Diff: main.cpp

Revision:

0:65cab7b6fd7a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri May 27 21:07:24 2016 +0000
@@ -0,0 +1,456 @@
+/*--------------------------------------------------------------------------------*/
+/*  Plotter Demo Code for K64F (Accelerometer, Ethernet Client)                   */
+/*--------------------------------------------------------------------------------*/
+
+/*--COMPANY-----AUTHOR------DATE------------REVISION----NOTES---------------------*/
+/*  NXP         mareikeFSL  2016.02.05      rev 1.0     initial                   */
+/*  NXP         mareikeFSL  2016.03.02      rev 1.1     added feedback / enable   */
+/*                                                                                */
+/*--------------------------------------------------------------------------------*/
+
+/*--PROGRAM FLOW------------------------------------------------------------------*/
+/*  MAIN                                                                          */
+/*  ->                                                                            */
+/*--------------------------------------------------------------------------------*/
+
+/*--HARDWARE----------------------------------------------------------------------*/
+/*  FRDM-K64F #2        REV: 700-28163 REV C, SCH-28163 REV E                     */
+/*  FRDM-STBC-AGM01     REV: 700-28556 REV B, SCH-28566 REV C                     */
+/*  FRDM-STBC-AGM01 J5 is (1-2), J6 is (1-2), J7 is (1-2)                         */
+/*  Ethernet cable from FRDM-K64F (#1) to FRDM-K64F (#2)                          */
+/*--------------------------------------------------------------------------------*/
+
+/*--GPIO--------------------------------------------------------------------------*/
+/*  INT1_8700       (INT1)      =   PTB19   (J1-3)                                */
+/*  INT2_8700       (INT2)      =   PTC1    (J1-5)                                */
+/*  INT1_21002      (INT1_G)    =   PTB9    (J1-6)                                */
+/*  INT2_21002      (INT2_G)    =   PTE26   (J2-1)                                */
+/*  SPI_CSB_21002   (CS_G)      =   PTD0    (J2-6)                                */
+/*  RST_GPIO        (RESET)     =   PTB11   (J10-4)                               */
+/*  SA1_CSB_8700    (CS)        =   PTB10   (J10-3)                               */
+/*  RST_MCU         (U_RESET)   =   RESET   (J9-3)                                */
+/*--------------------------------------------------------------------------------*/
+/*--SPI---------------------------------------------------------------------------*/
+/*  SPI_MOSI        (MOSI)      =   PTD2    (J2-4)                                */
+/*  SA0_MISO        (MISO)      =   PTD3    (J2-5)                                */
+/*  SPI_SCLK        (CLK)       =   PTD1    (J2-6)                                */
+/*--------------------------------------------------------------------------------*/
+/*--I2C---------------------------------------------------------------------------*/
+/*  I2C_SDA0        (DATA0)     =   PTE25   (J2-9)                                */
+/*  I2C_SCL0        (CLK0)      =   PTE24   (J2-10)                               */
+/*  I2C_SCL1        (CLK1)      =   PTC10   (J10-6)                               */
+/*  I2C_SDA1        (DATA1)     =   PTC11   (J10-5)                               */
+/*--------------------------------------------------------------------------------*/
+/*--OTHER-------------------------------------------------------------------------*/
+/*  GND             (GND)       =   GND     (J2-8)                                */
+/*  GND             (GND)       =   GND     (J9-7)                                */
+/*  GND             (GND)       =   GND     (J9-6)                                */
+/*  VDD             (VDD)       =   VDD     (J9-4)                                */
+/*  VDD             (VDD)       =   VDD     (J9-2)                                */
+/*--------------------------------------------------------------------------------*/
+
+
+/*--INCLUDES----------------------------------------------------------------------*/
+#include "mbed.h"
+#include "EthernetInterface.h"
+#include <string>
+
+
+/*--DEFINES-----------------------------------------------------------------------*/
+#define STATUS              0x00    //read
+#define OUT_X_MSB           0x01    //read
+#define OUT_Y_MSB           0x03    //read
+#define OUT_Z_MSB           0x05    //read
+#define WHO_AM_I            0x0D    //read
+#define CTRL_REG1           0x2A    //read/write
+#define ADDRESS             0x3A    //address of FXOS8700CQ (on schematic)
+#define WHO_AM_I_VALUE      0xC7    //value of who_am_i
+
+#define CODE_MASK_CLEAR 0x3F;
+#define BOARD1_PWMA 0x00    //board 1, pwm a = 0b0000
+#define BOARD1_PWMB 0x40    //board 1, pwm b = 0b0100
+#define BOARD2_PWMA 0x80    //board 2, pwm a = 0x1000
+#define BOARD2_PWMB 0xC0    //board 2, pwm b = 0x1100
+#define X_STOP 0xFA
+#define Y_STOP  0xFB
+
+#define BL_0_max        0x0A
+#define BL_80_max       0x1D
+#define BL_90_max       0x31
+#define BL_100_max      0x80
+
+#define BL_0to80_lim    0x06
+#define BL_80to0_lim    0x0F
+#define BL_80to90_lim   0x19
+#define BL_90to80_lim   0x22
+#define BL_90to100_lim  0x2D
+#define BL_100to90_lim  0x36
+
+#define FR_80_max       0xF4
+#define FR_90_max       0xE1
+#define FR_100_max      0xCD
+
+#define FR_0to80_lim    0xF9
+#define FR_80to0_lim    0xF0
+#define FR_80to90_lim   0xE6
+#define FR_90to80_lim   0xDD
+#define FR_90to100_lim  0xD2
+#define FR_100to90_lim  0xC9
+
+#define DC_0            0x00
+#define DC_80           0x19    //0x28 = 80, 0x19 = 50
+#define DC_90           0x23    //0x2D = 90, 0x23 = 70
+#define DC_100          0x32
+
+
+/*--CONSTANTS---------------------------------------------------------------------*/
+const int PORT = 7;
+static const char* SERVER_IP = "192.168.1.101"; //IP of motor board
+static const char* CLIENT_IP = "192.168.1.102"; //IP of accelerometer board
+static const char* MASK = "255.255.255.0";      //mask
+static const char* GATEWAY = "192.168.1.1";     //gateway
+
+
+/*--INITS-------------------------------------------------------------------------*/
+DigitalOut red(LED_RED);        //debug led
+DigitalOut green(LED_GREEN);    //debug led
+DigitalOut blue(LED_BLUE);      //debug led
+
+EthernetInterface eth;          //create ethernet
+UDPSocket sock;                 //creat socket
+Endpoint server;                //create endpoint
+
+I2C i2c0(PTE25, PTE24);         //I2C0
+
+
+/*--VARIABLES---------------------------------------------------------------------*/
+int n;                          //size of received message
+char in_buffer[1];              //create receive buffer
+char counter1[1] = {0};         //sample send buffer
+char counter2[1] = {5};         //sample send buffer
+char X_MSB_data[1] = {0x00};
+char Y_MSB_data[1] = {0x00};
+char x_axis = 1;
+char y_axis = 0;
+char prev_X = 0;
+char prev_Y = 0;
+
+
+/*--FUNCTION DECLARATIONS---------------------------------------------------------*/
+void init_eth(void);                //initializes ethernet
+
+void init_i2c0(void);               //initializes I2C0
+void init_acc(void);
+char read_register(char address,    //reads from register
+                   char reg,
+                   char if_print);
+void write_register(char address,   //writes to register
+                    char reg,
+                    char write_data,
+                    bool if_print);
+void read_acc(void);
+char convert_acc_to_pwm(char input, char axis);
+int main(void);
+
+
+/*--FUNCTION DEFINITIONS----------------------------------------------------------*/
+
+/***********************************************************************INIT_ETH***/
+void init_eth(void)
+{
+    eth.init(CLIENT_IP, MASK, GATEWAY);     //set up IP
+    eth.connect();                          //connect ethernet, takes ~15s
+    sock.init();                            //initialize socket
+    server.set_address(SERVER_IP, PORT);    //set address of server
+
+}   //end init_eth()
+
+/**********************************************************************INIT_I2C0***/
+void init_i2c0(void)
+{
+    i2c0.frequency(100000); //freq (100kHz)
+    
+}   //end init_i2c0()
+
+/******************************************************************READ REGISTER***/
+char read_register(char address, char reg, bool if_print)
+{
+    char return_data = 0;
+    char data[1] = {reg};
+    
+    i2c0.write(address, data, 1, true); //write I2C address, then register to read
+    i2c0.read(address, data, 1);        //read from register, store result in data
+    
+    return_data = data[0];
+        
+    return return_data;
+    
+}   //end read_register()
+
+/*****************************************************************WRITE REGISTER***/
+void write_register(char address, char reg, char write_data, bool if_print)
+{
+    char data[2] = {reg, write_data};
+    
+    i2c0.write(address, data, 2);    //write I2C address, then register, then data
+    
+}   //end write_register()
+
+/***********************************************************************INIT_ACC***/
+void init_acc(void)
+{
+    write_register(ADDRESS, CTRL_REG1, 0x00, false);            //standby
+    write_register(ADDRESS, CTRL_REG1, 0x01, false);            //enable
+    char success = read_register(ADDRESS, WHO_AM_I, false);
+    
+}   //end init_acc()
+
+/***********************************************************************READ_ACC***/
+void read_acc(void)
+{
+    X_MSB_data[0] = read_register(ADDRESS, OUT_X_MSB, false);
+    
+    Y_MSB_data[0] = read_register(ADDRESS, OUT_Y_MSB, false);
+
+}   //end read_acc()
+
+/*************************************************************CONVERT ACC TO PWM***/
+char convert_acc_to_pwm(char input, char axis)
+{
+    char send;
+    
+    if(input <= BL_0_max) //- - - - - - - - - - - - - - - - - - - - - - - - BL_0_max
+    {
+        if(axis)
+        {
+            if((prev_X == DC_80) && (input >= BL_0to80_lim))
+                send = BOARD1_PWMA | DC_80;
+            else
+            {
+                send = X_STOP; /*BOARD1_PWMA | DC_0;*/
+                prev_X = DC_0;
+            }
+        }
+        else
+        {
+            if((prev_Y == DC_80) && (input >= BL_0to80_lim))
+                send = BOARD2_PWMB | DC_80;
+            else
+            {
+                send = Y_STOP; /*BOARD2_PWMB | DC_0;*/
+                prev_Y = DC_0;
+            }
+        }
+    }
+    else if(input <= BL_80_max) //- - - - - - - - - - - - - - - - - - - - -BL_80_max
+    {
+        if(axis)
+        {
+            if((prev_X == DC_90) && (input >= BL_80to90_lim))
+                send = BOARD1_PWMA | DC_90;
+            else if((prev_X == DC_0) && input <= (BL_80to0_lim))
+                send = X_STOP; /*BOARD1_PWMA | DC_0;*/
+            else
+            {
+                send = BOARD1_PWMA | DC_80;
+                prev_X = DC_80;
+            }
+        }
+        else
+        {
+            if((prev_Y == DC_90) && (input >= BL_80to90_lim))
+                send = BOARD2_PWMB | DC_90;
+            else if((prev_Y == DC_0) && input <= (BL_80to0_lim))
+                send = Y_STOP; /*BOARD2_PWMB | DC_0;*/
+            else
+            {
+                send = BOARD2_PWMB | DC_80;
+                prev_Y = DC_80;
+            }
+        }
+    }
+    else if(input <= BL_90_max) //- - - - - - - - - - - - - - - - - - - - -BL_90_max
+    {
+        if(axis)
+        {
+            if((prev_X == DC_100) && (input >= BL_90to100_lim))
+                send = BOARD1_PWMA | DC_100;
+            else if((prev_X == DC_80) && input <= (BL_90to80_lim))
+                send = BOARD1_PWMA | DC_80;
+            else
+            {
+                send = BOARD1_PWMA | DC_90;
+                prev_X = DC_90;
+            }
+        }
+        else
+        {
+            if((prev_Y == DC_100) && (input >= BL_90to100_lim))
+                send = BOARD2_PWMB | DC_100;
+            else if((prev_Y == DC_80) && input <= (BL_90to80_lim))
+                send = BOARD2_PWMB | DC_80;
+            else
+            {
+                send = BOARD2_PWMB | DC_90;
+                prev_Y = DC_90;
+            }
+        }
+    }
+    else if(input <= BL_100_max) //- - - - - - - - - - - - - - - - - - - -BL_100_max
+    {
+        if(axis)
+        {
+            if((prev_X == DC_90) && input <= (BL_100to90_lim))
+                send = BOARD1_PWMA | DC_90;
+            else
+            {
+                send = BOARD1_PWMA | DC_100;
+                prev_X = DC_100;
+            }
+        }
+        else
+        {
+            if((prev_Y == DC_90) && input <= (BL_100to90_lim))
+                send = BOARD2_PWMB | DC_90;
+            else
+            {
+                send = BOARD2_PWMB | DC_100;
+                prev_Y = DC_100;
+            }
+        }
+    }
+    else if(input <= FR_100_max) //- - - - - - - - - - - - - - - - - - - -FR_100_max
+    {
+        if(axis)
+        {
+            if((prev_X == DC_90) && input >= (FR_100to90_lim))
+                send = BOARD1_PWMB | DC_90;
+            else
+            {
+                send = BOARD1_PWMB | DC_100;
+                prev_X = DC_100;
+            }
+        }
+        else
+        {
+            if((prev_Y == DC_90) && input >= (FR_100to90_lim))
+                send = BOARD2_PWMA | DC_90;
+            else
+            {
+                send = BOARD2_PWMA | DC_100;
+                prev_Y = DC_100;
+            }
+        }
+    }
+    else if(input <= FR_90_max) //- - - - - - - - - - - - - - - - - - - - -FR_90_max
+    {
+        if(axis)
+        {
+            if((prev_X == DC_80) && (input >= FR_90to80_lim))
+                send = BOARD1_PWMB | DC_80;
+            else if((prev_X == DC_100) && input <= (FR_100to90_lim))
+                send = BOARD1_PWMB | DC_100;
+            else
+            {
+                send = BOARD1_PWMB | DC_90;
+                prev_X = DC_90;
+            }
+        }
+        else
+        {
+            if((prev_Y == DC_80) && (input >= FR_90to80_lim))
+                send = BOARD2_PWMA | DC_80;
+            else if((prev_Y == DC_100) && input <= (FR_100to90_lim))
+                send = BOARD2_PWMA | DC_100;
+            else
+            {
+                send = BOARD2_PWMA | DC_90;
+                prev_Y = DC_90;
+            }
+        }
+    }
+    else if(input <= FR_80_max) //- - - - - - - - - - - - - - - - - - - - -FR_80_max
+    {
+        if(axis)
+        {
+            if((prev_X == DC_0) && (input >= FR_80to0_lim))
+                send = X_STOP; /*BOARD1_PWMB | DC_0;*/
+            else if((prev_X == DC_90) && input <= (FR_80to90_lim))
+                send = BOARD1_PWMB | DC_90;
+            else
+            {
+                send = BOARD1_PWMB | DC_80;
+                prev_X = DC_80;
+            }
+        }
+        else
+        {
+            if((prev_Y == DC_0) && (input >= FR_80to0_lim))
+                send = Y_STOP; /*BOARD2_PWMA | DC_0;*/
+            else if((prev_Y == DC_90) && input <= (FR_80to90_lim))
+                send = BOARD2_PWMA | DC_90;
+            else
+            {
+                send = BOARD2_PWMA | DC_80;
+                prev_Y = DC_80;
+            }
+        }
+    }
+    else /*if(input <= FR_0_max)*/ //- - - - - - - - - - - - - - - - - - - -FR_0_max
+    {
+        if(axis)
+        {
+            if((prev_X == DC_80) && input <= (FR_0to80_lim))
+                send = BOARD1_PWMB | DC_80;
+            else
+            {
+                send = X_STOP; /*BOARD1_PWMB | DC_0;*/
+                prev_X = DC_0;
+            }
+        }
+        else
+        {
+            if((prev_Y == DC_80) && input <= (FR_0to80_lim))
+                send = BOARD2_PWMA | DC_80;
+            else
+            {
+                send = Y_STOP; /*BOARD2_PWMA | DC_0;*/
+                prev_Y = DC_0;
+            }
+        }
+    }
+
+    return send;
+
+}   //end convert_acc_to_pwm()
+
+
+/**********************************************************************************/
+/***************************************************************************MAIN***/
+/**********************************************************************************/
+int main(void)
+{
+    red = 0;
+    green = 0;
+    blue = 0;
+    
+    init_i2c0();
+    init_acc();
+    init_eth(); //initialize the Ethernet connection
+    
+    red = 0;    //client = red
+    green = 1;
+    blue = 1;
+    
+    while(true)
+    {
+        read_acc();
+        
+        X_MSB_data[0] = convert_acc_to_pwm(X_MSB_data[0], x_axis);
+        Y_MSB_data[0] = convert_acc_to_pwm(Y_MSB_data[0], y_axis);        
+        
+        sock.sendTo(server, X_MSB_data, sizeof(X_MSB_data));
+        sock.sendTo(server, Y_MSB_data, sizeof(Y_MSB_data));
+    }
+    
+}   //end main()
\ No newline at end of file