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Dependencies:   mbed

main.cpp@7:7a73065d2d92, 2015-04-22 (annotated)

Committer:
tyleralt
Date:
Wed Apr 22 06:36:01 2015 +0000
Revision:
7:7a73065d2d92
Parent:
6:1d7d769b398d
Child:
8:3fc2849c098d
mixed up pin fixed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tyleralt 0:d9730cf42ecc 1 #include "mbed.h"
tyleralt 1:ea12b9153c51 2 #include <vector>
tyleralt 0:d9730cf42ecc 3 #define BUFFER_SIZE 16
tyleralt 6:1d7d769b398d 4 #define NUMBER_OF_SLICES 120
tyleralt 6:1d7d769b398d 5 #include "MRF24J40.h"
tyleralt 0:d9730cf42ecc 6
tyleralt 6:1d7d769b398d 7 //push data pins
tyleralt 7:7a73065d2d92 8 DigitalOut pushRegister(p24);
tyleralt 7:7a73065d2d92 9 DigitalOut pushBit(p23);
tyleralt 0:d9730cf42ecc 10
tyleralt 6:1d7d769b398d 11 //write to arm pins
tyleralt 0:d9730cf42ecc 12 DigitalOut dataArmOne(p15);
tyleralt 0:d9730cf42ecc 13 DigitalOut dataArmTwo(p16);
tyleralt 0:d9730cf42ecc 14 DigitalOut dataArmThree(p17);
tyleralt 0:d9730cf42ecc 15 DigitalOut dataArmFour(p18);
tyleralt 0:d9730cf42ecc 16 DigitalOut dataArmFive(p19);
tyleralt 0:d9730cf42ecc 17 DigitalOut dataArmSix(p20);
tyleralt 0:d9730cf42ecc 18 DigitalOut dataArmSeven(p21);
tyleralt 0:d9730cf42ecc 19 DigitalOut dataArmEight(p22);
tyleralt 0:d9730cf42ecc 20
tyleralt 6:1d7d769b398d 21 //hass sensor interupt
tyleralt 0:d9730cf42ecc 22 InterruptIn hallSensor(p25);
tyleralt 0:d9730cf42ecc 23
tyleralt 1:ea12b9153c51 24 //Set Up Timer and ticker
tyleralt 0:d9730cf42ecc 25 Timer rotationTime;
tyleralt 1:ea12b9153c51 26 Ticker updateLeds;
tyleralt 0:d9730cf42ecc 27
tyleralt 0:d9730cf42ecc 28 //Declare global vars
tyleralt 2:554edc4b0cf2 29 double slice_time;
tyleralt 6:1d7d769b398d 30 double rotate_time;
tyleralt 0:d9730cf42ecc 31 int current_slice;
tyleralt 4:f81b40e04a58 32 char slice_data [NUMBER_OF_SLICES][16]; //[slice][specific led distance] (0 is closest) & with approppriate bit for each arm
tyleralt 6:1d7d769b398d 33 int firstTime;
tyleralt 0:d9730cf42ecc 34
tyleralt 6:1d7d769b398d 35 //serial port for pc and bluetooth
tyleralt 0:d9730cf42ecc 36 Serial pc(USBTX, USBRX); // tx, rx
tyleralt 3:1e9b4a4bf177 37 Serial bt(p9, p10);// tx, rx
tyleralt 0:d9730cf42ecc 38
tyleralt 6:1d7d769b398d 39 //define variables for ziggbee
tyleralt 6:1d7d769b398d 40 MRF24J40 mrf(p11, p12, p13, p14, p26);
tyleralt 6:1d7d769b398d 41 char txBuffer[128];
tyleralt 6:1d7d769b398d 42 char rxBuffer[128];
tyleralt 6:1d7d769b398d 43 int rxLen;
tyleralt 6:1d7d769b398d 44
tyleralt 6:1d7d769b398d 45
tyleralt 6:1d7d769b398d 46 int rf_receive(char *data, uint8_t maxLength)
tyleralt 6:1d7d769b398d 47 {
tyleralt 6:1d7d769b398d 48 uint8_t len = mrf.Receive((uint8_t *)data, maxLength);
tyleralt 6:1d7d769b398d 49 uint8_t header[8]= {1, 8, 0, 0xA1, 0xB2, 0xC3, 0xD4, 0x00};
tyleralt 6:1d7d769b398d 50
tyleralt 6:1d7d769b398d 51 if(len > 10) {
tyleralt 6:1d7d769b398d 52 //Remove the header and footer of the message
tyleralt 6:1d7d769b398d 53 for(uint8_t i = 0; i < len-2; i++) {
tyleralt 6:1d7d769b398d 54 if(i<8) {
tyleralt 6:1d7d769b398d 55 //Make sure our header is valid first
tyleralt 6:1d7d769b398d 56 if(data[i] != header[i])
tyleralt 6:1d7d769b398d 57 return 0;
tyleralt 6:1d7d769b398d 58 } else {
tyleralt 6:1d7d769b398d 59 data[i-8] = data[i];
tyleralt 6:1d7d769b398d 60 }
tyleralt 6:1d7d769b398d 61 }
tyleralt 6:1d7d769b398d 62
tyleralt 6:1d7d769b398d 63 //pc.printf("Received: %s length:%d\r\n", data, ((int)len)-10);
tyleralt 6:1d7d769b398d 64 }
tyleralt 6:1d7d769b398d 65 return ((int)len)-10;
tyleralt 6:1d7d769b398d 66 }
tyleralt 6:1d7d769b398d 67 void recievePoint (int slice, int distance, char addChar){
tyleralt 6:1d7d769b398d 68 //TODO make this edit the other thing
tyleralt 6:1d7d769b398d 69 }
tyleralt 0:d9730cf42ecc 70
tyleralt 4:f81b40e04a58 71 void pushData (char bits [16]){
tyleralt 6:1d7d769b398d 72 bt.printf("pushing data \r\n");
tyleralt 4:f81b40e04a58 73 for (int i = 8; i < 16; i ++){
tyleralt 4:f81b40e04a58 74 dataArmOne = bits [i] & 0x01;
tyleralt 4:f81b40e04a58 75 dataArmTwo = bits [i] & 0x02;
tyleralt 4:f81b40e04a58 76 dataArmThree = bits [i]& 0x04;
tyleralt 4:f81b40e04a58 77 dataArmFour = bits [i]& 0x08;
tyleralt 4:f81b40e04a58 78 dataArmFive = bits [i] & 0x10;
tyleralt 4:f81b40e04a58 79 dataArmSix = bits [i] & 0x20;
tyleralt 4:f81b40e04a58 80 dataArmSeven = bits [i] & 0x40;
tyleralt 4:f81b40e04a58 81 dataArmEight = bits [i] & 0x80;
tyleralt 1:ea12b9153c51 82
tyleralt 1:ea12b9153c51 83 pushBit = 1;
tyleralt 1:ea12b9153c51 84 pushBit = 0;
tyleralt 1:ea12b9153c51 85 }
tyleralt 4:f81b40e04a58 86 for (int i = 7; i >= 0; i --){
tyleralt 4:f81b40e04a58 87 dataArmOne = bits [i] & 0x01;
tyleralt 4:f81b40e04a58 88 dataArmTwo = bits [i] & 0x02;
tyleralt 4:f81b40e04a58 89 dataArmThree = bits [i]& 0x04;
tyleralt 4:f81b40e04a58 90 dataArmFour = bits [i]& 0x08;
tyleralt 4:f81b40e04a58 91 dataArmFive = bits [i] & 0x10;
tyleralt 4:f81b40e04a58 92 dataArmSix = bits [i] & 0x20;
tyleralt 4:f81b40e04a58 93 dataArmSeven = bits [i] & 0x40;
tyleralt 4:f81b40e04a58 94 dataArmEight = bits [i] & 0x80;
tyleralt 4:f81b40e04a58 95
tyleralt 4:f81b40e04a58 96 pushBit = 1;
tyleralt 4:f81b40e04a58 97 pushBit = 0;
tyleralt 4:f81b40e04a58 98 }
tyleralt 4:f81b40e04a58 99
tyleralt 4:f81b40e04a58 100 pushRegister = 1;
tyleralt 4:f81b40e04a58 101 pushRegister = 0;
tyleralt 1:ea12b9153c51 102 }
tyleralt 1:ea12b9153c51 103
tyleralt 1:ea12b9153c51 104
tyleralt 1:ea12b9153c51 105 //periodic display interrupt
tyleralt 1:ea12b9153c51 106 void nextLedPush(){
tyleralt 1:ea12b9153c51 107 if (current_slice < NUMBER_OF_SLICES){
tyleralt 4:f81b40e04a58 108 pushData(slice_data[current_slice]);
tyleralt 1:ea12b9153c51 109 current_slice ++;
tyleralt 2:554edc4b0cf2 110 } else {
tyleralt 2:554edc4b0cf2 111 updateLeds.detach();
tyleralt 1:ea12b9153c51 112 }
tyleralt 1:ea12b9153c51 113 }
tyleralt 1:ea12b9153c51 114
tyleralt 0:d9730cf42ecc 115 //Hall sensor interupt
tyleralt 0:d9730cf42ecc 116 void rotate_sense(){
tyleralt 6:1d7d769b398d 117 bt.printf("interupt");
tyleralt 0:d9730cf42ecc 118 if (firstTime){
tyleralt 0:d9730cf42ecc 119 rotationTime.reset();
tyleralt 0:d9730cf42ecc 120 rotationTime.start();
tyleralt 6:1d7d769b398d 121 firstTime = false;
tyleralt 3:1e9b4a4bf177 122 pc.printf("first time");
tyleralt 2:554edc4b0cf2 123 return;
tyleralt 4:f81b40e04a58 124 } else if(current_slice < NUMBER_OF_SLICES / 4){
tyleralt 2:554edc4b0cf2 125 return;
tyleralt 2:554edc4b0cf2 126 }
tyleralt 6:1d7d769b398d 127 bt.printf("seconod time \n");
tyleralt 0:d9730cf42ecc 128 rotate_time = rotationTime.read_us();
tyleralt 0:d9730cf42ecc 129 rotationTime.reset();
tyleralt 0:d9730cf42ecc 130 rotationTime.start();
tyleralt 0:d9730cf42ecc 131
tyleralt 2:554edc4b0cf2 132 slice_time = (double) rotate_time/NUMBER_OF_SLICES;
tyleralt 0:d9730cf42ecc 133 current_slice = 0;
tyleralt 2:554edc4b0cf2 134 updateLeds.attach_us(&nextLedPush, slice_time);
tyleralt 0:d9730cf42ecc 135 }
tyleralt 0:d9730cf42ecc 136
tyleralt 6:1d7d769b398d 137 void didRecievePoint(){
tyleralt 6:1d7d769b398d 138 }
tyleralt 6:1d7d769b398d 139
tyleralt 0:d9730cf42ecc 140
tyleralt 0:d9730cf42ecc 141 int main() {
tyleralt 6:1d7d769b398d 142 bt.printf("started");
tyleralt 6:1d7d769b398d 143 firstTime = true;
tyleralt 6:1d7d769b398d 144 current_slice = 0;
tyleralt 6:1d7d769b398d 145
tyleralt 6:1d7d769b398d 146 uint8_t channel = 6;
tyleralt 6:1d7d769b398d 147 //mrf.SetChannel(channel);
tyleralt 0:d9730cf42ecc 148
tyleralt 3:1e9b4a4bf177 149 hallSensor.fall(&rotate_sense);
tyleralt 6:1d7d769b398d 150
tyleralt 6:1d7d769b398d 151 for (int i = 0; i < 60; i ++){
tyleralt 4:f81b40e04a58 152 slice_data [i][0] = 0x01; // bit 0 is high on arm 0
tyleralt 5:6d8f9165021e 153 slice_data [i][1] = 0x01;
tyleralt 5:6d8f9165021e 154 slice_data [i][2] = 0x01;
tyleralt 5:6d8f9165021e 155 slice_data [i][3] = 0x01;
tyleralt 5:6d8f9165021e 156 slice_data [i][4] = 0x01;
tyleralt 5:6d8f9165021e 157 slice_data [i][5] = 0x01;
tyleralt 5:6d8f9165021e 158 slice_data [i][6] = 0x01;
tyleralt 5:6d8f9165021e 159 slice_data [i][7] = 0x01;
tyleralt 5:6d8f9165021e 160 slice_data [i][8] = 0x01;
tyleralt 5:6d8f9165021e 161 slice_data [i][9] = 0x01;
tyleralt 5:6d8f9165021e 162 slice_data [i][10] = 0x01;
tyleralt 5:6d8f9165021e 163 slice_data [i][11] = 0x01;
tyleralt 5:6d8f9165021e 164 slice_data [i][12] = 0x01;
tyleralt 5:6d8f9165021e 165 slice_data [i][13] = 0x01;
tyleralt 5:6d8f9165021e 166 slice_data [i][14] = 0x01;
tyleralt 5:6d8f9165021e 167 slice_data [i][15] = 0x01;
tyleralt 0:d9730cf42ecc 168 }
tyleralt 6:1d7d769b398d 169 for (int i = 60; i < 120; i++){
tyleralt 4:f81b40e04a58 170 slice_data [i][0] = 0x00; // bit 0 is high on arm 0
tyleralt 5:6d8f9165021e 171 slice_data [i][1] = 0x01;
tyleralt 4:f81b40e04a58 172 slice_data [i][2] = 0x00;
tyleralt 5:6d8f9165021e 173 slice_data [i][3] = 0x01;
tyleralt 4:f81b40e04a58 174 slice_data [i][4] = 0x00;
tyleralt 5:6d8f9165021e 175 slice_data [i][5] = 0x01;
tyleralt 4:f81b40e04a58 176 slice_data [i][6] = 0x00;
tyleralt 5:6d8f9165021e 177 slice_data [i][7] = 0x01;
tyleralt 5:6d8f9165021e 178 slice_data [i][8] = 0x00;
tyleralt 5:6d8f9165021e 179 slice_data [i][9] = 0x01;
tyleralt 4:f81b40e04a58 180 slice_data [i][10] = 0x00;
tyleralt 5:6d8f9165021e 181 slice_data [i][11] = 0x01;
tyleralt 4:f81b40e04a58 182 slice_data [i][12] = 0x00;
tyleralt 5:6d8f9165021e 183 slice_data [i][13] = 0x01;
tyleralt 4:f81b40e04a58 184 slice_data [i][14] = 0x00;
tyleralt 5:6d8f9165021e 185 slice_data [i][15] = 0x01;
tyleralt 0:d9730cf42ecc 186 }
tyleralt 6:1d7d769b398d 187
tyleralt 6:1d7d769b398d 188 pushData(slice_data[80]);
tyleralt 6:1d7d769b398d 189 while(true) {
tyleralt 6:1d7d769b398d 190 //Try to receive some data
tyleralt 6:1d7d769b398d 191
tyleralt 6:1d7d769b398d 192 //rxLen = rf_receive(rxBuffer, 24);
tyleralt 6:1d7d769b398d 193 //if(rxLen > 24) {
tyleralt 6:1d7d769b398d 194
tyleralt 6:1d7d769b398d 195 //}
tyleralt 0:d9730cf42ecc 196 }
tyleralt 0:d9730cf42ecc 197 }