Robotics ^___^ / Mbed 2 deprecated Bluetooth_try

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Dependencies:   mbed

Fork of FINALFINALNORMAL by Robotics ^___^

main.cpp@0:d41917b28387, 2017-03-25 (annotated)

Committer:
hoting
Date:
Sat Mar 25 18:06:10 2017 +0000
Revision:
0:d41917b28387
Child:
1:6228de50cbf4
Robotics_LAB_UART

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hoting 0:d41917b28387 1 #include "mbed.h"
hoting 0:d41917b28387 2
hoting 0:d41917b28387 3 Ticker timer1;
hoting 0:d41917b28387 4 Serial bt(D10, D2); // TXpin, RXpin
hoting 0:d41917b28387 5
hoting 0:d41917b28387 6 //RX
hoting 0:d41917b28387 7 int readcount = 0;
hoting 0:d41917b28387 8 int RX_flag1 = 0;
hoting 0:d41917b28387 9 int RX_flag2 = 0;
hoting 0:d41917b28387 10 char getData[6] = {0,0,0,0,0,0};
hoting 0:d41917b28387 11 short data_received[3] = {0,0,0};
hoting 0:d41917b28387 12 short data_received_old[3] = {0,0,0};
hoting 0:d41917b28387 13
hoting 0:d41917b28387 14 //函式宣告
hoting 0:d41917b28387 15 void init_TIMER();
hoting 0:d41917b28387 16 void timer1_ITR();
hoting 0:d41917b28387 17 void init_UART();
hoting 0:d41917b28387 18 void RX_ITR();
hoting 0:d41917b28387 19
hoting 0:d41917b28387 20 int main()
hoting 0:d41917b28387 21 {
hoting 0:d41917b28387 22 init_TIMER();
hoting 0:d41917b28387 23 init_UART();
hoting 0:d41917b28387 24 while(1) {
hoting 0:d41917b28387 25 }
hoting 0:d41917b28387 26 }
hoting 0:d41917b28387 27
hoting 0:d41917b28387 28 void init_TIMER()
hoting 0:d41917b28387 29 {
hoting 0:d41917b28387 30 timer1.attach_us(&timer1_ITR, 10000.0); // the address of the function to be attached (timer1_ITR) and the interval (1000 micro-seconds)
hoting 0:d41917b28387 31 }
hoting 0:d41917b28387 32
hoting 0:d41917b28387 33 void init_UART()
hoting 0:d41917b28387 34 {
hoting 0:d41917b28387 35 bt.baud(115200); // baud rate設為115200
hoting 0:d41917b28387 36 bt.attach(&RX_ITR, Serial::RxIrq); // Attach a function(RX_ITR) to call whenever a serial interrupt is generated.
hoting 0:d41917b28387 37 }
hoting 0:d41917b28387 38
hoting 0:d41917b28387 39 void timer1_ITR()
hoting 0:d41917b28387 40 {
hoting 0:d41917b28387 41 // 避免收到錯誤資料，若超出設定範圍則用上次的資料
hoting 0:d41917b28387 42 if(data_received[0]>300 || data_received[0]<-300 || data_received[1]>300 || data_received[1]<-300 || data_received[2]>90 || data_received[0]<-90) {
hoting 0:d41917b28387 43 data_received[0] = data_received_old[0];
hoting 0:d41917b28387 44 data_received[1] = data_received_old[1];
hoting 0:d41917b28387 45 data_received[2] = data_received_old[2];
hoting 0:d41917b28387 46 } else {
hoting 0:d41917b28387 47 data_received_old[0] = data_received[0];
hoting 0:d41917b28387 48 data_received_old[1] = data_received[1];
hoting 0:d41917b28387 49 data_received_old[2] = data_received[2];
hoting 0:d41917b28387 50 }
hoting 0:d41917b28387 51 }
hoting 0:d41917b28387 52
hoting 0:d41917b28387 53 void RX_ITR()
hoting 0:d41917b28387 54 {
hoting 0:d41917b28387 55 while(bt.readable()) {
hoting 0:d41917b28387 56 static char uart_read;
hoting 0:d41917b28387 57 uart_read = bt.getc();
hoting 0:d41917b28387 58 if(uart_read == 127 && RX_flag1 == 1) {
hoting 0:d41917b28387 59 RX_flag2 = 1;
hoting 0:d41917b28387 60 } else {
hoting 0:d41917b28387 61 RX_flag1 = 0;
hoting 0:d41917b28387 62 }
hoting 0:d41917b28387 63
hoting 0:d41917b28387 64 if(RX_flag2 == 1) {
hoting 0:d41917b28387 65 getData[readcount] = uart_read;
hoting 0:d41917b28387 66 readcount++;
hoting 0:d41917b28387 67 if(readcount >= 3) {
hoting 0:d41917b28387 68 readcount = 0;
hoting 0:d41917b28387 69 RX_flag2 = 0;
hoting 0:d41917b28387 70 ///code for decoding///
hoting 0:d41917b28387 71 data_received[0] = (getData[2] << 8) | getData[1];
hoting 0:d41917b28387 72
hoting 0:d41917b28387 73
hoting 0:d41917b28387 74 ///////////////////////
hoting 0:d41917b28387 75 }
hoting 0:d41917b28387 76 } else if(uart_read == 254 && RX_flag1 == 0) {
hoting 0:d41917b28387 77 RX_flag1 = 1;
hoting 0:d41917b28387 78 }
hoting 0:d41917b28387 79 }
hoting 0:d41917b28387 80 }