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Dependencies:   mbed

main.cpp@4:f81b40e04a58, 2015-04-20 (annotated)

Committer:
tyleralt
Date:
Mon Apr 20 19:55:59 2015 +0000
Revision:
4:f81b40e04a58
Parent:
3:1e9b4a4bf177
Child:
5:6d8f9165021e
this ish works. All tested out

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 0:d9730cf42ecc 4 #define NUMBER_OF_SLICES 90
tyleralt 0:d9730cf42ecc 5
tyleralt 0:d9730cf42ecc 6 //DigitalOut Pins
tyleralt 0:d9730cf42ecc 7 DigitalOut pushRegister(p23);
tyleralt 0:d9730cf42ecc 8 DigitalOut pushBit(p24);
tyleralt 0:d9730cf42ecc 9
tyleralt 0:d9730cf42ecc 10 DigitalOut dataArmOne(p15);
tyleralt 0:d9730cf42ecc 11 DigitalOut dataArmTwo(p16);
tyleralt 0:d9730cf42ecc 12 DigitalOut dataArmThree(p17);
tyleralt 0:d9730cf42ecc 13 DigitalOut dataArmFour(p18);
tyleralt 0:d9730cf42ecc 14 DigitalOut dataArmFive(p19);
tyleralt 0:d9730cf42ecc 15 DigitalOut dataArmSix(p20);
tyleralt 0:d9730cf42ecc 16 DigitalOut dataArmSeven(p21);
tyleralt 0:d9730cf42ecc 17 DigitalOut dataArmEight(p22);
tyleralt 2:554edc4b0cf2 18 DigitalOut led(LED1);
tyleralt 0:d9730cf42ecc 19
tyleralt 0:d9730cf42ecc 20 //Enable Interupt
tyleralt 0:d9730cf42ecc 21 InterruptIn hallSensor(p25);
tyleralt 0:d9730cf42ecc 22
tyleralt 1:ea12b9153c51 23 //Set Up Timer and ticker
tyleralt 0:d9730cf42ecc 24 Timer rotationTime;
tyleralt 1:ea12b9153c51 25 Ticker updateLeds;
tyleralt 0:d9730cf42ecc 26
tyleralt 0:d9730cf42ecc 27 //Declare global vars
tyleralt 2:554edc4b0cf2 28 double slice_time;
tyleralt 2:554edc4b0cf2 29 double rotate_time;
tyleralt 0:d9730cf42ecc 30 int current_slice;
tyleralt 4:f81b40e04a58 31 char slice_data [NUMBER_OF_SLICES][16]; //[slice][specific led distance] (0 is closest) & with approppriate bit for each arm
tyleralt 2:554edc4b0cf2 32 double firstTime;
tyleralt 0:d9730cf42ecc 33
tyleralt 0:d9730cf42ecc 34 Serial pc(USBTX, USBRX); // tx, rx
tyleralt 3:1e9b4a4bf177 35 Serial bt(p9, p10);// tx, rx
tyleralt 0:d9730cf42ecc 36
tyleralt 0:d9730cf42ecc 37
tyleralt 4:f81b40e04a58 38 void pushData (char bits [16]){
tyleralt 4:f81b40e04a58 39 //pc.printf("got here");
tyleralt 4:f81b40e04a58 40 //for (int i = 0; i < 16; i ++){
tyleralt 4:f81b40e04a58 41 // pc.printf("%i %u ", i, bits[i]);
tyleralt 4:f81b40e04a58 42 // }
tyleralt 4:f81b40e04a58 43 for (int i = 8; i < 16; i ++){
tyleralt 4:f81b40e04a58 44 dataArmOne = bits [i] & 0x01;
tyleralt 4:f81b40e04a58 45 dataArmTwo = bits [i] & 0x02;
tyleralt 4:f81b40e04a58 46 dataArmThree = bits [i]& 0x04;
tyleralt 4:f81b40e04a58 47 dataArmFour = bits [i]& 0x08;
tyleralt 4:f81b40e04a58 48 dataArmFive = bits [i] & 0x10;
tyleralt 4:f81b40e04a58 49 dataArmSix = bits [i] & 0x20;
tyleralt 4:f81b40e04a58 50 dataArmSeven = bits [i] & 0x40;
tyleralt 4:f81b40e04a58 51 dataArmEight = bits [i] & 0x80;
tyleralt 1:ea12b9153c51 52
tyleralt 1:ea12b9153c51 53 pushBit = 1;
tyleralt 1:ea12b9153c51 54 pushBit = 0;
tyleralt 1:ea12b9153c51 55 }
tyleralt 4:f81b40e04a58 56 for (int i = 7; i >= 0; i --){
tyleralt 4:f81b40e04a58 57 dataArmOne = bits [i] & 0x01;
tyleralt 4:f81b40e04a58 58 dataArmTwo = bits [i] & 0x02;
tyleralt 4:f81b40e04a58 59 dataArmThree = bits [i]& 0x04;
tyleralt 4:f81b40e04a58 60 dataArmFour = bits [i]& 0x08;
tyleralt 4:f81b40e04a58 61 dataArmFive = bits [i] & 0x10;
tyleralt 4:f81b40e04a58 62 dataArmSix = bits [i] & 0x20;
tyleralt 4:f81b40e04a58 63 dataArmSeven = bits [i] & 0x40;
tyleralt 4:f81b40e04a58 64 dataArmEight = bits [i] & 0x80;
tyleralt 4:f81b40e04a58 65
tyleralt 4:f81b40e04a58 66 pushBit = 1;
tyleralt 4:f81b40e04a58 67 pushBit = 0;
tyleralt 4:f81b40e04a58 68 }
tyleralt 4:f81b40e04a58 69
tyleralt 4:f81b40e04a58 70 pushRegister = 1;
tyleralt 4:f81b40e04a58 71 pushRegister = 0;
tyleralt 1:ea12b9153c51 72 }
tyleralt 1:ea12b9153c51 73
tyleralt 1:ea12b9153c51 74
tyleralt 1:ea12b9153c51 75 //periodic display interrupt
tyleralt 1:ea12b9153c51 76 void nextLedPush(){
tyleralt 1:ea12b9153c51 77 if (current_slice < NUMBER_OF_SLICES){
tyleralt 4:f81b40e04a58 78 pushData(slice_data[current_slice]);
tyleralt 1:ea12b9153c51 79 current_slice ++;
tyleralt 2:554edc4b0cf2 80 } else {
tyleralt 2:554edc4b0cf2 81 updateLeds.detach();
tyleralt 1:ea12b9153c51 82 }
tyleralt 1:ea12b9153c51 83 }
tyleralt 1:ea12b9153c51 84
tyleralt 0:d9730cf42ecc 85 //Hall sensor interupt
tyleralt 0:d9730cf42ecc 86 void rotate_sense(){
tyleralt 3:1e9b4a4bf177 87 pc.printf("interupt");
tyleralt 0:d9730cf42ecc 88 if (firstTime){
tyleralt 0:d9730cf42ecc 89 rotationTime.reset();
tyleralt 0:d9730cf42ecc 90 rotationTime.start();
tyleralt 0:d9730cf42ecc 91 firstTime = 0;
tyleralt 3:1e9b4a4bf177 92 pc.printf("first time");
tyleralt 3:1e9b4a4bf177 93 led = !led;
tyleralt 2:554edc4b0cf2 94 return;
tyleralt 4:f81b40e04a58 95 } else if(current_slice < NUMBER_OF_SLICES / 4){
tyleralt 2:554edc4b0cf2 96 return;
tyleralt 2:554edc4b0cf2 97 }
tyleralt 3:1e9b4a4bf177 98 pc.printf("seconod time \n");
tyleralt 3:1e9b4a4bf177 99 led = !led;
tyleralt 0:d9730cf42ecc 100 rotate_time = rotationTime.read_us();
tyleralt 0:d9730cf42ecc 101 rotationTime.reset();
tyleralt 0:d9730cf42ecc 102 rotationTime.start();
tyleralt 0:d9730cf42ecc 103
tyleralt 2:554edc4b0cf2 104 slice_time = (double) rotate_time/NUMBER_OF_SLICES;
tyleralt 0:d9730cf42ecc 105 current_slice = 0;
tyleralt 2:554edc4b0cf2 106 updateLeds.attach_us(&nextLedPush, slice_time);
tyleralt 0:d9730cf42ecc 107 }
tyleralt 0:d9730cf42ecc 108
tyleralt 0:d9730cf42ecc 109
tyleralt 0:d9730cf42ecc 110 int main() {
tyleralt 3:1e9b4a4bf177 111 pc.printf("started");
tyleralt 0:d9730cf42ecc 112 firstTime = 1;
tyleralt 2:554edc4b0cf2 113 current_slice = 90;
tyleralt 0:d9730cf42ecc 114
tyleralt 3:1e9b4a4bf177 115 hallSensor.fall(&rotate_sense);
tyleralt 2:554edc4b0cf2 116 for (int i = 0; i < 45; i ++){
tyleralt 4:f81b40e04a58 117 slice_data [i][0] = 0x01; // bit 0 is high on arm 0
tyleralt 4:f81b40e04a58 118 slice_data [i][1] = 0x00;
tyleralt 4:f81b40e04a58 119 slice_data [i][2] = 0x00;
tyleralt 4:f81b40e04a58 120 slice_data [i][3] = 0x00;
tyleralt 4:f81b40e04a58 121 slice_data [i][4] = 0x00;
tyleralt 4:f81b40e04a58 122 slice_data [i][5] = 0x00;
tyleralt 4:f81b40e04a58 123 slice_data [i][6] = 0x00;
tyleralt 4:f81b40e04a58 124 slice_data [i][9] = 0x00;
tyleralt 4:f81b40e04a58 125 slice_data [i][10] = 0x00;
tyleralt 4:f81b40e04a58 126 slice_data [i][11] = 0x00;
tyleralt 4:f81b40e04a58 127 slice_data [i][12] = 0x00;
tyleralt 4:f81b40e04a58 128 slice_data [i][13] = 0x00;
tyleralt 4:f81b40e04a58 129 slice_data [i][14] = 0x00;
tyleralt 4:f81b40e04a58 130 slice_data [i][15] = 0x00;
tyleralt 1:ea12b9153c51 131 //{1,1,1,1,0,0,0,0,1,1,1,0,0,0,1,0};
tyleralt 0:d9730cf42ecc 132 }
tyleralt 2:554edc4b0cf2 133 for (int i = 45; i < 90; i++){
tyleralt 4:f81b40e04a58 134 slice_data [i][0] = 0x00; // bit 0 is high on arm 0
tyleralt 4:f81b40e04a58 135 slice_data [i][1] = 0x00;
tyleralt 4:f81b40e04a58 136 slice_data [i][2] = 0x00;
tyleralt 4:f81b40e04a58 137 slice_data [i][3] = 0x00;
tyleralt 4:f81b40e04a58 138 slice_data [i][4] = 0x00;
tyleralt 4:f81b40e04a58 139 slice_data [i][5] = 0x00;
tyleralt 4:f81b40e04a58 140 slice_data [i][6] = 0x00;
tyleralt 4:f81b40e04a58 141 slice_data [i][9] = 0x00;
tyleralt 4:f81b40e04a58 142 slice_data [i][10] = 0x00;
tyleralt 4:f81b40e04a58 143 slice_data [i][11] = 0x00;
tyleralt 4:f81b40e04a58 144 slice_data [i][12] = 0x00;
tyleralt 4:f81b40e04a58 145 slice_data [i][13] = 0x00;
tyleralt 4:f81b40e04a58 146 slice_data [i][14] = 0x00;
tyleralt 4:f81b40e04a58 147 slice_data [i][15] = 0x00;
tyleralt 1:ea12b9153c51 148 //{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
tyleralt 0:d9730cf42ecc 149 }
tyleralt 4:f81b40e04a58 150 pushData(slice_data[20]);
tyleralt 0:d9730cf42ecc 151
tyleralt 0:d9730cf42ecc 152 while(1) {
tyleralt 3:1e9b4a4bf177 153 if (bt.readable()){
tyleralt 4:f81b40e04a58 154 pc.printf("Just read %c", bt.getc());
tyleralt 4:f81b40e04a58 155 }
tyleralt 4:f81b40e04a58 156
tyleralt 0:d9730cf42ecc 157 }
tyleralt 0:d9730cf42ecc 158 }