Peter Cooper
Geodesic Light Dome Controller Program
Revision 0:a7af7ec8b12f, committed 2010-03-19
- Comitter:
- lolpcc
- Date:
- Fri Mar 19 11:17:54 2010 +0000
- Child:
- 1:dc58f0b0eeec
- Commit message:
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/breakup.c Fri Mar 19 11:17:54 2010 +0000
@@ -0,0 +1,114 @@
+#include "mbed.h"
+
+/*
+int breakup(char *, char *[], char);
+void breakup_sub(char *, char *,char,char);
+*/
+
+void breakup_sub(char *line,char *entery_point,char c,char d)
+{
+ char *point,*pt2;
+
+ point = entery_point;
+
+ point++;
+ pt2 = point;
+ point --;
+ while (*pt2!='\0') {
+ *point = *pt2;
+ point ++;
+ pt2 ++;
+ }
+ *point = *pt2;
+}
+
+int breakup(char *string,char *p[],char c)
+{
+ char *pt,*pt1;
+ char cc,ccc;
+ int cnt = 0;
+ int number = 0;
+ int flag = 0;
+ int last = 0;
+ int just = 0;
+ int length = strlen(string);
+
+ pt = string;
+ p[number] = pt;
+ number++;
+
+ while (cnt != length + 1) {
+ cc = *pt;
+ if (cc == '\0')
+ return(number);
+ /* this section of code will need sorting, so we don't have to use a space
+ char, we should move the ramainder of the buffer down one charactor
+ */
+ if (cc=='\\') {
+ pt1 = pt; /* save the current pointer */
+ pt++;
+ ccc = *pt;
+ if (ccc=='"') {
+ pt--;
+ breakup_sub(string,pt,cc,ccc);
+ pt = pt1;
+ } else {
+ pt--;
+ pt = pt1; /* restore the current pointer */
+ }
+ }
+ if (flag == 0) {
+ switch (cc) {
+ case '"' :
+ flag = 1;
+ case '\n' :
+ case '\t' :
+ case ' ' :
+ if (just==1) {
+ /* move the current pointer along */
+ pt = pt + 1;
+ p[number] = pt;
+ pt = pt - 1;
+ } else {
+ /* add the current point to the array */
+ just = 1;
+ *pt = '\0';
+ pt++;
+ p[number] = pt;
+ pt--;
+ }
+ if (flag == 1) {
+ number ++;
+ just = 0;
+ }
+ break;
+ default :
+ if (just == 1) {
+ just = 0;
+ number ++;
+ }
+ break;
+ }
+ if (cc == c) { /* test for the user defined char */
+ just = 1;
+ *pt = '\0';
+ pt++;
+ p[number] = pt;
+ pt--;
+ }
+ } else {
+ if ((last == 0) & (cc =='"')) { /* close of quoate */
+ flag = 0;
+ just = 1;
+ *pt = '\0';
+ pt++;
+ p[number] = pt;
+ pt--;
+ } else if ((flag == 1) & (last == 1) & (cc!='\\'))
+ last = 0;
+ }
+ pt++;
+ cnt++;
+ }
+ return(-1);
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/breakup.h Fri Mar 19 11:17:54 2010 +0000 @@ -0,0 +1,1 @@ +int breakup(char *string,char *p[],char c); \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/cmd.c Fri Mar 19 11:17:54 2010 +0000
@@ -0,0 +1,214 @@
+#include "mbed.h"
+#include "breakup.h"
+#include "useful.h"
+#include "i2c.h"
+#include "serial.h"
+#include "cmd.h"
+#include "local_defines.h"
+#include "scripting.h"
+
+
+LocalFileSystem local("local");
+FILE *exec_fp;
+extern int sys_state;
+extern int var[MAX_VAR];
+extern int jmp[MAX_JMP];
+
+
+
+/******************************************/
+/* */
+/* Exec commands, for the dome */
+/* */
+/******************************************/
+
+struct cmd_callback {
+ char *label; /* command */
+ int cmd; /* switch value */
+ int args; /* Number of args for this command */
+ void (*cmd_routine)(int,char **); /* call */
+};
+struct cmd_callback cmd_cb[] ={
+ { "list", 0, 1, list}, /* List I2C Devices to user */
+ { "list2", 0, 1, list2}, /* List I2C Devices to user */
+ { "exec", 0, 2, exec_file}, /* Run a script file from the local file store */
+ { "dir", 0, 1, dir_file}, /* Get a directory listing from the local file store */
+ { "cat", 0, 2, cat_file}, /* Cat a file on the file system to the current output device */
+ { "relay", 0, 2, relay_control}, /* Switch a relay 0-8 */
+ { "light", 0, 3, light_control}, /* Set a light level on a channel */
+ { "wait", 0, 2, wait_control}, /* wait for X tenths of a second */
+ { "baud", 0, 2, baud_rate}, /* Set the baudrate of the serial I/O */
+ { "pca", 0, 2, init_pca}, /* Init a PCA9685 device from the command line */
+ { "print", 0, 0, print_string}, /* Print a string to current output device */
+ { "set", 0, 0, set_var}, /* Set the variable to a value */
+ { "sum", 0, 0, sum_var}, /* Add some basic maths */
+ { "point", 0, 0, point_var}, /* Set out loop point */
+ { "tst", 0, 0, tst_var}, /* test the value of a var */
+ { "clr", 0, 0, clr_var}, /* Clear the var's to zero */
+ { "END", -1, -1, error_handler}
+};
+
+
+/* Scan down tags, to find the match, else return -1 */
+int find_cmd(char *tag)
+{
+ int cnt=0,c;
+ int length=strlen(tag);
+ char *elements[0x10];
+
+ if(tag[0]=='#') /* See is we have a command or a comment */
+ return(0);
+
+ c = breakup(tag,elements,' ');
+ while(1){
+ if((strcmp(cmd_cb[cnt].label,"END"))==0){
+ if(length>1)
+ cmd_cb[cnt].cmd_routine(c,elements); /* this will call the error routine */
+ return(cmd_cb[cnt].cmd);
+ } else if((strcmp(cmd_cb[cnt].label,tag))==0){
+ if((cmd_cb[cnt].args==c) || (cmd_cb[cnt].args==0)){ /* if arg count set to zero, can be anything */
+ cmd_cb[cnt].cmd_routine(c,elements); /* Call the function with args */
+ return(cnt);
+ } else {
+ lprintf("\n\rWrong number of args passed to %s\n\r",cmd_cb[cnt].label);
+ return(-1);
+ }
+ }
+ cnt++;
+ }
+}
+
+
+void error_handler(int c, char **a)
+{
+ int cnt=0;
+ lprintf("\n\rCommands available are ");
+ while(1){
+ if((strcmp(cmd_cb[cnt].label,"END"))==0){
+ lprintf("\n\r");
+ return;
+ } else
+ lprintf("%s, ",cmd_cb[cnt].label);
+ cnt++;
+ }
+}
+
+/******************************************/
+/* */
+/* Command stubs are here */
+/* */
+/******************************************/
+
+void list(int c, char **a)
+{
+ i2c_probe();
+}
+void list2(int c, char **a)
+{
+ i2c_probe2();
+}
+
+void exec_file(int c, char **a)
+{
+ /* File on a[1] */
+
+ FILE *fp;
+ char buf[0x60];
+ char cmd[0x60];
+
+ sprintf(buf,"/local/%s",a[1]);
+
+ if((fp = fopen(buf,"r"))==NULL){
+ lprintf("Unable to open %s\n\r",buf);
+ return;
+ }
+ sys_state = sys_state | EXEC_CALLED;
+ while(!feof(fp)){
+ fgets(buf,sizeof(buf),fp);
+ if(strlen(buf) > 2){
+ sprintf(cmd,"%s\n",buf);
+ find_cmd(cmd);
+ }
+ buf[0]='\0';
+ buf[1]='\0';
+ }
+ fclose(fp);
+}
+void dir_file(int c, char **a)
+{
+ lprintf("List of files in /local\n\r");
+
+ DIR *d;
+ struct dirent *p;
+ d = opendir("/local");
+ if(d != NULL) {
+ while((p = readdir(d)) != NULL) {
+ lprintf(" - %s\n\r", p->d_name);
+ }
+ } else {
+ error("Could not open directory!");
+ }
+}
+void cat_file(int c, char **a)
+{
+ /* File on a[1] */
+
+ FILE *fp;
+ char buf[0x60];
+
+ sprintf(buf,"/local/%s",a[1]);
+
+ if((fp = fopen(buf,"r"))==NULL){
+ lprintf("Unable to open %s\n\r",buf);
+ return;
+ }
+
+ while(!feof(fp)){
+ fgets(buf,sizeof(buf),fp);
+ if(strlen(buf) > 2){
+ lprintf(buf);
+ }
+ buf[0]='\0';
+ buf[1]='\0';
+ }
+ fclose(fp);
+}
+
+
+void relay_control(int c, char **a)
+{
+ relay_operate(htoi(a[1]));
+}
+
+void wait_control(int c, char **a)
+{
+ wait(htoi(a[1])/10);
+}
+
+void light_control(int c, char **a)
+{
+ channel_light(htoi(a[1]), htoi(a[2]));
+}
+void init_pca(int c, char **a)
+{
+ init_pca9685(htoi(a[1]));
+}
+
+void print_string(int c, char **a)
+{
+ int cnt = 1;
+ int len;
+ while(cnt <= c){
+ if(a[cnt][0]=='v' || a[cnt][0]=='V'){
+ len = strlen(a[cnt]);
+ if(len == 2){
+ lprintf(" %04x",htoi(a[cnt]));
+ } else {
+ lprintf("%s",a[cnt]);
+ }
+ } else
+ lprintf("%s",a[cnt]);
+ cnt++;
+ }
+ lprintf("\n");
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/cmd.h Fri Mar 19 11:17:54 2010 +0000 @@ -0,0 +1,13 @@ +int find_cmd(char *tag); +void error_handler(int c, char **a); + +void list(int c, char **a); +void list2(int c, char **a); +void exec_file(int c, char **a); +void dir_file(int c, char **a); +void cat_file(int c, char **a); +void relay_control(int c, char **a); +void wait_control(int c, char **a); +void light_control(int c, char **a); +void init_pca(int c, char **a); +void print_string(int c, char **a); \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/i2c.c Fri Mar 19 11:17:54 2010 +0000
@@ -0,0 +1,252 @@
+#include "mbed.h"
+
+#include "main.h"
+#include "useful.h"
+#include "i2c.h"
+#include "pca9685_reg.h" /* Light Driver Chip */
+
+I2C i2c(p9, p10); // sda, scl
+I2C i2c_1(p28, p27); // sda, scl
+
+
+#define PIO 0x40
+#define RELAYS 0x40
+
+
+
+/******************************************/
+/* */
+/* Probe the I2C bus, and show the */
+/* user what we have found */
+/* */
+/* */
+/* */
+/******************************************/
+void i2c_probe(void)
+{
+ lprintf("Searching for I2C devices...\n");
+
+ int count = 0;
+ for (int address=4; address<256; address+=2) {
+ if (!i2c.write(address, NULL, 0)) { // 0 returned is ok
+ lprintf(" - I2C device found at address 0x%02X\n", address);
+ count++;
+ }
+ }
+ lprintf("%d devices found\n", count);
+}
+void i2c_probe2(void)
+{
+ lprintf("Searching for I2C devices... (seconday bus)\n");
+
+ int count = 0;
+ for (int address=4; address<256; address+=2) {
+ if (!i2c_1.write(address, NULL, 0)) { // 0 returned is ok
+ lprintf(" - I2C device found at address 0x%02X\n", address);
+ count++;
+ }
+ }
+ lprintf("%d devices found\n", count);
+}
+
+
+
+/******************************************/
+/* */
+/* 1 - 8, Relays On, */
+/* */
+/******************************************/
+void relay_operate(char r)
+{
+ char buf[0x60];
+
+ switch(r){
+ case 0 : /* Turn off the relays */
+ buf[0]=0x00;
+ break;
+ case 1 :
+ buf[0]=0x01;
+ break;
+ case 2 :
+ buf[0]=0x02;
+ break;
+ case 3 :
+ buf[0]=0x04;
+ break;
+ case 4 :
+ buf[0]=0x08;
+ break;
+ case 5 :
+ buf[0]=0x10;
+ break;
+ case 6 :
+ buf[0]=0x20;
+ break;
+ case 7 :
+ buf[0]=0x40;
+ break;
+ case 8 :
+ buf[0]=0x80;
+ break;
+ default :
+ lprintf("Unknown Relay %d\n\r",r);
+ return;
+ }
+ i2c.write(RELAYS,buf,1);
+}
+
+/******************************************/
+/* */
+/* Read and Write the PIO latch */
+/* */
+/******************************************/
+void pio_write(unsigned char r, unsigned char d)
+{
+ unsigned char buf[0x60];
+
+ buf[0]=d;
+ i2c.write(r,(char *)buf,1);
+}
+void pio_read(unsigned char d)
+{
+ unsigned char r;
+ unsigned char buf[0x60];
+
+ i2c.read(d,(char *)buf,1);
+ r = buf[0];
+
+ lprintf("Returned value from the PIO was 0x%02x\n\r",r);
+}
+
+/******************************************/
+/* */
+/* Philips PCA9685 I2C Driver, 16 channel */
+/* Lighting controler chip, we have 4 */
+/* running in this system, so we need to */
+/* think how the channels map ?? */
+/* */
+/******************************************/
+
+/******************************************/
+/* */
+/* Init code for the PCA9685 */
+/* */
+/******************************************/
+
+void init_pca9685(unsigned char address)
+{
+ unsigned char buf[30];
+
+ lprintf("Setting up channel %d\n\r",address);
+
+ buf[0] = PCA9685_MODE1;
+ buf[1] = PCA9685_AI;
+ buf[2] = PCA9685_OUTDRV;
+ i2c.write(address,(char *) buf, 3);
+}
+
+/******************************************/
+/* */
+/* Send data to a given channle of a */
+/* given PCA9685 chip */
+/* */
+/******************************************/
+
+void pca9685_led(unsigned char addr, int led, unsigned char *values)
+{
+ unsigned char buf[5];
+
+ if (led == PCA9685_ALL_LEDS) {
+ buf[0] = PCA9685_ALL_LED_ON_L;
+ } else {
+ buf[0] = PCA9685_BASE(led);
+ }
+
+ buf[1] = values[0];
+ buf[2] = values[1];
+ buf[3] = values[2];
+ buf[4] = values[3];
+ i2c.write(addr, (char *)buf, 5);
+}
+
+/******************************************/
+/* */
+/* Calculate the register values for a */
+/* givern brightness percentage */
+/* */
+/******************************************/
+
+void pca9685_brightness(int percent, unsigned char *values)
+{
+ unsigned int on, off;
+
+ if (percent == 0) {
+ values[PCA9685_LED_ON_H] = 0;
+ values[PCA9685_LED_OFF_H] = PCA9685_LED_OFF;
+ return;
+ }
+ if (percent == 100) {
+ values[PCA9685_LED_ON_H] = PCA9685_LED_ON;
+ values[PCA9685_LED_OFF_H] = 0;
+ return;
+ }
+ on = 0;
+ off = (4096 * percent) / 100;
+ values[PCA9685_LED_ON_L] = on & 0xff;
+ values[PCA9685_LED_ON_H] = (on >> 8) & 0xf;
+ values[PCA9685_LED_OFF_L] = off & 0xff;
+ values[PCA9685_LED_OFF_H] = (off >> 8) & 0xf;
+}
+
+/******************************************/
+/* */
+/* Set a given channel to a given level */
+/* */
+/******************************************/
+void channel_light(unsigned char ch, unsigned char lev)
+{
+ char chip,led; /* Chip Number, channel number */
+ unsigned char v[4]; /* register data for givern level */
+
+ led = ch%16;
+ v[0]=0;
+ v[1]=0;
+ v[2]=0;
+ v[3]=0;
+
+ if(lev > 100){
+ lprintf("Level percentage range 0 - 100 (Trying for %d)\n\r",lev);
+ return;
+ }
+
+ switch(ch/16){
+ case 0 :
+ chip=LEDDRV1;
+ break;
+ case 1 :
+ chip=LEDDRV2;
+ break;
+ case 2 :
+ chip=LEDDRV3;
+ break;
+ case 3 :
+ chip=LEDDRV4;
+ break;
+ case 4 :
+ chip=LEDDRV5;
+ break;
+ case 5 :
+ chip=LEDDRV6;
+ break;
+ default :
+ lprintf("Error unknown chip %d\n\r",ch/16);
+ return;
+ }
+
+ lprintf("Setting channel %d to brightness leven %d chip = %d(%d),%d\n\r",
+ ch,lev,chip,ch/16,led);
+ pca9685_brightness(lev,v); /* Calculate the brightness level */
+ lprintf("Brightness level is %02x,%02x,%02x,%02x\n\r",v[0],v[1],v[2],v[3]);
+ pca9685_led(chip,led,v); /* Send to chip */
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/i2c.h Fri Mar 19 11:17:54 2010 +0000 @@ -0,0 +1,35 @@ +/* I2C bus Functions */ + +void i2c_probe(void); +void i2c_probe2(void); + +char init_lcd(void); +char clear_lcd(void); +char set_lcd(char line, char col); +char write_lcd(char *str); + +char read_keyboard(void); +char blocking_read_keyboard(void); + +void relay_operate(char r); +void pio_write(unsigned char r,unsigned char d); +void pio_read(unsigned char d); + +void init_pca9685(unsigned char address); +void channel_light(unsigned char ch, unsigned char lev); +void pca9685_led(unsigned char addr, int led, unsigned char *values); +void pca9685_brightness(int percent, unsigned char *values); + +void test_seven_seg(char loop); +void print_seven_seg(unsigned char a,unsigned char b,unsigned char c,unsigned char d); + +void batron_lcd_init(void); +void batron(void); +char batron_lcd_write(char *b); +char ascii_to_lcd(char ch); +void batron_clear(void); +char batron_clear_line(char row); +char batron_put_xy(char ddram_byte, char row, char column); + +char pcf8574_kbd(char state); +char pcf8584_sub_kbd(unsigned char d); \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/local_defines.h Fri Mar 19 11:17:54 2010 +0000 @@ -0,0 +1,8 @@ +#define TO_RS232 0x00000001 +#define TO_USB 0x00000002 + +#define EXEC_CALLED 0x00010000 /* Execed a script from the user */ +#define INDENT_SET 0x00020000 /* Jump point set */ + +#define MAX_VAR 10 /* Max number of variables in the stack */ +#define MAX_JMP 10 /* Max jump points in code */ \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Mar 19 11:17:54 2010 +0000
@@ -0,0 +1,108 @@
+#include "mbed.h"
+#include "main.h"
+#include "cmd.h"
+#include "i2c.h"
+#include "serial.h"
+#include "scripting.h"
+#include "breakup.h"
+#include "local_defines.h"
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+int sys_state = 0;
+int var[MAX_VAR];
+
+int main()
+{
+ char buf[0x20]; /* input buffer */
+ int r; /* general int */
+
+ sys_state = TO_RS232;
+
+ exec_profile();
+
+// relay_operate(0);
+// init_pca9685(0xb8);
+// init_pca9685(0xba);
+
+ pc.printf("\n\rDome Controler\n\n\r\r");
+ rs232_opener();
+ pc.printf("\n\rCMD > ");
+ while(1){ /* Command Loop */
+ r = 0;
+ while(r==0){
+ if(pc.readable()){
+ sys_state = TO_USB;
+ r = usb_gets(buf,sizeof(buf));
+ } else if(rs232_readable()){
+ sys_state = TO_RS232;
+ r = rs232_gets(buf,sizeof(buf));
+ }
+ }
+ if(r>2){
+ find_cmd(buf);
+ }
+ if (sys_state & TO_USB)
+ pc_output_string("\n\rCMD > ");
+ if (sys_state & TO_RS232)
+ rs232_output_string("\n\rCMD > ");
+ sys_state = 0;
+ }
+}
+
+int usb_gets(char *s,int len)
+{
+ char c;
+ int cnt=0;
+
+ while ((c = pc.getc()) != 0) {
+ if ((c == 0x0a) || (c==0x0d)) {
+ pc.printf("\n\r");
+ *s++ = '\0';
+ return(cnt); /* Return length */
+ } else if (c==0x7f) { /* Delete */
+ pc.putc(0x08);
+ pc.putc(0x20);
+ pc.putc(0x08);
+ cnt--;
+ *s--;
+ } else if (c==0x08) { /* BS */
+ pc.putc(0x08);
+ pc.putc(0x20);
+ pc.putc(0x08);
+ cnt--;
+ *s--;
+ } else if (c==025) { /* CTRL-U */
+ while (cnt!=0) {
+ pc.putc(0x08);
+ pc.putc(0x20);
+ pc.putc(0x08);
+ cnt--;
+ *s--;
+ }
+ } else {
+ *s++ = c;
+ pc.putc(c);
+ cnt++;
+ }
+ }
+ return(cnt);
+}
+
+void pc_output_string(char *buf)
+{
+ int a = 0;
+ while(a != strlen(buf)){
+ pc.putc(buf[a]);
+ if(buf[a]=='\n')
+ pc.putc('\r');
+ a++;
+ }
+}
+
+void exec_profile(void)
+{
+ char *a[2] = {"exec","profile.cmd"};
+ exec_file(2,a);
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.h Fri Mar 19 11:17:54 2010 +0000 @@ -0,0 +1,4 @@ +int usb_gets(char *s,int len); +void usb_remap(void); +void pc_output_string(char *buf); +void exec_profile(void); \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Mar 19 11:17:54 2010 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/49a220cc26e0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pca9685_reg.h Fri Mar 19 11:17:54 2010 +0000 @@ -0,0 +1,120 @@ +#ifndef __PCA9685_H +#define __PCA9685_H + +/* Devices */ +#define LEDDRV1 0xb8 +#define LEDDRV2 0xba +#define LEDDRV3 0xd8 +#define LEDDRV4 0xda +#define LEDDRV5 0xc8 +#define LEDDRV6 0xca + +/* Registers */ +#define PCA9685_MODE1 0x00 +#define PCA9685_MODE2 0x01 +#define PCA9685_SUBADR1 0x02 +#define PCA9685_SUBADR2 0x03 +#define PCA9685_SUBADR3 0x04 +#define PCA9685_ALLCALLADR 0x05 +#define PCA9685_LED0_ON_L 0x06 +#define PCA9685_LED0_ON_H 0x07 +#define PCA9685_LED0_OFF_L 0x08 +#define PCA9685_LED0_OFF_H 0x09 +#define PCA9685_LED1_ON_L 0x0a +#define PCA9685_LED1_ON_H 0x0b +#define PCA9685_LED1_OFF_L 0x0c +#define PCA9685_LED1_OFF_H 0x0d +#define PCA9685_LED2_ON_L 0x0e +#define PCA9685_LED2_ON_H 0x0f +#define PCA9685_LED2_OFF_L 0x10 +#define PCA9685_LED2_OFF_H 0x11 +#define PCA9685_LED3_ON_L 0x12 +#define PCA9685_LED3_ON_H 0x13 +#define PCA9685_LED3_OFF_L 0x14 +#define PCA9685_LED3_OFF_H 0x15 +#define PCA9685_LED4_ON_L 0x16 +#define PCA9685_LED4_ON_H 0x17 +#define PCA9685_LED4_OFF_L 0x18 +#define PCA9685_LED4_OFF_H 0x19 +#define PCA9685_LED5_ON_L 0x1a +#define PCA9685_LED5_ON_H 0x1b +#define PCA9685_LED5_OFF_L 0x1c +#define PCA9685_LED5_OFF_H 0x1d +#define PCA9685_LED6_ON_L 0x1e +#define PCA9685_LED6_ON_H 0x1d +#define PCA9685_LED6_OFF_L 0x20 +#define PCA9685_LED6_OFF_H 0x21 +#define PCA9685_LED7_ON_L 0x22 +#define PCA9685_LED7_ON_H 0x23 +#define PCA9685_LED7_OFF_L 0x24 +#define PCA9685_LED7_OFF_H 0x25 +#define PCA9685_LED8_ON_L 0x26 +#define PCA9685_LED8_ON_H 0x27 +#define PCA9685_LED8_OFF_L 0x28 +#define PCA9685_LED8_OFF_H 0x29 +#define PCA9685_LED9_ON_L 0x2a +#define PCA9685_LED9_ON_H 0x2b +#define PCA9685_LED9_OFF_L 0x2c +#define PCA9685_LED9_OFF_H 0x2d +#define PCA9685_LED10_ON_L 0x2e +#define PCA9685_LED10_ON_H 0x2f +#define PCA9685_LED10_OFF_L 0x30 +#define PCA9685_LED10_OFF_H 0x31 +#define PCA9685_LED11_ON_L 0x32 +#define PCA9685_LED11_ON_H 0x33 +#define PCA9685_LED11_OFF_L 0x34 +#define PCA9685_LED11_OFF_H 0x35 +#define PCA9685_LED12_ON_L 0x36 +#define PCA9685_LED12_ON_H 0x37 +#define PCA9685_LED12_OFF_L 0x38 +#define PCA9685_LED12_OFF_H 0x39 +#define PCA9685_LED13_ON_L 0x3a +#define PCA9685_LED13_ON_H 0x3b +#define PCA9685_LED13_OFF_L 0x3c +#define PCA9685_LED13_OFF_H 0x3d +#define PCA9685_LED14_ON_L 0x3e +#define PCA9685_LED14_ON_H 0x3f +#define PCA9685_LED14_OFF_L 0x40 +#define PCA9685_LED14_OFF_H 0x41 +#define PCA9685_LED15_ON_L 0x42 +#define PCA9685_LED15_ON_H 0x43 +#define PCA9685_LED15_OFF_L 0x44 +#define PCA9685_LED15_OFF_H 0x45 +#define PCA9685_ALL_LED_ON_L 0xfa +#define PCA9685_ALL_LED_ON_H 0xfb +#define PCA9685_ALL_LED_OFF_L 0xfc +#define PCA9685_ALL_LED_OFF_H 0xfd +#define PCA9685_PRE_SCALE 0xfe + +/* MODE1 bits */ +#define PCA9685_RESTART 0x80 +#define PCA9685_EXTCLK 0x40 +#define PCA9685_AI 0x20 +#define PCA9685_SLEEP 0x10 +#define PCA9685_SUB1 0x08 +#define PCA9685_SUB2 0x04 +#define PCA9685_SUB3 0x02 +#define PCA9685_ALLCALL 0x01 + +/* MODE2 bits */ +#define PCA9685_INVRT 0x10 +#define PCA9685_OCH 0x08 +#define PCA9685_OUTDRV 0x04 +#define PCA9685_OUTNE1 0x02 +#define PCA9685_OUTNE0 0x01 + +/* LEDX_ON_H bits */ +#define PCA9685_LED_ON 0x10 + +/* LEDX_OFF_H bits */ +#define PCA9685_LED_OFF 0x10 + +#define PCA9685_LED_BUFSIZ 0x04 +#define PCA9685_BASE(led) ((led * 4) + 6) +#define PCA9685_LED_ON_L 0x00 +#define PCA9685_LED_ON_H 0x01 +#define PCA9685_LED_OFF_L 0x02 +#define PCA9685_LED_OFF_H 0x03 +#define PCA9685_ALL_LEDS -1 + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/scripting.c Fri Mar 19 11:17:54 2010 +0000
@@ -0,0 +1,177 @@
+#include "mbed.h"
+#include "local_defines.h"
+#include "useful.h"
+#include "scripting.h"
+
+extern int var[MAX_VAR];
+extern int sys_state;
+extern FILE *exec_fp;
+
+long jmp[MAX_JMP]; /* Jump points */
+
+void clear_var(void)
+{
+ int a = 0;
+
+ while(a != MAX_VAR){
+ var[a] = 0;
+ a++;
+ }
+}
+
+void set_var(int c, char **a)
+{
+ int v,val;
+
+ if(sys_state & EXEC_CALLED){
+ if(c != 3)
+ var_exec_error(VAR_SET_CNT_ERROR);
+ else {
+ v = return_var(a[1]);
+ val = htoi(a[2]);
+ var[v]=val;
+ }
+
+ } else
+ var_exec_error(VAR_EXEC_ERROR);
+
+}
+
+void sum_var(int c, char **a)
+{
+ int v,val1,val2;
+
+ if(sys_state & EXEC_CALLED){
+ if(c != 4)
+ var_exec_error(VAR_SUM_CNT_ERROR);
+ else {
+ val1 = htoi(a[1]);
+ val2 = htoi(a[3]);
+ v = return_var(a[1]);
+ switch(a[2][0]){
+ case '+' :
+ var[v] = val1 + val2;
+ break;
+ case '-' :
+ var[v] = val1 - val2;
+ break;
+ case '/' :
+ var[v] = val1 / val2;
+ break;
+ case '*' :
+ var[v] = val1 * val2;
+ break;
+ case '%' :
+ var[v] = val1 * val2;
+ break;
+ default :
+ var_exec_error(VAR_SUM_TYPE_ERROR);
+ }
+ }
+ } else
+ var_exec_error(VAR_EXEC_ERROR);
+}
+void point_var(int c, char **a)
+{
+ int v;
+ if(sys_state & EXEC_CALLED){
+ v = return_jmp(a[1]);
+ jmp[v] = ftell(exec_fp); /* Read the current file pointers position */
+ sys_state = sys_state | INDENT_SET; /* Mark the state as set */
+ } else
+ var_exec_error(VAR_EXEC_ERROR);
+}
+void tst_var(int c, char **a)
+{
+ int v,val,j;
+ int doit=0;
+
+ if(sys_state & EXEC_CALLED){
+ if(sys_state & INDENT_SET){
+ if(c != 5)
+ var_exec_error(VAR_TST_CNT_ERROR);
+ else {
+ v = return_var(a[1]);
+ j = return_jmp(a[4]);
+ val = htoi(a[3]);
+ switch(a[2][0]){
+ case '<' :
+ if(var[v] < val)
+ doit = 1;
+ break;
+ case '>' :
+ if(var[v] > val)
+ doit = 1;
+ break;
+ case '=' :
+ if(var[v] == val)
+ doit = 1;
+ break;
+ case '!' :
+ if(var[v] != val)
+ doit = 1;
+ break;
+ default :
+ var_exec_error(VAR_TST_TYPE_ERROR);
+ }
+ if(doit)
+ fseek (exec_fp ,jmp[j] , SEEK_SET );
+ }
+ } else
+ var_exec_error(VAR_INDENT_ERROR);
+ } else
+ var_exec_error(VAR_EXEC_ERROR);
+}
+void clr_var(int c, char **a)
+{
+ if(sys_state & EXEC_CALLED){
+ clear_var();
+ } else
+ var_exec_error(VAR_EXEC_ERROR);
+}
+void var_exec_error(int state)
+{
+ switch(state){
+ case VAR_EXEC_ERROR :
+ lprintf("Can only be called from an exec call\n");
+ break;
+ case VAR_SET_CNT_ERROR :
+ lprintf("Format: set v<num> <value>\n");
+ break;
+ case VAR_SUM_CNT_ERROR :
+ lprintf("Format: sum v<num> <action> v<num>\n");
+ break;
+ case VAR_TST_CNT_ERROR :
+ lprintf("Format: tst v<num> <type> <value>\n");
+ break;
+ case VAR_INDENT_ERROR :
+ lprintf("In branch test, with no point to loop back to\n");
+ break;
+ case VAR_SUM_TYPE_ERROR :
+ lprintf("Unknown test type should be either +-/*\n");
+ break;
+ case VAR_TST_TYPE_ERROR :
+ lprintf("Unknown test type should be either <>=!\n");
+ break;
+ default :
+ lprintf("Unknown exec_error %04x\n",state);
+ }
+}
+
+int return_jmp(char *str)
+{
+ char buf[0x4];
+ int a;
+
+ buf[0] = str[1];
+ buf[1] = str[2];
+ buf[2] = str[3];
+ buf[3] = str[4];
+ a = atoi(buf);
+ if(a > MAX_VAR){
+ lprintf("In Return_jmp, jmp number %d more than MAXJMP %d, returned -1\n",
+ a,MAX_JMP);
+ return(-1);
+ }
+ return(a);
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/scripting.h Fri Mar 19 11:17:54 2010 +0000 @@ -0,0 +1,17 @@ +void clear_var(void); +void set_var(int c, char **a); +void sum_var(int c, char **a); +void point_var(int c, char **a); +void tst_var(int c, char **a); +void clr_var(int c, char **a); +void var_exec_error(int state); +int return_jmp(char *str); + + +#define VAR_EXEC_ERROR 0x0001 /* Function called out side of an exec call */ +#define VAR_SET_CNT_ERROR 0x0002 /* Set Var call, wrong number of arguments */ +#define VAR_SUM_TYPE_ERROR 0x0004 /* Unknown type in sum call */ +#define VAR_SUM_CNT_ERROR 0x0008 /* SuM var call, wrong number of arguments */ +#define VAR_TST_CNT_ERROR 0x0010 /* Tst var call, wrong number of arguments */ +#define VAR_INDENT_ERROR 0x0020 /* No point to jump back to */ +#define VAR_TST_TYPE_ERROR 0x0040 /* Unknown type in test call */ \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/serial.c Fri Mar 19 11:17:54 2010 +0000
@@ -0,0 +1,118 @@
+#include "mbed.h"
+#include "useful.h"
+
+Serial rs232(p13, p14); // tx, rx
+/******************************************/
+/* */
+/* Test the RS232 interface */
+/* Should send and recieve data on the */
+/* serial port, send a string, and get */
+/* back what is returned from the RX */
+/* */
+/******************************************/
+void rs232_opener(void)
+{
+ rs232.baud(9600);
+ rs232.printf("\n\r");
+ rs232.printf("Dome Controler\n\r");
+ rs232.printf("\n\rCMD > ");
+}
+
+void rs232_output_string(char *buf)
+{
+ int a = 0;
+ while(a != strlen(buf)){
+ rs232.putc(buf[a]);
+ if(buf[a]=='\n')
+ rs232.putc('\r');
+ a++;
+ }
+}
+
+int rs232_readable(void)
+{
+ return(rs232.readable());
+}
+
+int rs232_gets(char *s,int len)
+{
+ char c;
+ int cnt=0;
+
+ while ((c = rs232.getc()) != 0) {
+ if ((c == 0x0a) || (c==0x0d)) {
+ rs232.printf("\n\r");
+ *s++ = '\0';
+ return(cnt); /* Return length */
+ } else if (c==0x7f) { /* Delete */
+ rs232.putc(0x08);
+ rs232.putc(0x20);
+ rs232.putc(0x08);
+ cnt--;
+ *s--;
+ } else if (c==0x08) { /* BS */
+ rs232.putc(0x08);
+ rs232.putc(0x20);
+ rs232.putc(0x08);
+ cnt--;
+ *s--;
+ } else if (c==025) { /* CTRL-U */
+ while (cnt!=0) {
+ rs232.putc(0x08);
+ rs232.putc(0x20);
+ rs232.putc(0x08);
+ cnt--;
+ *s--;
+ }
+ } else {
+ *s++ = c;
+ rs232.putc(c);
+ cnt++;
+ }
+ }
+ return(cnt);
+}
+
+/******************************************/
+/* */
+/* Set the baud rate of the serial line */
+/* from the command line input */
+/* */
+/******************************************/
+#define BAUD_NUMBER 10
+void baud_rate(int c, char **a)
+{
+ int b,cnt;
+ int v[BAUD_NUMBER] = {300,600,1200,2400,4800,9600,19200,38400,57600,15200};
+
+ b = atoi(a[1]);
+ cnt = 0;
+ while(cnt < BAUD_NUMBER){
+ if(v[cnt]==b){
+ rs232.baud(b);
+ return;
+ }
+ cnt++;
+ }
+ cnt=0;
+ lprintf("Select a speed from ");
+ while(cnt < BAUD_NUMBER){
+ lprintf("%d ",v[cnt]);
+ cnt++;
+ }
+ lprintf("\n\r");
+}
+
+void serial_test(int c, char **a)
+{
+ char ch;
+
+ rs232_output_string("Serial Test Routine\n\r");
+
+ while(1){
+ ch = rs232.getc();
+ printf("Got %c\n\r",ch);
+ if(ch=='q')
+ return;
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/serial.h Fri Mar 19 11:17:54 2010 +0000 @@ -0,0 +1,6 @@ +void rs232_opener(void); +void rs232_output_string(char *buf); +int rs232_readable(void); +int rs232_gets(char *s,int len); +void baud_rate(int c, char **a); +void serial_test(int c, char **a); \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/useful.c Fri Mar 19 11:17:54 2010 +0000
@@ -0,0 +1,112 @@
+#include "mbed.h"
+#include <stdarg.h>
+#include "main.h"
+#include "serial.h"
+#include "local_defines.h"
+#include "useful.h"
+
+extern int var[MAX_VAR];
+extern int sys_state;
+
+/* Function: hexview
+ * Prints an array of char to stdout in hex.
+ * The data is grouped in two 8 byte groups per line.
+ * Each byte is displayed as 2 hex digits and every
+ * line starts with the address of the first byte.
+ *
+ * There is no text view of a line.
+ *
+ * Variables:
+ * buffer - The array to display.
+ * size - The length of buffer.
+ *
+ * Author: rmeyer
+ */
+void hexview(char *buffer, unsigned int size) {
+ printf("\n");
+ for(int i = 0; i < size; ++i) {
+ if((i%16)!=0) {
+ printf(" ");
+ } else {
+ printf("%04X: ", (i));
+ }
+ printf("%02hhx", buffer[i]);
+ if((i%16) == 7) {
+ printf(" ");
+ }
+ if((i%16) == 15) {
+ printf("\n\r");
+ }
+ }
+ printf("\n\r\n\r\n\r");
+}
+
+/******************************************/
+/* */
+/* Lprintf, Bring the printf under our */
+/* control, so we can use either rs232 */
+/* or the USB-Serial connections as an */
+/* I/O channel. */
+/* */
+/******************************************/
+
+void lprintf(const char* fmt, ...)
+{
+ char str[0x1000];
+
+ va_list ap;
+ va_start(ap, fmt);
+ vsprintf(str, fmt, ap);
+ if (sys_state & TO_RS232){
+ rs232_output_string(str);
+ } else if (sys_state & TO_USB){
+ pc_output_string(str);
+ }
+ va_end(ap);
+}
+
+/******************************************/
+/* */
+/* Read a value in from a user, workout */
+/* if its hex or decimal, and return an */
+/* int to the user */
+/* */
+/******************************************/
+int htoi(char *str)
+{
+ if(strlen(str)>=2){
+ if(str[0]=='v' || str[0]=='V'){
+ return(var[return_var(str)]);
+ } else if(str[1]=='x' || str[1]=='X'){
+ return(strtol(str, NULL, 16));
+ }
+ }
+ return(atoi(str));
+}
+
+/******************************************/
+/* */
+/* Given the input string, return the */
+/* number of the variable the user wants */
+/* its added to htoi, so all inputs */
+/* should get access to the variable data */
+/* */
+/******************************************/
+
+int return_var(char *str)
+{
+ char buf[0x4];
+ int a;
+
+ buf[0] = str[1];
+ buf[1] = str[2];
+ buf[2] = str[3];
+ buf[3] = str[4];
+ a = atoi(buf);
+ if(a > MAX_VAR){
+ lprintf("In Return_var, var number %d more than MAXVAR %d, returned -1\n",
+ a,MAX_VAR);
+ return(-1);
+ }
+ return(a);
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/useful.h Fri Mar 19 11:17:54 2010 +0000 @@ -0,0 +1,1 @@ +void hexview(char *buffer, unsigned int size); void lprintf(const char* fmt, ...); int htoi(char *str); int return_var(char *str); \ No newline at end of file