Diff: bluetoothV2bibli.cpp

Revision:

0:9e8a54e32f30

Child:

1:13af94a28e0d

diff -r 000000000000 -r 9e8a54e32f30 bluetoothV2bibli.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bluetoothV2bibli.cpp	Thu Feb 06 07:46:51 2020 +0000
@@ -0,0 +1,103 @@
+#include "mbed.h"
+#include "math.h"
+#include "bluetoothV2bibli.h"
+
+Serial pc(USBTX, USBRX,460800);
+Serial blueth(p9, p10,115200); // tx,rx,baudrate
+
+
+static int blueRxBuffer[6];         // Buffer de réception de la liaison série bluetooth
+static int blueTxBuffer[6]={240,0,0,0,0,15};             // Buffer de transmission de la liaison série bluetooth
+static int RxBuffer[4][6];
+static int paramRx[4][2];                                //0 KP   1 KI   2 KD   3 SPEED
+static short flagR=0;
+
+
+/********************************** Initialisation *************************************/
+
+void init_blueth(void)
+{
+    blueth.attach(&receptionBlu, Serial::RxIrq);    //Creation interruption de reception
+    blueth.printf("Hello world");                   //message de test
+}
+
+
+/******************************* Fonctions de transmission *****************************/
+
+void transmitBlu(void)
+{
+    static short i = 0;
+    if(blueth.writable())             //fonctionne si la liaison est libre
+    {
+       blueth.putc(blueTxBuffer[i]);           //transmission de la trame de 6 octets
+       i++;
+    }
+    if(i>5)
+    {
+        i=0;
+        blueth.attach(NULL, Serial::TxIrq);
+    }
+}
+
+void formatTrameT(short reg, int val)
+{   
+    blueTxBuffer[1]=reg;
+    blueTxBuffer[2]=((val&0xFF0000)>>16);         //Conversion sur trois octets independants
+    blueTxBuffer[3]=((val&0x00FF00)>>8);
+    blueTxBuffer[4]=((val&0x0000FF));
+
+    blueth.attach(&transmitBlu, Serial::TxIrq);
+}
+
+
+/****************************** Fonctions de reception ******************************/
+
+void receptionBlu(void)
+{
+    static short j = 0, compteur=0;
+    
+    if(blueth.readable())
+    {
+        blueRxBuffer[j]=blueth.getc();              //reception
+        blueth.putc(blueRxBuffer[j]);               //renvoie de la reception pour tester
+        j++;
+        if(j>5)
+        {
+            j=0;
+            for(short i=0;i<6;i++)RxBuffer[compteur][i]=blueRxBuffer[i];
+            compteur++;
+            if(compteur>4)
+            {
+                compteur=0;
+                flagR=1;
+            }
+        }
+    }   
+}
+
+int get_val_pc(short reg)
+{
+    short indice;
+    if(flagR==1)
+    {
+        decomp_trame();
+        flagR=0;
+    }
+    if(reg == 30)indice = 0;
+    if(reg == 45)indice = 1;
+    if(reg == 60)indice = 2;
+    if(reg == 75)indice = 3;
+    return paramRx[indice][1];
+}
+
+void decomp_trame(void)
+{
+    for(short i=0;i<4;i++)
+    {
+        if(RxBuffer[i][0]== 240 && RxBuffer[i][5]==15)
+        {
+            paramRx[i][0]= RxBuffer[i][1];
+            paramRx[i][1] = RxBuffer[i][2]*pow((double)2,(double)16)+RxBuffer[i][3]*pow((double)2,(double)8)+RxBuffer[i][4];
+        }
+    }
+}
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