Diff: main.cpp

Revision:

2:f2583b56777e

Parent:

1:610dc7763656

Child:

3:3b45e830ebe1

--- a/main.cpp	Thu Jul 23 18:39:24 2015 +0000
+++ b/main.cpp	Wed May 11 16:13:49 2016 +0000
@@ -1,237 +1,262 @@
+//Chesapeake Embedded code by Sami Kanderian. Date of last update (version) shown below.
 #include "mbed.h"
+#include "string"
+#include "iostream"
+#include "math.h"
+//#include "stdio.h"
 //#include "rtos.h"
 
 //Declare hardware inputs
 Timer timer;
-AnalogIn potSet(A0);
-AnalogIn pressureDAQZO(A1);
-PwmOut pumpStep(D8);
-DigitalOut dir(D9);
-DigitalOut visDir(LED2);
-PwmOut r(LED_RED);
-PwmOut g(LED_GREEN);
-PwmOut b(LED_BLUE);
+Serial serial(USBTX, USBRX);
+//IMPORTANT NOTE: PTA1 and PTA2 ARE RESERVED FOR SERIAL COMMUNICATION!!! DO NOT USE FOR SENSOR/ACTUATOR I/O!!!
+
+//Analog inputs : 0-3.3V
+AnalogIn pin1(PTE20);
+AnalogIn pin2(PTB0);
+AnalogIn pin3(PTE21);//should be 16bit but doesnt work on mbed
+AnalogIn pin4(PTB1);
+AnalogIn pin5(PTE22);
+AnalogIn pin6(PTB2);
+AnalogIn pin7(PTE23);
+AnalogIn pin8(PTB3);
+AnalogIn pin9(PTE29);
+AnalogIn pin10(PTC2);
+AnalogIn pin11(PTE30);
+AnalogIn pin12(PTC1);
+AnalogIn pin13(PTC0);
+AnalogIn pin14(PTD1);// doesnt work. Seems to be stuck at 3.3
+AnalogIn pin15(PTD5);
+AnalogIn pin16(PTD6);
+
+//Built in LEDs
+PwmOut rLed(LED_RED);
+PwmOut gLed(LED_GREEN);
+PwmOut bLed(LED_BLUE);
+
+//Date version as global
+string dateVersion = "#Microcontroller Detected! uC code ver.: 04.12.2016";
+
+//New globals for RxInterrupt routine
+const int bufferSize = 256;
+char rxBuffer[bufferSize];
+char txBuffer[bufferSize];
+volatile int rxIn = 0;
+volatile int rxOut = 0;
+bool rxFlag = 0;
 
 //Declare globals
-char bufferIn[10];
-char bufferOut[8];
 char hexCCIn[2];
 char hexDDDDIn[4];
 int decCCIn;
 int decDDDDIn;
 
-unsigned long lastTime; //start it at 0, so at least one run of computePressureCommand is guaranteed
-float outputCmd, iTerm;
-float kp=2/9.9;
-float ki=0;
-float setPoint=0.000f;
-int sampleTime = 250; //1/4 sec
-float outMin=-1.0;
-float outMax=1.0;
-float smallChange=0.01*9.9/5;
-float oldOutputCmd; //dont need
-bool runPump=false;
+
+void ledConfirmSent()//Light up blue LED 10%
+{
+    rLed = 1;
+    gLed = 1;
+    bLed = 0.9;
+}
+
+void ledConfirmReceive()//Light up green LED 10%
+{
+    rLed = 1;
+    gLed = 0.9;
+    bLed = 1;
+}
 
-//------------------------------------
-// Hyperterminal configuration 9600 bauds, 8N
-//------------------------------------
-Serial pc(USBTX, USBRX);
+void sendAnalogIn(int pinNum) //send Analog input in V
+{
+    
+    //serial.printf("\r\n");
+    if (pinNum == 0 || pinNum == 1) {
+        serial.printf("%s%03.1f%s\r\n", "#PTE20: ", 3.3f*pin1.read(), "V^");
+    }
+    if (pinNum == 0 || pinNum == 2) {
+        serial.printf("%s%03.1f%s\r\n", "#PTB0:  ", 3.3f*pin2.read(), "V^");
+    }
+    if (pinNum == 0 || pinNum == 3) {
+        serial.printf("%s%03.1f%s\r\n", "#PTE21: ", 3.3f*pin3.read(), "V^");
+    }
+    if (pinNum == 0 || pinNum == 4) {
+        serial.printf("%s%03.1f%s\r\n", "#PTB1:  ", 3.3f*pin4.read(), "V^");
+    }
+    if (pinNum == 0 || pinNum == 5) {
+        serial.printf("%s%03.1f%s\r\n", "#PTE22: ", 3.3f*pin5.read(), "V^");
+    }
+    if (pinNum == 0 || pinNum == 6) {
+        serial.printf("%s%03.1f%s\r\n", "#PTB2:  ", 3.3f*pin6.read(), "V^");
+    }
+    if (pinNum == 0 || pinNum == 7) {
+        serial.printf("%s%03.1f%s\r\n", "#PTE23: ", 3.3f*pin7.read(), "V^");
+    }
+    if (pinNum == 0 || pinNum == 8) {
+        serial.printf("%s%03.1f%s\r\n", "#PTB3:  ", 3.3f*pin8.read(), "V^");
+    }
+    if (pinNum == 0 || pinNum == 9) {
+        serial.printf("%s%03.1f%s\r\n", "#PTE29: ", 3.3f*pin9.read(), "V^");
+    }
+    if (pinNum == 0 || pinNum == 10) {
+        serial.printf("%s%03.1f%s\r\n", "#PTC2:  ", 3.3f*pin10.read(), "V^");
+    }
+    if (pinNum == 0 || pinNum == 11) {
+        serial.printf("%s%03.1f%s\r\n", "#PTE30: ", 3.3f*pin11.read(), "V^");
+    }
+    if (pinNum == 0 || pinNum == 12) {
+        serial.printf("%s%03.1f%s\r\n", "#PTC1:  ", 3.3f*pin12.read(), "V^");
+    }
+    if (pinNum == 0 || pinNum == 13) {
+        serial.printf("%s%03.1f%s\r\n", "#PTC0:  ", 3.3f*pin13.read(), "V^");
+    }
+    if (pinNum == 0 || pinNum == 14) {
+        serial.printf("%s%03.1f%s\r\n", "#PTD1:  ", 3.3f*pin14.read(), "V^");
+    }
+    if (pinNum == 0 || pinNum == 15) {
+        serial.printf("%s%03.1f%s\r\n", "#PTD5:  ", 3.3f*pin15.read(), "V^");
+    }
+    if (pinNum == 0 || pinNum == 16) {
+        serial.printf("%s%03.1f%s\r\n", "#PTD6:  ", 3.3f*pin16.read(), "V^");
+    }
 
-void ledConfirmReceive()
-{
-    r=1;
-    g=1;
-    b=0.9;
+    ledConfirmSent();
 }
 
-void ledConfirmSent()
-{
-    r=1;
-    g=0.9;
-    b=1;
+string decToHexDDDD(int i) {
+    //Do twos complement to handle negative numbers
+    if (i < 0) {
+        i = 32767 - i;
+    }
+    char hex_string[10];
+    sprintf(hex_string, "0x%02X", i);
+    return string(hex_string);
+}
+
+int hexDDDDToDec(char hex[]) {
+    int decValue = strtol(hex, NULL, 16);
+    if (decValue >= 32768) { //Do twos complement to handle negative numbers
+        decValue = 32767 - decValue;
+    }
+    return decValue;
+}
+
+int hexToDec(char hex[]) {
+    int decValue = strtol(hex, NULL, 16);
+    return decValue;
+}
+
+int hexToDecSub(char hex[], int st, int ed) {
+    int n = ed - st + 1;
+    char hexSubset[n];
+    for (int i = st; i < ed + 1; i++) {
+        hexSubset[i - st] = hex[i];
+    }
+    int decValue = strtol(hexSubset, NULL, 16);
+    return decValue;
 }
 
+void sendHexDDDDValTimes100(float val) {
+    int valTimes100 = (int) ((100 * val));
+    string hexDDDD = decToHexDDDD(valTimes100);
+    int nLeadingZeros = 4 - hexDDDD.length();
 
-int hexToDec(char hex[])
-{
-    int decValue = strtol(hex, NULL, 16);
-
-    return decValue;
-
+    char hexDDDDout[hexDDDD.length()];
+    for (int i = 0; i < hexDDDD.length(); i++) {
+        hexDDDDout[i] = hexDDDD[i];
+    }
+    char leadingZeros[nLeadingZeros];
+    for (int i = 0; i < nLeadingZeros; i++) {
+        leadingZeros[i] = '0';
+    }
+    //serial.printf("#%s%saa^\r\n", leadingZeros, hexDDDDout);
+    serial.printf("#%s%saa", leadingZeros, hexDDDDout);
+    //ledConfirmSent();
 }
 
-int hexToDecSub(char hex[], int st, int ed)
-{
-    int n=ed-st+1;
-    char hexSubset[n];
-    for(int i=st; i<ed+1; i++) {
-        hexSubset[i-st]=hex[i];
+void runSingleCommand(int comInd) {
+    int endBuffer = (comInd + 1)*8;
+    int startBuffer = endBuffer - 7;
+
+    //get hexCCIn
+    for (int i = 0; i < 2; i++) {
+        hexCCIn[i] = rxBuffer[i + startBuffer];
+    }
+    //serial.printf("hexCCIn= is %s\r\n", hexCCIn);
+
+    for (int i = 0; i < 4; i++) {
+        hexDDDDIn[i] = rxBuffer[i + startBuffer + 2];
     }
 
-    int decValue = strtol(hexSubset, NULL, 16);
-    return decValue;
+    decCCIn = hexToDec(hexCCIn);
+    decDDDDIn = hexDDDDToDec(hexDDDDIn);
+
+    //Make sure incoming checksum pans out: DO THIS LATER
+
+    if (comInd == 0) { //include # if first command
+        startBuffer = startBuffer - 1;
+    }
+    int i2 = 0;
+    for (int i = startBuffer; i <= endBuffer; i++) { // duplicate bytes 0 to 9 for now;
+        txBuffer[i2] = rxBuffer[i];
+        i2++;
+    }
+
+    //Do action based on CC: already in while loop
+   
 
 }
 
-void computePressureCommand()
-{
-    unsigned int now = timer.read_ms();
-    int nSamplesToAverage=10;
-    int timeChange = (now - lastTime);
-    if(timeChange>=sampleTime)   {
-
-        float avePressureDAQZO=0;
-        for (int i=0; i<nSamplesToAverage; i++) {
-            avePressureDAQZO = avePressureDAQZO+pressureDAQZO;
-        }
-        avePressureDAQZO=avePressureDAQZO/(double)(nSamplesToAverage);
-        //setPoint = potSet;
-        float inputPressure=avePressureDAQZO*9.9;
-
-        float error = setPoint - inputPressure;
-
-        iTerm+= (ki * error);
-        if(iTerm > outMax) iTerm= outMax;
-        else if(iTerm < outMin) iTerm= outMin;
-
-        outputCmd = kp * error + iTerm;
-        if(outputCmd > outMax) outputCmd = outMax;
-        else if(outputCmd < outMin) outputCmd = outMin;
-
-        visDir=0;
-        if (outputCmd < 0) {
-            dir=1;
-            visDir=1;
-            outputCmd = outputCmd * -1.0;
-        } else dir=0;
-
-        if (abs(error) > smallChange) {
-            pumpStep.write(0.50f); // turn back on
-            pumpStep.period_us((1.0/outputCmd)*200);
-        } else pumpStep.write(0.0f); //shut off steps for too small change
-
-
-        char signSetPoint='+';
-        if(setPoint<0) {
-            signSetPoint='-';
-        }
-        char signinputVoltage='+';
-        if(setPoint<0) {
-            signinputVoltage='-';
-        }
-
-
-        pc.printf("%s%c%2.3f%s%c%2.3f%s","#SP",signSetPoint,abs(setPoint),"MP",signinputVoltage,abs(inputPressure),"SS^");
-        //printf("%f, %f, %f, %f, %f, %f \n\r ",setPoint, inputVoltage, outputCmd, kp*error, iTerm, (-0.5-dir.read()));
-        ledConfirmSent();
-        oldOutputCmd=outputCmd; //don't need
-        lastTime = now; /*Remember time for next time*/
-    }//end if timeChange
-
-}//end computePressureVoltage
-
-
-void runWhenNewSerialIn()
-{
-
-
-
-    bufferOut[0]=bufferIn[0];
+void runWhenNewSerialIn() {
+    int nCommands = (rxIn - 1) / 8; //find out how many commands are sent in one serial message
+    //serial.printf("%s%d%s\r\n", "#nCommands: ", nCommands, "commands");
+    for (int comInd = 0; comInd < nCommands; comInd++) { // duplicate bytes 0 to 9 for now;
+        runSingleCommand(comInd);
+    }
+    serial.printf("^\r\n"); //end line after responses to all commands returned
+}
 
-    for(int i=0; i<7; i++) { // duplicate bytes 0 to 9 for now;
-        bufferOut[i]=bufferIn[i];
-    }
-    bufferOut[7]='^';//IMPORTANT!
-
-
-    //get hexCCIn
-    for(int i=0; i<2; i++) {
-        hexCCIn[i]=bufferIn[i+1];
-    }
-    //pc.printf("hexCCIn= is %s\r\n", hexCCIn);
-
-    for(int i=0; i<4; i++) {
-        hexDDDDIn[i]=bufferIn[i+3];
-    }
-
-    //pc.printf("hello test= is %s\r\n", test);
-
-    //int value = strtol(hexDDDDIn, NULL, 16);
-    decCCIn = hexToDec(hexCCIn);
-    decDDDDIn = hexToDec(hexDDDDIn);
-    //int decDDDDIn = hexToDec("0000");
-
-    //Make sure incoming checksum pans out:
-
-    //Do action based on CC
+void Rx_interrupt() {
+    // Loop just in case more than one character is in UART's receive FIFO buffer
+    // Stop if buffer full
+    //while ((serial.readable()) && (((rxIn + 1) % bufferSize) != 0)) {
+    while (serial.readable()) {
+        rxBuffer[rxIn] = serial.getc();
+        if (rxBuffer[rxIn] == '\r') { //looking for character not string (string is double quotes) \r is CR, \n is LF
+            rxFlag = 1;
+            //Turn built in LED blue (at half intensity) to confirm command recieved
+            ledConfirmReceive();
+            //Execute runWhenNewSerialIn when new Rx recieved (ending with \r)
+            runWhenNewSerialIn();
+            rxFlag = 0; //reset flag to listen for next message
+            rxIn = 0; // reset position index to 0
 
-    //pc.printf("hexCCIn= is %c%c\r\n", hexCCIn[0],hexCCIn[1]);
-    //pc.printf("hexDDDDIn= is %c%c%c%c\r\n", hexDDDDIn[0],hexDDDDIn[1],hexDDDDIn[2],hexDDDDIn[3]);
-    //pc.printf("decCCIn= is %d\r\n", decCCIn);
-    //pc.printf("decDDDDIn= is %d\r\n", decDDDDIn);
-    if (decCCIn==1) { //control built in LED
-        //PwmOut led(LED_RED); //set to red just for now, change later if nec.
-        //Get desired intensity
-        double ledIntensity=(double)(hexToDecSub(bufferIn, 4, 5));
-        if (bufferIn[3]=='0') { //red
-            //PwmOut r(LED_RED);
-            r=(255-ledIntensity)/255;
-        } else if(bufferIn[3]=='1') {
-            //PwmOut g(LED_GREEN);
-            g=(255-ledIntensity)/255;
-        } else if (bufferIn[3]=='2') {
-            //PwmOut led(LED_BLUE);
-            b=(255-ledIntensity)/255;
+        } else {
+            rxIn = (rxIn + 1) % bufferSize;
         }
-
-        pc.printf("%s", bufferOut);
-
-    } else if(decCCIn==27) { //CC=1b, Enable pump
-        pumpStep.write(0.50f); // set fixed duty cycle to 50% (hold position?)
-        ledConfirmSent();
-        runPump=true;
-        //pc.printf("%s\n", bufferOut); //No output SP & MP instead via computePressureCommand
-        ledConfirmSent();
-
-    } else if(decCCIn==28) { //CC=1c, Define new pressure setPoint
-        setPoint=((double)(decDDDDIn))/100; //converted fron hex above
-
-    } else if (decCCIn==29) {//CC=1d, Deactivate pump
-        pumpStep.write(0.0f);
-        ledConfirmSent();
-        runPump=false;
-        pc.printf("%s", bufferOut);
-        ledConfirmSent();
     }
 }
 
-int main()
-{
-    r.period(0.001f);
-    g.period(0.001f);
-    b.period(0.001f);
+int main() {
+
+    serial.baud(9600);
+    serial.attach(&Rx_interrupt, Serial::RxIrq);
 
-    r=1;
-    g=1;
-    b=1;
-
-    //pc.printf("\r\n"); //Important
-    timer.start();
-    
+    //rLed.period(0.001f);
+    //gLed.period(0.001f);
+    //bLed.period(0.001f);
+   
 
-    while(1) {
-
-        scanf("%10s", bufferIn);
-        //Turn built in LED blue (at half intensity) to confirm command recieved
-        ledConfirmReceive();
-        runWhenNewSerialIn();
+    //flash LED blue then green on startup or system reset
+    //serial.printf("Before Blue on Startup^\r\n");
+    ledConfirmSent();
+    ledConfirmReceive();
+    //serial.printf("After Green on Startup^\r\n");
+    timer.start();
 
-        //Always keep running computePressureCommand if requred
-        if(runPump) {
-            computePressureCommand();
-        }
-        //pc.printf("NEW value of '%s' is %ld\n", hexDDDDIn, decDDDDIn);
-        //Turn built in LED green (at half intensity) to confirm reponse sent back
-
+    while (1) {
+        //scanf("%10s", rxBuffer);// NO! Use Rx_interrupt instead!
+        //Always keep running computePressureCommand when pump is enabled (runPump=true)
+        sendAnalogIn(decDDDDIn);
+        wait(1);
     }
 }
\ No newline at end of file