main.cpp

00001 #include "mbed.h"
00002 #include "rtos.h"
00003 #include "EthernetInterface.h"
00004 #include "common.h"
00005 #include "stdio.h"
00006  
00007 #define ECHO_SERVER_PORT   10004
00008 
00009 /* Debug port */
00010 Serial pc(USBTX, USBRX); // USBSerial serial setting
00011 
00012 /* GPIO setting */
00013 DigitalOut led1(LED1); // on board green
00014 DigitalOut led2(LED2); // on board blue 
00015 DigitalOut led3(LED3); // on board red
00016 
00017 DigitalInOut OneAxisSliderPulse(PE_11, PIN_OUTPUT, OpenDrain, 0);
00018 DigitalInOut OneAxisSliderDir(PE_9, PIN_OUTPUT, OpenDrain, 0);
00019 // DigitalOut OneAxisSliderPulse(PE_9);
00020 //DigitalOut OneAxisSliderDir(PE_11);
00021 
00022 DigitalOut OneAxisSliderORG(PF_3);
00023 DigitalOut OneAxisSliderReset(PF_15);
00024 DigitalOut OneAxisSliderServoOn(PF_11);
00025 
00026 DigitalOut Relay(PC_8);
00027 
00028 //DigitalInOut lamp_out(p23, PIN_OUTPUT, OpenDrain, 0);
00029 //DigitalInOut lamp_out(p23, PIN_OUTPUT, OpenDrain, 0);
00030 
00031 
00032 DigitalOut out1( PG_9 );
00033 AnalogOut linear_out( PA_5 );
00034 AnalogOut linear_out2( PA_4 );
00035 
00036 DigitalIn limit1_din(PG_5);    // limit1 in 
00037 DigitalIn limit2_din(PG_6);    // limit2 in
00038 AnalogIn weight_ain(PC_2);   // analog input of load cell
00039 
00040 
00041 /* Network setting */
00042 UDPSocket   userver; // UDP Server
00043 const char* ip_address = "192.168.31.31";
00044 const char* subnet_mask = "255.255.255.0";
00045 const char* gateway = "192.168.31.0";
00046 
00047 Thread thread1;
00048 Thread thread2;
00049 Thread thread3;   
00050 Thread thread4;   
00051 
00052 void move_distance( int dir , int dis_mm );
00053 
00054  
00055 /* Thread routine */
00056 void OneAxisSliderCtrl_thread() 
00057 {
00058     OneAxisSliderReset = 1;
00059     led2 = 1;
00060     
00061     wait(1);
00062     led2 = 0;
00063 
00064     OneAxisSliderReset = 0;
00065     
00066     wait_ms(3000);
00067     
00068     led3 = 1;
00069     printf("Servo on\r\n");
00070     
00071     // ORG-S: OFF
00072     
00073     OneAxisSliderServoOn = 1;
00074     printf("Servo on\r\n");
00075     
00076     
00077     
00078     wait(1);
00079     OneAxisSliderORG = 1;
00080     printf("Move to Origin\r\n");
00081 
00082     // **************************************
00083     // while( ORG-S singnal is ON(=0V))
00084     // if slider is located to ORIGIN then OGG-S signal will be ON(0V) until next RESET or SERVO off
00085     // ORG-S: OFF
00086     // **************************************
00087 
00088     
00089     wait_ms(15000);
00090     
00091     wait(1);
00092 
00093     printf("1st move\r\n");
00094     move_distance( DIR_CCW, L_010mm * 30 );
00095 
00096     wait_ms(8000);
00097     
00098     while (true) 
00099     {
00100         while (true)
00101         {
00102             printf("CW move\r\n");
00103             move_distance( DIR_CW, L_010mm * 20 );
00104             
00105             wait_ms(8000);
00106             
00107   
00108   
00109             printf("CCW move\r\n");
00110             move_distance( DIR_CCW, L_010mm * 20 );
00111       
00112             break;
00113         }
00114         wait(1);
00115         printf(" weight: %d\r\n", weight_ain.read_u16());
00116     }
00117 }
00118 
00119 
00120 
00121 
00122 void move_distance( int dir , int dis_mm )
00123 {
00124     OneAxisSliderDir = dir;
00125     wait(0.1);
00126     for( int i = 0; i < dis_mm; i++ )
00127     {
00128         OneAxisSliderPulse = MOTOR_ON;
00129         wait_us(5);
00130         OneAxisSliderPulse = MOTOR_OFF;
00131         wait_us(5);    
00132     }
00133 }
00134     
00135 
00136 
00137 void led3_thread() 
00138 {
00139     while (true) 
00140     {
00141         Relay = 0;
00142     //    Thread::wait(BLINKING_RATE_MS-20);
00143         Thread::wait( 100 );
00144         Relay = 1;
00145         Thread::wait( 100 );
00146     }
00147 }
00148 
00149 void linear_thread()
00150 {
00151     while( true )
00152     {
00153         for( double i=0.0; i<1.0; i+=0.001) {
00154             linear_out = i;
00155             Thread::wait(50);
00156         }        
00157     }
00158 }
00159 
00160 void network_thread()
00161 {
00162     EthernetInterface eth;
00163     eth.init( ip_address, subnet_mask, gateway ); //Use DHCP
00164     eth.connect();
00165     printf("\nServer IP Address is %s\r\n", eth.getIPAddress());
00166     
00167     TCPSocketServer server;
00168     server.bind(ECHO_SERVER_PORT);
00169     server.listen();
00170         
00171     while (true) 
00172     {
00173         printf("\nWait for new connection...\r\n");
00174         TCPSocketConnection client;
00175         server.accept(client);
00176         client.set_blocking(false, 1500); // Timeout after (1.5)s
00177         
00178         printf("Connection from: %s\r\n", client.get_address());
00179         char buffer[256];
00180         while (true) 
00181         {
00182             int n = client.receive(buffer, sizeof(buffer));
00183             if (n <= 0) break;
00184             
00185             led1 = 1;
00186             // print received message to terminal
00187             buffer[n] = '\0';
00188             printf("Received message from Client :'%s'\r\n",buffer);
00189             
00190             if( !strcmp( buffer, "SLD_P0_0000" ) )
00191             {
00192                 printf("Command: SLD move to position 0\r\n");
00193             }
00194             // Echo received message back to client
00195             client.send_all(buffer, n);
00196             if (n <= 0) break;
00197         }
00198         client.close();
00199     }
00200 }
00201 
00202 
00203 
00204 
00205 
00206 int main (void) {
00207     
00208     pc.baud(115200); // Set UART(USB) baudrate
00209     DEBUG_PRINT_L0("\r\n");
00210     DEBUG_PRINT_L0(" +--------------------------------------------------------------\r\n");
00211     DEBUG_PRINT_L0(" | This is: Main Control Program of .....\r\n");
00212     DEBUG_PRINT_L0(" +--------------------------------------------------------------\r\n");    
00213   
00214     limit1_din.mode(PullUp);
00215     limit2_din.mode(PullUp);
00216 //    Thread thread1(linear_thread, NULL, osPriorityNormal, 128 * 4);
00217 //    Thread thread2(led2_thread, NULL, osPriorityNormal, 128 * 4);
00218 //    Thread thread3(led3_thread, NULL, osPriorityNormal, 128 * 4);
00219     thread1.start(linear_thread);
00220     thread2.start(OneAxisSliderCtrl_thread);
00221     thread3.start(led3_thread);
00222     thread4.start(network_thread);
00223 
00224     //while (true) 
00225     //{
00226         //led1 = !led1;
00227         //Thread::wait(1);
00228         //SliderPulse = !SliderPulse;
00229 
00230     //}
00231 }