Thomas Morris
Testing 1 blue pill
Dependencies: mbed mbed-rtos TextLCD
Diff: Interface/Interface.cpp
- Revision:
- 23:07a368f2cdb1
- Parent:
- 21:6d9f6a986647
- Child:
- 24:728de4bf961e
--- a/Interface/Interface.cpp Sat Feb 16 12:43:26 2019 +0000
+++ b/Interface/Interface.cpp Sat Feb 16 15:19:21 2019 +0000
@@ -1,43 +1,96 @@
-#include "Interface.hpp" //Include the header file, this acts like a series of forward declarations
-PwmOut Tendon_Power(PE_8);
+#include "Interface.hpp" //Include the header file, this acts like a series of forward declarations
//Constructor
-INTERFACE::INTERFACE(int Default_Turns)//Set all values to 0
+INTERFACE::INTERFACE(int Default_Turns)//Set all values to 0 bar the turns to do which is passed through by the constructor being run
{
+ _Turns_Todo_mutex.lock();
_Turns_Todo = Default_Turns;
+ _Turns_Todo_mutex.unlock();
}
INTERFACE::~INTERFACE(){} //Destructor
//Interrupt run functions
void INTERFACE::Interface_Init()//Set all values to 0 bar the default turns
{
- _No_Of_Rotations =20;
+ _Function_mutex.lock();
_Function =0;
+ _Function_mutex.unlock();
+
+ _Twist_Go_mutex.lock();
_Twist_Go =0;
+ _Twist_Go_mutex.unlock();
+
+ _Anneal_Go_mutex.lock();
_Anneal_Go =0;
+ _Anneal_Go_mutex.unlock();
+
+ _Test_Go_mutex.lock();
_Test_Go =0;
+ _Test_Go_mutex.unlock();
+
+ _Select_mutex.lock();
_Select =0;
+ _Select_mutex.unlock();
+
+ _Turns_Done_mutex.lock();
_Turns_Done =0;
- _Turns_Todo =20;
+ _Turns_Done_mutex.unlock();
+
+ _Turns_Todo_mutex.lock();
+ _Turns_Todo =_Turns_Todo;
+ _Turns_Todo_mutex.unlock();
+
+ _Loop_mutex.lock();
_Loop =0;
+ _Loop_mutex.unlock();
+
+ _Wait_Time_mutex.lock();
_Wait_Time =0;
+ _Wait_Time_mutex.unlock();
+
+ _Duty_Cycle_mutex.lock();
_Duty_Cycle =0;
+ _Duty_Cycle_mutex.unlock();
+
+ _Power_Time_mutex.lock();
_Power_Time =0;
+ _Power_Time_mutex.unlock();
+
+ Led_Select_Left_mutex.lock();
+ Led_Select_Left = 0;
+ Led_Select_Left_mutex.unlock();
+
+ Led_Select_Right_mutex.lock();
+ Led_Select_Right= 0;
+ Led_Select_Right_mutex.unlock();
+
+ Led_Power_mutex.lock();
+ Led_Power =0;
+ Led_Power_mutex.unlock();
+
+ _System_Running_mutex.lock();
+ _System_Running =0;
+ _System_Running_mutex.unlock();
}
void INTERFACE::Up()//Up Routine
{
if (_Function == 0)//Turns Function
{
- _No_Of_Rotations = _No_Of_Rotations + 1;//Increases Turn number
- _Turns_Todo = _No_Of_Rotations;
+ _Turns_Todo_mutex.lock();
+ _Turns_Todo = _Turns_Todo +1;//Increases Turn number
+ _Turns_Todo_mutex.unlock();
}
else if (_Function == 1)//Annealing Function
{
if (_Select == false)//Select = 0
- {
+ {
+ _Loop_mutex.lock();
_Loop = _Loop + 1; //Increases Repetitions in Annealing
+ _Loop_mutex.unlock();
}
else if (_Select == true)//Select = 1
{
+ _Wait_Time_mutex.lock();
_Wait_Time = _Wait_Time + 1; //Increases Wait time
+ _Wait_Time_mutex.unlock();
}
}
else if (_Function == 2)//Test Function
@@ -46,11 +99,15 @@
{
if (_Duty_Cycle < 100)
{
+ _Duty_Cycle_mutex.lock();
_Duty_Cycle = _Duty_Cycle + 10; //Increases Testing Duty Cycle
+ _Duty_Cycle_mutex.unlock();
}
else if (_Select == true)//Select = 1
{
+ _Power_Time_mutex.lock();
_Power_Time = _Power_Time + 1; //Increases time on
+ _Power_Time_mutex.unlock();
}
}
}
@@ -59,8 +116,9 @@
{
if (_Function == 0)//Turn Function
{
- _No_Of_Rotations = _No_Of_Rotations - 1;
- _Turns_Todo = _No_Of_Rotations;
+ _Turns_Todo_mutex.lock();
+ _Turns_Todo = _Turns_Todo -1;//Decrement Turn number
+ _Turns_Todo_mutex.unlock();
}
else if (_Function == 1)//Anneal Function
{
@@ -69,13 +127,17 @@
if (_Loop > 0)
{
+ _Loop_mutex.lock();
_Loop = _Loop - 1;
+ _Loop_mutex.unlock();
}
else if (_Select == true)//Select = 1
{
if (_Wait_Time > 0)
{
+ _Wait_Time_mutex.lock();
_Wait_Time = _Wait_Time - 1;
+ _Wait_Time_mutex.unlock();
}
}
}
@@ -86,13 +148,17 @@
{
if (_Duty_Cycle > 0)
{
+ _Duty_Cycle_mutex.lock();
_Duty_Cycle = _Duty_Cycle - 10; //Decreases duty
+ _Duty_Cycle_mutex.unlock();
}
else if (_Select == true)//Select = 1
{
if (_Power_Time > 0)
{
- _Power_Time = _Power_Time - 1; //Decreases Time on
+ _Power_Time_mutex.lock();
+ _Power_Time = _Power_Time - 1; //Decreases Time on
+ _Power_Time_mutex.unlock();
}
}
}
@@ -100,17 +166,100 @@
}
void INTERFACE::Start_Stop()//Start / Stop Routine
{
- if (_Function == 0)//Twist selected
+ _System_Running = !_System_Running;
+ //System not running cases (START)
+ if (_Function == 0 & _System_Running == 0)//Twist selected
+ {
+ _Twist_Go_mutex.lock();
+ _Twist_Go = true;//toggle used for coiling and twisting and Running the code
+ _Twist_Go_mutex.unlock();
+ }
+ else if (_Function == 1 & _System_Running == 0) //Annealing selected
+ {
+ _Anneal_Go_mutex.lock();
+ _Anneal_Go = true;//toggle and Run the code
+ _Anneal_Go_mutex.unlock();
+ }
+ else if (_Function == 2 & _System_Running == 0) //Testing selected
{
- _Twist_Go = !_Twist_Go;//toggle used for coiling and twisting and Running the code
+ _Test_Go_mutex.lock();
+ _Test_Go = true;//toggle and run the code
+ _Test_Go_mutex.unlock();
}
- else if (_Function == 1) //Annealing selected
+ //System Running cases (STOP)
+ else if (_Function == 0 & _System_Running == 1)//Twist selected to be stopped
+ {
+ _Twist_Stop_mutex.lock();
+ _Twist_Stop = true;
+ _Twist_Stop_mutex.unlock();
+ printf("Twisting Code Paused\n");
+ _System_Running_mutex.lock();
+ _System_Running = 2;
+ _System_Running_mutex.unlock();
+ STEPPER_MOTOR_1.Pause_Code();
+ }
+ else if (_Function == 1 & _System_Running == 1) //Annealing selected to be stopped
+ {
+ _Anneal_Stop_mutex.lock();
+ _Anneal_Stop = true;
+ _Anneal_Stop_mutex.unlock();
+ printf("Annealing Code Paused\n");
+ _System_Running_mutex.lock();
+ _System_Running = 2;
+ _System_Running_mutex.unlock();
+ }
+ else if (_Function == 2 & _System_Running == 1) //Testing selected to be stopped
{
- _Anneal_Go = !_Anneal_Go;//toggle and Run the code
+ _Test_Stop_mutex.lock();
+ _Test_Stop = true;
+ _Test_Stop_mutex.unlock();
+ printf("Testing Code Paused\n");
+ _Tendon_mutex.lock();
+ Tendon_Power=0;
+ _Tendon_mutex.unlock();
+
+ _System_Running_mutex.lock();
+ _System_Running = 2;
+ _System_Running_mutex.unlock();
}
- else if (_Function == 2) //Testing selected
+ //System Running cases (Unpause)
+ else if (_Function == 0 & _System_Running == 2)//Twist selected to be unpasued
+ {
+ _Twist_Stop_mutex.lock();
+ _Twist_Stop = false;
+ _Twist_Stop_mutex.unlock();
+
+ _Twist_Go_mutex.lock();
+ _Twist_Go = true;//toggle used for coiling and twisting and Running the code
+ _Twist_Go_mutex.unlock();
+
+ STEPPER_MOTOR_1.Unpause_Code();
+
+ printf("Twisting Code unpaused\n");
+
+ }
+ else if (_Function == 1 & _System_Running == 2) //Annealing selected to be unpaused
{
- _Test_Go = !_Test_Go;//toggle and run the code
+ _Anneal_Stop_mutex.lock();
+ _Anneal_Stop = false;
+ _Anneal_Stop_mutex.unlock();
+ printf("Annealing Code unpaused\n");
+
+ _Anneal_Go_mutex.lock();
+ _Anneal_Go = true;//toggle and Run the code
+ _Anneal_Go_mutex.unlock();
+ }
+ else if (_Function == 2 & _System_Running == 2) //Testing selected to be re run
+ {
+ _Test_Stop_mutex.lock();
+ _Test_Stop = false;
+ _Test_Stop_mutex.unlock();
+ printf("Testing Code unpaused\n");
+ _Test_Go_mutex.lock();
+ _Test_Go = true;//toggle and run the code
+ _Test_Go_mutex.unlock();
+
+
}
}
void INTERFACE::Function()//Function Routine used to increment through the three functions
@@ -121,25 +270,47 @@
Function 2 = Test
*/
if (_Function < 2){
+ _Function_mutex.lock();
_Function = _Function + 1;
+ _Function_mutex.unlock();
}
else
{
+ _Function_mutex.lock();
_Function = 0;
+ _Function_mutex.unlock();
}
}
void INTERFACE::Select()//Select Routine
{
+ _Select_mutex.lock();
_Select = !_Select;//Toggle select to choose between two options e.g. Duty cycle and loops as only two options are avalible
- if(_Select == false)
+ _Select_mutex.unlock();
+ if(_Function == 0)
{
+ Led_Select_Left_mutex.lock();
+ Led_Select_Right = 1;
+ Led_Select_Left_mutex.unlock();
+ }
+ else if(_Select == false)
+ {
+ Led_Select_Left_mutex.lock();
Led_Select_Left = 1;
+ Led_Select_Left_mutex.unlock();
+
+ Led_Select_Right_mutex.lock();
Led_Select_Right= 0;
+ Led_Select_Right_mutex.unlock();
}
else
{
+ Led_Select_Left_mutex.lock();
Led_Select_Left = 0;
+ Led_Select_Left_mutex.unlock();
+
+ Led_Select_Right_mutex.lock();
Led_Select_Right= 1;
+ Led_Select_Right_mutex.unlock();
}
//Output to leds here dependant upon the select value e.g. 0 is left led and 1 is right led
}
@@ -149,70 +320,137 @@
{
if (_Twist_Go == true)
{
+ Led_Power_mutex.lock();
Led_Power = 1;
- //printf("20 Turns\n");
- //STEPPER_MOTOR_1.Rotate_Steps(22);
+ Led_Power_mutex.unlock();
+
+ _System_Running_mutex.lock();
+ _System_Running = 1;
+ _System_Running_mutex.unlock();
+
STEPPER_MOTOR_1.Rotate_Steps(_Turns_Todo);//Rotates for the specified number of steps given
+
+ _System_Running_mutex.lock();
+ _System_Running = 0;
+ _System_Running_mutex.unlock();
+
+
+ _Twist_Go_mutex.lock();
_Twist_Go = false;
+ _Twist_Go_mutex.unlock();
+
+ Led_Power_mutex.lock();
Led_Power = 0;
+ Led_Power_mutex.unlock();
}
}
else if (_Function == 1) //Annealing Code
{
if (_Anneal_Go == true)
{
+ Led_Power_mutex.lock();
Led_Power = 1;
+ Led_Power_mutex.unlock();
+
+ _System_Running_mutex.lock();
+ _System_Running = 1;
+ _System_Running_mutex.unlock();
+
for ( int counter = 0; counter < _Loop; counter++) //Loop value, check if works
{
- Tendon_Power.period(0.01); // set PWM period to 10 ms don't use pwm have this just to declare
- Tendon_Power=1; // set duty cycle to 100%
- wait(_Wait_Time);//Variable
- Tendon_Power=0; // set duty cycle to 0%
- wait(6);//Fixed off time
+ if(_System_Running == 1)
+ {
+ _Tendon_mutex.lock();
+ Tendon_Power.period(0.01); // set PWM period to 10 ms don't use pwm have this just to declare
+ Tendon_Power=1; // set duty cycle to 100%
+ wait(_Wait_Time);//Variable
+ Tendon_Power=0; // set duty cycle to 0%
+ wait(6);//Fixed off time
+ _Tendon_mutex.unlock();
+ }
+ while(_System_Running == 2)//Stops the system and just spins in this while loop until system running is not paused
+ {
+ _Tendon_mutex.lock();
+ Tendon_Power =0;
+ _Tendon_mutex.unlock();
+ }
}
+
+ _System_Running_mutex.lock();
+ _System_Running = 0;
+ _System_Running_mutex.unlock();
+
+ _Anneal_Go_mutex.lock();
_Anneal_Go = false;
+ _Anneal_Go_mutex.unlock();
+
+ Led_Power_mutex.lock();
Led_Power = 0;
+ Led_Power_mutex.unlock();
}
}
- else if (_Function == 2) //Testing Code
+ else if (_Function == 2) //Testing Code //This code is paused / unpaused in start / stop note this code is not paused it is re run.
{
if (_Test_Go == true)
{
+ Led_Power_mutex.lock();
Led_Power = 1;
+ Led_Power_mutex.unlock();
+
+ _System_Running_mutex.lock();
+ _System_Running = 1;
+ _System_Running_mutex.unlock();
+
+ _Tendon_mutex.lock();
Tendon_Power.period(0.01); // set PWM period to 10 ms don't use pwm have this just to declare
Tendon_Power= _Duty_Cycle / 100; // set duty cycle to variable input from buttons between 0-1 (on lcd this is a percentage) also increment by values of 10
wait(_Power_Time);//Variable on time for power on
Tendon_Power=0; // set duty cycle to 0% and power off
+ _Tendon_mutex.unlock();
+
+ _System_Running_mutex.lock();
+ _System_Running = 0;
+ _System_Running_mutex.unlock();
+
+ _Test_Go_mutex.lock();
_Test_Go = false;
+ _Test_Go_mutex.unlock();
+
+ Led_Power_mutex.lock();
Led_Power = 0;
+ Led_Power_mutex.unlock();
}
}
}
//Setter functions
-void INTERFACE::Set_No_Of_Rotations(int Rotations){_No_Of_Rotations = Rotations;}
-void INTERFACE::Set_Function(int Function){_Function = Function;}
-void INTERFACE::Set_Twist_Go(bool Twist_Go){_Twist_Go = Twist_Go;}
-void INTERFACE::Set_Anneal_Go(bool Anneal_Go){_Anneal_Go = Anneal_Go;}
-void INTERFACE::Set_Test_Go(bool Test_Go){_Test_Go = Test_Go;}
-void INTERFACE::Set_Select(bool Select){_Select = Select;}
-void INTERFACE::Set_Turns_Done(int Turns_Done){_Turns_Done = Turns_Done;}
-void INTERFACE::Set_Turns_To_Do(int Turns_Todo){_Turns_Todo = Turns_Todo;}
-void INTERFACE::Set_Loop(int Loop){Loop = Loop;}
-void INTERFACE::Set_Wait_Time(int Wait_Time){_Wait_Time = Wait_Time;}
-void INTERFACE::Set_Duty_Cycle(int Duty_Cycle){_Duty_Cycle = Duty_Cycle;}
-void INTERFACE::Set_Power_Time(float Power_Time){_Power_Time = Power_Time;}
+void INTERFACE::Set_System_Running(int System_Running){_System_Running_mutex.lock(); _System_Running = System_Running; _System_Running_mutex.unlock();}
+void INTERFACE::Set_Function(int Function){_Function_mutex.lock();_Function = Function;_Function_mutex.unlock();}
+void INTERFACE::Set_Twist_Go(bool Twist_Go){_Twist_Go_mutex.lock();_Twist_Go = Twist_Go;_Twist_Go_mutex.unlock();}
+void INTERFACE::Set_Anneal_Go(bool Anneal_Go){_Anneal_Go_mutex.lock();_Anneal_Go = Anneal_Go;_Anneal_Go_mutex.unlock();}
+void INTERFACE::Set_Test_Go(bool Test_Go){_Test_Go_mutex.lock();_Test_Go = Test_Go;_Test_Go_mutex.unlock();}
+void INTERFACE::Set_Twist_Stop(bool Twist_Stop){_Twist_Stop_mutex.lock();_Twist_Stop = Twist_Stop;_Twist_Stop_mutex.unlock();}
+void INTERFACE::Set_Anneal_Stop(bool Anneal_Stop){_Anneal_Stop_mutex.lock();_Anneal_Stop = Anneal_Stop;_Anneal_Stop_mutex.unlock();}
+void INTERFACE::Set_Test_Stop(bool Test_Stop){_Test_Stop_mutex.lock();_Test_Go = Test_Stop;_Test_Stop_mutex.unlock();}
+void INTERFACE::Set_Select(bool Select){_Select_mutex.lock();_Select = Select;_Select_mutex.unlock();}
+void INTERFACE::Set_Turns_Done(int Turns_Done){_Turns_Done_mutex.lock();_Turns_Done = Turns_Done;_Turns_Done_mutex.unlock();}
+void INTERFACE::Set_Turns_To_Do(int Turns_Todo){_Turns_Todo_mutex.lock();_Turns_Todo = Turns_Todo;_Turns_Todo_mutex.unlock();}
+void INTERFACE::Set_Loop(int Loop){_Loop_mutex.lock();Loop = Loop;_Loop_mutex.unlock();}
+void INTERFACE::Set_Wait_Time(int Wait_Time){_Wait_Time_mutex.lock();_Wait_Time = Wait_Time;_Wait_Time_mutex.unlock();}
+void INTERFACE::Set_Duty_Cycle(int Duty_Cycle){_Duty_Cycle_mutex.lock();_Duty_Cycle = Duty_Cycle;_Duty_Cycle_mutex.unlock();}
+void INTERFACE::Set_Power_Time(float Power_Time){_Power_Time_mutex.lock();_Power_Time = Power_Time;_Power_Time_mutex.unlock();}
//Getter functions
-int INTERFACE::Get_No_Of_Rotations(){return _No_Of_Rotations;}
-int INTERFACE::Get_Function(){return _Function;}
+int INTERFACE::Get_System_Running(){return _System_Running;}
+int INTERFACE::Get_Function(){return _Function;}
bool INTERFACE::Get_Twist_Go(){return _Twist_Go;}
bool INTERFACE::Get_Anneal_Go(){return _Anneal_Go;}
bool INTERFACE::Get_Test_Go(){return _Test_Go;}
+bool INTERFACE::Get_Twist_Stop(){return _Twist_Stop;}
+bool INTERFACE::Get_Anneal_Stop(){return _Anneal_Stop;}
+bool INTERFACE::Get_Test_Stop(){return _Test_Stop;}
bool INTERFACE::Get_Select(){return _Select;}
int INTERFACE::Get_Turns_Done(){_Turns_Done = STEPPER_MOTOR_1.Get_Turns(); return _Turns_Done;}
-//int INTERFACE::Get_Turns_Done(){return _Turns_Done;}
-
int INTERFACE::Get_Turns_To_Do(){return _Turns_Todo;}
int INTERFACE::Get_Loop(){return _Loop;}
int INTERFACE::Get_Wait_Time(){return _Wait_Time;}
int INTERFACE::Get_Duty_Cycle(){return _Duty_Cycle;}
-int INTERFACE::Get_Power_Time(){return _Power_Time;}
+int INTERFACE::Get_Power_Time(){return _Power_Time;}
\ No newline at end of file