Diff: port.h

Revision:

0:3417ca0a36c0

Child:

3:4306d042af6f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/port.h	Tue Jul 01 10:59:33 2014 +0000
@@ -0,0 +1,114 @@
+/******************************************************
+
+****┏┓          ┏┓
+**┏┛┻━━━━━━┛┻┓
+**┃                 ┃
+**┃      ━━━      ┃
+**┃  ┳┛       ┗┳ ┃
+**┃                 ┃
+**┃ '''    ┻   ''' ┃
+**┃                 ┃
+**┗━━┓       ┏━━┛
+*******┃       ┃
+*******┃       ┃
+*******┃       ┃
+*******┃       ┗━━━━━━━━┓
+*******┃                      ┃━┓
+*******┃      NO BUG          ┏━┛
+*******┃                      ┃
+*******┗━┓  ┓  ┏━┏━┓  ━┛
+***********┃  ┛  ┛    ┃  ┛  ┛
+***********┃  ┃  ┃    ┃  ┃  ┃
+***********┗━┛━┛     ┗━┛━┛
+
+This part is added by project ESDC2014 of CUHK team.
+All the code with this header are under GPL open source license.
+This program is running on Mbed Platform 'mbed LPC1768' avaliable in 'http://mbed.org'.
+**********************************************************/
+#include "mbed.h"
+#include "define.h"
+
+#ifndef _PORT_H
+#define _PORT_H
+
+MyDigitalOut IntelToMbed_LED(LED1); //uart port LED between Intel Board and Mbed
+MyDigitalOut MbedToArduino_LED(LED2); //uart port LED between Mbed and Arduino
+MySerial DEBUG(USBTX, USBRX); //usb serial port between computer and Mbed
+MySerial IntelToMbed(p13, p14); //uart port between Intel Board and Mbed
+MySerial MbedToArduino(p28, p27); //uart port between Mbed and Arduino
+MyPwmOut lifter_pwmUp(p21);
+MyPwmOut lifter_pwmDown(p22);
+MyDigitalOut lifter_enable(p23);
+MyInterruptIn lifter_encoder_A(p18);
+MyDigitalIn lifter_encoder_B(p17);
+
+MyPwmOut camera_platform_pwmRoll(p24);//roll            min counter clockwise, max clockwise 
+MyPwmOut camera_platform_pwmPitch(p26);//pitch           min down,  max up,  mid 1700
+MyPwmOut camera_platform_pwmYaw(p25);//yaw             min right, max left, mid 1500
+
+MyDigitalOut buzzer_pin(p29);
+Buzzer buzzer(&buzzer_pin);
+
+Communication com(&DEBUG, &IntelToMbed, &MbedToArduino);
+Lifter lifter(&lifter_enable, &lifter_pwmUp, &lifter_pwmDown, &lifter_encoder_A, &lifter_encoder_B);
+Camera_platform camera_platform(&camera_platform_pwmRoll, &camera_platform_pwmPitch, &camera_platform_pwmYaw);
+
+void IntelToMbedRxHandler()
+{
+    //__disable_irq();//disable interupt when receiving data from XBEE_UART
+    uint8_t _x = IntelToMbed.getc();
+    com.putToBuffer(_x, 0); //function inside Communication::
+    //__enable_irq();
+}
+void MbedToArduinoRxHandler()
+{
+    //__disable_irq();//disable interupt when receiving data from XBEE_UART
+    uint8_t _x = MbedToArduino.getc();
+    com.putToBuffer(_x, 1); //function inside Communication::
+    //__enable_irq();
+}
+
+void LifterPulseHandler()
+{
+    if(lifter.pulseCount < lifter.targetPulseCount)
+    {
+        lifter.pulseCount++;
+        if(lifter.getDir() == 0) //up
+        {
+            lifter.setLifterUp();
+        }
+        else if(lifter.getDir() == 2)//down
+        {
+            lifter.setLifterDown();
+        }
+    }
+    else
+    {
+        lifter.targetPulseCount = 0;
+        lifter.pulseCount = 0;
+        lifter.setLifterStop();
+    }
+}
+
+void init_PORT() //used in main() function
+{
+    DEBUG.baud(9600);
+    
+    IntelToMbed.baud(9600);
+    IntelToMbed.attach(&IntelToMbedRxHandler); //serial interrupt function
+    
+    MbedToArduino.baud(9600);
+    MbedToArduino.attach(&MbedToArduinoRxHandler); //serial interrupt function
+    
+    lifter_encoder_A.fall(&LifterPulseHandler); //interrupt
+    
+    camera_platform_pwmRoll.period_ms(20); //20ms periodic, 1000us to 2000us
+    camera_platform_pwmPitch.period_ms(20); //20ms periodic, 1000us to 2000us
+    camera_platform_pwmYaw.period_ms(20); //20ms periodic, 1000us to 2000us
+    
+     camera_platform_pwmRoll.pulsewidth_us(ROLL_MID);
+    camera_platform_pwmPitch.pulsewidth_us(PITCH_MID);
+    camera_platform_pwmYaw.pulsewidth_us(YAW_MID);
+}
+
+#endif
\ No newline at end of file