Andrew Louw / Mbed 2 deprecated TrackingMBED

MBED Framework with communication to be tested

Dependencies:   mbed

main.cpp@2:64443528f6bb, 2017-07-16 (annotated)

Committer:
AndrewLouw
Date:
Sun Jul 16 18:43:28 2017 +0000
Revision:
2:64443528f6bb
Parent:
1:e8c5a9654f5f
Child:
3:5995028595d2
Framework or MBED with communication to be tested;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AndrewLouw 0:a32d085719df 1 #include "mbed.h"
AndrewLouw 0:a32d085719df 2 #include "PINNAMES.h"
AndrewLouw 0:a32d085719df 3 #include "SPICOMMANDS.h"
AndrewLouw 0:a32d085719df 4 #include "PROTOTYPES.h"
AndrewLouw 0:a32d085719df 5 #include "CAN_Data.h"
AndrewLouw 0:a32d085719df 6 #include "CAN_IDs.h"
AndrewLouw 0:a32d085719df 7
AndrewLouw 0:a32d085719df 8 int main() {
AndrewLouw 0:a32d085719df 9
AndrewLouw 0:a32d085719df 10 //main loop variables
AndrewLouw 0:a32d085719df 11 bool Shutdown;
AndrewLouw 0:a32d085719df 12 OpModesym OpMode= Setup; //OpMode variable
AndrewLouw 0:a32d085719df 13 Errorsym ErrorFlag = False; //Error flag
AndrewLouw 0:a32d085719df 14
AndrewLouw 0:a32d085719df 15 //angle limits
AndrewLouw 0:a32d085719df 16 const double Upperlimit_Can_on = 0;
AndrewLouw 0:a32d085719df 17 const double Upperlimit_Can_off = 0;
AndrewLouw 0:a32d085719df 18 const double Lowerlimit_Can_on = 100;
AndrewLouw 0:a32d085719df 19 const double Lowerlimit_Can_off = 100;
AndrewLouw 0:a32d085719df 20
AndrewLouw 0:a32d085719df 21 //allocate memorry for data
AndrewLouw 0:a32d085719df 22 float LDR1; //LDR1's value
AndrewLouw 0:a32d085719df 23 float LDR2; //LDR2's value
AndrewLouw 1:e8c5a9654f5f 24
AndrewLouw 1:e8c5a9654f5f 25 float MPPT [5];
AndrewLouw 1:e8c5a9654f5f 26 #define bat_volt MPPT[0]
AndrewLouw 1:e8c5a9654f5f 27 #define bat_current MPPT[1]
AndrewLouw 1:e8c5a9654f5f 28 #define bat_temp MPPT[2]
AndrewLouw 1:e8c5a9654f5f 29 #define bat_status MPPT[3]
AndrewLouw 1:e8c5a9654f5f 30 #define PV_volt MPPT[4]
AndrewLouw 1:e8c5a9654f5f 31
AndrewLouw 2:64443528f6bb 32 uint8_t panel_locations [6]; //the array for actual/desired location of each panel
AndrewLouw 0:a32d085719df 33
AndrewLouw 0:a32d085719df 34 //main loop.
AndrewLouw 0:a32d085719df 35 while(1){
AndrewLouw 0:a32d085719df 36 if(ErrorFlag==False){
AndrewLouw 0:a32d085719df 37 switch (OpMode){
AndrewLouw 0:a32d085719df 38 case Setup:
AndrewLouw 0:a32d085719df 39 //setup SPI
AndrewLouw 2:64443528f6bb 40 const int spiBitrate=250000;
AndrewLouw 2:64443528f6bb 41
AndrewLouw 0:a32d085719df 42 spi.format(8,3);
AndrewLouw 2:64443528f6bb 43 spi.frequency(spiBitrate);
AndrewLouw 2:64443528f6bb 44 SlaveSelect = 0;
AndrewLouw 0:a32d085719df 45
AndrewLouw 0:a32d085719df 46 //start in correct mode
AndrewLouw 0:a32d085719df 47 OpMode = readswitches();
AndrewLouw 0:a32d085719df 48 StatusLED = 1;
AndrewLouw 0:a32d085719df 49 break;
AndrewLouw 0:a32d085719df 50
AndrewLouw 0:a32d085719df 51 case Canopy_on:
AndrewLouw 0:a32d085719df 52 checkLDR(LDR1,LDR2);
AndrewLouw 0:a32d085719df 53 checkMPPT(MPPT);
AndrewLouw 0:a32d085719df 54 if(shouldmove(MPPT,LDR1,LDR2,Upperlimit_Can_on,Lowerlimit_Can_on,panel_locations)){
AndrewLouw 0:a32d085719df 55 sendlocations(panel_locations);
AndrewLouw 0:a32d085719df 56 }
AndrewLouw 2:64443528f6bb 57 else{
AndrewLouw 1:e8c5a9654f5f 58 wait(120);
AndrewLouw 0:a32d085719df 59 }
AndrewLouw 0:a32d085719df 60 OpMode = readswitches();
AndrewLouw 0:a32d085719df 61 break;
AndrewLouw 0:a32d085719df 62
AndrewLouw 0:a32d085719df 63 case Canopy_off:
AndrewLouw 0:a32d085719df 64 checkLDR(LDR1,LDR2);
AndrewLouw 0:a32d085719df 65 checkMPPT(MPPT);
AndrewLouw 0:a32d085719df 66 if(shouldmove(MPPT,LDR1,LDR2,Upperlimit_Can_off,Lowerlimit_Can_off,panel_locations)){
AndrewLouw 0:a32d085719df 67 sendlocations(panel_locations);
AndrewLouw 0:a32d085719df 68 }
AndrewLouw 0:a32d085719df 69 else{
AndrewLouw 1:e8c5a9654f5f 70 wait(120);
AndrewLouw 0:a32d085719df 71 }
AndrewLouw 0:a32d085719df 72 OpMode = readswitches();
AndrewLouw 0:a32d085719df 73 break;
AndrewLouw 0:a32d085719df 74
AndrewLouw 0:a32d085719df 75 case Manual:
AndrewLouw 2:64443528f6bb 76 //calibration mode - finds upper and lower limits for each panel for the current setup (canopy up or down)
AndrewLouw 1:e8c5a9654f5f 77
AndrewLouw 1:e8c5a9654f5f 78 while(MANUAL_SW){//release the button
AndrewLouw 1:e8c5a9654f5f 79 }
AndrewLouw 1:e8c5a9654f5f 80
AndrewLouw 1:e8c5a9654f5f 81 //panels should be moved to lower limit
AndrewLouw 1:e8c5a9654f5f 82 while(!MANUAL_SW){//then the switch should be pressed again
AndrewLouw 1:e8c5a9654f5f 83 }
AndrewLouw 1:e8c5a9654f5f 84
AndrewLouw 1:e8c5a9654f5f 85 //TODO
AndrewLouw 1:e8c5a9654f5f 86 //panel locations will be read and values stored as lower limit
AndrewLouw 1:e8c5a9654f5f 87
AndrewLouw 1:e8c5a9654f5f 88
AndrewLouw 1:e8c5a9654f5f 89 while(MANUAL_SW){//release the button
AndrewLouw 1:e8c5a9654f5f 90 }
AndrewLouw 1:e8c5a9654f5f 91
AndrewLouw 1:e8c5a9654f5f 92 //then panels should be moved to the upper limit
AndrewLouw 1:e8c5a9654f5f 93 while(!MANUAL_SW){//then the switch should be pressed again
AndrewLouw 1:e8c5a9654f5f 94 }
AndrewLouw 1:e8c5a9654f5f 95
AndrewLouw 1:e8c5a9654f5f 96 //TODO
AndrewLouw 1:e8c5a9654f5f 97 //panel locations will be read and values stored as upper limit
AndrewLouw 1:e8c5a9654f5f 98
AndrewLouw 1:e8c5a9654f5f 99
AndrewLouw 1:e8c5a9654f5f 100 while(MANUAL_SW){//release the button
AndrewLouw 2:64443528f6bb 101 }
AndrewLouw 1:e8c5a9654f5f 102
AndrewLouw 0:a32d085719df 103 break;
AndrewLouw 0:a32d085719df 104
AndrewLouw 0:a32d085719df 105
AndrewLouw 0:a32d085719df 106 case Error:
AndrewLouw 0:a32d085719df 107 ErrorFlag = Switch_Error;
AndrewLouw 0:a32d085719df 108 break;
AndrewLouw 0:a32d085719df 109
AndrewLouw 0:a32d085719df 110 default:
AndrewLouw 0:a32d085719df 111 OpMode = Error;
AndrewLouw 0:a32d085719df 112 break;
AndrewLouw 0:a32d085719df 113 }
AndrewLouw 0:a32d085719df 114
AndrewLouw 0:a32d085719df 115 }
AndrewLouw 0:a32d085719df 116 else{ //do this if shutting down
AndrewLouw 0:a32d085719df 117 switch (ErrorFlag){
AndrewLouw 0:a32d085719df 118 case False:
AndrewLouw 0:a32d085719df 119 OpMode= Setup;
AndrewLouw 0:a32d085719df 120 break;
AndrewLouw 0:a32d085719df 121
AndrewLouw 0:a32d085719df 122 case Switch_Error:
AndrewLouw 0:a32d085719df 123 OpMode = Canopy_on;
AndrewLouw 0:a32d085719df 124 break;
AndrewLouw 0:a32d085719df 125
AndrewLouw 0:a32d085719df 126 default:
AndrewLouw 0:a32d085719df 127 Shutdown = true;
AndrewLouw 0:a32d085719df 128 break;
AndrewLouw 0:a32d085719df 129 }
AndrewLouw 0:a32d085719df 130 }
AndrewLouw 0:a32d085719df 131 if(Shutdown){
AndrewLouw 0:a32d085719df 132 break;
AndrewLouw 0:a32d085719df 133 }
AndrewLouw 0:a32d085719df 134 }
AndrewLouw 0:a32d085719df 135 }
AndrewLouw 0:a32d085719df 136
AndrewLouw 0:a32d085719df 137 OpModesym readswitches(){ //read canopy switches
AndrewLouw 0:a32d085719df 138 if(MANUAL_SW){
AndrewLouw 0:a32d085719df 139 return Manual;
AndrewLouw 0:a32d085719df 140 }
AndrewLouw 0:a32d085719df 141 else{
AndrewLouw 0:a32d085719df 142 if(CANOPY_SW){
AndrewLouw 0:a32d085719df 143 return Canopy_on;
AndrewLouw 0:a32d085719df 144 }
AndrewLouw 0:a32d085719df 145 else{
AndrewLouw 0:a32d085719df 146 return Canopy_off;
AndrewLouw 0:a32d085719df 147 }
AndrewLouw 0:a32d085719df 148 }
AndrewLouw 0:a32d085719df 149 }
AndrewLouw 0:a32d085719df 150 void checkLDR(float &LDR1,float &LDR2){ //get the LDR values
AndrewLouw 0:a32d085719df 151 LDR1 = LDR_SENSE1;
AndrewLouw 0:a32d085719df 152 LDR2 = LDR_SENSE1;
AndrewLouw 0:a32d085719df 153 }
AndrewLouw 1:e8c5a9654f5f 154
AndrewLouw 1:e8c5a9654f5f 155 void checkMPPT(float *MPPT){ //get the MPPT values
AndrewLouw 2:64443528f6bb 156 //TODO
AndrewLouw 0:a32d085719df 157 }
AndrewLouw 0:a32d085719df 158
AndrewLouw 2:64443528f6bb 159 bool shouldmove(float *MPPT,float LDR1,float LDR2,double Upperlimit,double Lowelimit,uint8_t *panel_locations){ //checks if the motors should move based on current location and sensor data
AndrewLouw 0:a32d085719df 160 //TODO
AndrewLouw 1:e8c5a9654f5f 161 //need to use "getlocations"
AndrewLouw 2:64443528f6bb 162 return true;
AndrewLouw 0:a32d085719df 163 }
AndrewLouw 0:a32d085719df 164
AndrewLouw 2:64443528f6bb 165 void getlocations(double Upperlimit, double Lowerlimit,uint8_t *panel_locations){ //update panel locations from actual to desired
AndrewLouw 0:a32d085719df 166 //TODO
AndrewLouw 1:e8c5a9654f5f 167 //update panellocations
AndrewLouw 0:a32d085719df 168 }
AndrewLouw 0:a32d085719df 169
AndrewLouw 2:64443528f6bb 170 void sendlocations(uint8_t *panel_locations){ //transmit the desired locations
AndrewLouw 2:64443528f6bb 171 //TODO send useful information get output to be useful - break down the bytes into variables
AndrewLouw 2:64443528f6bb 172 uint8_t write_buf [8];
AndrewLouw 2:64443528f6bb 173 uint8_t read_buf [8];
AndrewLouw 2:64443528f6bb 174 uint8_t MSB_byte = read_buf[7]-128;
AndrewLouw 2:64443528f6bb 175 uint8_t decoded_buf[7];
AndrewLouw 2:64443528f6bb 176
AndrewLouw 2:64443528f6bb 177 SlaveSelect = 0;
AndrewLouw 2:64443528f6bb 178 spi.write(0b00000000); //Ensures isoSPI is in ready
AndrewLouw 2:64443528f6bb 179 SlaveSelect=1;
AndrewLouw 2:64443528f6bb 180
AndrewLouw 2:64443528f6bb 181 wait_us(200);
AndrewLouw 2:64443528f6bb 182
AndrewLouw 2:64443528f6bb 183 SlaveSelect = 0;
AndrewLouw 2:64443528f6bb 184 wait_us(70);
AndrewLouw 2:64443528f6bb 185 for (int i = 0; i < 8; ++i) {
AndrewLouw 2:64443528f6bb 186 spi.write(write_buf[i]);
AndrewLouw 1:e8c5a9654f5f 187 }
AndrewLouw 2:64443528f6bb 188 wait_us(100);
AndrewLouw 2:64443528f6bb 189
AndrewLouw 2:64443528f6bb 190 for (int i = 0; i < 8; ++i) {
AndrewLouw 2:64443528f6bb 191 read_buf[i] = spi.write(0xFF);
AndrewLouw 2:64443528f6bb 192 //if(read_buf[i] == 160) printf("this is 160 \r\n");
AndrewLouw 2:64443528f6bb 193 //wait_us(30);
AndrewLouw 2:64443528f6bb 194 }
AndrewLouw 2:64443528f6bb 195
AndrewLouw 2:64443528f6bb 196 for (int i = 0;i<7;i++){
AndrewLouw 2:64443528f6bb 197 if(MSB_byte & 1<<i) decoded_buf[i] =read_buf[i]+128;
AndrewLouw 2:64443528f6bb 198 }
AndrewLouw 2:64443528f6bb 199
AndrewLouw 2:64443528f6bb 200 SlaveSelect=1;
AndrewLouw 2:64443528f6bb 201
AndrewLouw 2:64443528f6bb 202 wait(1);
AndrewLouw 2:64443528f6bb 203
AndrewLouw 0:a32d085719df 204 }
AndrewLouw 0:a32d085719df 205
AndrewLouw 1:e8c5a9654f5f 206 uint8_t toEncoder(double angle){ //convert angle to encoder value
AndrewLouw 0:a32d085719df 207 //TODO
AndrewLouw 0:a32d085719df 208 }
AndrewLouw 0:a32d085719df 209