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Dependencies:   mbed

main.cpp@9:bfb877e5fecf, 2015-04-24 (annotated)

Committer:
tyleralt
Date:
Fri Apr 24 17:37:01 2015 +0000
Revision:
9:bfb877e5fecf
Parent:
8:3fc2849c098d 
board driver code;

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 8:3fc2849c098d 33 bool firstTime;
tyleralt 8:3fc2849c098d 34
tyleralt 0:d9730cf42ecc 35
tyleralt 6:1d7d769b398d 36 //serial port for pc and bluetooth
tyleralt 0:d9730cf42ecc 37 Serial pc(USBTX, USBRX); // tx, rx
tyleralt 3:1e9b4a4bf177 38 Serial bt(p9, p10);// tx, rx
tyleralt 0:d9730cf42ecc 39
tyleralt 6:1d7d769b398d 40 //define variables for ziggbee
tyleralt 6:1d7d769b398d 41 MRF24J40 mrf(p11, p12, p13, p14, p26);
tyleralt 8:3fc2849c098d 42 char rxBuffer[128];
tyleralt 6:1d7d769b398d 43 char txBuffer[128];
tyleralt 6:1d7d769b398d 44 int rxLen;
tyleralt 8:3fc2849c098d 45 char buffer [4];
tyleralt 6:1d7d769b398d 46
tyleralt 6:1d7d769b398d 47
tyleralt 6:1d7d769b398d 48 int rf_receive(char *data, uint8_t maxLength)
tyleralt 6:1d7d769b398d 49 {
tyleralt 6:1d7d769b398d 50 uint8_t len = mrf.Receive((uint8_t *)data, maxLength);
tyleralt 6:1d7d769b398d 51 uint8_t header[8]= {1, 8, 0, 0xA1, 0xB2, 0xC3, 0xD4, 0x00};
tyleralt 8:3fc2849c098d 52
tyleralt 6:1d7d769b398d 53 if(len > 10) {
tyleralt 6:1d7d769b398d 54 //Remove the header and footer of the message
tyleralt 6:1d7d769b398d 55 for(uint8_t i = 0; i < len-2; i++) {
tyleralt 6:1d7d769b398d 56 if(i<8) {
tyleralt 6:1d7d769b398d 57 //Make sure our header is valid first
tyleralt 6:1d7d769b398d 58 if(data[i] != header[i])
tyleralt 6:1d7d769b398d 59 return 0;
tyleralt 6:1d7d769b398d 60 } else {
tyleralt 6:1d7d769b398d 61 data[i-8] = data[i];
tyleralt 6:1d7d769b398d 62 }
tyleralt 6:1d7d769b398d 63 }
tyleralt 8:3fc2849c098d 64
tyleralt 6:1d7d769b398d 65 //pc.printf("Received: %s length:%d\r\n", data, ((int)len)-10);
tyleralt 6:1d7d769b398d 66 }
tyleralt 6:1d7d769b398d 67 return ((int)len)-10;
tyleralt 6:1d7d769b398d 68 }
tyleralt 8:3fc2849c098d 69 void recievePoint (int slice, int distance, char addChar, char operation){
tyleralt 8:3fc2849c098d 70 //pc.printf("recieved %i %i %X %c \r\n" , slice, distance, addChar, operation);
tyleralt 8:3fc2849c098d 71 if (operation == 'x'){
tyleralt 8:3fc2849c098d 72 //pc.printf("odl slice data with x %X is \r\n", slice_data[slice][distance]);
tyleralt 8:3fc2849c098d 73 slice_data [slice] [distance] ^= addChar;
tyleralt 8:3fc2849c098d 74 //pc.printf("new slice data with X %X is \r\n", slice_data[slice][distance]);
tyleralt 8:3fc2849c098d 75 return;
tyleralt 8:3fc2849c098d 76 }
tyleralt 8:3fc2849c098d 77 if (operation == 'o'){
tyleralt 8:3fc2849c098d 78 // pc.printf("odl slice data with o %X is \r\n", slice_data[slice][distance]);
tyleralt 8:3fc2849c098d 79 slice_data [slice] [distance] |= addChar;
tyleralt 8:3fc2849c098d 80 //pc.printf("new slice data with 0 %X is \r\n", slice_data[slice][distance]);
tyleralt 8:3fc2849c098d 81 return;
tyleralt 8:3fc2849c098d 82 }
tyleralt 8:3fc2849c098d 83 if (operation == 'a'){
tyleralt 8:3fc2849c098d 84 slice_data [slice] [distance] = slice_data[slice][distance] & addChar;
tyleralt 8:3fc2849c098d 85 return;
tyleralt 8:3fc2849c098d 86 }
tyleralt 6:1d7d769b398d 87 }
tyleralt 0:d9730cf42ecc 88
tyleralt 4:f81b40e04a58 89 void pushData (char bits [16]){
tyleralt 8:3fc2849c098d 90
tyleralt 8:3fc2849c098d 91 // pc.printf("pushing data \r\n");
tyleralt 4:f81b40e04a58 92 for (int i = 8; i < 16; i ++){
tyleralt 4:f81b40e04a58 93 dataArmOne = bits [i] & 0x01;
tyleralt 4:f81b40e04a58 94 dataArmTwo = bits [i] & 0x02;
tyleralt 4:f81b40e04a58 95 dataArmThree = bits [i]& 0x04;
tyleralt 4:f81b40e04a58 96 dataArmFour = bits [i]& 0x08;
tyleralt 4:f81b40e04a58 97 dataArmFive = bits [i] & 0x10;
tyleralt 4:f81b40e04a58 98 dataArmSix = bits [i] & 0x20;
tyleralt 4:f81b40e04a58 99 dataArmSeven = bits [i] & 0x40;
tyleralt 4:f81b40e04a58 100 dataArmEight = bits [i] & 0x80;
tyleralt 1:ea12b9153c51 101
tyleralt 1:ea12b9153c51 102 pushBit = 1;
tyleralt 1:ea12b9153c51 103 pushBit = 0;
tyleralt 1:ea12b9153c51 104 }
tyleralt 4:f81b40e04a58 105 for (int i = 7; i >= 0; i --){
tyleralt 4:f81b40e04a58 106 dataArmOne = bits [i] & 0x01;
tyleralt 4:f81b40e04a58 107 dataArmTwo = bits [i] & 0x02;
tyleralt 4:f81b40e04a58 108 dataArmThree = bits [i]& 0x04;
tyleralt 4:f81b40e04a58 109 dataArmFour = bits [i]& 0x08;
tyleralt 4:f81b40e04a58 110 dataArmFive = bits [i] & 0x10;
tyleralt 4:f81b40e04a58 111 dataArmSix = bits [i] & 0x20;
tyleralt 4:f81b40e04a58 112 dataArmSeven = bits [i] & 0x40;
tyleralt 4:f81b40e04a58 113 dataArmEight = bits [i] & 0x80;
tyleralt 4:f81b40e04a58 114
tyleralt 4:f81b40e04a58 115 pushBit = 1;
tyleralt 4:f81b40e04a58 116 pushBit = 0;
tyleralt 4:f81b40e04a58 117 }
tyleralt 4:f81b40e04a58 118
tyleralt 4:f81b40e04a58 119 pushRegister = 1;
tyleralt 4:f81b40e04a58 120 pushRegister = 0;
tyleralt 1:ea12b9153c51 121 }
tyleralt 1:ea12b9153c51 122
tyleralt 1:ea12b9153c51 123
tyleralt 1:ea12b9153c51 124 //periodic display interrupt
tyleralt 1:ea12b9153c51 125 void nextLedPush(){
tyleralt 8:3fc2849c098d 126 // pc.printf("next led push");
tyleralt 1:ea12b9153c51 127 if (current_slice < NUMBER_OF_SLICES){
tyleralt 4:f81b40e04a58 128 pushData(slice_data[current_slice]);
tyleralt 1:ea12b9153c51 129 current_slice ++;
tyleralt 2:554edc4b0cf2 130 } else {
tyleralt 2:554edc4b0cf2 131 updateLeds.detach();
tyleralt 1:ea12b9153c51 132 }
tyleralt 1:ea12b9153c51 133 }
tyleralt 1:ea12b9153c51 134
tyleralt 0:d9730cf42ecc 135 //Hall sensor interupt
tyleralt 0:d9730cf42ecc 136 void rotate_sense(){
tyleralt 8:3fc2849c098d 137 // pc.printf("interupt");
tyleralt 0:d9730cf42ecc 138 if (firstTime){
tyleralt 0:d9730cf42ecc 139 rotationTime.reset();
tyleralt 0:d9730cf42ecc 140 rotationTime.start();
tyleralt 6:1d7d769b398d 141 firstTime = false;
tyleralt 8:3fc2849c098d 142 // pc.printf(" first time");
tyleralt 2:554edc4b0cf2 143 return;
tyleralt 8:3fc2849c098d 144 }
tyleralt 8:3fc2849c098d 145 if(current_slice < NUMBER_OF_SLICES / 4){
tyleralt 2:554edc4b0cf2 146 return;
tyleralt 8:3fc2849c098d 147 }
tyleralt 8:3fc2849c098d 148 // pc.printf(" seconod time \n");
tyleralt 0:d9730cf42ecc 149 rotate_time = rotationTime.read_us();
tyleralt 0:d9730cf42ecc 150 rotationTime.reset();
tyleralt 0:d9730cf42ecc 151 rotationTime.start();
tyleralt 0:d9730cf42ecc 152
tyleralt 2:554edc4b0cf2 153 slice_time = (double) rotate_time/NUMBER_OF_SLICES;
tyleralt 0:d9730cf42ecc 154 current_slice = 0;
tyleralt 2:554edc4b0cf2 155 updateLeds.attach_us(&nextLedPush, slice_time);
tyleralt 0:d9730cf42ecc 156 }
tyleralt 0:d9730cf42ecc 157
tyleralt 6:1d7d769b398d 158 void didRecievePoint(){
tyleralt 6:1d7d769b398d 159 }
tyleralt 6:1d7d769b398d 160
tyleralt 0:d9730cf42ecc 161
tyleralt 0:d9730cf42ecc 162 int main() {
tyleralt 8:3fc2849c098d 163 pc.printf("started");
tyleralt 6:1d7d769b398d 164 firstTime = true;
tyleralt 8:3fc2849c098d 165 current_slice = 100;
tyleralt 6:1d7d769b398d 166
tyleralt 8:3fc2849c098d 167 uint8_t channel = 2;
tyleralt 8:3fc2849c098d 168 mrf.SetChannel(channel);
tyleralt 0:d9730cf42ecc 169
tyleralt 3:1e9b4a4bf177 170 hallSensor.fall(&rotate_sense);
tyleralt 6:1d7d769b398d 171
tyleralt 8:3fc2849c098d 172 /* for (int i = 0; i < 60; i ++){
tyleralt 8:3fc2849c098d 173 slice_data [i][0] = 0x11; // bit 0 is high on arm 0
tyleralt 8:3fc2849c098d 174 slice_data [i][1] = 0x11;
tyleralt 8:3fc2849c098d 175 slice_data [i][2] = 0x11;
tyleralt 8:3fc2849c098d 176 slice_data [i][3] = 0x11;
tyleralt 8:3fc2849c098d 177 slice_data [i][4] = 0x11;
tyleralt 8:3fc2849c098d 178 slice_data [i][5] = 0x11;
tyleralt 8:3fc2849c098d 179 slice_data [i][6] = 0x11;
tyleralt 8:3fc2849c098d 180 slice_data [i][7] = 0x11;
tyleralt 8:3fc2849c098d 181 slice_data [i][8] = 0x11;
tyleralt 8:3fc2849c098d 182 slice_data [i][9] = 0x11;
tyleralt 8:3fc2849c098d 183 slice_data [i][10] = 0x11;
tyleralt 8:3fc2849c098d 184 slice_data [i][11] = 0x11;
tyleralt 8:3fc2849c098d 185 slice_data [i][12] = 0x11;
tyleralt 8:3fc2849c098d 186 slice_data [i][13] = 0x11;
tyleralt 8:3fc2849c098d 187 slice_data [i][14] = 0x11;
tyleralt 8:3fc2849c098d 188 slice_data [i][15] = 0x11;
tyleralt 8:3fc2849c098d 189 }*/
tyleralt 8:3fc2849c098d 190 /*
tyleralt 6:1d7d769b398d 191 for (int i = 0; i < 60; i ++){
tyleralt 8:3fc2849c098d 192 slice_data [i][0] = 0x00; // bit 0 is high on arm 0
tyleralt 8:3fc2849c098d 193 slice_data [i][1] = 0x00;
tyleralt 8:3fc2849c098d 194 slice_data [i][2] = 0x00;
tyleralt 8:3fc2849c098d 195 slice_data [i][3] = 0x00;
tyleralt 8:3fc2849c098d 196 slice_data [i][4] = 0x00;
tyleralt 8:3fc2849c098d 197 slice_data [i][5] = 0x00;
tyleralt 8:3fc2849c098d 198 slice_data [i][6] = 0x08;
tyleralt 8:3fc2849c098d 199 slice_data [i][7] = 0x00;
tyleralt 8:3fc2849c098d 200 slice_data [i][8] = 0x00;
tyleralt 8:3fc2849c098d 201 slice_data [i][9] = 0x00;
tyleralt 8:3fc2849c098d 202 slice_data [i][10] = 0x00;
tyleralt 8:3fc2849c098d 203 slice_data [i][11] = 0x00;
tyleralt 8:3fc2849c098d 204 slice_data [i][12] = 0x00;
tyleralt 8:3fc2849c098d 205 slice_data [i][13] = 0x00;
tyleralt 8:3fc2849c098d 206 slice_data [i][14] = 0x00;
tyleralt 8:3fc2849c098d 207 slice_data [i][15] = 0x00;
tyleralt 0:d9730cf42ecc 208 }
tyleralt 8:3fc2849c098d 209
tyleralt 6:1d7d769b398d 210 for (int i = 60; i < 120; i++){
tyleralt 4:f81b40e04a58 211 slice_data [i][0] = 0x00; // bit 0 is high on arm 0
tyleralt 8:3fc2849c098d 212 slice_data [i][1] = 0x00;
tyleralt 4:f81b40e04a58 213 slice_data [i][2] = 0x00;
tyleralt 8:3fc2849c098d 214 slice_data [i][3] = 0x00;
tyleralt 8:3fc2849c098d 215 slice_data [i][4] = 0x08;
tyleralt 8:3fc2849c098d 216 slice_data [i][5] = 0x00;
tyleralt 4:f81b40e04a58 217 slice_data [i][6] = 0x00;
tyleralt 8:3fc2849c098d 218 slice_data [i][7] = 0x00;
tyleralt 5:6d8f9165021e 219 slice_data [i][8] = 0x00;
tyleralt 8:3fc2849c098d 220 slice_data [i][9] = 0x00;
tyleralt 4:f81b40e04a58 221 slice_data [i][10] = 0x00;
tyleralt 8:3fc2849c098d 222 slice_data [i][11] = 0x00;
tyleralt 4:f81b40e04a58 223 slice_data [i][12] = 0x00;
tyleralt 8:3fc2849c098d 224 slice_data [i][13] = 0x00;
tyleralt 4:f81b40e04a58 225 slice_data [i][14] = 0x00;
tyleralt 8:3fc2849c098d 226 slice_data [i][15] = 0x00;
tyleralt 0:d9730cf42ecc 227 }
tyleralt 8:3fc2849c098d 228 */
tyleralt 8:3fc2849c098d 229 slice_data [60][15] = 0xFF;
tyleralt 8:3fc2849c098d 230 for (int i = 0; i < 120; i ++){
tyleralt 8:3fc2849c098d 231 for (int j = 0; j < 16; j++){
tyleralt 8:3fc2849c098d 232 slice_data [i][j] = 0x00;
tyleralt 9:bfb877e5fecf 233 // if (j == 14){
tyleralt 9:bfb877e5fecf 234 // slice_data [i][j] = 0x01;
tyleralt 9:bfb877e5fecf 235 // }
tyleralt 9:bfb877e5fecf 236
tyleralt 8:3fc2849c098d 237 }
tyleralt 8:3fc2849c098d 238 }
tyleralt 8:3fc2849c098d 239 slice_data[60][14] = 0xFF;
tyleralt 6:1d7d769b398d 240
tyleralt 6:1d7d769b398d 241 while(true) {
tyleralt 8:3fc2849c098d 242
tyleralt 6:1d7d769b398d 243 //Try to receive some data
tyleralt 8:3fc2849c098d 244 rxLen = rf_receive(rxBuffer, 128);
tyleralt 8:3fc2849c098d 245 if(rxLen > 0) {
tyleralt 8:3fc2849c098d 246 int slice = (int) rxBuffer[0];
tyleralt 8:3fc2849c098d 247 int distance = (int) rxBuffer[1];
tyleralt 8:3fc2849c098d 248 char addChar = (char) rxBuffer[2];
tyleralt 8:3fc2849c098d 249 char operation = (char) rxBuffer[3];
tyleralt 6:1d7d769b398d 250
tyleralt 8:3fc2849c098d 251 //pc.printf("we got his from the buffer slice %i distance %i char %X operation %c \r\n", slice, distance, addChar, operation);
tyleralt 8:3fc2849c098d 252 recievePoint(slice, distance, addChar, operation);
tyleralt 8:3fc2849c098d 253 //TODO this means we got a
tyleralt 8:3fc2849c098d 254 //char
tyleralt 8:3fc2849c098d 255 }
tyleralt 0:d9730cf42ecc 256 }
tyleralt 0:d9730cf42ecc 257 }