File content as of revision 0:ce79b04fc2ca:

#include "mbed.h"
//Declare hardware inputs
Timer timer;
AnalogIn potSet(A0);
AnalogIn pressure(A1);
PwmOut pumpStep(D8);
DigitalOut dir(D9);
DigitalOut visDir(LED2);
PwmOut r(LED_RED);
PwmOut g(LED_GREEN);
PwmOut b(LED_BLUE);

//Declare globals
unsigned long lastTime;
float inputTemperature, outputCmd, iTerm;
float kp=2;
float ki=0;
float setPoint;
int sampleTime = 250; //1/4 sec
float outMin=-1.0;
float outMax=1.0;
float smallChange=0.01;
float oldOutputCmd; //dont need
bool runPump=false;

//------------------------------------
// Hyperterminal configuration 9600 bauds, 8N
//------------------------------------
Serial pc(USBTX, USBRX);

void ledConfirmReceive()
{
    r=1;
    g=1;
    b=0.9;
}

void ledConfirmSent()
{
    r=1;
    g=0.9;
    b=1;
}

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 computePressureCommand()
{
    int i;
    unsigned int now = timer.read_ms();    
    int nSamplesToAverage=10;
    int timeChange = (now - lastTime);
    if(timeChange>=sampleTime)   {
        
        inputTemperature=0;
        for (i=0; i<nSamplesToAverage; i++) {
            inputTemperature = inputTemperature+pressure;
        }
        inputTemperature=inputTemperature/(double)(nSamplesToAverage);
        //setPoint = potSet;
        
        float error = setPoint - inputTemperature;
       
        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
        
        printf("%f, %f \n\r ",setPoint, inputTemperature);
        //printf("%f, %f, %f, %f, %f, %f \n\r ",setPoint, inputTemperature, outputCmd, kp*error, iTerm, (-0.5-dir.read()));
        
        oldOutputCmd=outputCmd; //don't need
        lastTime = now; /*Remember time for next time*/
    }//end if timeChange    
}//end computePressureVoltage



int main()
{

    //int testInt=0;

    char bufferIn[10];
    char bufferOut[8];
    char hexCCIn[2];
    char hexDDDDIn[4];    

    r.period(0.001f);
    g.period(0.001f);
    b.period(0.001f);

    r=1;
    g=1;
    b=1;
    
    timer.start();

    while(1) {

        scanf("%10s", bufferIn);
        //pc.printf("bufferIn= is %s\r\n", bufferIn);
        //pc.printf("bufferIn= is %c%c\r\n", bufferIn[0],bufferIn[1]);        

        
        //Turn built in LED blue (at half intensity) to confirm command recieved
        ledConfirmReceive();

        bufferOut[0]=bufferIn[0];

        for(int i=0; i<7; i++) { // duplicate bytes 0 to 9 for now;
            bufferOut[i]=bufferIn[i];
        }
        bufferOut[7]='^';


        //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);
        int decCCIn = hexToDec(hexCCIn);
        int decDDDDIn = hexToDec(hexDDDDIn);
        //int decDDDDIn = hexToDec("0000");

        //Make sure incoming checksum pans out:

        //Do action based on CC
        
        //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;
            }
            //led.period(0.001f);
            //led=(255-ledIntensity)/255;
            //led=1.000;

            //end built in LED control
            //pc.printf("%s\n", bufferOut);
            
        }else if(decCCIn==27) { //CC=1b, Enable pump
            pumpStep.write(0.50f); // set fixed duty cycle to 50% (hold position?)
            ledConfirmSent();
            runPump=true;            
             
        }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;

        }

        //Always keep running computePressureCommand if requred
        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
        
    }
}