9:a4cc7dc2d92f 89 wait_ms(15000);
sayzyas 9:a4cc7dc2d92f 90
sayzyas 9:a4cc7dc2d92f 91 wait(1);
sayzyas 9:a4cc7dc2d92f 92
sayzyas 9:a4cc7dc2d92f 93 printf("1st move\r\n");
sayzyas 9:a4cc7dc2d92f 94 move_distance( DIR_CCW, L_010mm * 30 );
sayzyas 9:a4cc7dc2d92f 95
sayzyas 9:a4cc7dc2d92f 96 wait_ms(8000);
sayzyas 9:a4cc7dc2d92f 97
sayzyas 9:a4cc7dc2d92f 98 while (true)
sayzyas 9:a4cc7dc2d92f 99 {
sayzyas 9:a4cc7dc2d92f 100 while (true)
sayzyas 9:a4cc7dc2d92f 101 {
sayzyas 9:a4cc7dc2d92f 102 printf("CW move\r\n");
sayzyas 9:a4cc7dc2d92f 103 move_distance( DIR_CW, L_010mm * 20 );
sayzyas 9:a4cc7dc2d92f 104
sayzyas 9:a4cc7dc2d92f 105 wait_ms(8000);
sayzyas 9:a4cc7dc2d92f 106
sayzyas 9:a4cc7dc2d92f 107
sayzyas 9:a4cc7dc2d92f 108
sayzyas 9:a4cc7dc2d92f 109 printf("CCW move\r\n");
sayzyas 9:a4cc7dc2d92f 110 move_distance( DIR_CCW, L_010mm * 20 );
sayzyas 9:a4cc7dc2d92f 111
sayzyas 9:a4cc7dc2d92f 112 break;
sayzyas 9:a4cc7dc2d92f 113 }
sayzyas 9:a4cc7dc2d92f 114 wait(1);
sayzyas 9:a4cc7dc2d92f 115 printf(" weight: %d\r\n", weight_ain.read_u16());
sayzyas 9:a4cc7dc2d92f 116 }
sayzyas 9:a4cc7dc2d92f 117 }
sayzyas 9:a4cc7dc2d92f 118
sayzyas 9:a4cc7dc2d92f 119
sayzyas 9:a4cc7dc2d92f 120
sayzyas 9:a4cc7dc2d92f 121
sayzyas 9:a4cc7dc2d92f 122 void move_distance( int dir , int dis_mm )
sayzyas 9:a4cc7dc2d92f 123 {
sayzyas 9:a4cc7dc2d92f 124 OneAxisSliderDir = dir;
sayzyas 9:a4cc7dc2d92f 125 wait(0.1);
sayzyas 9:a4cc7dc2d92f 126 for( int i = 0; i < dis_mm; i++ )
sayzyas 9:a4cc7dc2d92f 127 {
sayzyas 9:a4cc7dc2d92f 128 OneAxisSliderPulse = MOTOR_ON;
sayzyas 9:a4cc7dc2d92f 129 wait_us(5);
sayzyas 9:a4cc7dc2d92f 130 OneAxisSliderPulse = MOTOR_OFF;
sayzyas 9:a4cc7dc2d92f 131 wait_us(5);
sayzyas 9:a4cc7dc2d92f 132 }
sayzyas 9:a4cc7dc2d92f 133 }
sayzyas 9:a4cc7dc2d92f 134
sayzyas 9:a4cc7dc2d92f 135
sayzyas 9:a4cc7dc2d92f 136
sayzyas 9:a4cc7dc2d92f 137 void led3_thread()
sayzyas 9:a4cc7dc2d92f 138 {
sayzyas 9:a4cc7dc2d92f 139 while (true)
sayzyas 9:a4cc7dc2d92f 140 {
sayzyas 9:a4cc7dc2d92f 141 Relay = 0;
sayzyas 9:a4cc7dc2d92f 142 // Thread::wait(BLINKING_RATE_MS-20);
sayzyas 9:a4cc7dc2d92f 143 Thread::wait( 100 );
sayzyas 9:a4cc7dc2d92f 144 Relay = 1;
sayzyas 9:a4cc7dc2d92f 145 Thread::wait( 100 );
sayzyas 9:a4cc7dc2d92f 146 }
sayzyas 9:a4cc7dc2d92f 147 }
sayzyas 9:a4cc7dc2d92f 148
sayzyas 9:a4cc7dc2d92f 149 void linear_thread()
sayzyas 9:a4cc7dc2d92f 150 {
sayzyas 9:a4cc7dc2d92f 151 while( true )
sayzyas 9:a4cc7dc2d92f 152 {
sayzyas 9:a4cc7dc2d92f 153 for( double i=0.0; i<1.0; i+=0.001) {
sayzyas 9:a4cc7dc2d92f 154 linear_out = i;
sayzyas 9:a4cc7dc2d92f 155 Thread::wait(50);
sayzyas 9:a4cc7dc2d92f 156 }
sayzyas 9:a4cc7dc2d92f 157 }
sayzyas 9:a4cc7dc2d92f 158 }
sayzyas 9:a4cc7dc2d92f 159
sayzyas 9:a4cc7dc2d92f 160 void network_thread()
sayzyas 9:a4cc7dc2d92f 161 {
emilmont 1:5cebe0e38cd2 162 EthernetInterface eth;
sayzyas 9:a4cc7dc2d92f 163 eth.init( ip_address, subnet_mask, gateway ); //Use DHCP
emilmont 1:5cebe0e38cd2 164 eth.connect();
sayzyas 9:a4cc7dc2d92f 165 printf("\nServer IP Address is %s\r\n", eth.getIPAddress());
emilmont 1:5cebe0e38cd2 166
emilmont 1:5cebe0e38cd2 167 TCPSocketServer server;
emilmont 3:36fd3cfad85a 168 server.bind(ECHO_SERVER_PORT);
emilmont 3:36fd3cfad85a 169 server.listen();
sayzyas 9:a4cc7dc2d92f 170
sayzyas 9:a4cc7dc2d92f 171 while (true)
sayzyas 9:a4cc7dc2d92f 172 {
sayzyas 9:a4cc7dc2d92f 173 printf("\nWait for new connection...\r\n");
emilmont 1:5cebe0e38cd2 174 TCPSocketConnection client;
emilmont 1:5cebe0e38cd2 175 server.accept(client);
emilmont 3:36fd3cfad85a 176 client.set_blocking(false, 1500); // Timeout after (1.5)s
emilmont 1:5cebe0e38cd2 177
sayzyas 9:a4cc7dc2d92f 178 printf("Connection from: %s\r\n", client.get_address());
emilmont 1:5cebe0e38cd2 179 char buffer[256];
sayzyas 9:a4cc7dc2d92f 180 while (true)
sayzyas 9:a4cc7dc2d92f 181 {
emilmont 3:36fd3cfad85a 182 int n = client.receive(buffer, sizeof(buffer));
emilmont 1:5cebe0e38cd2 183 if (n <= 0) break;
emilmont 1:5cebe0e38cd2 184
sayzyas 9:a4cc7dc2d92f 185 led1 = 1;
mbedAustin 7:a5ead1402704 186 // print received message to terminal
mbedAustin 7:a5ead1402704 187 buffer[n] = '\0';
sayzyas 9:a4cc7dc2d92f 188 printf("Received message from Client :'%s'\r\n",buffer);
mbedAustin 7:a5ead1402704 189
sayzyas 9:a4cc7dc2d92f 190 if( !strcmp( buffer, "SLD_P0_0000" ) )
sayzyas 9:a4cc7dc2d92f 191 {
sayzyas 9:a4cc7dc2d92f 192 printf("Command: SLD move to position 0\r\n");
sayzyas 9:a4cc7dc2d92f 193 }
mbedAustin 7:a5ead1402704 194 // Echo received message back to client
emilmont 2:ec5ae99791da 195 client.send_all(buffer, n);
emilmont 1:5cebe0e38cd2 196 if (n <= 0) break;
emilmont 1:5cebe0e38cd2 197 }
emilmont 1:5cebe0e38cd2 198 client.close();
emilmont 1:5cebe0e38cd2 199 }
emilmont 1:5cebe0e38cd2 200 }
sayzyas 9:a4cc7dc2d92f 201
sayzyas 9:a4cc7dc2d92f 202
sayzyas 9:a4cc7dc2d92f 203
sayzyas 9:a4cc7dc2d92f 204
sayzyas 9:a4cc7dc2d92f 205
sayzyas 9:a4cc7dc2d92f 206 int main (void) {
sayzyas 9:a4cc7dc2d92f 207
sayzyas 9:a4cc7dc2d92f 208 pc.baud(115200); // Set UART(USB) baudrate
sayzyas 9:a4cc7dc2d92f 209 DEBUG_PRINT_L0("\r\n");
sayzyas 9:a4cc7dc2d92f 210 DEBUG_PRINT_L0(" +--------------------------------------------------------------\r\n");
sayzyas 9:a4cc7dc2d92f 211 DEBUG_PRINT_L0(" | This is: Main Control Program of .....\r\n");
sayzyas 9:a4cc7dc2d92f 212 DEBUG_PRINT_L0(" +--------------------------------------------------------------\r\n");
sayzyas 9:a4cc7dc2d92f 213
sayzyas 9:a4cc7dc2d92f 214 limit1_din.mode(PullUp);
sayzyas 9:a4cc7dc2d92f 215 limit2_din.mode(PullUp);
sayzyas 9:a4cc7dc2d92f 216 // Thread thread1(linear_thread, NULL, osPriorityNormal, 128 * 4);
sayzyas 9:a4cc7dc2d92f 217 // Thread thread2(led2_thread, NULL, osPriorityNormal, 128 * 4);
sayzyas 9:a4cc7dc2d92f 218 // Thread thread3(led3_thread, NULL, osPriorityNormal, 128 * 4);
sayzyas 9:a4cc7dc2d92f 219 thread1.start(linear_thread);
sayzyas 9:a4cc7dc2d92f 220 thread2.start(OneAxisSliderCtrl_thread);
sayzyas 9:a4cc7dc2d92f 221 thread3.start(led3_thread);
sayzyas 9:a4cc7dc2d92f 222 thread4.start(network_thread);
sayzyas 9:a4cc7dc2d92f 223
sayzyas 9:a4cc7dc2d92f 224 //while (true)
sayzyas 9:a4cc7dc2d92f 225 //{
sayzyas 9:a4cc7dc2d92f 226 //led1 = !led1;
sayzyas 9:a4cc7dc2d92f 227 //Thread::wait(1);
sayzyas 9:a4cc7dc2d92f 228 //SliderPulse = !SliderPulse;
sayzyas 9:a4cc7dc2d92f 229
sayzyas 9:a4cc7dc2d92f 230 //}
sayzyas 9:a4cc7dc2d92f 231 }