fl@c@ Johnson
This is the device firmware for the controlBoard in the DIY 3D Printable Raspberry Pi Raman Spectrometer. For more information please visit: http://hackaday.io/project/1279
Diff: main.cpp
- Revision:
- 0:14942e263231
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Aug 15 10:38:50 2014 +0000
@@ -0,0 +1,601 @@
+#include "mbed.h"
+#include "DS18B20.h"
+#include "OneWireDefs.h"
+
+#define THERMOMETER DS18B20
+
+#define msg_cuvette_tray 0x10
+#define msg_cuvette_temp 0x11
+#define msg_cuvette_status 0x12
+#define msg_cuvette_tray_pos 0x13
+#define msg_cuvette_pelt_status 0x14
+#define msg_cuvette_stepper 0x15
+
+#define msg_filter_wheel 0x20
+#define msg_filter_pos 0x21
+
+#define msg_laser_temp 0x30
+#define msg_laser_power_status 0x31
+#define msg_laser_ttl_status 0x32
+#define msg_laser_good_status 0x33
+#define msg_laser_color 0x34
+#define msg_uv_index 0x35
+
+#define msg_ccd_pelt_status 0x40
+
+#define msg_shutter_servo_pos 0x50
+#define msg_shutter_status 0x51
+
+#define msg_board_ID 0x60
+#define msg_board_serial 0x61
+#define msg_board_status 0x62
+#define msg_board_time 0x63
+#define msg_board_model 0x64
+#define msg_board_version 0x65
+#define req_reboot 0x66
+
+#define msg_ambient_temp 0x70
+#define req_baro 0x71
+#define req_humidity 0x72
+
+#define cmd_cuvette 0xA0
+#define tray_open 0xA1
+#define tray_close 0xA2
+#define cuvette_peltier 0xA3
+#define req_cuvette_status 0xA4
+#define req_cuvette_temp 0xA5
+#define req_cuvette_pelt_status 0xA6
+#define req_cuvette_tray_pos 0xA7
+
+#define cmd_filter_wheel 0xB0
+#define filter_select 0xB1
+#define filter_reset 0xB2
+#define req_filter_ID 0xB3
+#define req_filter_status 0xB4
+#define req_filter_count 0xB5
+#define req_filter_pos 0xB6
+
+#define cmd_laser 0xC0
+#define laser_power 0xC1
+#define laser_ttl 0xC2
+#define req_laser_good_status 0xC3
+#define req_laser_color 0xC4
+#define req_laser_temp 0xC5
+#define req_uv_index 0xC6
+
+#define cmd_ccd_peltier 0xD0
+#define cmd_ccd_pelt_power 0xD1
+#define cmd_cuvette_peltier 0xD2
+#define cmd_cuvette_pelt_power 0xD3
+#define req_pelt_cool 0xD4
+#define req_pelt_heat 0xD5
+#define req_pelt_off 0xD6
+
+#define cmd_shutter_servo 0xE0
+#define shutter_open 0xE1
+#define shutter_close 0xE2
+#define shutter_deflect 0xE3
+#define shutter_alternate 0xE4
+#define req_shutter_state 0xE5
+#define req_shutter_status 0xE6
+
+#define packet_start 0xF0
+#define packet_ack 0xF1
+#define packet_flag 0xF2
+#define packet_end 0xF3
+#define packet_err 0xF4
+#define cmd_err 0xF5
+#define req_err 0xF6
+#define brd_err 0xF7
+
+#define env_err 0x80
+#define cuvette_err 0x81
+#define laser_err 0x82
+#define filter_err 0x83
+#define ccd_pelt_err 0x84
+#define cuvette_pelt_err 0x85
+#define shutter_err 0x86
+#define board_err 0x87
+
+DigitalIn button(USER_BUTTON);
+DigitalOut grnLED(LED1);
+DigitalOut cuvette_IN1(PC_14);
+DigitalOut cuvette_IN2(PC_15);
+DigitalOut cuvette_IN3(PH_0);
+DigitalOut cuvette_IN4(PH_1);
+DigitalOut filter_IN1(PA_4);
+DigitalOut filter_IN2(PB_0);
+DigitalOut filter_IN3(PC_1);
+DigitalOut filter_IN4(PC_0);
+PwmOut cuvettePeltA(PB_13); // in4
+PwmOut cuvettePeltB(PB_14); // in3
+PwmOut ccdPeltA(PB_1); // in2
+PwmOut ccdPeltB(PB_15); // in1
+AnalogIn peltCurrent(PC_5);
+
+const int mDelay=1;
+double temp;
+int z;
+int trayOpen;
+THERMOMETER device(PC_8);
+Serial raspi(USBTX, USBRX);
+
+typedef union bytes {
+ double d ;
+ char c[8];
+} bytes;
+
+void printDoubleToHex(double d)
+{
+ bytes b;
+ b.d = d;
+ raspi.printf("%f -> %x %x %x %x %x %x %x %x\r\n", b.d, b.c[0], b.c[1], b.c[2], b.c[3], b.c[4], b.c[5], b.c[6], b.c[7]);
+}
+
+void printHexToDouble(char *arr)
+{
+ bytes b;
+ for (int i=0; i<8; ++i)
+ b.c[i] = arr[i];
+ raspi.printf("received hex: %x %x %x %x %x %x %x %x \r\n", b.c[0], b.c[1], b.c[2], b.c[3], b.c[4], b.c[5], b.c[6], b.c[7]);
+ raspi.printf("convert to: %f\r\n", b.d);
+}
+
+void readTemp(int deviceNum)
+{
+ temp = device.readTemperature(deviceNum);
+ if (deviceNum == 0) {
+// raspi.printf("Cuvette Temperature: %f\r\n", temp);
+// const char begin[2]= {packet_flag, packet_start};
+// raspi.printf(begin);
+ printDoubleToHex(temp);
+// const char stop[2]= {packet_flag, packet_end};
+// raspi.printf(stop);
+ }
+ if (deviceNum == 1) {
+// raspi.printf("Laser Emitter Temperature: %f\r\n", temp);
+// const char begin[2]= {packet_flag, packet_start};
+// raspi.printf(begin);
+ printDoubleToHex(temp);
+// const char stop[2]= {packet_flag, packet_end};
+// raspi.printf(stop);
+ }
+// raspi.printf("Device %d is %f",deviceNum, temp);
+ wait(0.5);
+}
+
+int openTray()
+{
+ while (z < 500) {
+ z++;
+ grnLED = 1;
+ wait_ms(1);
+ cuvette_IN1 = 0;
+ cuvette_IN2= 0;
+ cuvette_IN3= 0;
+ cuvette_IN4= 1;
+ wait_ms(mDelay);
+
+ cuvette_IN1= 0;
+ cuvette_IN2= 0;
+ cuvette_IN3= 1;
+ cuvette_IN4= 1;
+ wait_ms(mDelay);
+
+ cuvette_IN1= 0;
+ cuvette_IN2= 0;
+ cuvette_IN3= 1;
+ cuvette_IN4= 0;
+ wait_ms(mDelay);
+
+ cuvette_IN1= 0;
+ cuvette_IN2= 1;
+ cuvette_IN3= 1;
+ cuvette_IN4= 0;
+ wait_ms(mDelay);
+
+ cuvette_IN1= 0;
+ cuvette_IN2= 1;
+ cuvette_IN3= 0;
+ cuvette_IN4= 0;
+ wait_ms(mDelay);
+
+ cuvette_IN1= 1;
+ cuvette_IN2= 1;
+ cuvette_IN3= 0;
+ cuvette_IN4= 0;
+ wait_ms(mDelay);
+
+ cuvette_IN1= 1;
+ cuvette_IN2= 0;
+ cuvette_IN3= 0;
+ cuvette_IN4= 0;
+ wait_ms(mDelay);
+
+ cuvette_IN1= 1;
+ cuvette_IN2= 0;
+ cuvette_IN3= 0;
+ cuvette_IN4= 1;
+ wait_ms(mDelay);
+
+ cuvette_IN1= 0;
+ cuvette_IN2= 0;
+ cuvette_IN3= 0;
+ cuvette_IN4= 0;
+ }
+ trayOpen = 1;
+ z = 0;
+ return(0);
+}
+
+int closeTray()
+{
+ while (z < 500) {
+ z++;
+ grnLED = 1;
+ wait_ms(1);
+ cuvette_IN1= 1;
+ cuvette_IN2= 0;
+ cuvette_IN3= 0;
+ cuvette_IN4= 1;
+ wait_ms(mDelay);
+
+ cuvette_IN1= 1;
+ cuvette_IN2= 0;
+ cuvette_IN3= 0;
+ cuvette_IN4= 0;
+ wait_ms(mDelay);
+
+ cuvette_IN1= 1;
+ cuvette_IN2= 1;
+ cuvette_IN3= 0;
+ cuvette_IN4= 0;
+ wait_ms(mDelay);
+
+ cuvette_IN1= 0;
+ cuvette_IN2= 1;
+ cuvette_IN3= 0;
+ cuvette_IN4= 0;
+ wait_ms(mDelay);
+
+ cuvette_IN1= 0;
+ cuvette_IN2= 1;
+ cuvette_IN3= 1;
+ cuvette_IN4= 0;
+ wait_ms(mDelay);
+
+ cuvette_IN1= 0;
+ cuvette_IN2= 0;
+ cuvette_IN3= 1;
+ cuvette_IN4= 0;
+ wait_ms(mDelay);
+
+ cuvette_IN1= 0;
+ cuvette_IN2= 0;
+ cuvette_IN3= 1;
+ cuvette_IN4= 1;
+ wait_ms(mDelay);
+
+ cuvette_IN1= 0;
+ cuvette_IN2= 0;
+ cuvette_IN3= 0;
+ cuvette_IN4= 1;
+ wait_ms(mDelay);
+
+ cuvette_IN1= 0;
+ cuvette_IN2= 0;
+ cuvette_IN3= 0;
+ cuvette_IN4= 0;
+ }
+ trayOpen = 0;
+ z = 0;
+ return(0);
+}
+
+int filterForward()
+{
+ while (z < 500) {
+ z++;
+ grnLED = 1;
+ wait_ms(1);
+ filter_IN1 = 0;
+ filter_IN2= 0;
+ filter_IN3= 0;
+ filter_IN4= 1;
+ wait_ms(mDelay);
+
+ filter_IN1= 0;
+ filter_IN2= 0;
+ filter_IN3= 1;
+ filter_IN4= 1;
+ wait_ms(mDelay);
+
+ filter_IN1= 0;
+ filter_IN2= 0;
+ filter_IN3= 1;
+ filter_IN4= 0;
+ wait_ms(mDelay);
+
+ filter_IN1= 0;
+ filter_IN2= 1;
+ filter_IN3= 1;
+ filter_IN4= 0;
+ wait_ms(mDelay);
+
+ filter_IN1= 0;
+ filter_IN2= 1;
+ filter_IN3= 0;
+ filter_IN4= 0;
+ wait_ms(mDelay);
+
+ filter_IN1= 1;
+ filter_IN2= 1;
+ filter_IN3= 0;
+ filter_IN4= 0;
+ wait_ms(mDelay);
+
+ filter_IN1= 1;
+ filter_IN2= 0;
+ filter_IN3= 0;
+ filter_IN4= 0;
+ wait_ms(mDelay);
+
+ filter_IN1= 1;
+ filter_IN2= 0;
+ filter_IN3= 0;
+ filter_IN4= 1;
+ wait_ms(mDelay);
+
+ filter_IN1= 0;
+ filter_IN2= 0;
+ filter_IN3= 0;
+ filter_IN4= 0;
+ }
+ z = 0;
+ return(0);
+}
+int filterBack()
+{
+ while (z < 500) {
+ z++;
+ grnLED = 0;
+ wait_ms(1);
+ filter_IN1= 1;
+ filter_IN2= 0;
+ filter_IN3= 0;
+ filter_IN4= 1;
+ wait_ms(mDelay);
+
+ filter_IN1= 1;
+ filter_IN2= 0;
+ filter_IN3= 0;
+ filter_IN4= 0;
+ wait_ms(mDelay);
+
+ filter_IN1= 1;
+ filter_IN2= 1;
+ filter_IN3= 0;
+ filter_IN4= 0;
+ wait_ms(mDelay);
+
+ filter_IN1= 0;
+ filter_IN2= 1;
+ filter_IN3= 0;
+ filter_IN4= 0;
+ wait_ms(mDelay);
+
+ filter_IN1= 0;
+ filter_IN2= 1;
+ filter_IN3= 1;
+ filter_IN4= 0;
+ wait_ms(mDelay);
+
+ filter_IN1= 0;
+ filter_IN2= 0;
+ filter_IN3= 1;
+ filter_IN4= 0;
+ wait_ms(mDelay);
+
+ filter_IN1= 0;
+ filter_IN2= 0;
+ filter_IN3= 1;
+ filter_IN4= 1;
+ wait_ms(mDelay);
+
+ filter_IN1= 0;
+ filter_IN2= 0;
+ filter_IN3= 0;
+ filter_IN4= 1;
+ wait_ms(mDelay);
+
+ filter_IN1= 0;
+ filter_IN2= 0;
+ filter_IN3= 0;
+ filter_IN4= 0;
+ }
+ z = 0;
+ return(0);
+}
+
+int cuvettePeltCycle(){
+ cuvettePeltA = 0;
+ cuvettePeltB = 0;
+ wait(3);
+ cuvettePeltA = 1;
+ cuvettePeltB = 1;
+ wait(3);
+ cuvettePeltA = 1;
+ cuvettePeltB = 0;
+ wait(3);
+ cuvettePeltA = 0;
+ cuvettePeltB = 1;
+ wait(3);
+ cuvettePeltA = 0;
+ cuvettePeltB = 0;
+ return 0;
+}
+
+int err;
+char* command;
+int packetFlag = 0;
+int main()
+{
+ trayOpen = 0;
+ raspi.baud(921600);
+
+ cuvettePeltCycle();
+
+ wait(10);
+// raspi.printf("meridianScientific_ramanSpectrometer_controlBoard_V0\r\n");
+
+ while (!device.initialize()); // keep calling until it works
+
+ int deviceCount = device.getDeviceCount();
+// raspi.printf("Located %d sensors\n\r",deviceCount);
+
+ z = 0;
+ device.setResolution(twelveBit);
+ while(1) {
+// for (int i = 0; i < deviceCount; i++) {
+// readTemp(i);
+// }
+ if (raspi.readable()) { // check if serial port is reaadable
+ switch (raspi.getc()) { // retrieve a character from serial
+ case packet_start: // case for packet start flag
+ switch (raspi.getc()) { // set condition for listening to another character
+ case packet_flag: // case for packet flag
+ packetFlag = 1; // turn the flag on
+ while (packetFlag == 1) { // start a loop that runs while the flag is on
+ switch (raspi.getc()) { // set another condition for listening to another character
+ case cmd_laser: // case for cmd_laser
+ grnLED = 1; // turn the led on
+ raspi.printf("%x", cmd_laser); // return cmd_laser to the raspi
+ switch (raspi.getc()) { // set another condition for listening to another character
+ case req_laser_temp: // case for req_laser_temp
+ raspi.printf("%x\r\n", req_laser_temp); // return req_laser_temp to the raspi
+ readTemp(0); // read the temperature for device 0 which is the laser temp sensor
+ grnLED = 0; // turn led off
+ continue; // continue through loop
+ default: // default if nothing matches
+ break; // break from loop
+ }
+ case cmd_cuvette: // case for cmd_cuvette
+ grnLED = 1; // turn led on
+ raspi.printf("%x", cmd_cuvette); // return cmd_cuvette to raspi
+ switch (raspi.getc()) { // set condition for listening to another character
+ case req_cuvette_temp: // case for req_cuvette_temp
+ raspi.printf("%x\r\n", req_cuvette_temp); // return req_cuvette_temp to raspi
+ readTemp(1); // read the temperature for device 1 which is the cuvette temp sensor
+ grnLED = 0; // turn the led off
+ continue; // continue through the loop
+ case tray_open: // case for tray_open
+ raspi.printf("%x\r\n", tray_open); // return tray_open to raspi
+ if (trayOpen == 0) { // check to see if the tray is closed
+ openTray(); // if not, open tray
+ } else { // otherwise
+ raspi.printf("%x\r\n", cuvette_err); // send a cuvette error to the raspi
+ }
+ grnLED = 0; // turn led off
+ continue; // continue through the loop
+ case tray_close: // case for tray close
+ raspi.printf("%x\r\n", tray_close); // return tray_close to raspi
+ if (trayOpen == 1) { // check to see if tray is open
+ closeTray(); // if not, close tray
+ } else { // otherwise
+ raspi.printf("%x\r\n", cuvette_err); // send a cuvette error to the raspi
+ }
+ grnLED = 0; // turn led off
+ continue; // continue through loop
+ default: // default if nothing matches
+ break; // break from loop
+ }
+ case cmd_filter_wheel: // case for cmd_filter_wheel
+ grnLED = 1; // turn led on
+ raspi.printf("%x", cmd_filter_wheel); // return cmd_filter_wheel to raspi
+ switch (raspi.getc()) { // set condidition for listening to another character
+ case filter_select: // case for filter_select
+ raspi.printf("%x\r\n", filter_select); // return filter_select to raspi
+ filterForward(); // move filter wheel forward one filter
+ filterBack(); // move filter wheel reverse one filter (this is just to test the commands)
+ grnLED = 0; // turn led off
+ continue; // continue through loop
+ default: // default if nothing matches
+ break; // break from loop
+ }
+ case cmd_cuvette_peltier:
+ grnLED = 1; // turn led on
+ raspi.printf("%x", cmd_cuvette_peltier); // return cmd_ccd_peltier to raspi
+ switch (raspi.getc()) { // set condidition for listening to another character
+ case cmd_cuvette_pelt_power:
+ switch (raspi.getc()) { // set condidition for listening to another character
+ case 0x00: // case for cmd_ccd_peltier OFF
+ raspi.printf("%x\r\n", cmd_cuvette_pelt_power); // return filter_select to raspi
+ cuvettePeltA = 0; // set PWM A to zero
+ cuvettePeltB = 0; // set PWM B to zero
+ grnLED = 0; // turn led off
+ break;
+ case 0x01: // case for cmd_cuvette_peltier COOL
+ raspi.printf("%x\r\n", cmd_cuvette_pelt_power); // return filter_select to raspi
+ cuvettePeltA = 0.5; // set PWM A to 0.5
+ cuvettePeltB = 0; // set PWM B to zero
+ grnLED = 0; // turn led off
+ break;
+ case 0x02: // case for cmd_cuvette_peltier HEAT
+ raspi.printf("%x\r\n", cmd_cuvette_pelt_power); // return filter_select to raspi
+ cuvettePeltA = 0; // set PWM A to 0.5
+ cuvettePeltB = 0.5; // set PWM B to zero
+ grnLED = 0; // turn led off
+ break;
+ default:
+ break;
+ }
+ continue;
+ default:
+ break;
+ }
+ case cmd_ccd_peltier:
+ grnLED = 1; // turn led on
+ raspi.printf("%x", cmd_ccd_peltier); // return cmd_ccd_peltier to raspi
+ switch (raspi.getc()) { // set condidition for listening to another character
+ case cmd_ccd_pelt_power:
+ switch (raspi.getc()) { // set condidition for listening to another character
+ case 0x00: // case for cmd_ccd_peltier OFF
+ raspi.printf("%x\r\n", cmd_ccd_pelt_power); // return filter_select to raspi
+ ccdPeltA = 0; // set PWM A to zero
+ ccdPeltB = 0; // set PWM B to zero
+ grnLED = 0; // turn led off
+ break;
+ case 0x01: // case for cmd_ccd_peltier COOL
+ raspi.printf("%x\r\n", cmd_ccd_pelt_power); // return filter_select to raspi
+ ccdPeltA = 0.5; // set PWM A to 0.5
+ ccdPeltB = 0; // set PWM B to zero
+ grnLED = 0; // turn led off
+ break;
+ case 0x02: // case for cmd_ccd_peltier HEAT
+ raspi.printf("%x\r\n", cmd_ccd_pelt_power); // return filter_select to raspi
+ ccdPeltA = 0; // set PWM A to 0.5
+ ccdPeltB = 0.5; // set PWM B to zero
+ grnLED = 0; // turn led off
+ break;
+ default:
+ break;
+ }
+ continue;
+ default:
+ break;
+ } case packet_end: // case for packed_end
+ packetFlag = 0; // set the packetFlag to 0
+ break; // break from loop
+ default: // default if nothing matches
+ break; // break from loop
+ }
+ }
+ default: // defailt if nothing matches
+ break; // break from loop
+ }
+ default: // default if nothing matches
+ break; // break from loop
+ }
+ }
+ }
+}