Diff: main.cpp

Revision:

9:a4cc7dc2d92f

Parent:

8:23b1fba109b0

--- a/main.cpp	Tue Feb 14 16:20:16 2017 +0000
+++ b/main.cpp	Mon Sep 14 06:38:16 2020 +0000
@@ -1,51 +1,231 @@
 #include "mbed.h"
+#include "rtos.h"
 #include "EthernetInterface.h"
+#include "common.h"
+#include "stdio.h"
  
-#define ECHO_SERVER_PORT   7
+#define ECHO_SERVER_PORT   10004
+
+/* Debug port */
+Serial pc(USBTX, USBRX); // USBSerial serial setting
+
+/* GPIO setting */
+DigitalOut led1(LED1); // on board green
+DigitalOut led2(LED2); // on board blue 
+DigitalOut led3(LED3); // on board red
+
+DigitalInOut OneAxisSliderPulse(PE_11, PIN_OUTPUT, OpenDrain, 0);
+DigitalInOut OneAxisSliderDir(PE_9, PIN_OUTPUT, OpenDrain, 0);
+// DigitalOut OneAxisSliderPulse(PE_9);
+//DigitalOut OneAxisSliderDir(PE_11);
+
+DigitalOut OneAxisSliderORG(PF_3);
+DigitalOut OneAxisSliderReset(PF_15);
+DigitalOut OneAxisSliderServoOn(PF_11);
+
+DigitalOut Relay(PC_8);
+
+//DigitalInOut lamp_out(p23, PIN_OUTPUT, OpenDrain, 0);
+//DigitalInOut lamp_out(p23, PIN_OUTPUT, OpenDrain, 0);
+
+
+DigitalOut out1( PG_9 );
+AnalogOut linear_out( PA_5 );
+AnalogOut linear_out2( PA_4 );
+
+DigitalIn limit1_din(PG_5);    // limit1 in 
+DigitalIn limit2_din(PG_6);    // limit2 in
+AnalogIn weight_ain(PC_2);   // analog input of load cell
+
+
+/* Network setting */
+UDPSocket   userver; // UDP Server
+const char* ip_address = "192.168.31.31";
+const char* subnet_mask = "255.255.255.0";
+const char* gateway = "192.168.31.0";
+
+Thread thread1;
+Thread thread2;
+Thread thread3;   
+Thread thread4;   
+
+void move_distance( int dir , int dis_mm );
+
  
-int main (void) {
+/* Thread routine */
+void OneAxisSliderCtrl_thread() 
+{
+    OneAxisSliderReset = 1;
+    led2 = 1;
+    
+    wait(1);
+    led2 = 0;
+
+    OneAxisSliderReset = 0;
+    
+    wait_ms(3000);
+    
+    led3 = 1;
+    printf("Servo on\r\n");
+    
+    // ORG-S: OFF
+    
+    OneAxisSliderServoOn = 1;
+    printf("Servo on\r\n");
+    
+    
+    
+    wait(1);
+    OneAxisSliderORG = 1;
+    printf("Move to Origin\r\n");
+
+    // **************************************
+    // while( ORG-S singnal is ON(=0V))
+    // if slider is located to ORIGIN then OGG-S signal will be ON(0V) until next RESET or SERVO off
+    // ORG-S: OFF
+    // **************************************
+
+    
+    wait_ms(15000);
+    
+    wait(1);
+
+    printf("1st move\r\n");
+    move_distance( DIR_CCW, L_010mm * 30 );
+
+    wait_ms(8000);
+    
+    while (true) 
+    {
+        while (true)
+        {
+            printf("CW move\r\n");
+            move_distance( DIR_CW, L_010mm * 20 );
+            
+            wait_ms(8000);
+            
+  
+  
+            printf("CCW move\r\n");
+            move_distance( DIR_CCW, L_010mm * 20 );
+      
+            break;
+        }
+        wait(1);
+        printf(" weight: %d\r\n", weight_ain.read_u16());
+    }
+}
+
+
+
+
+void move_distance( int dir , int dis_mm )
+{
+    OneAxisSliderDir = dir;
+    wait(0.1);
+    for( int i = 0; i < dis_mm; i++ )
+    {
+        OneAxisSliderPulse = MOTOR_ON;
+        wait_us(5);
+        OneAxisSliderPulse = MOTOR_OFF;
+        wait_us(5);    
+    }
+}
+    
+
+
+void led3_thread() 
+{
+    while (true) 
+    {
+        Relay = 0;
+    //    Thread::wait(BLINKING_RATE_MS-20);
+        Thread::wait( 100 );
+        Relay = 1;
+        Thread::wait( 100 );
+    }
+}
+
+void linear_thread()
+{
+    while( true )
+    {
+        for( double i=0.0; i<1.0; i+=0.001) {
+            linear_out = i;
+            Thread::wait(50);
+        }        
+    }
+}
+
+void network_thread()
+{
     EthernetInterface eth;
-    eth.init(); //Use DHCP
+    eth.init( ip_address, subnet_mask, gateway ); //Use DHCP
     eth.connect();
-    printf("\nServer IP Address is %s\n", eth.getIPAddress());
+    printf("\nServer IP Address is %s\r\n", eth.getIPAddress());
     
     TCPSocketServer server;
     server.bind(ECHO_SERVER_PORT);
     server.listen();
-    
-    while (true) {
-        printf("\nWait for new connection...\n");
+        
+    while (true) 
+    {
+        printf("\nWait for new connection...\r\n");
         TCPSocketConnection client;
         server.accept(client);
         client.set_blocking(false, 1500); // Timeout after (1.5)s
         
-        printf("Connection from: %s\n", client.get_address());
+        printf("Connection from: %s\r\n", client.get_address());
         char buffer[256];
-        while (true) {
+        while (true) 
+        {
             int n = client.receive(buffer, sizeof(buffer));
             if (n <= 0) break;
             
+            led1 = 1;
             // print received message to terminal
             buffer[n] = '\0';
-            printf("Received message from Client :'%s'\n",buffer);
+            printf("Received message from Client :'%s'\r\n",buffer);
             
-            // reverse the message
-            char temp;
-            for(int f = 0, l = n-1; f<l; f++,l--){
-                temp = buffer[f];
-                buffer[f] = buffer[l];
-                buffer[l] = temp;
-                }
-            
-            // print reversed message to terminal
-            printf("Sending message to Client: '%s'\n",buffer);
-            
+            if( !strcmp( buffer, "SLD_P0_0000" ) )
+            {
+                printf("Command: SLD move to position 0\r\n");
+            }
             // Echo received message back to client
             client.send_all(buffer, n);
             if (n <= 0) break;
         }
-        
         client.close();
     }
 }
- 
\ No newline at end of file
+
+
+
+
+
+int main (void) {
+    
+    pc.baud(115200); // Set UART(USB) baudrate
+    DEBUG_PRINT_L0("\r\n");
+    DEBUG_PRINT_L0(" +--------------------------------------------------------------\r\n");
+    DEBUG_PRINT_L0(" | This is: Main Control Program of .....\r\n");
+    DEBUG_PRINT_L0(" +--------------------------------------------------------------\r\n");    
+  
+    limit1_din.mode(PullUp);
+    limit2_din.mode(PullUp);
+//    Thread thread1(linear_thread, NULL, osPriorityNormal, 128 * 4);
+//    Thread thread2(led2_thread, NULL, osPriorityNormal, 128 * 4);
+//    Thread thread3(led3_thread, NULL, osPriorityNormal, 128 * 4);
+    thread1.start(linear_thread);
+    thread2.start(OneAxisSliderCtrl_thread);
+    thread3.start(led3_thread);
+    thread4.start(network_thread);
+
+    //while (true) 
+    //{
+        //led1 = !led1;
+        //Thread::wait(1);
+        //SliderPulse = !SliderPulse;
+
+    //}
+}
\ No newline at end of file