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Proj 324 Final
Fork of ELEC351_Group_T by
main.cpp@55:e0e684531825, 2018-05-24 (annotated)
- Committer:
- thomasmorris
- Date:
- Thu May 24 13:31:20 2018 +0000
- Revision:
- 55:e0e684531825
- Parent:
- 54:a4c5949707ca
- Child:
- 56:bc5345bc6650
edge and corner colour list filling;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
thomasmorris | 53:71f59e195f06 | 1 | |
thomasmorris | 25:36699ed589ab | 2 | #include "SETUP.hpp" |
thomasmorris | 52:99915f5240b2 | 3 | |
thomasmorris | 54:a4c5949707ca | 4 | #define Cubelet_data_ready 1 |
thomasmorris | 54:a4c5949707ca | 5 | #define Not_Cubelet_data_ready 0 |
thomasmorris | 54:a4c5949707ca | 6 | /* |
thomasmorris | 54:a4c5949707ca | 7 | Colour lookup table |
thomasmorris | 54:a4c5949707ca | 8 | 1 = White |
thomasmorris | 54:a4c5949707ca | 9 | 2 = Red |
thomasmorris | 54:a4c5949707ca | 10 | 3 = Orange |
thomasmorris | 54:a4c5949707ca | 11 | 4 = Blue |
thomasmorris | 54:a4c5949707ca | 12 | 5 = Green |
thomasmorris | 54:a4c5949707ca | 13 | 6 = Yellow |
thomasmorris | 54:a4c5949707ca | 14 | */ |
thomasmorris | 54:a4c5949707ca | 15 | |
thomasmorris | 54:a4c5949707ca | 16 | //Colours Cubelet_Colours_string[]; |
thomasmorris | 55:e0e684531825 | 17 | int colour_data = 0; |
thomasmorris | 55:e0e684531825 | 18 | int temp_colour_data_1 = 0; |
thomasmorris | 55:e0e684531825 | 19 | int temp_colour_data_2 = 0; |
thomasmorris | 55:e0e684531825 | 20 | int temp_colour_data_3 = 0; |
thomasmorris | 55:e0e684531825 | 21 | int temp_colour_data_4 = 0; |
thomasmorris | 55:e0e684531825 | 22 | int temp_colour_data_5 = 0; |
thomasmorris | 55:e0e684531825 | 23 | int temp_colour_data_6 = 0; |
thomasmorris | 55:e0e684531825 | 24 | int temp_colour_data_7 = 0; |
thomasmorris | 55:e0e684531825 | 25 | int temp_colour_data_8 = 0; |
thomasmorris | 55:e0e684531825 | 26 | int temp_colour_data_9 = 0; |
thomasmorris | 55:e0e684531825 | 27 | |
thomasmorris | 53:71f59e195f06 | 28 | int SPI_RX_DATA = 0; |
thomasmorris | 53:71f59e195f06 | 29 | int Cubelet_Colours[9] = {0,0,0,0,0,0,0,0,0};//9 cubelets store colours here |
thomasmorris | 53:71f59e195f06 | 30 | int Received_data = 0; |
thomasmorris | 53:71f59e195f06 | 31 | bool Data_from_slave[16] = {0}; |
thomasmorris | 53:71f59e195f06 | 32 | |
thomasmorris | 52:99915f5240b2 | 33 | //Interrupt service routine for handling the timeout of SW1 |
thomasmorris | 52:99915f5240b2 | 34 | void SW1TimeOutHandler() { |
thomasmorris | 52:99915f5240b2 | 35 | SW1TimeOut.detach(); //Stop the timeout counter firing |
thomasmorris | 52:99915f5240b2 | 36 | SW1.fall(&SW1FallingEdge); //Now wait for a falling edge |
thomasmorris | 52:99915f5240b2 | 37 | } |
thomasmorris | 52:99915f5240b2 | 38 | //Interrupt service routive for SW2 falling edge (release) |
thomasmorris | 52:99915f5240b2 | 39 | void SW1FallingEdge() { |
thomasmorris | 52:99915f5240b2 | 40 | SW1.fall(NULL); //Disable this interrupt |
thomasmorris | 52:99915f5240b2 | 41 | SW1TimeOut.attach(&SW1TimeOutHandler, SW1_SW2_Timeout_Time); //Start timeout counter |
thomasmorris | 52:99915f5240b2 | 42 | } |
thomasmorris | 52:99915f5240b2 | 43 | //Interrupt service routine for handling the timeout of SW2 |
thomasmorris | 52:99915f5240b2 | 44 | void SW2TimeOutHandler() { |
thomasmorris | 52:99915f5240b2 | 45 | SW2TimeOut.detach(); //Stop the timeout counter firing |
thomasmorris | 52:99915f5240b2 | 46 | SW2.fall(&SW2FallingEdge); //Now wait for a falling edge |
thomasmorris | 52:99915f5240b2 | 47 | } |
thomasmorris | 52:99915f5240b2 | 48 | //Interrupt service routive for SW2 falling edge (release) |
thomasmorris | 52:99915f5240b2 | 49 | void SW2FallingEdge() { |
thomasmorris | 52:99915f5240b2 | 50 | SW2.fall(NULL); //Disable this interrupt |
thomasmorris | 52:99915f5240b2 | 51 | SW2TimeOut.attach(&SW2TimeOutHandler, SW1_SW2_Timeout_Time); //Start timeout counter |
thomasmorris | 52:99915f5240b2 | 52 | } |
thomasmorris | 47:6d128e500875 | 53 | void LCD_Output() |
thomasmorris | 30:4cde05cc7c4f | 54 | { |
thomasmorris | 30:4cde05cc7c4f | 55 | while(1) |
thomasmorris | 29:64b1f95a807c | 56 | { |
thomasmorris | 53:71f59e195f06 | 57 | //Write to the LCD |
thomasmorris | 7:dfe19413fdc2 | 58 | } |
thomasmorris | 7:dfe19413fdc2 | 59 | } |
thomasmorris | 47:6d128e500875 | 60 | void Serial_Commands() |
thomasmorris | 22:eb4cc12087b2 | 61 | { |
thomasmorris | 47:6d128e500875 | 62 | while(1) |
thomasmorris | 47:6d128e500875 | 63 | { |
thomasmorris | 52:99915f5240b2 | 64 | Serial_Commands_Output(); //Enable Serial Commands |
thomasmorris | 47:6d128e500875 | 65 | } |
thomasmorris | 22:eb4cc12087b2 | 66 | } |
thomasmorris | 48:244d6d81bb52 | 67 | void LED_Logging() |
thomasmorris | 48:244d6d81bb52 | 68 | { |
thomasmorris | 48:244d6d81bb52 | 69 | while(1) |
thomasmorris | 48:244d6d81bb52 | 70 | { |
thomasmorris | 52:99915f5240b2 | 71 | Log_Leds(); //Flashes the yellow led to indicate the logging mode |
thomasmorris | 48:244d6d81bb52 | 72 | } |
thomasmorris | 48:244d6d81bb52 | 73 | } |
thomasmorris | 53:71f59e195f06 | 74 | |
thomasmorris | 53:71f59e195f06 | 75 | void SPI_INTERFACE() |
thomasmorris | 53:71f59e195f06 | 76 | { |
thomasmorris | 53:71f59e195f06 | 77 | //pc.printf("SPI Test \n"); |
thomasmorris | 53:71f59e195f06 | 78 | Thread::wait(1000); |
thomasmorris | 53:71f59e195f06 | 79 | while(1) |
thomasmorris | 53:71f59e195f06 | 80 | { |
thomasmorris | 53:71f59e195f06 | 81 | cs= 0; |
thomasmorris | 54:a4c5949707ca | 82 | SPI_RX_DATA = spi.write(0xF0); |
thomasmorris | 53:71f59e195f06 | 83 | wait_us(3); |
thomasmorris | 53:71f59e195f06 | 84 | cs= 1; |
thomasmorris | 55:e0e684531825 | 85 | colour_data = SPI_RX_DATA; |
thomasmorris | 53:71f59e195f06 | 86 | pc.printf("Received data = %d\n", SPI_RX_DATA); |
thomasmorris | 55:e0e684531825 | 87 | Thread::wait(1000); |
thomasmorris | 53:71f59e195f06 | 88 | } |
thomasmorris | 53:71f59e195f06 | 89 | } |
thomasmorris | 54:a4c5949707ca | 90 | |
thomasmorris | 54:a4c5949707ca | 91 | Colours convert (int Colour) |
thomasmorris | 54:a4c5949707ca | 92 | { |
thomasmorris | 54:a4c5949707ca | 93 | Colours colours_return_value; |
thomasmorris | 54:a4c5949707ca | 94 | if(Colour == 1) |
thomasmorris | 54:a4c5949707ca | 95 | { |
thomasmorris | 54:a4c5949707ca | 96 | colours_return_value = White; |
thomasmorris | 54:a4c5949707ca | 97 | } |
thomasmorris | 54:a4c5949707ca | 98 | else if(Colour == 2) |
thomasmorris | 54:a4c5949707ca | 99 | { |
thomasmorris | 55:e0e684531825 | 100 | colours_return_value = Orange; |
thomasmorris | 54:a4c5949707ca | 101 | } |
thomasmorris | 54:a4c5949707ca | 102 | else if(Colour == 3) |
thomasmorris | 54:a4c5949707ca | 103 | { |
thomasmorris | 55:e0e684531825 | 104 | colours_return_value = Blue; |
thomasmorris | 54:a4c5949707ca | 105 | } |
thomasmorris | 54:a4c5949707ca | 106 | else if(Colour == 4) |
thomasmorris | 54:a4c5949707ca | 107 | { |
thomasmorris | 55:e0e684531825 | 108 | colours_return_value = Red; |
thomasmorris | 54:a4c5949707ca | 109 | } |
thomasmorris | 54:a4c5949707ca | 110 | else if(Colour == 5) |
thomasmorris | 54:a4c5949707ca | 111 | { |
thomasmorris | 54:a4c5949707ca | 112 | colours_return_value = Green; |
thomasmorris | 54:a4c5949707ca | 113 | } |
thomasmorris | 54:a4c5949707ca | 114 | else if(Colour == 6) |
thomasmorris | 54:a4c5949707ca | 115 | { |
thomasmorris | 54:a4c5949707ca | 116 | colours_return_value = Yellow; |
thomasmorris | 54:a4c5949707ca | 117 | } |
thomasmorris | 54:a4c5949707ca | 118 | return colours_return_value; |
thomasmorris | 54:a4c5949707ca | 119 | } |
thomasmorris | 54:a4c5949707ca | 120 | void Store_Cubelet_data() |
thomasmorris | 55:e0e684531825 | 121 | { |
thomasmorris | 55:e0e684531825 | 122 | if((8 >= colour_data) && (colour_data <= 15)) |
thomasmorris | 55:e0e684531825 | 123 | { |
thomasmorris | 55:e0e684531825 | 124 | temp_colour_data_1 = colour_data - 8;//Result shall be the colour |
thomasmorris | 55:e0e684531825 | 125 | Cubelet_Colours[0] = temp_colour_data_1;//Stores the colour value to the mememory map |
thomasmorris | 55:e0e684531825 | 126 | //take colour_data postion value and subtract it and you will be left with just the colour |
thomasmorris | 55:e0e684531825 | 127 | } |
thomasmorris | 55:e0e684531825 | 128 | |
thomasmorris | 55:e0e684531825 | 129 | if((16 >= colour_data) && (colour_data <= 23)) |
thomasmorris | 55:e0e684531825 | 130 | { |
thomasmorris | 55:e0e684531825 | 131 | temp_colour_data_2 = colour_data - 16;//Result shall be the colour |
thomasmorris | 55:e0e684531825 | 132 | Cubelet_Colours[1] = temp_colour_data_2;//Stores the colour value to the mememory map |
thomasmorris | 55:e0e684531825 | 133 | //take colour_data postion value and subtract it and you will be left with just the colour |
thomasmorris | 55:e0e684531825 | 134 | } |
thomasmorris | 55:e0e684531825 | 135 | if((24 >= colour_data) && (colour_data <= 31)) |
thomasmorris | 55:e0e684531825 | 136 | { |
thomasmorris | 55:e0e684531825 | 137 | temp_colour_data_3 = colour_data - 24;//Result shall be the colour |
thomasmorris | 55:e0e684531825 | 138 | Cubelet_Colours[2] = temp_colour_data_3;//Stores the colour value to the mememory map |
thomasmorris | 55:e0e684531825 | 139 | //take colour_data postion value and subtract it and you will be left with just the colour |
thomasmorris | 55:e0e684531825 | 140 | } |
thomasmorris | 55:e0e684531825 | 141 | if((32 >= colour_data) && (colour_data <= 39)) |
thomasmorris | 55:e0e684531825 | 142 | { |
thomasmorris | 55:e0e684531825 | 143 | temp_colour_data_4 = colour_data - 32;//Result shall be the colour |
thomasmorris | 55:e0e684531825 | 144 | Cubelet_Colours[3] = temp_colour_data_4;//Stores the colour value to the mememory map |
thomasmorris | 55:e0e684531825 | 145 | //take colour_data postion value and subtract it and you will be left with just the colour |
thomasmorris | 55:e0e684531825 | 146 | } |
thomasmorris | 55:e0e684531825 | 147 | if((40 >= colour_data) && (colour_data <= 47)) |
thomasmorris | 55:e0e684531825 | 148 | { |
thomasmorris | 55:e0e684531825 | 149 | temp_colour_data_5 = colour_data - 40;//Result shall be the colour |
thomasmorris | 55:e0e684531825 | 150 | Cubelet_Colours[4] = temp_colour_data_5;//Stores the colour value to the mememory map |
thomasmorris | 55:e0e684531825 | 151 | //take colour_data postion value and subtract it and you will be left with just the colour |
thomasmorris | 55:e0e684531825 | 152 | } |
thomasmorris | 55:e0e684531825 | 153 | if((48 >= colour_data) && (colour_data <= 55)) |
thomasmorris | 55:e0e684531825 | 154 | { |
thomasmorris | 55:e0e684531825 | 155 | temp_colour_data_6 = colour_data - 48;//Result shall be the colour |
thomasmorris | 55:e0e684531825 | 156 | Cubelet_Colours[5] = temp_colour_data_6;//Stores the colour value to the mememory map |
thomasmorris | 55:e0e684531825 | 157 | //take colour_data postion value and subtract it and you will be left with just the colour |
thomasmorris | 55:e0e684531825 | 158 | } |
thomasmorris | 55:e0e684531825 | 159 | if((56 >= colour_data) && (colour_data <= 63)) |
thomasmorris | 55:e0e684531825 | 160 | { |
thomasmorris | 55:e0e684531825 | 161 | temp_colour_data_7 = colour_data - 56;//Result shall be the colour |
thomasmorris | 55:e0e684531825 | 162 | Cubelet_Colours[6] = temp_colour_data_7;//Stores the colour value to the mememory map |
thomasmorris | 55:e0e684531825 | 163 | //take colour_data postion value and subtract it and you will be left with just the colour |
thomasmorris | 55:e0e684531825 | 164 | } |
thomasmorris | 55:e0e684531825 | 165 | if((64 >= colour_data) && (colour_data <= 71)) |
thomasmorris | 55:e0e684531825 | 166 | { |
thomasmorris | 55:e0e684531825 | 167 | temp_colour_data_8 = colour_data - 64;//Result shall be the colour |
thomasmorris | 55:e0e684531825 | 168 | Cubelet_Colours[7] = temp_colour_data_8;//Stores the colour value to the mememory map |
thomasmorris | 55:e0e684531825 | 169 | //take colour_data postion value and subtract it and you will be left with just the colour |
thomasmorris | 55:e0e684531825 | 170 | } |
thomasmorris | 55:e0e684531825 | 171 | if((72 >= colour_data) && (colour_data <= 79)) |
thomasmorris | 55:e0e684531825 | 172 | { |
thomasmorris | 55:e0e684531825 | 173 | temp_colour_data_9 = colour_data - 72;//Result shall be the colour |
thomasmorris | 55:e0e684531825 | 174 | Cubelet_Colours[8] = temp_colour_data_9;//Stores the colour value to the mememory map |
thomasmorris | 55:e0e684531825 | 175 | //take colour_data postion value and subtract it and you will be left with just the colour |
thomasmorris | 55:e0e684531825 | 176 | } |
thomasmorris | 55:e0e684531825 | 177 | |
thomasmorris | 55:e0e684531825 | 178 | |
thomasmorris | 55:e0e684531825 | 179 | if(Cubelet_Colours[5] == 1)//Store data to the white side |
thomasmorris | 54:a4c5949707ca | 180 | { |
thomasmorris | 54:a4c5949707ca | 181 | CubeMap[0][0][0] = convert(Cubelet_Colours[0]); |
thomasmorris | 54:a4c5949707ca | 182 | CubeMap[0][0][1] = convert(Cubelet_Colours[1]); |
thomasmorris | 54:a4c5949707ca | 183 | CubeMap[0][0][2] = convert(Cubelet_Colours[2]); |
thomasmorris | 54:a4c5949707ca | 184 | CubeMap[0][1][0] = convert(Cubelet_Colours[3]); |
thomasmorris | 54:a4c5949707ca | 185 | CubeMap[0][1][1] = convert(Cubelet_Colours[4]); |
thomasmorris | 54:a4c5949707ca | 186 | CubeMap[0][1][2] = convert(Cubelet_Colours[5]); |
thomasmorris | 54:a4c5949707ca | 187 | CubeMap[0][2][0] = convert(Cubelet_Colours[6]); |
thomasmorris | 54:a4c5949707ca | 188 | CubeMap[0][2][1] = convert(Cubelet_Colours[7]); |
thomasmorris | 54:a4c5949707ca | 189 | CubeMap[0][2][2] = convert(Cubelet_Colours[8]); |
thomasmorris | 55:e0e684531825 | 190 | //Store this to the white face |
thomasmorris | 55:e0e684531825 | 191 | } |
thomasmorris | 55:e0e684531825 | 192 | if(Cubelet_Colours[5] == 2)//Store data to the orange side |
thomasmorris | 55:e0e684531825 | 193 | { |
thomasmorris | 55:e0e684531825 | 194 | CubeMap[1][0][0] = convert(Cubelet_Colours[0]); |
thomasmorris | 55:e0e684531825 | 195 | CubeMap[1][0][1] = convert(Cubelet_Colours[1]); |
thomasmorris | 55:e0e684531825 | 196 | CubeMap[1][0][2] = convert(Cubelet_Colours[2]); |
thomasmorris | 55:e0e684531825 | 197 | CubeMap[1][1][0] = convert(Cubelet_Colours[3]); |
thomasmorris | 55:e0e684531825 | 198 | CubeMap[1][1][1] = convert(Cubelet_Colours[4]); |
thomasmorris | 55:e0e684531825 | 199 | CubeMap[1][1][2] = convert(Cubelet_Colours[5]); |
thomasmorris | 55:e0e684531825 | 200 | CubeMap[1][2][0] = convert(Cubelet_Colours[6]); |
thomasmorris | 55:e0e684531825 | 201 | CubeMap[1][2][1] = convert(Cubelet_Colours[7]); |
thomasmorris | 55:e0e684531825 | 202 | CubeMap[1][2][2] = convert(Cubelet_Colours[8]); |
thomasmorris | 55:e0e684531825 | 203 | //Store this to the white face |
thomasmorris | 55:e0e684531825 | 204 | } |
thomasmorris | 55:e0e684531825 | 205 | if(Cubelet_Colours[5] == 3)//Store data to the blue side |
thomasmorris | 55:e0e684531825 | 206 | { |
thomasmorris | 55:e0e684531825 | 207 | CubeMap[2][0][0] = convert(Cubelet_Colours[0]); |
thomasmorris | 55:e0e684531825 | 208 | CubeMap[2][0][1] = convert(Cubelet_Colours[1]); |
thomasmorris | 55:e0e684531825 | 209 | CubeMap[2][0][2] = convert(Cubelet_Colours[2]); |
thomasmorris | 55:e0e684531825 | 210 | CubeMap[2][1][0] = convert(Cubelet_Colours[3]); |
thomasmorris | 55:e0e684531825 | 211 | CubeMap[2][1][1] = convert(Cubelet_Colours[4]); |
thomasmorris | 55:e0e684531825 | 212 | CubeMap[2][1][2] = convert(Cubelet_Colours[5]); |
thomasmorris | 55:e0e684531825 | 213 | CubeMap[2][2][0] = convert(Cubelet_Colours[6]); |
thomasmorris | 55:e0e684531825 | 214 | CubeMap[2][2][1] = convert(Cubelet_Colours[7]); |
thomasmorris | 55:e0e684531825 | 215 | CubeMap[2][2][2] = convert(Cubelet_Colours[8]); |
thomasmorris | 54:a4c5949707ca | 216 | //Store this to the white face |
thomasmorris | 55:e0e684531825 | 217 | } |
thomasmorris | 55:e0e684531825 | 218 | if(Cubelet_Colours[5] == 4)//Store data to the red side |
thomasmorris | 55:e0e684531825 | 219 | { |
thomasmorris | 55:e0e684531825 | 220 | CubeMap[3][0][0] = convert(Cubelet_Colours[0]); |
thomasmorris | 55:e0e684531825 | 221 | CubeMap[3][0][1] = convert(Cubelet_Colours[1]); |
thomasmorris | 55:e0e684531825 | 222 | CubeMap[3][0][2] = convert(Cubelet_Colours[2]); |
thomasmorris | 55:e0e684531825 | 223 | CubeMap[3][1][0] = convert(Cubelet_Colours[3]); |
thomasmorris | 55:e0e684531825 | 224 | CubeMap[3][1][1] = convert(Cubelet_Colours[4]); |
thomasmorris | 55:e0e684531825 | 225 | CubeMap[3][1][2] = convert(Cubelet_Colours[5]); |
thomasmorris | 55:e0e684531825 | 226 | CubeMap[3][2][0] = convert(Cubelet_Colours[6]); |
thomasmorris | 55:e0e684531825 | 227 | CubeMap[3][2][1] = convert(Cubelet_Colours[7]); |
thomasmorris | 55:e0e684531825 | 228 | CubeMap[3][2][2] = convert(Cubelet_Colours[8]); |
thomasmorris | 55:e0e684531825 | 229 | //Store this to the white face |
thomasmorris | 55:e0e684531825 | 230 | } |
thomasmorris | 55:e0e684531825 | 231 | if(Cubelet_Colours[5] == 5)//Store data to the green side |
thomasmorris | 55:e0e684531825 | 232 | { |
thomasmorris | 55:e0e684531825 | 233 | CubeMap[4][0][0] = convert(Cubelet_Colours[0]); |
thomasmorris | 55:e0e684531825 | 234 | CubeMap[4][0][1] = convert(Cubelet_Colours[1]); |
thomasmorris | 55:e0e684531825 | 235 | CubeMap[4][0][2] = convert(Cubelet_Colours[2]); |
thomasmorris | 55:e0e684531825 | 236 | CubeMap[4][1][0] = convert(Cubelet_Colours[3]); |
thomasmorris | 55:e0e684531825 | 237 | CubeMap[4][1][1] = convert(Cubelet_Colours[4]); |
thomasmorris | 55:e0e684531825 | 238 | CubeMap[4][1][2] = convert(Cubelet_Colours[5]); |
thomasmorris | 55:e0e684531825 | 239 | CubeMap[4][2][0] = convert(Cubelet_Colours[6]); |
thomasmorris | 55:e0e684531825 | 240 | CubeMap[4][2][1] = convert(Cubelet_Colours[7]); |
thomasmorris | 55:e0e684531825 | 241 | CubeMap[4][2][2] = convert(Cubelet_Colours[8]); |
thomasmorris | 55:e0e684531825 | 242 | //Store this to the white face |
thomasmorris | 55:e0e684531825 | 243 | } |
thomasmorris | 55:e0e684531825 | 244 | if(Cubelet_Colours[5] == 6)//Store data to the yellow side |
thomasmorris | 55:e0e684531825 | 245 | { |
thomasmorris | 55:e0e684531825 | 246 | CubeMap[5][0][0] = convert(Cubelet_Colours[0]); |
thomasmorris | 55:e0e684531825 | 247 | CubeMap[5][0][1] = convert(Cubelet_Colours[1]); |
thomasmorris | 55:e0e684531825 | 248 | CubeMap[5][0][2] = convert(Cubelet_Colours[2]); |
thomasmorris | 55:e0e684531825 | 249 | CubeMap[5][1][0] = convert(Cubelet_Colours[3]); |
thomasmorris | 55:e0e684531825 | 250 | CubeMap[5][1][1] = convert(Cubelet_Colours[4]); |
thomasmorris | 55:e0e684531825 | 251 | CubeMap[5][1][2] = convert(Cubelet_Colours[5]); |
thomasmorris | 55:e0e684531825 | 252 | CubeMap[5][2][0] = convert(Cubelet_Colours[6]); |
thomasmorris | 55:e0e684531825 | 253 | CubeMap[5][2][1] = convert(Cubelet_Colours[7]); |
thomasmorris | 55:e0e684531825 | 254 | CubeMap[5][2][2] = convert(Cubelet_Colours[8]); |
thomasmorris | 55:e0e684531825 | 255 | //Store this to the white face |
thomasmorris | 54:a4c5949707ca | 256 | } |
thomasmorris | 54:a4c5949707ca | 257 | } |
thomasmorris | 54:a4c5949707ca | 258 | |
thomasmorris | 53:71f59e195f06 | 259 | void Motor_Control() |
thomasmorris | 5:2594b953f111 | 260 | { |
thomasmorris | 53:71f59e195f06 | 261 | while(1) |
thomasmorris | 53:71f59e195f06 | 262 | { |
thomasmorris | 53:71f59e195f06 | 263 | if(Motor_To_Select !=0 and steps !=0) |
thomasmorris | 53:71f59e195f06 | 264 | { |
thomasmorris | 53:71f59e195f06 | 265 | if(Motor_To_Select == 1) |
thomasmorris | 53:71f59e195f06 | 266 | { |
thomasmorris | 53:71f59e195f06 | 267 | STEPPER_MOTOR_1.Rotate_Steps(steps ,direction); |
thomasmorris | 53:71f59e195f06 | 268 | //Motor_To_Select = 0; |
thomasmorris | 53:71f59e195f06 | 269 | } |
thomasmorris | 53:71f59e195f06 | 270 | else if(Motor_To_Select == 2) |
thomasmorris | 53:71f59e195f06 | 271 | { |
thomasmorris | 53:71f59e195f06 | 272 | STEPPER_MOTOR_2.Rotate_Steps(steps ,direction); |
thomasmorris | 53:71f59e195f06 | 273 | //Motor_To_Select = 0; |
thomasmorris | 53:71f59e195f06 | 274 | } |
thomasmorris | 53:71f59e195f06 | 275 | else if(Motor_To_Select == 3) |
thomasmorris | 53:71f59e195f06 | 276 | { |
thomasmorris | 53:71f59e195f06 | 277 | STEPPER_MOTOR_3.Rotate_Steps(steps ,direction); |
thomasmorris | 53:71f59e195f06 | 278 | //Motor_To_Select = 0; |
thomasmorris | 53:71f59e195f06 | 279 | } |
thomasmorris | 53:71f59e195f06 | 280 | else if(Motor_To_Select == 4) |
thomasmorris | 53:71f59e195f06 | 281 | { |
thomasmorris | 53:71f59e195f06 | 282 | STEPPER_MOTOR_4.Rotate_Steps(steps ,direction); |
thomasmorris | 53:71f59e195f06 | 283 | //Motor_To_Select = 0; |
thomasmorris | 53:71f59e195f06 | 284 | } |
thomasmorris | 53:71f59e195f06 | 285 | else if(Motor_To_Select == 5) |
thomasmorris | 53:71f59e195f06 | 286 | { |
thomasmorris | 53:71f59e195f06 | 287 | STEPPER_MOTOR_5.Rotate_Steps(steps ,direction); |
thomasmorris | 53:71f59e195f06 | 288 | //Motor_To_Select = 0; |
thomasmorris | 53:71f59e195f06 | 289 | } |
thomasmorris | 53:71f59e195f06 | 290 | |
thomasmorris | 53:71f59e195f06 | 291 | else if(Motor_To_Select == 6) |
thomasmorris | 53:71f59e195f06 | 292 | { |
thomasmorris | 53:71f59e195f06 | 293 | STEPPER_MOTOR_6.Rotate_Steps(steps ,direction); |
thomasmorris | 53:71f59e195f06 | 294 | //Motor_To_Select = 0; |
thomasmorris | 53:71f59e195f06 | 295 | } |
thomasmorris | 53:71f59e195f06 | 296 | |
thomasmorris | 53:71f59e195f06 | 297 | } |
thomasmorris | 53:71f59e195f06 | 298 | } |
thomasmorris | 25:36699ed589ab | 299 | } |
thomasmorris | 53:71f59e195f06 | 300 | |
thomasmorris | 25:36699ed589ab | 301 | int main() |
thomasmorris | 25:36699ed589ab | 302 | { |
thomasmorris | 52:99915f5240b2 | 303 | pc.baud(9600); //Sets the Serial Comms Baud Rate |
thomasmorris | 53:71f59e195f06 | 304 | //SPI_INIT(); |
thomasmorris | 53:71f59e195f06 | 305 | cs = 1; //Active Low |
thomasmorris | 53:71f59e195f06 | 306 | |
thomasmorris | 53:71f59e195f06 | 307 | // Setup the spi for 8 bit data, high steady state clock, |
thomasmorris | 53:71f59e195f06 | 308 | // second edge capture, with a 1MHz clock rate |
thomasmorris | 55:e0e684531825 | 309 | spi.format(16,1); // 8 Data bits phase 0 polarity 0 //CHECK THIS |
thomasmorris | 53:71f59e195f06 | 310 | spi.frequency(1000000);//Output clock frequency 1Mhz |
thomasmorris | 53:71f59e195f06 | 311 | //post(); //Power on Self Test |
thomasmorris | 25:36699ed589ab | 312 | |
thomasmorris | 52:99915f5240b2 | 313 | //Start Threads |
thomasmorris | 53:71f59e195f06 | 314 | t1.start(Motor_Control); |
thomasmorris | 53:71f59e195f06 | 315 | t2.start(SPI_INTERFACE); |
thomasmorris | 53:71f59e195f06 | 316 | t3.start(Serial_Commands); |
thomasmorris | 52:99915f5240b2 | 317 | //Interrupts |
thomasmorris | 52:99915f5240b2 | 318 | SW1.fall(&SW1FallingEdge); |
thomasmorris | 52:99915f5240b2 | 319 | SW2.fall(&SW2FallingEdge); |
thomasmorris | 52:99915f5240b2 | 320 | |
thomasmorris | 5:2594b953f111 | 321 | //Main thread ID |
thomasmorris | 5:2594b953f111 | 322 | idMain = osThreadGetId(); //CMSIS RTOS call |
thomasmorris | 25:36699ed589ab | 323 | |
thomasmorris | 53:71f59e195f06 | 324 | |
thomasmorris | 5:2594b953f111 | 325 | //Thread ID |
thomasmorris | 5:2594b953f111 | 326 | id1 = t1.gettid(); |
thomasmorris | 5:2594b953f111 | 327 | id2 = t2.gettid(); |
thomasmorris | 21:3c078c799caa | 328 | id3 = t3.gettid(); |
thomasmorris | 21:3c078c799caa | 329 | id4 = t4.gettid(); |
chills | 24:7d2da96e05ad | 330 | id5 = t5.gettid(); |
thomasmorris | 48:244d6d81bb52 | 331 | id6 = t6.gettid(); |
thomasmorris | 53:71f59e195f06 | 332 | |
thomasmorris | 48:244d6d81bb52 | 333 | while(true) |
thomasmorris | 48:244d6d81bb52 | 334 | { |
thomasmorris | 53:71f59e195f06 | 335 | //Do nothing main thread will sleep |
noutram | 0:36e89e3ed7c4 | 336 | } |
thomasmorris | 45:875f7e18a386 | 337 | } |