medica_demo_V10 - Medica demo control system.

Users » sjk127 » Code » medica_demo_V10

simon king / Mbed 2 deprecated medica_demo_V10

Medica demo control system.

main.cpp@0:00a9f58f32d0, 2010-10-28 (annotated)

Committer:: sjk127
Date:: Thu Oct 28 13:27:46 2010 +0000
Revision:: 0:00a9f58f32d0

Who changed what in which revision?

User	Revision	Line number	New contents of line
sjk127	0:00a9f58f32d0	1	#include "mbed.h"
sjk127	0:00a9f58f32d0	2	#include "TextLCD.h"
sjk127	0:00a9f58f32d0	3
sjk127	0:00a9f58f32d0	4	Serial pc(USBTX, USBRX);
sjk127	0:00a9f58f32d0	5	TextLCD lcd(p18, p19, p20, p21, p22, p23, p24);
sjk127	0:00a9f58f32d0	6	InterruptIn M2counter(p9); // only active when actuators running (hall effect input)
sjk127	0:00a9f58f32d0	7	InterruptIn M1counter(p8); // only active when actuators running (hall effect input)
sjk127	0:00a9f58f32d0	8	InterruptIn cpr(p14); // push button that interrupts any process
sjk127	0:00a9f58f32d0	9	InterruptIn sense(p7); // opto sensor that interrupts any process after activation
sjk127	0:00a9f58f32d0	10	BusIn switches (p10,p11,p12,p13); // 12 push button in's through a diode matrix giving a 4 bit binary code for each button
sjk127	0:00a9f58f32d0	11	AnalogIn h_pot (p16); // softpot input for actuator 2
sjk127	0:00a9f58f32d0	12	AnalogIn l_pot (p15); // softpot input for actuator 1
sjk127	0:00a9f58f32d0	13	BusOut act2 (p29,p28); // two relays that control actuator 2 direction
sjk127	0:00a9f58f32d0	14	BusOut act1 (p25,p26); // two relays that control actuator 1 direction
sjk127	0:00a9f58f32d0	15	DigitalOut fet2 (p30); // fet for actuator 2 switched on after relay direction set
sjk127	0:00a9f58f32d0	16	DigitalOut fet1 (p27); // fet for actuator 1 switched on after relay direction set
sjk127	0:00a9f58f32d0	17	DigitalOut alarm (p17); // alarm o/p actvated when cpr pushed or sensor in tripped
sjk127	0:00a9f58f32d0	18
sjk127	0:00a9f58f32d0	19	Timer timer1;
sjk127	0:00a9f58f32d0	20	Timer timer2;
sjk127	0:00a9f58f32d0	21	Timer timer3;
sjk127	0:00a9f58f32d0	22
sjk127	0:00a9f58f32d0	23	int M2direction; // actuator 2 direction flag
sjk127	0:00a9f58f32d0	24	int M1direction; // actuator 2 direction flag
sjk127	0:00a9f58f32d0	25	int bus_state; // switches BusIn is read then stored in this reg
sjk127	0:00a9f58f32d0	26	int M2count; // actuator 2 counter reg
sjk127	0:00a9f58f32d0	27	int M1count; // actuator 1 counter reg
sjk127	0:00a9f58f32d0	28	int M2_old; // used to store first sample of counter reg for act' 2
sjk127	0:00a9f58f32d0	29	int M2_new; // used to store second sample of counter reg for act' 2
sjk127	0:00a9f58f32d0	30	int M1_old; // used to store second sample of counter reg for act' 1
sjk127	0:00a9f58f32d0	31	int M1_new; // used to store second sample of counter reg for act' 1
sjk127	0:00a9f58f32d0	32	int result; // old and new values (above) are compared by subtraction and when result = 0 act' limit switches have been met
sjk127	0:00a9f58f32d0	33	int lock; // flag used to lock keypad
sjk127	0:00a9f58f32d0	34	int senseflag; // flag to say when = 0 sensor off and when = 1 sensor on
sjk127	0:00a9f58f32d0	35	int abs_M2count; // absolute values of counter reg's
sjk127	0:00a9f58f32d0	36	int abs_M1count; // absolute values of counter reg's
sjk127	0:00a9f58f32d0	37
sjk127	0:00a9f58f32d0	38	// the following reg's are used to evaluate the position of the act's relative to the target position
sjk127	0:00a9f58f32d0	39
sjk127	0:00a9f58f32d0	40	int h_target; // temp reg used in most routines
sjk127	0:00a9f58f32d0	41	int fh_target; //
sjk127	0:00a9f58f32d0	42	int h_high;
sjk127	0:00a9f58f32d0	43	int fh_high;
sjk127	0:00a9f58f32d0	44	int h_low;
sjk127	0:00a9f58f32d0	45	int fh_low;
sjk127	0:00a9f58f32d0	46	int l_target;
sjk127	0:00a9f58f32d0	47	int fl_target;
sjk127	0:00a9f58f32d0	48	int l_high;
sjk127	0:00a9f58f32d0	49	int fl_high;
sjk127	0:00a9f58f32d0	50	int l_low;
sjk127	0:00a9f58f32d0	51	int fl_low;
sjk127	0:00a9f58f32d0	52	// reg's to store pot readings in as reading
sjk127	0:00a9f58f32d0	53	float hpot;
sjk127	0:00a9f58f32d0	54	float lpot;
sjk127	0:00a9f58f32d0	55	int result_l;
sjk127	0:00a9f58f32d0	56	int result_h;
sjk127	0:00a9f58f32d0	57	int alarmflag;
sjk127	0:00a9f58f32d0	58	int F2_flag;
sjk127	0:00a9f58f32d0	59	int M1flag;
sjk127	0:00a9f58f32d0	60	int M2flag;
sjk127	0:00a9f58f32d0	61
sjk127	0:00a9f58f32d0	62	//_______________Interrupts___________________________________
sjk127	0:00a9f58f32d0	63
sjk127	0:00a9f58f32d0	64
sjk127	0:00a9f58f32d0	65	void herga_splash (void) { // main menu screen
sjk127	0:00a9f58f32d0	66	lcd.cls();
sjk127	0:00a9f58f32d0	67	lcd.locate(0,0);
sjk127	0:00a9f58f32d0	68	lcd.printf("LEGS\| HERGA \|HEAD");
sjk127	0:00a9f58f32d0	69	lcd.locate(4,1);
sjk127	0:00a9f58f32d0	70	lcd.printf("\| CONTROL \|");
sjk127	0:00a9f58f32d0	71	lcd.locate(4,2);
sjk127	0:00a9f58f32d0	72	lcd.printf("\| SYSTEMS \|");
sjk127	0:00a9f58f32d0	73	lcd.locate(1,3);
sjk127	0:00a9f58f32d0	74	lcd.printf("PATIENT DETECT OFF");
sjk127	0:00a9f58f32d0	75	}
sjk127	0:00a9f58f32d0	76
sjk127	0:00a9f58f32d0	77	//---------------------------------
sjk127	0:00a9f58f32d0	78
sjk127	0:00a9f58f32d0	79	void sense_int () { // patient detect sensor tripped
sjk127	0:00a9f58f32d0	80	alarmflag = 1; // set flag to exit RTZ corectly if sensor interrupts it
sjk127	0:00a9f58f32d0	81	fet1 = 0; // switch motors off
sjk127	0:00a9f58f32d0	82	fet2 = 0;
sjk127	0:00a9f58f32d0	83	wait(0.05); // wait for induced motor current to dissipate
sjk127	0:00a9f58f32d0	84	act2 = 0x00; // switch relays off (break motor)
sjk127	0:00a9f58f32d0	85	act1 = 0x00;
sjk127	0:00a9f58f32d0	86
sjk127	0:00a9f58f32d0	87	lcd.cls(); // set up alarm screen
sjk127	0:00a9f58f32d0	88	lcd.locate(2,1);
sjk127	0:00a9f58f32d0	89	lcd.printf("MOVEMENT DETECTED");
sjk127	0:00a9f58f32d0	90	lcd.locate(2,2);
sjk127	0:00a9f58f32d0	91	lcd.printf("PRESS ALARM RESET");
sjk127	0:00a9f58f32d0	92
sjk127	0:00a9f58f32d0	93	while (1) { // sit in alarm loop
sjk127	0:00a9f58f32d0	94	alarm = 1;
sjk127	0:00a9f58f32d0	95	wait (0.05);
sjk127	0:00a9f58f32d0	96	alarm = 0;
sjk127	0:00a9f58f32d0	97	wait (0.1);
sjk127	0:00a9f58f32d0	98	alarm = 1;
sjk127	0:00a9f58f32d0	99	wait (0.1);
sjk127	0:00a9f58f32d0	100	alarm = 0;
sjk127	0:00a9f58f32d0	101	wait (0.5);
sjk127	0:00a9f58f32d0	102	if (switches == 0x08) { // has the alarm reset button been pressed
sjk127	0:00a9f58f32d0	103	break;
sjk127	0:00a9f58f32d0	104	}
sjk127	0:00a9f58f32d0	105	}
sjk127	0:00a9f58f32d0	106	sense.rise(NULL); // turn interrupt off (turned on when button pressed)
sjk127	0:00a9f58f32d0	107	herga_splash(); // refresh main menu screen
sjk127	0:00a9f58f32d0	108	lock = 0; // unlock keypad
sjk127	0:00a9f58f32d0	109	}
sjk127	0:00a9f58f32d0	110
sjk127	0:00a9f58f32d0	111	//------------------------------------
sjk127	0:00a9f58f32d0	112
sjk127	0:00a9f58f32d0	113	void cpr_int () { // CPR button pressed
sjk127	0:00a9f58f32d0	114	wait(0.1); // wait incase spike
sjk127	0:00a9f58f32d0	115	if (cpr == 1) { // if button still pressed (ie not a spike) then continue
sjk127	0:00a9f58f32d0	116	alarmflag = 1; // set flag to exit RTZ corectly if CPR interrupts it
sjk127	0:00a9f58f32d0	117	fet1 = 0; // switch off motors
sjk127	0:00a9f58f32d0	118	fet2 = 0;
sjk127	0:00a9f58f32d0	119	wait(0.05); // wait for the induced motor current
sjk127	0:00a9f58f32d0	120	act2 = 0x00; // switch relays off (break motor)
sjk127	0:00a9f58f32d0	121	act1 = 0x00;
sjk127	0:00a9f58f32d0	122	lcd.cls(); // set up cpr alarm screen
sjk127	0:00a9f58f32d0	123	lcd.locate(3,1);
sjk127	0:00a9f58f32d0	124	lcd.printf("CPR EMERGENCY");
sjk127	0:00a9f58f32d0	125	lcd.locate(1,2);
sjk127	0:00a9f58f32d0	126	lcd.printf("PRESS ALARM RESET");
sjk127	0:00a9f58f32d0	127	while (1) { // alarm loop
sjk127	0:00a9f58f32d0	128	alarm = 1;
sjk127	0:00a9f58f32d0	129	wait (0.5);
sjk127	0:00a9f58f32d0	130	alarm = 0;
sjk127	0:00a9f58f32d0	131	wait (0.5);
sjk127	0:00a9f58f32d0	132	if (switches == 0x08) { // if alarm reset button pressed...
sjk127	0:00a9f58f32d0	133	break; // .. exit while loop
sjk127	0:00a9f58f32d0	134	}
sjk127	0:00a9f58f32d0	135	}
sjk127	0:00a9f58f32d0	136	if (lock ==1) { // if keypad locked ...
sjk127	0:00a9f58f32d0	137	lock = 0; // ....unlock keypad
sjk127	0:00a9f58f32d0	138	lcd.locate(0,0);
sjk127	0:00a9f58f32d0	139	lcd.printf(" ");
sjk127	0:00a9f58f32d0	140	lcd.locate(0,1);
sjk127	0:00a9f58f32d0	141	lcd.printf(" KEYPAD UNLOCKED ");
sjk127	0:00a9f58f32d0	142	lcd.locate(0,2);
sjk127	0:00a9f58f32d0	143	lcd.printf(" ");
sjk127	0:00a9f58f32d0	144	wait(1);
sjk127	0:00a9f58f32d0	145	}
sjk127	0:00a9f58f32d0	146	herga_splash(); // refresh main screen
sjk127	0:00a9f58f32d0	147	}
sjk127	0:00a9f58f32d0	148	}
sjk127	0:00a9f58f32d0	149
sjk127	0:00a9f58f32d0	150	//-----------------------------------
sjk127	0:00a9f58f32d0	151
sjk127	0:00a9f58f32d0	152	void M2countup () { // counter for actuator 2 hall effect sensor
sjk127	0:00a9f58f32d0	153	if (M2direction == 1) { // check direction flag, set before motor started
sjk127	0:00a9f58f32d0	154	M2count++; // count up
sjk127	0:00a9f58f32d0	155	abs_M2count = abs(M2count); // counter register absoluted
sjk127	0:00a9f58f32d0	156	}
sjk127	0:00a9f58f32d0	157	if (M2direction == 0) {
sjk127	0:00a9f58f32d0	158	M2count--;
sjk127	0:00a9f58f32d0	159	abs_M2count = abs(M2count);
sjk127	0:00a9f58f32d0	160	}
sjk127	0:00a9f58f32d0	161	}
sjk127	0:00a9f58f32d0	162
sjk127	0:00a9f58f32d0	163	void M1countup () { // counter for actuator 2
sjk127	0:00a9f58f32d0	164	if (M1direction == 1) { // same as above
sjk127	0:00a9f58f32d0	165	M1count++;
sjk127	0:00a9f58f32d0	166	abs_M1count = abs(M1count);
sjk127	0:00a9f58f32d0	167	}
sjk127	0:00a9f58f32d0	168	if (M1direction == 0) {
sjk127	0:00a9f58f32d0	169	M1count--;
sjk127	0:00a9f58f32d0	170	abs_M1count = abs(M1count);
sjk127	0:00a9f58f32d0	171	}
sjk127	0:00a9f58f32d0	172	}
sjk127	0:00a9f58f32d0	173
sjk127	0:00a9f58f32d0	174	//----------------------------------------
sjk127	0:00a9f58f32d0	175
sjk127	0:00a9f58f32d0	176	void rtz (void) { // returns each actuator to limits and zero's counters
sjk127	0:00a9f58f32d0	177	M1direction = 1; // set actuator direction
sjk127	0:00a9f58f32d0	178	M2direction = 1; // set actuator direction
sjk127	0:00a9f58f32d0	179	lcd.locate (7,0); // rtz screen
sjk127	0:00a9f58f32d0	180	lcd.printf (" ");
sjk127	0:00a9f58f32d0	181	lcd.locate (0,1);
sjk127	0:00a9f58f32d0	182	lcd.printf ("DOWN\| RTZ \| UP ");
sjk127	0:00a9f58f32d0	183	lcd.locate (6,2);
sjk127	0:00a9f58f32d0	184	lcd.printf (" "); // " "
sjk127	0:00a9f58f32d0	185	act2 = 0x02; // set M2 relays for up
sjk127	0:00a9f58f32d0	186	act1 = 0x01; // set M1 relays for down
sjk127	0:00a9f58f32d0	187	wait(0.015); // wait for relay contacts to close
sjk127	0:00a9f58f32d0	188	fet2 = 1; // switch motors on
sjk127	0:00a9f58f32d0	189	fet1 = 1; // " "
sjk127	0:00a9f58f32d0	190	wait (0.1); // wait for a couple of counts
sjk127	0:00a9f58f32d0	191
sjk127	0:00a9f58f32d0	192	// sit in the following while loop until no more pulses are received from the hall effect sensor
sjk127	0:00a9f58f32d0	193
sjk127	0:00a9f58f32d0	194	while (1) {
sjk127	0:00a9f58f32d0	195	pc.printf("abs_M2count = %d\n",abs_M2count);
sjk127	0:00a9f58f32d0	196	M2_old = abs_M2count; // take first count samples
sjk127	0:00a9f58f32d0	197	M1_old = abs_M1count; // " "
sjk127	0:00a9f58f32d0	198	wait (0.1); // wait for a few more
sjk127	0:00a9f58f32d0	199	M2_new = abs_M2count; // take second samples
sjk127	0:00a9f58f32d0	200	M1_new = abs_M1count;
sjk127	0:00a9f58f32d0	201	if ((M2_old - M2_new == 0)&&(M1_old - M1_new == 0)) { // when both actuators have reached the limits
sjk127	0:00a9f58f32d0	202	break; // exit while loop
sjk127	0:00a9f58f32d0	203	}
sjk127	0:00a9f58f32d0	204	}
sjk127	0:00a9f58f32d0	205	fet1 = 0; // turn off motors
sjk127	0:00a9f58f32d0	206	fet2 = 0;
sjk127	0:00a9f58f32d0	207	wait (0.05); // wait for induced current to dissipate
sjk127	0:00a9f58f32d0	208	act1 = 0; // turn relays off
sjk127	0:00a9f58f32d0	209	act2 = 0;
sjk127	0:00a9f58f32d0	210	wait(0.05);
sjk127	0:00a9f58f32d0	211	lcd.locate(7,0); // refresh main menu screen
sjk127	0:00a9f58f32d0	212	lcd.printf("HERGA");
sjk127	0:00a9f58f32d0	213	lcd.locate(0,1);
sjk127	0:00a9f58f32d0	214	lcd.printf(" \| CONTROL \| ");
sjk127	0:00a9f58f32d0	215	lcd.locate(6,2);
sjk127	0:00a9f58f32d0	216	lcd.printf("SYSTEMS");
sjk127	0:00a9f58f32d0	217	if (alarmflag == 1) { // if RTZ has been interrupted by sensor or cpr alarm button
sjk127	0:00a9f58f32d0	218	alarmflag = 0;
sjk127	0:00a9f58f32d0	219	return;
sjk127	0:00a9f58f32d0	220	}
sjk127	0:00a9f58f32d0	221	M2count = 0; // if RTZ not interrupted exit RTZ....
sjk127	0:00a9f58f32d0	222	M1count = 0; // ....having zero'd count registers
sjk127	0:00a9f58f32d0	223	abs_M2count = abs(M2count);
sjk127	0:00a9f58f32d0	224	abs_M1count = abs(M1count);
sjk127	0:00a9f58f32d0	225	}
sjk127	0:00a9f58f32d0	226
sjk127	0:00a9f58f32d0	227	//----------------------------------------
sjk127	0:00a9f58f32d0	228	void head_up () {
sjk127	0:00a9f58f32d0	229	M2direction = 1; // count direction flag
sjk127	0:00a9f58f32d0	230	lcd.locate(15,1); // pos cursor
sjk127	0:00a9f58f32d0	231	lcd.printf(" UP "); // disp UP
sjk127	0:00a9f58f32d0	232	act2 = 0x02; // set relay direction
sjk127	0:00a9f58f32d0	233	wait(0.015); // wait for relay contacts to close
sjk127	0:00a9f58f32d0	234	fet2 = 1; // switch FET on
sjk127	0:00a9f58f32d0	235	}
sjk127	0:00a9f58f32d0	236	//-----------------------------------------
sjk127	0:00a9f58f32d0	237	void head_down () {
sjk127	0:00a9f58f32d0	238	M2direction = 0; // count direction flag
sjk127	0:00a9f58f32d0	239	lcd.locate(15,1); // pos cursor
sjk127	0:00a9f58f32d0	240	lcd.printf("DOWN"); // disp DOWN
sjk127	0:00a9f58f32d0	241	act2 = 0x01; // set relay direction
sjk127	0:00a9f58f32d0	242	wait(0.015); // wait for relay contacts to close
sjk127	0:00a9f58f32d0	243	fet2 = 1; // switch FET on
sjk127	0:00a9f58f32d0	244	}
sjk127	0:00a9f58f32d0	245	//-----------------------------------------
sjk127	0:00a9f58f32d0	246	void head_off () {
sjk127	0:00a9f58f32d0	247	fet2 = 0; // turn FET off
sjk127	0:00a9f58f32d0	248	wait(0.05); // wait for induced motor current to dissipate
sjk127	0:00a9f58f32d0	249	act2 = 0x00; // break motor
sjk127	0:00a9f58f32d0	250	lcd.locate(15,1); // pos cursor
sjk127	0:00a9f58f32d0	251	lcd.printf(" "); // clear UP from screen
sjk127	0:00a9f58f32d0	252	}
sjk127	0:00a9f58f32d0	253	//------------------------------------------
sjk127	0:00a9f58f32d0	254	void legs_up () {
sjk127	0:00a9f58f32d0	255	M1direction = 0; // count direction flag
sjk127	0:00a9f58f32d0	256	lcd.locate(0,1); // pos cursor
sjk127	0:00a9f58f32d0	257	lcd.printf(" UP "); // disp UP
sjk127	0:00a9f58f32d0	258	act1 = 0x02; // set relay direction
sjk127	0:00a9f58f32d0	259	wait(0.015); // wait for relay contacts to close
sjk127	0:00a9f58f32d0	260	fet1 = 1; // turn FET on
sjk127	0:00a9f58f32d0	261	}
sjk127	0:00a9f58f32d0	262	//------------------------------------------
sjk127	0:00a9f58f32d0	263	void legs_down () {
sjk127	0:00a9f58f32d0	264	M1direction = 1; // count direction flag
sjk127	0:00a9f58f32d0	265	lcd.locate(0,1); // pos cursor
sjk127	0:00a9f58f32d0	266	lcd.printf("DOWN"); // disp DOWN
sjk127	0:00a9f58f32d0	267	act1 = 0x01; // set relay direction
sjk127	0:00a9f58f32d0	268	wait(0.015); // wait for relay contacts to close
sjk127	0:00a9f58f32d0	269	fet1 = 1; // turn FET on
sjk127	0:00a9f58f32d0	270	}
sjk127	0:00a9f58f32d0	271	//------------------------------------------
sjk127	0:00a9f58f32d0	272	void legs_off () {
sjk127	0:00a9f58f32d0	273	fet1 = 0; // turn FET off
sjk127	0:00a9f58f32d0	274	wait(0.05); // wait for induced motor current to disipate
sjk127	0:00a9f58f32d0	275	act1 = 0x00; // break motor
sjk127	0:00a9f58f32d0	276	lcd.locate(0,1); // clear "UP" from screen
sjk127	0:00a9f58f32d0	277	lcd.printf(" ");
sjk127	0:00a9f58f32d0	278	}
sjk127	0:00a9f58f32d0	279	//------------------------------------------
sjk127	0:00a9f58f32d0	280	void manual_head_run () {
sjk127	0:00a9f58f32d0	281	while (1) {
sjk127	0:00a9f58f32d0	282	pc.printf("abs_M2count = %d\n",abs_M2count);
sjk127	0:00a9f58f32d0	283	M2_old = abs_M2count; // take first sample
sjk127	0:00a9f58f32d0	284	wait (0.1); // allow some counts
sjk127	0:00a9f58f32d0	285	M2_new = abs_M2count; // take second sample
sjk127	0:00a9f58f32d0	286	if (M2_old - M2_new == 0) { // sub 2nd sample from 1st, if ans = 0 then limit switch is met...
sjk127	0:00a9f58f32d0	287	if (M2direction == 1) {
sjk127	0:00a9f58f32d0	288	M2count = 0; // .... therefore zero the count reg....
sjk127	0:00a9f58f32d0	289	}
sjk127	0:00a9f58f32d0	290	abs_M2count = abs(M2count); // ... and the abs_M2count reg
sjk127	0:00a9f58f32d0	291	break; // exit
sjk127	0:00a9f58f32d0	292	}
sjk127	0:00a9f58f32d0	293	if (M2direction == 1 && switches != 0x02) { // if button released....
sjk127	0:00a9f58f32d0	294	break; // exit
sjk127	0:00a9f58f32d0	295	}
sjk127	0:00a9f58f32d0	296	if (M2direction == 0 && switches != 0x01) { // if button released....
sjk127	0:00a9f58f32d0	297	break; // exit
sjk127	0:00a9f58f32d0	298	}
sjk127	0:00a9f58f32d0	299	}
sjk127	0:00a9f58f32d0	300	}
sjk127	0:00a9f58f32d0	301	//-----------------------------------------
sjk127	0:00a9f58f32d0	302	void manual_legs_run () {
sjk127	0:00a9f58f32d0	303	while (1) {
sjk127	0:00a9f58f32d0	304	M1_old = abs_M1count; // take first sample
sjk127	0:00a9f58f32d0	305	wait (0.1); // allow some counts
sjk127	0:00a9f58f32d0	306	M1_new = abs_M1count; // take second sample
sjk127	0:00a9f58f32d0	307	if (M1_old - M1_new == 0) { // sub 2nd sample from 1st, if ans = 0 then limit switch is met...
sjk127	0:00a9f58f32d0	308	if (M1direction == 1) {
sjk127	0:00a9f58f32d0	309	M1count = 0; // .... therefore zero the count reg....
sjk127	0:00a9f58f32d0	310	}
sjk127	0:00a9f58f32d0	311	abs_M1count = abs(M1count); // ... and the abs_M1count reg
sjk127	0:00a9f58f32d0	312	break; // .... therefore exit
sjk127	0:00a9f58f32d0	313	}
sjk127	0:00a9f58f32d0	314	if (M1direction == 1 && switches != 0x0A) { // if button released....
sjk127	0:00a9f58f32d0	315	break; // exit
sjk127	0:00a9f58f32d0	316	}
sjk127	0:00a9f58f32d0	317	if (M1direction == 0 && switches != 0x03) { // if button released....
sjk127	0:00a9f58f32d0	318	break; // exit
sjk127	0:00a9f58f32d0	319	}
sjk127	0:00a9f58f32d0	320	}
sjk127	0:00a9f58f32d0	321	}
sjk127	0:00a9f58f32d0	322
sjk127	0:00a9f58f32d0	323	//-----------------------------------------
sjk127	0:00a9f58f32d0	324
sjk127	0:00a9f58f32d0	325	void head_autorun () {
sjk127	0:00a9f58f32d0	326	while (1) {
sjk127	0:00a9f58f32d0	327	M2_old = abs_M2count; // take first sample
sjk127	0:00a9f58f32d0	328	wait (0.1); // allow some counts
sjk127	0:00a9f58f32d0	329	M2_new = abs_M2count; // take second sample
sjk127	0:00a9f58f32d0	330	result = M2_old - M2_new;
sjk127	0:00a9f58f32d0	331	pc.printf("abs_M2count = %d\n",abs_M2count);
sjk127	0:00a9f58f32d0	332
sjk127	0:00a9f58f32d0	333	if ((abs_M2count >= h_low )&&(abs_M2count <= h_high)) {
sjk127	0:00a9f58f32d0	334	break;
sjk127	0:00a9f58f32d0	335	} else if (alarmflag ==1) {
sjk127	0:00a9f58f32d0	336	alarmflag = 0;
sjk127	0:00a9f58f32d0	337	break;
sjk127	0:00a9f58f32d0	338	} else if (result == 0) { // sub 2nd sample from 1st, if ans = 0 then limit switch is met...
sjk127	0:00a9f58f32d0	339	if (M2direction == 1) {
sjk127	0:00a9f58f32d0	340	M2count = 0; // .... therefore zero the count reg....
sjk127	0:00a9f58f32d0	341	}
sjk127	0:00a9f58f32d0	342	abs_M2count = abs(M2count); // ... and the abs_M1count reg
sjk127	0:00a9f58f32d0	343	break;
sjk127	0:00a9f58f32d0	344	} else if (switches == 0x01 \|\| switches ==0x02) {
sjk127	0:00a9f58f32d0	345	break;
sjk127	0:00a9f58f32d0	346	}
sjk127	0:00a9f58f32d0	347	}
sjk127	0:00a9f58f32d0	348	}
sjk127	0:00a9f58f32d0	349
sjk127	0:00a9f58f32d0	350	//-----------------------------------------
sjk127	0:00a9f58f32d0	351
sjk127	0:00a9f58f32d0	352	void legs_autorun () {
sjk127	0:00a9f58f32d0	353	while (1) {
sjk127	0:00a9f58f32d0	354	M1_old = abs_M1count; // take first sample
sjk127	0:00a9f58f32d0	355	wait (0.1); // allow some counts
sjk127	0:00a9f58f32d0	356	M1_new = abs_M1count; // take second sample
sjk127	0:00a9f58f32d0	357	result = M1_old - M1_new;
sjk127	0:00a9f58f32d0	358	if ((abs_M1count >= l_low )&&(abs_M1count <= l_high)) {
sjk127	0:00a9f58f32d0	359	break;
sjk127	0:00a9f58f32d0	360	} else if (alarmflag ==1) {
sjk127	0:00a9f58f32d0	361	alarmflag = 0;
sjk127	0:00a9f58f32d0	362	break;
sjk127	0:00a9f58f32d0	363	} else if (result == 0) {
sjk127	0:00a9f58f32d0	364	if (M1direction == 1) {
sjk127	0:00a9f58f32d0	365	M1count = 0; // .... therefore zero the count reg....
sjk127	0:00a9f58f32d0	366	}
sjk127	0:00a9f58f32d0	367	abs_M1count = M1count; // ... and the abs_M1count reg
sjk127	0:00a9f58f32d0	368	break; // .... therefore exit
sjk127	0:00a9f58f32d0	369	} else if (switches == 0x03 \|\| switches == 0x0A) {
sjk127	0:00a9f58f32d0	370	break;
sjk127	0:00a9f58f32d0	371	}
sjk127	0:00a9f58f32d0	372	}
sjk127	0:00a9f58f32d0	373	}
sjk127	0:00a9f58f32d0	374
sjk127	0:00a9f58f32d0	375	//-----------------------MAIN-------------------------------
sjk127	0:00a9f58f32d0	376
sjk127	0:00a9f58f32d0	377	int main() {
sjk127	0:00a9f58f32d0	378
sjk127	0:00a9f58f32d0	379	herga_splash(); // display main screen
sjk127	0:00a9f58f32d0	380	M2counter.rise(&M2countup); // set up actuator 2 counter interrupt
sjk127	0:00a9f58f32d0	381	M1counter.rise(&M1countup); // set up actuator 1 counter interrupt
sjk127	0:00a9f58f32d0	382	rtz(); // zero both actuators
sjk127	0:00a9f58f32d0	383	timer1.start(); // start timer for switch data bus read
sjk127	0:00a9f58f32d0	384	wait_ms(10); // delay between timer starts, probably not necessary !!
sjk127	0:00a9f58f32d0	385	timer2.start(); // start timer for potentiometer 1 read
sjk127	0:00a9f58f32d0	386	wait_ms(10); // again prob not necessary !!
sjk127	0:00a9f58f32d0	387	timer3.start(); // start timer for potentiometer 2 read
sjk127	0:00a9f58f32d0	388	cpr.rise(&cpr_int); // set up cpr button interrupt
sjk127	0:00a9f58f32d0	389	M2count = 0; // zero counter registers
sjk127	0:00a9f58f32d0	390	M1count = 0;
sjk127	0:00a9f58f32d0	391	lock = 0; // unlock the keypad functions
sjk127	0:00a9f58f32d0	392	sense.mode(PullNone); // opto sensor has external pull up
sjk127	0:00a9f58f32d0	393
sjk127	0:00a9f58f32d0	394	while (1) {
sjk127	0:00a9f58f32d0	395
sjk127	0:00a9f58f32d0	396	if (timer1.read_ms()>=5) { // every 5 ms the state of the switch input bus is read
sjk127	0:00a9f58f32d0	397	if (lock == 0) { // when locked do not enter to check switch bus
sjk127	0:00a9f58f32d0	398
sjk127	0:00a9f58f32d0	399	if (switches == 0x09) { // if F2 (switch bus code 0x09) is pressed....
sjk127	0:00a9f58f32d0	400	fh_target = abs_M2count; // .... store current actuator positions
sjk127	0:00a9f58f32d0	401	fh_low = fh_target - 2; // create lower count limit
sjk127	0:00a9f58f32d0	402	fh_high = fh_target + 2; // create upper count limit
sjk127	0:00a9f58f32d0	403
sjk127	0:00a9f58f32d0	404	fl_target = abs_M1count;
sjk127	0:00a9f58f32d0	405	fl_low = fl_target - 2;
sjk127	0:00a9f58f32d0	406	fl_high = fl_target + 2;
sjk127	0:00a9f58f32d0	407
sjk127	0:00a9f58f32d0	408	//pc.printf("fh_target = %d\n",fh_target); //for debugging
sjk127	0:00a9f58f32d0	409	//pc.printf("fh_low = %d\n",fh_low);
sjk127	0:00a9f58f32d0	410	//pc.printf("fh_high = %d\n",fh_high);
sjk127	0:00a9f58f32d0	411
sjk127	0:00a9f58f32d0	412	lcd.locate(0,0); // refresh main menu screen
sjk127	0:00a9f58f32d0	413	lcd.printf(" SAVING ");
sjk127	0:00a9f58f32d0	414	lcd.locate(0,1);
sjk127	0:00a9f58f32d0	415	lcd.printf(" USER ");
sjk127	0:00a9f58f32d0	416	lcd.locate(0,2);
sjk127	0:00a9f58f32d0	417	lcd.printf(" PRESET ");
sjk127	0:00a9f58f32d0	418
sjk127	0:00a9f58f32d0	419	while (switches != 0x00) {} // wait till F2 button released
sjk127	0:00a9f58f32d0	420	wait(1);
sjk127	0:00a9f58f32d0	421	lcd.locate(0,0);
sjk127	0:00a9f58f32d0	422	lcd.printf("LEGS\| HERGA \|HEAD"); // refresh main screen
sjk127	0:00a9f58f32d0	423	lcd.locate(0,1);
sjk127	0:00a9f58f32d0	424	lcd.printf(" \| CONTROL \| ");
sjk127	0:00a9f58f32d0	425	lcd.locate(0,2);
sjk127	0:00a9f58f32d0	426	lcd.printf(" \| SYSTEMS \| ");
sjk127	0:00a9f58f32d0	427
sjk127	0:00a9f58f32d0	428	F2_flag = 1; // If this 'if' has been entered do not check the switch bus again
sjk127	0:00a9f58f32d0	429	}
sjk127	0:00a9f58f32d0	430	}
sjk127	0:00a9f58f32d0	431	if (F2_flag == 0) {
sjk127	0:00a9f58f32d0	432	bus_state = switches;
sjk127	0:00a9f58f32d0	433	}
sjk127	0:00a9f58f32d0	434	F2_flag = 0; // clear flag for next time around
sjk127	0:00a9f58f32d0	435	timer1.reset();
sjk127	0:00a9f58f32d0	436	}
sjk127	0:00a9f58f32d0	437
sjk127	0:00a9f58f32d0	438	// the pots used in this code are softpots embedded into a label and therefore act in a momentary way,
sjk127	0:00a9f58f32d0	439	// ie when you press the pot you get a voltage level out of the wiper relevant to the position
sjk127	0:00a9f58f32d0	440	// along the pots length and when you release it the output returns to 0V!
sjk127	0:00a9f58f32d0	441	// search for spectrasymbol in google for more info
sjk127	0:00a9f58f32d0	442
sjk127	0:00a9f58f32d0	443	if (timer2.read_ms()>=50) { // every 50ms the head pot (act 2) is checked
sjk127	0:00a9f58f32d0	444	hpot = h_pot; // grab the pot value
sjk127	0:00a9f58f32d0	445	if (hpot >0.001) { // has it been pressed?
sjk127	0:00a9f58f32d0	446	wait (0.05); // if yes wait incase it was noise
sjk127	0:00a9f58f32d0	447	hpot = h_pot; // grab the pot value again
sjk127	0:00a9f58f32d0	448	if (hpot<0) { // if below 0 do nothing (i know.. not needed!)
sjk127	0:00a9f58f32d0	449	bus_state = 0;
sjk127	0:00a9f58f32d0	450	} else if (hpot>0.02 && hpot<0.1) { // if between these values
sjk127	0:00a9f58f32d0	451	bus_state = 0x0F; // set bus_state for case statement later
sjk127	0:00a9f58f32d0	452	h_target = 1200; // set counter target
sjk127	0:00a9f58f32d0	453	h_high = 1202; // set upper limit
sjk127	0:00a9f58f32d0	454	h_low = 1198; // set lower limit
sjk127	0:00a9f58f32d0	455	// limits help in case counter encounters some noise and
sjk127	0:00a9f58f32d0	456	// picks up a spurious rising edge
sjk127	0:00a9f58f32d0	457	} else if (hpot>0.15 && hpot<0.2) {
sjk127	0:00a9f58f32d0	458	bus_state = 0x0F;
sjk127	0:00a9f58f32d0	459	h_target = 900;
sjk127	0:00a9f58f32d0	460	h_high = 902;
sjk127	0:00a9f58f32d0	461	h_low = 898;
sjk127	0:00a9f58f32d0	462	} else if (hpot>0.27 && hpot<0.37) {
sjk127	0:00a9f58f32d0	463	bus_state = 0x0F;
sjk127	0:00a9f58f32d0	464	h_target = 600;
sjk127	0:00a9f58f32d0	465	h_high = 602;
sjk127	0:00a9f58f32d0	466	h_low = 598;
sjk127	0:00a9f58f32d0	467	} else if (hpot>0.45 && hpot<0.55) {
sjk127	0:00a9f58f32d0	468	bus_state = 0x0F;
sjk127	0:00a9f58f32d0	469	h_target = 300;
sjk127	0:00a9f58f32d0	470	h_high = 302;
sjk127	0:00a9f58f32d0	471	h_low = 298;
sjk127	0:00a9f58f32d0	472	} else if (hpot>0.65) {
sjk127	0:00a9f58f32d0	473	bus_state = 0x0F;
sjk127	0:00a9f58f32d0	474	h_target = 0;
sjk127	0:00a9f58f32d0	475	h_high = -2;
sjk127	0:00a9f58f32d0	476	h_low = 2;
sjk127	0:00a9f58f32d0	477	}
sjk127	0:00a9f58f32d0	478	}
sjk127	0:00a9f58f32d0	479	timer2.reset();
sjk127	0:00a9f58f32d0	480	}
sjk127	0:00a9f58f32d0	481
sjk127	0:00a9f58f32d0	482	if (timer3.read_ms()>=50) { // as above but for legs pot (act 1)
sjk127	0:00a9f58f32d0	483	lpot = l_pot;
sjk127	0:00a9f58f32d0	484	if (lpot >0.001) {
sjk127	0:00a9f58f32d0	485	wait (0.05);
sjk127	0:00a9f58f32d0	486	lpot = l_pot;
sjk127	0:00a9f58f32d0	487	if (lpot<0) {
sjk127	0:00a9f58f32d0	488	bus_state = 0;
sjk127	0:00a9f58f32d0	489	} else if (lpot>0.02 && lpot<0.1) {
sjk127	0:00a9f58f32d0	490	bus_state = 0x0E;
sjk127	0:00a9f58f32d0	491	l_target = 0;
sjk127	0:00a9f58f32d0	492	l_high = -2;
sjk127	0:00a9f58f32d0	493	l_low = 2;
sjk127	0:00a9f58f32d0	494	} else if (lpot>0.15 && lpot<0.2) {
sjk127	0:00a9f58f32d0	495	bus_state = 0x0E;
sjk127	0:00a9f58f32d0	496	l_target = 300;
sjk127	0:00a9f58f32d0	497	l_high = 302;
sjk127	0:00a9f58f32d0	498	l_low = 298;
sjk127	0:00a9f58f32d0	499	} else if (lpot>0.27 && lpot<0.37) {
sjk127	0:00a9f58f32d0	500	bus_state = 0x0E;
sjk127	0:00a9f58f32d0	501	l_target = 600;
sjk127	0:00a9f58f32d0	502	l_high = 602;
sjk127	0:00a9f58f32d0	503	l_low = 598;
sjk127	0:00a9f58f32d0	504	} else if (lpot>0.45 && lpot<0.55) {
sjk127	0:00a9f58f32d0	505	bus_state = 0x0E;
sjk127	0:00a9f58f32d0	506	l_target = 900;
sjk127	0:00a9f58f32d0	507	l_high = 902;
sjk127	0:00a9f58f32d0	508	l_low = 898;
sjk127	0:00a9f58f32d0	509	} else if (lpot>0.65) {
sjk127	0:00a9f58f32d0	510	bus_state = 0x0E;
sjk127	0:00a9f58f32d0	511	l_target = 1200;
sjk127	0:00a9f58f32d0	512	l_high = 1202;
sjk127	0:00a9f58f32d0	513	l_low = 1198;
sjk127	0:00a9f58f32d0	514	}
sjk127	0:00a9f58f32d0	515	}
sjk127	0:00a9f58f32d0	516	timer3.reset();
sjk127	0:00a9f58f32d0	517	}
sjk127	0:00a9f58f32d0	518
sjk127	0:00a9f58f32d0	519	if (bus_state == 0x0C) { // toggle lock to block button inputs
sjk127	0:00a9f58f32d0	520	lock=!lock;
sjk127	0:00a9f58f32d0	521	if (lock == 1) { // locked so inform user
sjk127	0:00a9f58f32d0	522	lcd.locate(0,0);
sjk127	0:00a9f58f32d0	523	lcd.printf(" ");
sjk127	0:00a9f58f32d0	524	lcd.locate(0,1);
sjk127	0:00a9f58f32d0	525	lcd.printf(" KEYPAD LOCKED ");
sjk127	0:00a9f58f32d0	526	lcd.locate(0,2);
sjk127	0:00a9f58f32d0	527	lcd.printf(" ");
sjk127	0:00a9f58f32d0	528	} else if (lock == 0) { // unlocked so return to main screen
sjk127	0:00a9f58f32d0	529	herga_splash();
sjk127	0:00a9f58f32d0	530	}
sjk127	0:00a9f58f32d0	531	while (switches != 0x00) {}
sjk127	0:00a9f58f32d0	532	}
sjk127	0:00a9f58f32d0	533
sjk127	0:00a9f58f32d0	534
sjk127	0:00a9f58f32d0	535	if (lock == 0) { // when unlocked check all other buttons
sjk127	0:00a9f58f32d0	536	switch (bus_state) {
sjk127	0:00a9f58f32d0	537	case 0x02: // head up button pressed
sjk127	0:00a9f58f32d0	538	head_up(); // set direction of actuator
sjk127	0:00a9f58f32d0	539	wait(0.1); // wait to accumulate some pulses (needed if at 0)
sjk127	0:00a9f58f32d0	540	manual_head_run(); // move actuator
sjk127	0:00a9f58f32d0	541	head_off(); // stop actuator
sjk127	0:00a9f58f32d0	542	while (switches != 0x00) {} // stop any other button having an effect
sjk127	0:00a9f58f32d0	543	break;
sjk127	0:00a9f58f32d0	544	case 0x01: // head down button pressed
sjk127	0:00a9f58f32d0	545	head_down(); // set direction of actuator
sjk127	0:00a9f58f32d0	546	wait(0.1); // wait to accumulate some pulses (needed if at 0)
sjk127	0:00a9f58f32d0	547	manual_head_run(); // move actuator
sjk127	0:00a9f58f32d0	548	head_off(); // stop actuator
sjk127	0:00a9f58f32d0	549	while (switches != 0x00) {} // stop any other button having an effect
sjk127	0:00a9f58f32d0	550	break;
sjk127	0:00a9f58f32d0	551	case 0x03: // legs up button pressed
sjk127	0:00a9f58f32d0	552	legs_up(); // set direction of actuator
sjk127	0:00a9f58f32d0	553	wait(0.1); // wait to accumulate some pulses (needed if at 0) //
sjk127	0:00a9f58f32d0	554	manual_legs_run(); // move actuator
sjk127	0:00a9f58f32d0	555	legs_off(); // stop actuator
sjk127	0:00a9f58f32d0	556	while (switches != 0x00) {} // stop any other button having an effect
sjk127	0:00a9f58f32d0	557	break;
sjk127	0:00a9f58f32d0	558	case 0x0A: // legs down button pressed
sjk127	0:00a9f58f32d0	559	legs_down(); // set direction of actuator
sjk127	0:00a9f58f32d0	560	wait(0.1); // wait to accumulate some pulses (needed if at 0)
sjk127	0:00a9f58f32d0	561	manual_legs_run(); // move actuator
sjk127	0:00a9f58f32d0	562	legs_off(); // stop actuator
sjk127	0:00a9f58f32d0	563	while (switches != 0x00) {} // stop any other button having an effect
sjk127	0:00a9f58f32d0	564	break;
sjk127	0:00a9f58f32d0	565	case 0x06: // return to zero position
sjk127	0:00a9f58f32d0	566	rtz();
sjk127	0:00a9f58f32d0	567	break;
sjk127	0:00a9f58f32d0	568	//***** HEAD AUTO
sjk127	0:00a9f58f32d0	569	case 0x0F: // had an input on head pot
sjk127	0:00a9f58f32d0	570	result = abs_M2count - h_target; // decide on motor direction
sjk127	0:00a9f58f32d0	571	if (result > 0) { // result is positive so set up move up
sjk127	0:00a9f58f32d0	572	head_up();
sjk127	0:00a9f58f32d0	573	} else if (result < 0 ) {
sjk127	0:00a9f58f32d0	574	head_down(); // result is negative so set up move down
sjk127	0:00a9f58f32d0	575	}
sjk127	0:00a9f58f32d0	576	head_autorun(); // move act 2 to target position
sjk127	0:00a9f58f32d0	577	head_off();
sjk127	0:00a9f58f32d0	578	while (switches != 0x00) {} // sit here until button released
sjk127	0:00a9f58f32d0	579	break;
sjk127	0:00a9f58f32d0	580	//****** LEGS AUTO
sjk127	0:00a9f58f32d0	581	case 0x0E:
sjk127	0:00a9f58f32d0	582	result = abs_M1count - l_target; // do calculation to determine direction
sjk127	0:00a9f58f32d0	583	if (result < 0) { // if result is negative set up to move up
sjk127	0:00a9f58f32d0	584	legs_up();
sjk127	0:00a9f58f32d0	585	} else if (result > 0 ) { // if positive result set up to move down
sjk127	0:00a9f58f32d0	586	legs_down();
sjk127	0:00a9f58f32d0	587	}
sjk127	0:00a9f58f32d0	588	legs_autorun(); // move act 1 to target position
sjk127	0:00a9f58f32d0	589	legs_off();
sjk127	0:00a9f58f32d0	590	while (switches != 0x00) {}
sjk127	0:00a9f58f32d0	591	break;
sjk127	0:00a9f58f32d0	592	//****** switch sensor on/off
sjk127	0:00a9f58f32d0	593	case 0x04 : // sensor button has been pressed so toggle sensor arm/disarm
sjk127	0:00a9f58f32d0	594	senseflag = !senseflag; // invert senseflag
sjk127	0:00a9f58f32d0	595	if (senseflag == 0) { // if senseflag = 0
sjk127	0:00a9f58f32d0	596	lcd.locate(17,3); // display OFF (PATIENT DETECT "OFF")
sjk127	0:00a9f58f32d0	597	lcd.printf("FF ");
sjk127	0:00a9f58f32d0	598	sense.rise(NULL); // ignore patient detect sensor
sjk127	0:00a9f58f32d0	599	} else if (senseflag == 1) { // if senseflag = 1
sjk127	0:00a9f58f32d0	600	lcd.locate(17,3); // display OFF (PATIENT DETECT "ON")
sjk127	0:00a9f58f32d0	601	lcd.printf("N ");
sjk127	0:00a9f58f32d0	602	sense.rise(&sense_int); // arm patient detect sensor
sjk127	0:00a9f58f32d0	603	}
sjk127	0:00a9f58f32d0	604	while (switches != 0x00) {}
sjk127	0:00a9f58f32d0	605	break;
sjk127	0:00a9f58f32d0	606	//******* F1
sjk127	0:00a9f58f32d0	607	case 0x05: // F1 pressed so move both actuators to stored targets
sjk127	0:00a9f58f32d0	608	result_h = abs_M2count - fh_target;
sjk127	0:00a9f58f32d0	609	if (result_h > 0) {
sjk127	0:00a9f58f32d0	610	M2direction = 1;
sjk127	0:00a9f58f32d0	611	lcd.locate(15,1);
sjk127	0:00a9f58f32d0	612	lcd.printf(" UP ");
sjk127	0:00a9f58f32d0	613	act2 = 0x02;
sjk127	0:00a9f58f32d0	614	} else if (result_h < 0 ) {
sjk127	0:00a9f58f32d0	615	M2direction = 0;
sjk127	0:00a9f58f32d0	616	lcd.locate(15,1);
sjk127	0:00a9f58f32d0	617	lcd.printf("DOWN");
sjk127	0:00a9f58f32d0	618	act2 = 0x01;
sjk127	0:00a9f58f32d0	619	}
sjk127	0:00a9f58f32d0	620	result_l = abs_M1count - fl_target;
sjk127	0:00a9f58f32d0	621	if (result_l < 0) { // if result is negative actuator must move up
sjk127	0:00a9f58f32d0	622	M1direction = 0; // decrement counter flag
sjk127	0:00a9f58f32d0	623	lcd.locate(0,1);
sjk127	0:00a9f58f32d0	624	lcd.printf(" UP ");
sjk127	0:00a9f58f32d0	625	act1 = 0x02;
sjk127	0:00a9f58f32d0	626	} else if (result_l > 0 ) { // if the result of the first calc was positive
sjk127	0:00a9f58f32d0	627	pc.printf("M1 down\n");
sjk127	0:00a9f58f32d0	628	M1direction = 1; // the acutator must move down
sjk127	0:00a9f58f32d0	629	lcd.locate(0,1);
sjk127	0:00a9f58f32d0	630	act1 = 0x01;
sjk127	0:00a9f58f32d0	631	}
sjk127	0:00a9f58f32d0	632	fet1 = 1;
sjk127	0:00a9f58f32d0	633	fet2 = 1;
sjk127	0:00a9f58f32d0	634	while (1) {
sjk127	0:00a9f58f32d0	635	if (abs_M1count >= fl_low && abs_M1count <= fl_high) {
sjk127	0:00a9f58f32d0	636	fet1 = 0;
sjk127	0:00a9f58f32d0	637	wait(0.05);
sjk127	0:00a9f58f32d0	638	act1 = 0x00;
sjk127	0:00a9f58f32d0	639	M1flag =1;
sjk127	0:00a9f58f32d0	640	}
sjk127	0:00a9f58f32d0	641	if (abs_M2count >= fh_low &&abs_M2count <= fh_high) {
sjk127	0:00a9f58f32d0	642	fet2 = 0;
sjk127	0:00a9f58f32d0	643	wait(0.05);
sjk127	0:00a9f58f32d0	644	act2 = 0x00;
sjk127	0:00a9f58f32d0	645	M2flag =1;
sjk127	0:00a9f58f32d0	646	}
sjk127	0:00a9f58f32d0	647	M1_old = abs_M1count; // take first sample
sjk127	0:00a9f58f32d0	648	M2_old = abs_M2count;
sjk127	0:00a9f58f32d0	649	wait (0.1); // allow some counts
sjk127	0:00a9f58f32d0	650	M1_new = abs_M1count; // take second sample
sjk127	0:00a9f58f32d0	651	M2_new = abs_M2count; // take second sample
sjk127	0:00a9f58f32d0	652	result_h = M2_old - M2_new;
sjk127	0:00a9f58f32d0	653	result_l = M1_old - M1_new;
sjk127	0:00a9f58f32d0	654
sjk127	0:00a9f58f32d0	655	if (M1flag == 1 && M2flag == 1) {
sjk127	0:00a9f58f32d0	656	break;
sjk127	0:00a9f58f32d0	657	} else if (alarmflag ==1) {
sjk127	0:00a9f58f32d0	658	alarmflag = 0;
sjk127	0:00a9f58f32d0	659	break;
sjk127	0:00a9f58f32d0	660	} else if ((result_h == 0) && (result_l == 0)) {
sjk127	0:00a9f58f32d0	661	if (M1count < 10) {
sjk127	0:00a9f58f32d0	662	M1count = 0; // .... therefore zero the count reg....
sjk127	0:00a9f58f32d0	663	}
sjk127	0:00a9f58f32d0	664	abs_M1count = M1count; // ... and the abs_M1count reg
sjk127	0:00a9f58f32d0	665	if (M2count <10) {
sjk127	0:00a9f58f32d0	666	M2count = 0; // .... therefore zero the count reg....
sjk127	0:00a9f58f32d0	667	}
sjk127	0:00a9f58f32d0	668	abs_M2count = M2count; // ... and the abs_M1count reg
sjk127	0:00a9f58f32d0	669	break; // .... therefore exit*/
sjk127	0:00a9f58f32d0	670	} else if (switches == 0x01 \|\| switches == 0x02 \|\| switches == 0x03 \|\| switches == 0x0A ) {
sjk127	0:00a9f58f32d0	671	break;
sjk127	0:00a9f58f32d0	672	}
sjk127	0:00a9f58f32d0	673	}
sjk127	0:00a9f58f32d0	674	M1flag = 0;
sjk127	0:00a9f58f32d0	675	M2flag = 0;
sjk127	0:00a9f58f32d0	676	fet1 = 0;
sjk127	0:00a9f58f32d0	677	fet2 = 0;
sjk127	0:00a9f58f32d0	678	wait(0.05);
sjk127	0:00a9f58f32d0	679	act1 = 0x00;
sjk127	0:00a9f58f32d0	680	act2 = 0x00;
sjk127	0:00a9f58f32d0	681	lcd.locate(0,1);
sjk127	0:00a9f58f32d0	682	lcd.printf(" ");
sjk127	0:00a9f58f32d0	683	lcd.locate(15,1);
sjk127	0:00a9f58f32d0	684	lcd.printf(" ");
sjk127	0:00a9f58f32d0	685	while (switches !=0) {}
sjk127	0:00a9f58f32d0	686	break;
sjk127	0:00a9f58f32d0	687	}
sjk127	0:00a9f58f32d0	688
sjk127	0:00a9f58f32d0	689	}
sjk127	0:00a9f58f32d0	690	}
sjk127	0:00a9f58f32d0	691	}
sjk127	0:00a9f58f32d0	692
sjk127	0:00a9f58f32d0	693
sjk127	0:00a9f58f32d0	694
sjk127	0:00a9f58f32d0	695
sjk127	0:00a9f58f32d0	696
sjk127	0:00a9f58f32d0	697
sjk127	0:00a9f58f32d0	698
sjk127	0:00a9f58f32d0	699
sjk127	0:00a9f58f32d0	700
sjk127	0:00a9f58f32d0	701
sjk127	0:00a9f58f32d0	702
sjk127	0:00a9f58f32d0	703

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	28 Oct 2010
Imports:	2
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	1
Followers:	1

main.cpp@0:00a9f58f32d0, 2010-10-28 (annotated)

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