Piccolo / Mbed 2 deprecated ejemplo_serial_protocol_array

Piccolo

Dependencies:   mbed

Fork of 02_LAB_serial_protocol by ferney alberto beltran molina

main.cpp@2:200a9507b696, 2017-04-26 (annotated)

Committer:
fabeltranm
Date:
Wed Apr 26 18:31:32 2017 +0000
Revision:
2:200a9507b696
Parent:
1:0bcd96e56022
Child:
3:7c26d338e372
return check_command

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fabeltranm 0:55d11eeb0faf 1 #include "mbed.h"
fabeltranm 0:55d11eeb0faf 2 #include "mbed.h"
fabeltranm 0:55d11eeb0faf 3
fabeltranm 0:55d11eeb0faf 4 Serial command(USBTX, USBRX);
fabeltranm 2:200a9507b696 5 DigitalOut led(LED1);
fabeltranm 0:55d11eeb0faf 6 #define DEBUG 1
fabeltranm 0:55d11eeb0faf 7
fabeltranm 0:55d11eeb0faf 8 //*****************************************************************************
fabeltranm 0:55d11eeb0faf 9 // COMANDO MOVER MOTOR
fabeltranm 0:55d11eeb0faf 10 // |POS 1|POS 2|POS 3|POS 4| POS 5|
fabeltranm 0:55d11eeb0faf 11 // | < | #M | , | #°G | > |
fabeltranm 0:55d11eeb0faf 12 //
fabeltranm 0:55d11eeb0faf 13 // #M -> indica el motor que se va a mover
fabeltranm 0:55d11eeb0faf 14 // #°G -> indica los grados a mover del servomotor
fabeltranm 0:55d11eeb0faf 15 // <,> -> inicio, separdor y fin de comando
fabeltranm 0:55d11eeb0faf 16 // el inicio de comando no se almacena en el buffer
fabeltranm 0:55d11eeb0faf 17 //*****************************************************************************
fabeltranm 0:55d11eeb0faf 18
fabeltranm 0:55d11eeb0faf 19 // VARIABLES PARA DEFINIR EL COMMANDO
fabeltranm 0:55d11eeb0faf 20 #define BUFF_SIZE 4
fabeltranm 0:55d11eeb0faf 21 #define COMM_NUM_MOTOR 0
fabeltranm 0:55d11eeb0faf 22 #define COMM_SEPARADOR 1
fabeltranm 0:55d11eeb0faf 23 #define COMM_GRADOS_MOTOR 2
fabeltranm 0:55d11eeb0faf 24
fabeltranm 0:55d11eeb0faf 25
fabeltranm 0:55d11eeb0faf 26 uint8_t buffer_command[BUFF_SIZE]={0,0,0,0};
fabeltranm 0:55d11eeb0faf 27
fabeltranm 1:0bcd96e56022 28
fabeltranm 1:0bcd96e56022 29 void print_num(uint8_t val)
fabeltranm 1:0bcd96e56022 30
fabeltranm 1:0bcd96e56022 31 {
fabeltranm 1:0bcd96e56022 32 if (val <10)
fabeltranm 1:0bcd96e56022 33 command.putc(val+0x30);
fabeltranm 1:0bcd96e56022 34 else
fabeltranm 2:200a9507b696 35 command.putc(val-9+0x40);
fabeltranm 1:0bcd96e56022 36
fabeltranm 1:0bcd96e56022 37 }
fabeltranm 1:0bcd96e56022 38 void print_bin2hex (uint8_t val)
fabeltranm 1:0bcd96e56022 39 {
fabeltranm 1:0bcd96e56022 40 command.printf(" 0x");
fabeltranm 1:0bcd96e56022 41 print_num(val>>4);
fabeltranm 1:0bcd96e56022 42 print_num(val&0x0f);
fabeltranm 1:0bcd96e56022 43
fabeltranm 1:0bcd96e56022 44
fabeltranm 1:0bcd96e56022 45 }
fabeltranm 1:0bcd96e56022 46
fabeltranm 0:55d11eeb0faf 47 // TODO : TIMEOUT UART SERIAL
fabeltranm 0:55d11eeb0faf 48 void Read_command()
fabeltranm 0:55d11eeb0faf 49 {
fabeltranm 0:55d11eeb0faf 50 for (uint8_t i=0; i<BUFF_SIZE;i++)
fabeltranm 0:55d11eeb0faf 51 buffer_command[i]=command.getc();
fabeltranm 0:55d11eeb0faf 52
fabeltranm 0:55d11eeb0faf 53 }
fabeltranm 0:55d11eeb0faf 54
fabeltranm 0:55d11eeb0faf 55 void echo_command()
fabeltranm 0:55d11eeb0faf 56 {
fabeltranm 0:55d11eeb0faf 57 for (uint8_t i=0; i<BUFF_SIZE;i++)
fabeltranm 1:0bcd96e56022 58 print_bin2hex(buffer_command[i]);
fabeltranm 0:55d11eeb0faf 59
fabeltranm 0:55d11eeb0faf 60 }
fabeltranm 0:55d11eeb0faf 61
fabeltranm 0:55d11eeb0faf 62
fabeltranm 2:200a9507b696 63 uint8_t check_command()
fabeltranm 0:55d11eeb0faf 64 {
fabeltranm 0:55d11eeb0faf 65 if (buffer_command[BUFF_SIZE-1]== '>' && buffer_command[COMM_SEPARADOR]==','){
fabeltranm 0:55d11eeb0faf 66
fabeltranm 2:200a9507b696 67 #if DEBUG
fabeltranm 2:200a9507b696 68 command.printf("\nMover Motor:");
fabeltranm 2:200a9507b696 69 print_bin2hex(buffer_command[COMM_NUM_MOTOR]);
fabeltranm 2:200a9507b696 70 command.printf(" -> ");
fabeltranm 2:200a9507b696 71 print_bin2hex(buffer_command[COMM_GRADOS_MOTOR]);
fabeltranm 2:200a9507b696 72 command.printf(" grados \n");
fabeltranm 2:200a9507b696 73 #endif
fabeltranm 2:200a9507b696 74 return 1;
fabeltranm 2:200a9507b696 75 }
fabeltranm 0:55d11eeb0faf 76 #if DEBUG
fabeltranm 1:0bcd96e56022 77 command.printf("\n ERROR COMANDO -> ");
fabeltranm 0:55d11eeb0faf 78 echo_command();
fabeltranm 0:55d11eeb0faf 79 #endif
fabeltranm 2:200a9507b696 80 return 0;
fabeltranm 0:55d11eeb0faf 81
fabeltranm 0:55d11eeb0faf 82
fabeltranm 0:55d11eeb0faf 83 }
fabeltranm 0:55d11eeb0faf 84 int main() {
fabeltranm 0:55d11eeb0faf 85 #if DEBUG
fabeltranm 0:55d11eeb0faf 86 command.printf("inicio con debug\n");
fabeltranm 0:55d11eeb0faf 87 #else
fabeltranm 0:55d11eeb0faf 88 command.printf("inicio sin debug\n");
fabeltranm 0:55d11eeb0faf 89 #endif
fabeltranm 0:55d11eeb0faf 90 uint8_t val;
fabeltranm 0:55d11eeb0faf 91 while(1){
fabeltranm 0:55d11eeb0faf 92 val=command.getc();
fabeltranm 0:55d11eeb0faf 93 if (val== '<'){
fabeltranm 0:55d11eeb0faf 94 Read_command();
fabeltranm 2:200a9507b696 95 if (check_command())
fabeltranm 2:200a9507b696 96 led=1;
fabeltranm 2:200a9507b696 97 else
fabeltranm 2:200a9507b696 98 led=0;
fabeltranm 0:55d11eeb0faf 99 }
fabeltranm 0:55d11eeb0faf 100 }
fabeltranm 0:55d11eeb0faf 101 }
fabeltranm 0:55d11eeb0faf 102