Sample Code mostly for the Mbed
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Simple Hello World
#include "mbed.h"
[[Digital Out]] myled(LED1);
int main() {
while(1) {
myled = 1;
puts("Hello!");
wait(0.2);
myled = 0;
wait(1);
}
}
Servo Control
This lets you move a servo back and forth with s and d keys.
// Hello World to sweep a servo through its full range
// Control a R/C model servo
#include "mbed.h"
Serial pc(USBTX, USBRX); // tx, rx
[[Pwm Out]] servo(p21);
float pos = 0.0015;
int main() {
servo.period(0.020); // servo requires a 20ms period
pc.printf("Press 's' to turn CCW, 'd' to turn it CW\n\r");
while(1) {
char c = pc.getc();
if((c == 's') && (pos > 0.0005)) {
pos -= 0.00001;
// pos = 0.0005;
servo.pulsewidth(pos);
}
if((c == 'd') && (pos < 0.0024)) {
pos += 0.00001;
// pos = 0.0024;
servo.pulsewidth(pos);
}
pc.printf("Pulse= %f ms\n\r", pos);
}
}
Analog In
This lets you measure a voltage on a pin.
#include "mbed.h"
[[Analog In]] ain(p20);
Serial pc(USBTX, USBRX); // tx, rx
int main() {
while (1){
pc.printf("Analog in= %f V \n\r", 3.306*ain);
wait(.2);
}
}
Beeper Sweep
This lets you sweep a Piezo buzzer's frequency though a range with the s and d keys.
// Hello World to sweep a beeper through its full range
// Control a R/C model beeper
#include "mbed.h"
Serial pc(USBTX, USBRX); // tx, rx
[[Pwm Out]] beeper(p21);
float freq = 1000; // start with 1kHz freq
int main() {
beeper.period(1/freq); // beeper requires a 20ms period
beeper.pulsewidth(0.5/freq); // and a 50% Duty cycle
pc.printf("Press 's' to lower, or 'd' to raise the frequency \n\r");
while(1) {
char c = pc.getc();
if((c == 's')) {
freq -= 50;
// freq = 0.0005;
beeper.period(1/freq);
beeper.pulsewidth(0.5/freq);
}
if((c == 'd')) {
freq += 50;
// freq = 0.0024;
beeper.period(1/freq);
beeper.pulsewidth(0.5/freq);
}
if (c == 'm') { beeper.pulsewidth(0); }
pc.printf("Frequency= %f ms\n\r", freq);
}
}
LED Brightness Sweep
Cycles the LED brightness smoothly up and down through all 16 levels using the SPI controlled MAX6957ANI+.
#include "mbed.h"
SPI spi(p5, p6, p7); // mosi, miso, sclk
[[Digital Out]] cs(p8);
#define CONFIG 0x04
#define GLBCUR 0x02
#define DISTEST 0x07
#define PCONF04 0x09
#define PCONF24 0x0E
#define PORTS24 0x58
Serial pc(USBTX, USBRX); // tx, rx
int read(int reg) {
int ret;
reg |= 0x80;
cs = 0;
spi.write(reg); spi.write(0);
cs = 1; cs =0;
spi.write(0);
ret = spi.write(0);
cs = 1;
return ret;
}
int write(int add, int data) {
cs = 0;
spi.write(add); spi.write(data);
cs = 1;
return 1;
}
int main() {
// Setup the spi for 8 bit data, high steady state clock,
// second edge capture, with a 1MHz clock rate
spi.format(8,3);
spi.frequency(20000000);
int ret;
write(CONFIG, 1); // Enable the Max 6957
write(PCONF24, 0); // Set p24 - p27 to led drivers
write(PORTS24, 0x0f); // Turn on p24 - p27
// write(DISTEST, 1); // Enable display test
ret = read(CONFIG);
pc.printf("CONFIG register = 0x%X\n\r", ret);
ret = read(PCONF24);
pc.printf("PCONF24 register = 0x%X\n\r", ret);
int cur = 0, inc = 1;
while (1) {
for(;(inc <tt>= 1 && cur <</tt> 15) || (inc == -1 && cur >=0); cur+=inc) {
write(GLBCUR, cur);
wait(.05);
}
inc *=-1; cur+=inc;
}
write(DISTEST, 0); // Disable display test
}
Ether Port Test
Prints the MAC address of any received packets
#include "mbed.h"
Ethernet eth;
Serial pc(USBTX, USBRX);
int main() {
char buf[0x600];
while(1) {
int size = eth.receive();
if(size > 0) {
eth.read(buf, size);
pc.printf("Destination: %02X:%02X:%02X:%02X:%02X:%02X\n\r",
buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
pc.printf("Source: %02X:%02X:%02X:%02X:%02X:%02X\n\r",
buf[6], buf[7], buf[8], buf[9], buf[10], buf[11]);
}
wait(1);
}
}
QC-5000 Test Code
Exercise the Proto-board IO.
// Control the AMC2500 steppers
#include "mbed.h"
// Defines
#define YLEFT p30
#define YRIGHT p29
#define XFRONT p28
#define XREAR p27
#define XCLK p26
#define XDIR p25
#define YCLK p24
#define YDIR p23
#define ZAX p21
#define RELAY p22
#define MOSI p5
#define MISO p6
#define SCLK p7
#define STCP p8 // 74LS595 Latch outputs
#define SCAL 36.4
#define AIN p20
#define INC 1
#define UP 2
#define CS 4
#define MSK 7
[[Digital In]] yl(YLEFT);
[[Digital In]] yr(YRIGHT);
[[Digital In]] xf(XFRONT);
[[Digital In]] xr(XREAR);
[[Digital Out]] xdir(XDIR);
[[Digital Out]] ydir(YDIR);
[[Digital Out]] *adir = &xdir;
[[Digital In Out]] zax(ZAX);
[[Digital In Out]] relay(RELAY);
SPI spi(MOSI, MISO, SCLK);
[[Digital Out]] latch(STCP);
[[Analog In]] spinv(AIN);
Serial pc(USBTX, USBRX); // tx, r
int ramp(float target, int step, float delay);
int write(unsigned int data);
int vadj(int up);
[[Pwm Out]] xstep(XCLK);
[[Pwm Out]] ystep(YCLK);
[[Pwm Out]] *astep= &xstep;
float sps = 0; // start with a slow steps per second
unsigned int data =8;
int main() {
yl.mode([[Pull Up]]);
yr.mode([[Pull Up]]);
xf.mode([[Pull Up]]);
xr.mode([[Pull Up]]);
zax = 1; zax.output(); zax.mode([[Open Drain]]);
relay = 1; relay.output(); relay.mode([[Open Drain]]);
spi.format(8,0);
spi.frequency(1000000);
// ramp(50, 10, 0.1);
xstep.period(1/sps); // set a starting steps per second
xstep.pulsewidth(0.5/sps); // and a 50% Duty cycle
write(data); // Clear 74LS595 data so all controls are off
pc.printf("Press 's' for slower, or 'd' for faster, 'c' to change direction.\n\r");
while(1) {
char c = pc.getc();
// Slow down current axis speed
if((c == 's')) {
sps -= 50;
// sps = 0.0005;
if (sps < 0) sps = 0;
astep->period(1/sps);
astep->pulsewidth(0.5/sps);
}
// Speed up current axis speed
if((c == 'd')) {
sps += 50;
// sps = 0.0024;
astep->period(1/sps);
astep->pulsewidth(0.5/sps);
}
// Change current axis direction
if (c == 'c') {
float s= sps;
// pc.printf("Ramping down\n");
ramp(0, 200, 0.01);
*adir = *adir ? 0 : 1;
ramp(s, 200, 0.01);
}
// Stop current axis
if (c == ' ') {
ramp(0, 200, 0.01);
astep->pulsewidth(0);
}
if (c == 'l') {
int p=0;
if (!yl) { pc.printf("Left "); p=1; }
if (!yr) { pc.printf("Right "); p=1; }
if (!xf) { pc.printf("Front "); p=1; }
if (!xr) { pc.printf("Rear"); p=1; }
if (p) { printf("\n\r"); p=0; }
}
// Toggle Realay
if (c == 'r') {
relay = relay ? 0 : 1;
}
// Toggle Motor
if (c == 'm') {
if (8 & data) {
data = ~8&data;
write(data);
wait(0.1);
pc.printf("Spindle Voltage = %f V \n\r", SCAL*spinv);
} else {
data = 8|data;
write(data);
}
}
// Decrease? current Spindle voltage and report.
if (c == 'n') {
vadj(0);
wait(0.1);
pc.printf("Spindle Voltage = %f V \n\r", SCAL*spinv);
}
// Increase? current Spindle voltage and report.
if (c == ',') {
vadj(1);
wait(0.1);
pc.printf("Spindle Voltage = %f V \n\r", SCAL*spinv);
}
// Toggle Vacume
if (c == 'v') {
data = (16 & data) ? (~16)&data : 16|data;
write(data);
}
// Toggle Z axis
if (c == 'z') {
zax = zax ? 0 : 1;
}
// Swich movment to other (Alternate) Axis
if (c == 'a') {
float s = sps;
ramp(0, 200, 0.01);
astep->pulsewidth(0);
if (astep == &xstep) { astep = &ystep; adir = &ydir; }
else { astep = &xstep; adir = &xdir; }
ramp(s, 200, 0.01);
}
// Print current "speed"
pc.printf("SPS= %f\n\r", sps);
}
}
int ramp(float target, int step, float delay) {
target = target < 0 ? 0 : target;
if (target > sps) step = abs(step);
else step = -abs(step);
while( abs(sps - target) > 0.1) {
wait(delay);
if (abs(target - sps) >= abs(step)) sps += step;
else sps = target;
astep->period(1/sps);
astep->pulsewidth(0.5/sps);
// pc.printf("SPS = %f\n\r", sps);
}
return 0;
}
int write(unsigned int data) {
// pc.printf("Writing: %0X\n\r", data);
latch = 0;
spi.write(data);
// wait(0.1);
latch = 1; // latch = 0;
return 1;
}
int vadj(int up) {
data &= ~MSK;
write(INC|data);
// wait(.1);
write(INC|(up ? UP:0)|data);
// wait(.1);
write((up ? UP:0)|data);
// wait(.1);
write(INC|(up ? UP:0)|data);
// wait(.1);
write((up ? UP:0)|data);
// wait(.1);
write(INC|(up ? UP:0)|data);
// wait(.1);
write((up ? UP:0)|data);
// wait(.1);
write(CS|data);
// wait(.1);
// data |= INC;
write(data);
return 1;
}
-- Main.ClifCox - 19 Nov 2011