main.cpp

00001 
00002 #include "mbed.h"
00003 #include "bms.h"
00004 #include "LTC681x.h"
00005 #include "LTC6811.h"
00006 #include "CAN.h"
00007 #include "INA226.hpp"
00008 
00009 
00010 
00011 #define UI_BUFFER_SIZE 64
00012 #define SERIAL_TERMINATOR '\n'
00013 
00014 #define ENABLED 1
00015 #define DISABLED 0
00016 
00017 #define DATALOG_ENABLED 1
00018 #define DATALOG_DISABLED 0
00019 
00020 
00021 
00022 DigitalOut led1(LED1);
00023 Serial pc(USBTX, USBRX);
00024 CAN can1(p9,p10);
00025 CAN can2(p30,p29);
00026 I2C i2c(p28,p27);
00027 DigitalOut BAT_MIN_safty(p21);
00028 DigitalOut BAT_MAX_safty(p22);
00029 INA226 VCmonitor(i2c);
00030 
00031 
00032 
00033 void run_command(uint32_t cmd);
00034 void measurement_loop(uint8_t datalog_en);
00035 //void print_menu();
00036 void print_cells(uint8_t datalog_en);
00037 void print_open();
00038 void print_aux(uint8_t datalog_en);
00039 void print_stat();
00040 void print_config();
00041 void print_rxconfig();
00042 void print_pec(void);
00043 void serial_print_hex(uint8_t data);
00044 void check_error(int error);
00045 void wakeup();
00046 void cell_read();
00047 void spi_error();
00048 void ic_check();
00049 void spi_check();
00050 void print_CAN(uint8_t datalog_en);
00051 void print_math();
00052 void can_sent1();
00053 void can_sent2();
00054 void can_sent3();
00055 void can_sent4();
00056 //void can_set();
00057 void can_wait();
00058 void ic_set();
00059 
00060 
00061 //char get_char();
00062 //void read_config_data(uint8_t cfg_data[][6], uint8_t nIC);
00063 
00064 const uint8_t TOTAL_IC = 3;//!<number of ICs in the daisy chain
00065 char ui_buffer[UI_BUFFER_SIZE];
00066 
00067 
00068 //ADC Command Configurations
00069 //const uint8_t ADC_OPT = ADC_OPT_DISABLED; // See LTC6811_daisy.h for Options
00070 const uint8_t ADC_CONVERSION_MODE = MD_7KHZ_3KHZ;//MD_7KHZ_3KHZ; //MD_26HZ_2KHZ;//MD_7KHZ_3KHZ; // See LTC6811_daisy.h for Options
00071 const uint8_t ADC_DCP = DCP_DISABLED; // See LTC6811_daisy.h for Options
00072 const uint8_t CELL_CH_TO_CONVERT = CELL_CH_ALL; // See LTC6811_daisy.h for Options
00073 const uint8_t AUX_CH_TO_CONVERT = AUX_CH_ALL; // See LTC6811_daisy.h for Options
00074 const uint8_t STAT_CH_TO_CONVERT = STAT_CH_ALL; // See LTC6811_daisy.h for Options
00075 
00076 const uint16_t MEASUREMENT_LOOP_TIME = 100;//milliseconds(mS)
00077 
00078 //Under Voltage and Over Voltage Thresholds
00079 const uint16_t OV_THRESHOLD = 41000; //
00080 const uint16_t UV_THRESHOLD = 30000; // 
00081 
00082 //Loop Measurement Setup These Variables are ENABLED or DISABLED Remember ALL CAPS
00083 const uint8_t WRITE_CONFIG = DISABLED; // This is ENABLED or DISABLED
00084 const uint8_t READ_CONFIG = DISABLED; // This is ENABLED or DISABLED
00085 const uint8_t MEASURE_CELL = ENABLED; // This is ENABLED or DISABLED
00086 const uint8_t MEASURE_AUX = DISABLED; // This is ENABLED or DISABLED
00087 const uint8_t MEASURE_STAT = DISABLED; //This is ENABLED or DISABLED
00088 const uint8_t PRINT_PEC = DISABLED; //This is ENABLED or DISABLED
00089 short n =0;
00090 
00091 uint8_t read_data();
00092 
00093 float read_float();
00094 
00095 
00096 int32_t read_int();
00097 
00098 int BAT_MIN, BAT_MAX, BAT_AVG;
00099 double BAT_Current;
00100 long BAT_SUM;
00101 unsigned short BAT_CELL[27];
00102 
00103 char *read_string();
00104 int8_t read_char();
00105 
00106 cell_asic bms_ic[TOTAL_IC];
00107 
00108 int main(void)
00109 {
00110     uint32_t user_command;
00111     
00112     pc.baud(115200);
00113 
00114     while(1) {
00115        BAT_MIN = 0;
00116        BAT_MAX = 0;   // 0にする
00117         ic_set();
00118     }
00119 }
00120 
00121 
00122 
00123 void ic_set(){
00124         
00125         //__disable_irq();
00126         ic_check();
00127         spi_check();
00128         spi_error();
00129         wakeup();
00130         cell_read();
00131         
00132            }
00133 
00134 void ic_check(){  //1
00135 
00136 //__disable_irq();
00137     pc.baud(115200);
00138     spi_enable();
00139     LTC681x_init_cfg(TOTAL_IC, bms_ic);
00140     LTC6811_reset_crc_count(TOTAL_IC,bms_ic);
00141     LTC6811_init_reg_limits(TOTAL_IC,bms_ic);
00142     wakeup_sleep(TOTAL_IC);
00143             LTC6811_wrcfg(TOTAL_IC,bms_ic);
00144             print_config();
00145             //printf("1");
00146             //spi_check();
00147             
00148     }
00149     
00150 void spi_check(){  //2
00151 
00152 __disable_irq();
00153      int countup;
00154     int8_t error = 0;
00155     
00156      wakeup_sleep(TOTAL_IC);
00157             error = LTC6811_rdcfg(TOTAL_IC,bms_ic);
00158             check_error(error);
00159             print_rxconfig(); 
00160             //printf("2");
00161             //spi_error();    
00162                }
00163 
00164 
00165 void wakeup(){  //3
00166 
00167  __disable_irq();
00168     int countup;
00169     int8_t error = 0;
00170     uint32_t conv_time = 0;
00171                  
00172                  
00173             wakeup_sleep(TOTAL_IC);
00174             LTC6811_adcv(ADC_CONVERSION_MODE,ADC_DCP,CELL_CH_TO_CONVERT);
00175             conv_time = LTC6811_pollAdc();
00176             //printf("3");
00177             //cell_read();
00178             }
00179     
00180     
00181 void spi_error(){
00182              
00183             //__disable_irq();
00184             
00185             int8_t error = 0;
00186             int countup;
00187             /*
00188             if(error = -1 ){
00189             for(countup = 0; countup <= 2; countup++){
00190              spi_check();
00191             if(error =1){             
00192                  break;
00193                         }
00194                                                         }                                       
00195                            }
00196              if(error = 1){
00197                    wakeup();
00198                           }
00199                           */
00200                           
00201              //wakeup();
00202                           
00203              
00204                  }
00205                  
00206 void cell_read(){  //4  電圧読み取り
00207 
00208  __disable_irq();
00209     int8_t error = 0;
00210     uint32_t conv_time = 0;
00211     int8_t readIC=0;
00212     
00213          wakeup_sleep(TOTAL_IC);
00214             error = LTC6811_rdcv(0, TOTAL_IC,bms_ic); 
00215             check_error(error);
00216             //print_cells(DATALOG_DISABLED);
00217             print_CAN(DATALOG_DISABLED);
00218             //printf("4");
00219             
00220                 }           
00221             
00222     
00223 
00224     
00225 void print_CAN(uint8_t datalog_en){
00226     
00227     __disable_irq();
00228     short n =0;
00229     int BAT_SUM = 0; // 0にする
00230     int BAT_MIN = 55876;
00231     double V,C;
00232     int BTA_MAX = 0;
00233     float tempC, sum, sum_2, ave, ave_2;
00234     int i, j, k, l;   //平均化処理に使用
00235     int r = 5;  //平均する値の個数
00236      
00237     for (int current_ic = 0 ; current_ic < TOTAL_IC; current_ic++) {
00238         
00239         //if (datalog_en == 0) {
00240             //pc.printf("IC%d, ", current_ic+1);
00241             //for(n = 0; n <= 12; n++){
00242         for (int i=0; i < bms_ic[0].ic_reg.cell_channels; i++) {
00243                     
00244                     //BAT_CELL[n] = bms_ic[current_ic].cells.c_codes[i];
00245                     
00246                                                                       
00247                      pc.printf("C%d:", i+1);
00248                     pc.printf("%.4f, ",bms_ic[current_ic].cells.c_codes[i]*0.0001);
00249                      BAT_SUM = bms_ic[current_ic].cells.c_codes[i] +  BAT_SUM;
00250                      
00251                      if(bms_ic[current_ic].cells.c_codes[i] > 10000){
00252                      if(bms_ic[current_ic].cells.c_codes[i] < BAT_MIN){
00253                            BAT_MIN = bms_ic[current_ic].cells.c_codes[i];
00254                                                                       }
00255                                                                       } 
00256                                                                                                                      
00257                      if( bms_ic[current_ic].cells.c_codes[i] > BAT_MAX){
00258                            BAT_MAX = bms_ic[current_ic].cells.c_codes[i];
00259                            
00260                                                                        }
00261                                                                        
00262 /*
00263  
00264           //平均化処理      
00265           
00266             sum = 0;
00267             ave = 0;
00268             i = 0;
00269            for( i = 0; i < r; i++)            
00270              {
00271               float temp = max.read_temp();
00272               sum += temp;
00273              }   
00274             
00275             ave = sum / r;
00276             printf("\n\rT: %f",ave );
00277             
00278             
00279            
00280             max.deselect();
00281             max_2.select_2();
00282              
00283         //平均化処理  
00284             sum_2 = 0;
00285             ave_2 = 0;
00286             j = 0;
00287            for( j = 0; j < r; j++)            
00288            {
00289               float temp_2 = max_2.read_temp_2();
00290               sum_2 += temp_2;
00291            }   
00292             
00293             ave_2 = sum_2 / r;
00294             printf("\n\rT: %f",ave_2 );
00295             
00296             
00297             
00298           max.deselect();
00299           max_2.deselect_2();
00300             
00301             
00302             
00303             max.deselect();
00304             max_2.deselect_2();
00305                     
00306                                                                        
00307             
00308          
00309          //BAT_Current = C;
00310                                                                                                                         
00311                     */
00312                                                             
00313                                                          
00314             }
00315 
00316         }
00317     
00318                                                        
00319                     pc.printf("\n");
00320                     pc.printf("SUM");
00321                     pc.printf("%.4f, ",BAT_SUM*0.0001);
00322                     BAT_AVG = BAT_SUM / 27;
00323                     pc.printf("AVG");
00324                     pc.printf("%.4f, ",BAT_AVG*0.0001);
00325                     pc.printf("MIN");
00326                     pc.printf("%.4f, ",BAT_MIN*0.0001);
00327                     pc.printf("MAX");
00328                     pc.printf("%.4f, ",BAT_MAX*0.0001);
00329                     //pc.printf("BAT_Current");
00330                     if((VCmonitor.getVoltage(&V) == 0) && (VCmonitor.getCurrent(&C) == 0)){
00331                       printf("V,%f,C,%f\n",V,C);
00332             BAT_Current = C;
00333             
00334                                                                         }
00335                     pc.printf("%f, ",BAT_Current);
00336                     pc.printf("\n");
00337                     pc.printf("\n");
00338                     printf("\n\rT: %f",ave );
00339                     pc.printf("\n");
00340                     printf("\n\rT: %f",ave_2 );
00341                     pc.printf("\n");
00342                     
00343                             if( BAT_MIN < 25000 ){
00344                             BAT_MIN_safty = 1 ;
00345                             wait(1);
00346                             BAT_MIN_safty = 0 ;         
00347                                                 } 
00348                             if( BAT_MAX > 42000){
00349                             BAT_MAX_safty = 1;
00350                             wait(1);
00351                             BAT_MAX_safty = 0;
00352                                                          
00353                                 }
00354      }
00355      
00356     
00357 /*
00358 void can_sent4(){
00359         
00360     if(can1.write(CANMessage(271,&BAT_MAX2))){
00361         pc.printf("10CANMessage:%d\n",BAT_MAX2);
00362         }
00363     if(can1.write(CANMessage(272,&BAT_MAX3))){
00364         pc.printf("11CANMessage:%d\n",BAT_MAX3);
00365         }
00366     if(can1.write(CANMessage(273,&BAT_MAX4))){
00367         pc.printf("12CANMessage:%d\n",BAT_MAX4);
00368         }
00369     
00370     }*/
00371  /*  
00372 void can_set(){
00373   
00374      //NVIC_SetPriority(TIMER3_IRQn, 0);
00375      //printf("aaaaa");
00376      
00377      BAT_SUM1 = 0;
00378      BAT_SUM2 = 0;
00379      BAT_SUM3 = 0;
00380      BAT_SUM4 = 0;
00381      BAT_MIN1 = 0;
00382      BAT_MIN2 = 0;
00383      BAT_MIN3 = 0;
00384      BAT_MIN4 = 0;
00385      BAT_MAX1 = 0;
00386      BAT_MAX2 = 0;
00387      BAT_MAX3 = 0;
00388      BAT_MAX4 = 0;
00389      BAT_Current1 = 0;
00390      BAT_Current2 = 0;
00391      
00392      
00393      int data1 = 0;   //BAT_SUM
00394      int data2 = 0;
00395      int data3 = 0;   //BAT_MAX
00396      int data4 = 0;   //BAT_Current
00397      
00398 
00399     BAT_SUM = data1;
00400     data2 = BAT_MIN;
00401     data3 = BAT_MAX;
00402     data4 = BAT_Current;
00403     
00404     BAT_SUM1 = data1 / 1000;  //114
00405     BAT_SUM2 = data1 % 1000;   //755
00406     BAT_SUM3 = BAT_SUM2 / 10; //75
00407     BAT_SUM4 = BAT_SUM2 % 10; // 5
00408     
00409     BAT_MIN1 = data2 / 1000;   
00410     BAT_MIN2 = data2 % 1000;
00411     BAT_MIN3 = BAT_MIN2 / 10;
00412     BAT_MIN4 = BAT_MIN2 % 10;
00413  
00414     BAT_MAX  = data3 / 1000;   
00415     BAT_MAX2 = data3 % 1000;
00416     BAT_MAX3 = BAT_MAX2 / 10;
00417     BAT_MAX4 = BAT_MAX2 % 10;   
00418     
00419     BAT_Current1 = data4 / 100;
00420     BAT_Current2 = data4 % 100;
00421     printf("can_set\n");
00422     printf("aaaa%f",BAT_SUM);
00423     }
00424 */
00425             
00426 void measurement_loop(uint8_t datalog_en)
00427 {
00428     int8_t error = 0;
00429     if (WRITE_CONFIG == ENABLED) {
00430         wakeup_sleep(TOTAL_IC);
00431         LTC6811_wrcfg(TOTAL_IC,bms_ic);
00432         print_config();
00433     }
00434 
00435     if (READ_CONFIG == ENABLED) {
00436         wakeup_sleep(TOTAL_IC);
00437         error = LTC6811_rdcfg(TOTAL_IC,bms_ic);
00438         check_error(error);
00439         print_rxconfig();
00440     }
00441 
00442     if (MEASURE_CELL == ENABLED) {
00443         wakeup_idle(TOTAL_IC);
00444         LTC6811_adcv(ADC_CONVERSION_MODE,ADC_DCP,CELL_CH_TO_CONVERT);
00445         LTC6811_pollAdc();
00446         wakeup_idle(TOTAL_IC);
00447         error = LTC6811_rdcv(0, TOTAL_IC,bms_ic);
00448         check_error(error);
00449         print_cells(datalog_en);
00450 
00451     }
00452 
00453     if (MEASURE_AUX == ENABLED) {
00454         wakeup_idle(TOTAL_IC);
00455         LTC6811_adax(ADC_CONVERSION_MODE , AUX_CH_ALL);
00456         LTC6811_pollAdc();
00457         wakeup_idle(TOTAL_IC);
00458         error = LTC6811_rdaux(0,TOTAL_IC,bms_ic); // Set to read back all aux registers
00459         check_error(error);
00460         print_aux(datalog_en);
00461     }
00462 
00463     if (MEASURE_STAT == ENABLED) {
00464         wakeup_idle(TOTAL_IC);
00465         LTC6811_adstat(ADC_CONVERSION_MODE, STAT_CH_ALL);
00466         LTC6811_pollAdc();
00467         wakeup_idle(TOTAL_IC);
00468         error = LTC6811_rdstat(0,TOTAL_IC,bms_ic); // Set to read back all aux registers
00469         check_error(error);
00470         print_stat();
00471     }
00472 
00473     if (PRINT_PEC == ENABLED) {
00474         print_pec();
00475     }
00476 
00477 }
00478 
00479 
00480 
00481 void print_cells(uint8_t datalog_en)
00482 {
00483     for (int current_ic = 0 ; current_ic < TOTAL_IC; current_ic++) {
00484 
00485         if (datalog_en == 0) {
00486             pc.printf("IC%d, ", current_ic+1);
00487             for (int i=0; i < bms_ic[0].ic_reg.cell_channels; i++) {
00488                 pc.printf("C%d:", i+1);
00489                 pc.printf("%.4f, ", bms_ic[current_ic].cells.c_codes[i]*0.0001);
00490                 } 
00491                    
00492             pc.printf("\n");
00493             }
00494             
00495         else {
00496             pc.printf("Cells, ");
00497             for (int i=0; i<bms_ic[0].ic_reg.cell_channels; i++) {
00498                 pc.printf("%.4f, ",bms_ic[current_ic].cells.c_codes[i]*0.0001);  
00499                 
00500             }
00501         }
00502         
00503     }
00504     pc.printf("\n");
00505 }
00506 
00507 void print_open()
00508 {
00509     for (int current_ic =0 ; current_ic < TOTAL_IC; current_ic++) {
00510         if (bms_ic[current_ic].system_open_wire == 0) {
00511             pc.printf("No Opens Detected on IC%d\n", current_ic+1);
00512         } else {
00513             for (int cell=0; cell<bms_ic[0].ic_reg.cell_channels+1; cell++) {
00514                 if ((bms_ic[current_ic].system_open_wire &(1<<cell))>0) {
00515                     pc.printf("There is an open wire on IC%d Channel: %d\n", current_ic + 1, cell);
00516                 }
00517             }
00518         }
00519     }
00520 }
00521 
00522 
00523 void print_aux(uint8_t datalog_en)
00524 {
00525 
00526     for (int current_ic =0 ; current_ic < TOTAL_IC; current_ic++) {
00527         if (datalog_en == 0) {
00528             pc.printf(" IC%d", current_ic+1);
00529             for (int i=0; i < 5; i++) {
00530                 pc.printf(" GPIO-%d:%.4f,", i+1, bms_ic[current_ic].aux.a_codes[i]*0.0001);
00531             }
00532             pc.printf("Vref2:%.4f\n", bms_ic[current_ic].aux.a_codes[5]*0.0001);
00533         } else {
00534             pc.printf("AUX, ");
00535             for (int i=0; i < 6; i++) {
00536                 pc.printf("%.4f,", bms_ic[current_ic].aux.a_codes[i]*0.0001);
00537             }
00538         }
00539     }
00540     pc.printf("\n");
00541 }
00542 
00543 
00544 void print_stat()
00545 {
00546 
00547     for (int current_ic =0 ; current_ic < TOTAL_IC; current_ic++) {
00548         pc.printf("IC%d", current_ic+1);
00549         pc.printf(" SOC:%.4f,", bms_ic[current_ic].stat.stat_codes[0]*0.0001*20);
00550         pc.printf(" Itemp:%.4f,", bms_ic[current_ic].stat.stat_codes[1]*0.0001);
00551         pc.printf(" VregA:%.4f,", bms_ic[current_ic].stat.stat_codes[2]*0.0001);
00552         pc.printf(" VregD:%.4f\n", bms_ic[current_ic].stat.stat_codes[3]*0.0001);
00553     }
00554 
00555     pc.printf("\n");
00556 }
00557 
00558 
00559 void print_config()
00560 {
00561     int cfg_pec;
00562 
00563     //pc.printf("Written Configuration: \n");
00564     for (int current_ic = 0; current_ic<TOTAL_IC; current_ic++) {
00565         //pc.printf(" IC ");
00566         //pc.printf("%d", current_ic+1);
00567        // pc.printf(": ");
00568         //pc.printf("0x");
00569         serial_print_hex(bms_ic[current_ic].config.tx_data[0]);
00570        // pc.printf(", 0x");
00571         serial_print_hex(bms_ic[current_ic].config.tx_data[1]);
00572         //pc.printf(", 0x");
00573         serial_print_hex(bms_ic[current_ic].config.tx_data[2]);
00574         //pc.printf(", 0x");
00575         serial_print_hex(bms_ic[current_ic].config.tx_data[3]);
00576        // pc.printf(", 0x");
00577         serial_print_hex(bms_ic[current_ic].config.tx_data[4]);
00578        // pc.printf(", 0x");
00579         serial_print_hex(bms_ic[current_ic].config.tx_data[5]);
00580         //pc.printf(", Calculated PEC: 0x");
00581         cfg_pec = pec15_calc(6,&bms_ic[current_ic].config.tx_data[0]);
00582         serial_print_hex((uint8_t)(cfg_pec>>8));
00583         //pc.printf(", 0x");
00584         serial_print_hex((uint8_t)(cfg_pec));
00585        // pc.printf("\n");
00586     }
00587    // pc.printf("\n");
00588 }
00589 
00590 
00591 void print_rxconfig()
00592 {
00593     //pc.printf("Received Configuration ");
00594     for (int current_ic=0; current_ic<TOTAL_IC; current_ic++) {
00595        // pc.printf(" IC ");
00596       //  pc.printf("%d", current_ic+1);
00597         //pc.printf(": 0x");
00598         serial_print_hex(bms_ic[current_ic].config.rx_data[0]);
00599         //pc.printf(", 0x");
00600         serial_print_hex(bms_ic[current_ic].config.rx_data[1]);
00601         //pc.printf(", 0x");
00602         serial_print_hex(bms_ic[current_ic].config.rx_data[2]);
00603         //pc.printf(", 0x");
00604         serial_print_hex(bms_ic[current_ic].config.rx_data[3]);
00605         //pc.printf(", 0x");
00606         serial_print_hex(bms_ic[current_ic].config.rx_data[4]);
00607        // pc.printf(", 0x");
00608         serial_print_hex(bms_ic[current_ic].config.rx_data[5]);
00609         //pc.printf(", Received PEC: 0x");
00610         serial_print_hex(bms_ic[current_ic].config.rx_data[6]);
00611         //pc.printf(", 0x");
00612         serial_print_hex(bms_ic[current_ic].config.rx_data[7]);
00613        // pc.printf("\n");
00614     }
00615     pc.printf("\n");
00616 }
00617 
00618 void print_pec()
00619 {
00620     for (int current_ic=0; current_ic<TOTAL_IC; current_ic++) {
00621         pc.printf("\n%d", bms_ic[current_ic].crc_count.pec_count);
00622         pc.printf(" : PEC Errors Detected on IC");
00623         pc.printf("%d\n", current_ic+1);
00624     }
00625 }
00626 
00627 
00628 void serial_print_hex(uint8_t data)
00629 {
00630     /*
00631     if (data < 16) {
00632         //pc.printf("0x0%X", data);
00633     } else
00634        pc.printf("0x%X", data);
00635        */
00636 }
00637 
00638 //Function to check error flag and print PEC error message
00639 void check_error(int error)
00640 {
00641     if (error == -1) {
00642         pc.printf("A PEC error was detected in the received data");
00643     }
00644 }
00645 
00646 
00647 
00648 char hex_digits[16]= {
00649     '0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F'
00650 };
00651 
00652 
00653 
00654 char hex_to_byte_buffer[5]= {
00655     '0', 'x', '0', '0', '\0'
00656 };               // buffer for ASCII hex to byte conversion
00657 char byte_to_hex_buffer[3]= {
00658     '\0','\0','\0'
00659 };
00660 
00661 // シリアル インターフェイスから ui_バッファへのデータの読み取り
00662 uint8_t read_data()
00663 {
00664     uint8_t index = 0; // 内の現在の場所を保持するインデックス
00665     int c; // 着信キーストロークの格納に使用される単一の文字
00666     //pc.printf("check 1\n");
00667     while (index < UI_BUFFER_SIZE-1) {
00668         //pc.printf("check 2\n");
00669         c = pc.getc(); 
00670         //return c;
00671         //pc.printf("check 3\n");
00672         
00673         if (((char) c == '\r') || ((char) c == '\n')) break; 
00674         if ( ((char) c == '\x7F') || ((char) c == '\x08') ) { 
00675             if (index > 0) index--;
00676         } else if (c >= 0) {
00677             ui_buffer[index++]=(char) c; 
00678         }
00679         //pc.printf("check 4\n");
00680         
00681     }
00682     ui_buffer[index]='\0';  
00683 
00684     if ((char) c == '\r') {  
00685         wait_ms(1);
00686         //pc.printf("check 5\n");
00687         
00688         if (pc.readable()==1) {
00689             //pc.printf("check 6\n");
00690             pc.getc(); 
00691         }
00692         
00693         
00694     }
00695     
00696         
00697     return index; 
00698 }
00699 
00700 
00701 float read_float()
00702 {
00703     float data;
00704     read_data();
00705     data = atof(ui_buffer);
00706     return(data);
00707 }
00708 
00709 
00710 int32_t read_int()
00711 {
00712     int32_t data;
00713     read_data();
00714     if (ui_buffer[0] == 'm')
00715         return('m');
00716     if ((ui_buffer[0] == 'B') || (ui_buffer[0] == 'b')) {
00717         data = strtol(ui_buffer+1, NULL, 2);
00718     } else
00719         data = strtol(ui_buffer, NULL, 0);
00720     return(data);
00721 }
00722 
00723 char *read_string()
00724 {
00725     read_data();
00726     return(ui_buffer);
00727 }
00728 
00729 
00730 int8_t read_char()
00731 {
00732     read_data();
00733     return(ui_buffer[0]);
00734 }