Thomas Morris / Mbed OS PROJ324_Final

Proj 324 Final

Fork of ELEC351_Group_T by Plymouth ELEC351 Group T

main.cpp@53:71f59e195f06, 2018-05-07 (annotated)

Committer:
thomasmorris
Date:
Mon May 07 15:44:34 2018 +0000
Revision:
53:71f59e195f06
Parent:
52:99915f5240b2
Child:
54:a4c5949707ca
To test version of code;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
thomasmorris 53:71f59e195f06 1
thomasmorris 25:36699ed589ab 2 #include "SETUP.hpp"
thomasmorris 52:99915f5240b2 3
thomasmorris 53:71f59e195f06 4 int SPI_RX_DATA = 0;
thomasmorris 53:71f59e195f06 5 int Cubelet_Colours[9] = {0,0,0,0,0,0,0,0,0};//9 cubelets store colours here
thomasmorris 53:71f59e195f06 6 int Received_data = 0;
thomasmorris 53:71f59e195f06 7 bool Data_from_slave[16] = {0};
thomasmorris 53:71f59e195f06 8
thomasmorris 52:99915f5240b2 9 //Interrupt service routine for handling the timeout of SW1
thomasmorris 52:99915f5240b2 10 void SW1TimeOutHandler() {
thomasmorris 52:99915f5240b2 11 SW1TimeOut.detach(); //Stop the timeout counter firing
thomasmorris 52:99915f5240b2 12 SW1.fall(&SW1FallingEdge); //Now wait for a falling edge
thomasmorris 52:99915f5240b2 13 }
thomasmorris 52:99915f5240b2 14 //Interrupt service routive for SW2 falling edge (release)
thomasmorris 52:99915f5240b2 15 void SW1FallingEdge() {
thomasmorris 52:99915f5240b2 16 SW1.fall(NULL); //Disable this interrupt
thomasmorris 52:99915f5240b2 17 SW1TimeOut.attach(&SW1TimeOutHandler, SW1_SW2_Timeout_Time); //Start timeout counter
thomasmorris 52:99915f5240b2 18 }
thomasmorris 52:99915f5240b2 19 //Interrupt service routine for handling the timeout of SW2
thomasmorris 52:99915f5240b2 20 void SW2TimeOutHandler() {
thomasmorris 52:99915f5240b2 21 SW2TimeOut.detach(); //Stop the timeout counter firing
thomasmorris 52:99915f5240b2 22 SW2.fall(&SW2FallingEdge); //Now wait for a falling edge
thomasmorris 52:99915f5240b2 23 }
thomasmorris 52:99915f5240b2 24 //Interrupt service routive for SW2 falling edge (release)
thomasmorris 52:99915f5240b2 25 void SW2FallingEdge() {
thomasmorris 52:99915f5240b2 26 SW2.fall(NULL); //Disable this interrupt
thomasmorris 52:99915f5240b2 27 SW2TimeOut.attach(&SW2TimeOutHandler, SW1_SW2_Timeout_Time); //Start timeout counter
thomasmorris 52:99915f5240b2 28 }
thomasmorris 47:6d128e500875 29 void LCD_Output()
thomasmorris 30:4cde05cc7c4f 30 {
thomasmorris 30:4cde05cc7c4f 31 while(1)
thomasmorris 29:64b1f95a807c 32 {
thomasmorris 53:71f59e195f06 33 //Write to the LCD
thomasmorris 7:dfe19413fdc2 34 }
thomasmorris 7:dfe19413fdc2 35 }
thomasmorris 47:6d128e500875 36 void Serial_Commands()
thomasmorris 22:eb4cc12087b2 37 {
thomasmorris 47:6d128e500875 38 while(1)
thomasmorris 47:6d128e500875 39 {
thomasmorris 52:99915f5240b2 40 Serial_Commands_Output(); //Enable Serial Commands
thomasmorris 47:6d128e500875 41 }
thomasmorris 22:eb4cc12087b2 42 }
thomasmorris 48:244d6d81bb52 43 void LED_Logging()
thomasmorris 48:244d6d81bb52 44 {
thomasmorris 48:244d6d81bb52 45 while(1)
thomasmorris 48:244d6d81bb52 46 {
thomasmorris 52:99915f5240b2 47 Log_Leds(); //Flashes the yellow led to indicate the logging mode
thomasmorris 48:244d6d81bb52 48 }
thomasmorris 48:244d6d81bb52 49 }
thomasmorris 53:71f59e195f06 50
thomasmorris 53:71f59e195f06 51 void SPI_INTERFACE()
thomasmorris 53:71f59e195f06 52 {
thomasmorris 53:71f59e195f06 53 //pc.printf("SPI Test \n");
thomasmorris 53:71f59e195f06 54 Thread::wait(1000);
thomasmorris 53:71f59e195f06 55 while(1)
thomasmorris 53:71f59e195f06 56 {
thomasmorris 53:71f59e195f06 57 //Do stuff
thomasmorris 53:71f59e195f06 58 cs= 0;
thomasmorris 53:71f59e195f06 59 SPI_RX_DATA = spi.write(0xCB);
thomasmorris 53:71f59e195f06 60 wait_us(3);
thomasmorris 53:71f59e195f06 61 cs= 1;
thomasmorris 53:71f59e195f06 62 //SPI_RX_DATA = SPI_RX_DATA >> 7;
thomasmorris 53:71f59e195f06 63 //SPI_RX_DATA = SPI_RX_DATA << 1;
thomasmorris 53:71f59e195f06 64 //pc.printf("Received data : %x\n",SPI_RX_DATA);
thomasmorris 53:71f59e195f06 65
thomasmorris 53:71f59e195f06 66 std::bitset<16> bits(SPI_RX_DATA);
thomasmorris 53:71f59e195f06 67 cout << bits << endl;
thomasmorris 53:71f59e195f06 68 pc.printf("Received data = %d\n", SPI_RX_DATA);
thomasmorris 53:71f59e195f06 69 //wait_us(3);
thomasmorris 53:71f59e195f06 70 Thread::wait(1000);
thomasmorris 53:71f59e195f06 71
thomasmorris 53:71f59e195f06 72 }
thomasmorris 53:71f59e195f06 73 }
thomasmorris 53:71f59e195f06 74 void Motor_Control()
thomasmorris 5:2594b953f111 75 {
thomasmorris 53:71f59e195f06 76 while(1)
thomasmorris 53:71f59e195f06 77 {
thomasmorris 53:71f59e195f06 78 if(Motor_To_Select !=0 and steps !=0)
thomasmorris 53:71f59e195f06 79 {
thomasmorris 53:71f59e195f06 80 if(Motor_To_Select == 1)
thomasmorris 53:71f59e195f06 81 {
thomasmorris 53:71f59e195f06 82 STEPPER_MOTOR_1.Rotate_Steps(steps ,direction);
thomasmorris 53:71f59e195f06 83 //Motor_To_Select = 0;
thomasmorris 53:71f59e195f06 84 }
thomasmorris 53:71f59e195f06 85 else if(Motor_To_Select == 2)
thomasmorris 53:71f59e195f06 86 {
thomasmorris 53:71f59e195f06 87 STEPPER_MOTOR_2.Rotate_Steps(steps ,direction);
thomasmorris 53:71f59e195f06 88 //Motor_To_Select = 0;
thomasmorris 53:71f59e195f06 89 }
thomasmorris 53:71f59e195f06 90 else if(Motor_To_Select == 3)
thomasmorris 53:71f59e195f06 91 {
thomasmorris 53:71f59e195f06 92 STEPPER_MOTOR_3.Rotate_Steps(steps ,direction);
thomasmorris 53:71f59e195f06 93 //Motor_To_Select = 0;
thomasmorris 53:71f59e195f06 94 }
thomasmorris 53:71f59e195f06 95 else if(Motor_To_Select == 4)
thomasmorris 53:71f59e195f06 96 {
thomasmorris 53:71f59e195f06 97 STEPPER_MOTOR_4.Rotate_Steps(steps ,direction);
thomasmorris 53:71f59e195f06 98 //Motor_To_Select = 0;
thomasmorris 53:71f59e195f06 99 }
thomasmorris 53:71f59e195f06 100 else if(Motor_To_Select == 5)
thomasmorris 53:71f59e195f06 101 {
thomasmorris 53:71f59e195f06 102 STEPPER_MOTOR_5.Rotate_Steps(steps ,direction);
thomasmorris 53:71f59e195f06 103 //Motor_To_Select = 0;
thomasmorris 53:71f59e195f06 104 }
thomasmorris 53:71f59e195f06 105
thomasmorris 53:71f59e195f06 106 else if(Motor_To_Select == 6)
thomasmorris 53:71f59e195f06 107 {
thomasmorris 53:71f59e195f06 108 STEPPER_MOTOR_6.Rotate_Steps(steps ,direction);
thomasmorris 53:71f59e195f06 109 //Motor_To_Select = 0;
thomasmorris 53:71f59e195f06 110 }
thomasmorris 53:71f59e195f06 111
thomasmorris 53:71f59e195f06 112 }
thomasmorris 53:71f59e195f06 113 }
thomasmorris 25:36699ed589ab 114 }
thomasmorris 53:71f59e195f06 115
thomasmorris 25:36699ed589ab 116 int main()
thomasmorris 25:36699ed589ab 117 {
thomasmorris 52:99915f5240b2 118 set_time(1515530152); //Sets time
thomasmorris 52:99915f5240b2 119 pc.baud(9600); //Sets the Serial Comms Baud Rate
thomasmorris 53:71f59e195f06 120 //SPI_INIT();
thomasmorris 53:71f59e195f06 121 cs = 1; //Active Low
thomasmorris 53:71f59e195f06 122
thomasmorris 53:71f59e195f06 123 // Setup the spi for 8 bit data, high steady state clock,
thomasmorris 53:71f59e195f06 124 // second edge capture, with a 1MHz clock rate
thomasmorris 53:71f59e195f06 125 spi.format(16,1); // 8 Data bits phase 0 polarity 0
thomasmorris 53:71f59e195f06 126 spi.frequency(1000000);//Output clock frequency 1Mhz
thomasmorris 53:71f59e195f06 127 //post(); //Power on Self Test
thomasmorris 25:36699ed589ab 128
thomasmorris 52:99915f5240b2 129 //Start Threads
thomasmorris 53:71f59e195f06 130 t1.start(Motor_Control);
thomasmorris 53:71f59e195f06 131 t2.start(SPI_INTERFACE);
thomasmorris 53:71f59e195f06 132 t3.start(Serial_Commands);
thomasmorris 52:99915f5240b2 133 //Interrupts
thomasmorris 52:99915f5240b2 134 SW1.fall(&SW1FallingEdge);
thomasmorris 52:99915f5240b2 135 SW2.fall(&SW2FallingEdge);
thomasmorris 52:99915f5240b2 136
thomasmorris 5:2594b953f111 137 //Main thread ID
thomasmorris 5:2594b953f111 138 idMain = osThreadGetId(); //CMSIS RTOS call
thomasmorris 25:36699ed589ab 139
thomasmorris 53:71f59e195f06 140
thomasmorris 5:2594b953f111 141 //Thread ID
thomasmorris 5:2594b953f111 142 id1 = t1.gettid();
thomasmorris 5:2594b953f111 143 id2 = t2.gettid();
thomasmorris 21:3c078c799caa 144 id3 = t3.gettid();
thomasmorris 21:3c078c799caa 145 id4 = t4.gettid();
chills 24:7d2da96e05ad 146 id5 = t5.gettid();
thomasmorris 48:244d6d81bb52 147 id6 = t6.gettid();
thomasmorris 53:71f59e195f06 148
thomasmorris 48:244d6d81bb52 149 while(true)
thomasmorris 48:244d6d81bb52 150 {
thomasmorris 53:71f59e195f06 151 //Do nothing main thread will sleep
noutram 0:36e89e3ed7c4 152 }
thomasmorris 45:875f7e18a386 153 }