PowerOff::PowerOff(PinName pwrint_name, PinName request_name, PinName ready_name, PinName pwrkill_name, const std::vector<PinName>& led_names)
: pwrint_(pwrint_name, DigitalIn::PullNone, DigitalIn::InterruptFalling)
, request_(request_name, DigitalOut::OutputDefault, DigitalOut::PullDefault, 0)
, ready_(ready_name, DigitalIn::PullNone, DigitalIn::InterruptFalling)
, pwrkill_(pwrkill_name, DigitalOut::OutputDefault, DigitalOut::PullDefault, 1)
{
for (auto name : led_names)
leds_.push_back(DigitalOut(name));
pwrint_.callback(this, &PowerOff::initiate);
ready_.callback(this, &PowerOff::shutdown);
}
#include "main.h"
#include "SevenSeg.h"
const char test1[8] = {0x40, 0x02, 0x01, 0x20, 0x40, 0x04, 0x08, 0x10};
const char test2[8] = {0x3F, 0x7D, 0x7E, 0x5F, 0x3F, 0x7B, 0x77, 0x6F};
const char test3[6] = {0x01, 0x02, 0x04, 0x08, 0x10, 0x20};
// Ticker for base timer
Ticker tick(TIM16);
// Array of digital out (segment)
DigitalOut segment[] = {DigitalOut(PA0), DigitalOut(PA1), DigitalOut(PA4), DigitalOut(PF5),
DigitalOut(PF4), DigitalOut(PA2), DigitalOut(PA3), DigitalOut(PA5)};
// Array of digital out (digit)
DigitalOut digit[] = {DigitalOut(PB0, GPIO_OType_OD), DigitalOut(PB1, GPIO_OType_OD),
DigitalOut(PB2, GPIO_OType_OD), DigitalOut(PB10, GPIO_OType_OD),
DigitalOut(PB11, GPIO_OType_OD), DigitalOut(PB12, GPIO_OType_OD)};
// One seven segment is composed of an array of segment and one digit pin
SevenSeg sevenSeg0(segment, &digit[0]);
SevenSeg sevenSeg1(segment, &digit[1]);
SevenSeg sevenSeg2(segment, &digit[2]);
SevenSeg sevenSeg3(segment, &digit[3]);
SevenSeg sevenSeg4(segment, &digit[4]);
SevenSeg sevenSeg5(segment, &digit[5]);
// Create group of seven segment
SevenSegGroup sevenSegGroup;
int delay = 0;
#define START_TRANS 'B'
#define END_TRANS 0xFFFF1111
Serial pc(USBTX, USBRX); // tx, rx
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
DigitalIn goto_draw_height(p16);
DigitalIn troll_up(p15);
DigitalIn troll_down(p14);
DigitalIn start_pat(p13);
DigitalOut enablers[] = {DigitalOut(p27), DigitalOut(p28), DigitalOut(p29)};
volatile U08 serial_buffer[16];
volatile S32 sbuffer_index;
static F32 draw_z = MIN_Z + 0.6; // inches
bool pen_needs_reset = false;
Planner planner;
void serial_callback() {
serial_buffer[sbuffer_index++] = pc.getc();
}
void startup_steppers() {
enablers[0] = 0;
#include "Xbee.h"
#include "CRC32.h"
#include "SendConfDataPck.h"
#include "RequiredMsgTypeDataPck.h"
#include "DataPckTypes.h"
#include "DataPckTypeBase.h"
#include "MessageResponceMapper.h"
const int CRCTypeSize = 4;
const int StartEndMarkerSize = 1;
const int ActualDataSize = CommTypes::DataPacketSize - CRCTypeSize;
const int DataSynchPckSize = 3;
const char SynchPck[] = "##\0";
DigitalOut heartBeat = DigitalOut(LED1);
Xbee::Xbee(PinName tx, PinName rx, PinName rst, DebugLoggerBase* debugLogger, CommsStatus::CommsStatusStruct* commsStatus) : uartPort(tx,rx), rst(rst), test(LED1)
{
this->waitingSendConf = false;
this->uartPort.format(8, Serial::None, 1);
this->uartPort.baud(9600);
this->uartPort.rxBufferFlush();
this->uartPort.txBufferFlush();
this->expectedResponce = -1;
this->lastMsgReceived = -1;
//Configure receive buffer
this->ResetReceiveBuffer();
this->gotRespnce = false;
this->isReading = false;
this->msgReady = false;
this->isSynch = false;
this->commsStatus = commsStatus;
const static float defaultMax = 128.0;
const static int attitudeFrequency = 100; // Attitude and Control Frequency in Hz
const static int remoteFrequency = 10; // Remote Read Frequency in Hz
volatile int attitudeFlag = 0; // Attitude Execution Flag
volatile int remoteFlag = 0;
int remoteError = 0;
int baseSpeed = 0;
int rollTarget = 0;
int pitchTarget = 0;
int yawTarget = 0;
int potLeft = 0;
int potRight = 0;
DigitalOut statusLED[] = { DigitalOut(LED1), DigitalOut(LED2), DigitalOut(LED3), DigitalOut(LED4) };
Serial pc(USBTX, USBRX);
Ticker ticker;
I2C i2c(p28, p27);
Gyro gyro(&i2c);
Acc acc(&i2c);
Attitude attitude(&gyro, &acc, attitudeFrequency);
Altitude altitude(&i2c);
Remote remote(p6, remoteChannels);
PID rollPID(defaultP, defaultI, defaultD, defaultMin, defaultMax);
PID pitchPID(defaultP, defaultI, defaultD, defaultMin, defaultMax);
Motor motor(&i2c);
template <typename T>
T map(T x, T in_min, T in_max, T out_min, T out_max) {
void DigitalOutState(int mask)
{
int i;
for(i=0;i<8;i++)
if(g_DigitalConfigMask & (1<<i)) DigitalOut(i,mask&(1<<i));
}
static void hal_io_init () {
pinMode(pins.nss, OUTPUT);
pinMode(pins.rxtx, OUTPUT);
pinMode(pins.rst, OUTPUT);
pinMode(pins.dio[0], INPUT);
pinMode(pins.dio[1], INPUT);
pinMode(pins.dio[2], INPUT);
}
#else
uint64_t clock_ms() { return us_ticker_read() / 1000; }
#ifdef TARGET_NUCLEO_F411RE
SPI device(SPI_MOSI, SPI_MISO, SPI_SCK);
lmic_pinmap pins {
/*pins.nss*/ DigitalOut(PB_6),
/*pins.rxtx*/ DigitalOut(PC_1),
/*pins.rst*/ DigitalInOut(PA_0, PIN_INPUT, PullNone, 1),
{
DigitalInOut(PA_10, PIN_INPUT, PullUp, 1),
DigitalInOut(PB_3, PIN_INPUT, PullUp, 1),
DigitalInOut(PB_5, PIN_INPUT, PullUp, 1),
DigitalInOut(PB_4, PIN_INPUT, PullUp, 1),
DigitalInOut(PA_9, PIN_INPUT, PullUp, 1),
//DigitalInOut(PC_7, PIN_INPUT, PullUp, 1),
}
};
#elif defined(TARGET_KL25Z)
SPI device(PTD2, PTD3, PTD1);
lmic_pinmap pins {
/*
* Enter a hex number [0-9a-fA-F]; Decode it in 4-bit binary format and display them on 4 on board leds.
*
* What is the address of ledArr[0]?
* What is the address of ch?
*
*/
#include "mbed.h"
Serial pc(USBTX, USBRX); // tx, rx
DigitalOut ledArr[4] = {DigitalOut(LED1), DigitalOut(LED2), DigitalOut(LED3), DigitalOut(LED4)};
Serial uart(p9, p10);
#define dprintf uart.printf
void DisplayLed(int ch)
{
int i=0;
if(ch>='0' && ch<='9') ch-='0';
else if(ch>='A' && ch<='F') { ch-='A'; ch+=10; }
else if(ch>='a' && ch<='f') { ch-='a'; ch+=10; }
else {ch=0;}
for(i=0; i<4; i++) {
if(ch& (1<<i)) {
ledArr[i] = 1;
}
else {
ledArr[i] = 0;
}
}
#include "mbed.h"
#include "rtos.h"
DigitalOut LEDs[4] = {
DigitalOut(LED1), DigitalOut(LED2), DigitalOut(LED3), DigitalOut(LED4)
};
void blink(void const *n) {
LEDs[(int)n] = !LEDs[(int)n];
}
int main(void) {
RtosTimer led_1_timer(blink, osTimerPeriodic, (void *)0);
RtosTimer led_2_timer(blink, osTimerPeriodic, (void *)1);
RtosTimer led_3_timer(blink, osTimerPeriodic, (void *)2);
RtosTimer led_4_timer(blink, osTimerPeriodic, (void *)3);
led_1_timer.start(2000);
led_2_timer.start(1000);
led_3_timer.start(500);
led_4_timer.start(250);
Thread::wait(osWaitForever);
}
