Diff: main.cpp

Revision:

11:3dd92d1d542c

Parent:

10:3b3d6bc88677

Child:

12:6b3b997dd7c2

--- a/main.cpp	Sat Jan 16 12:06:59 2016 +0000
+++ b/main.cpp	Thu Jan 21 14:49:40 2016 +0000
@@ -20,11 +20,13 @@
 
 //*****************************************************/
 // Global  //
+Ticker Recieve;
 //-- Communication --
 Serial PC(D1,D0);
-ANDANTE_PROTOCOL_PACKET command;
 Bear_Receiver com(Tx,Rx,115200);
-#define MY_ID 0x01
+int8_t MY_ID = 0x01;
+//-- Memorry --
+EEPROM memory(PB_4,PA_8,0);
 //-- encoder --
 int Upper_Position;
 int Lower_Position;
@@ -134,7 +136,7 @@
 }
 //******************************************************/
 
-void CmdCheck(uint8_t *cmd)
+void CmdCheck(uint8_t *cmd,uint8_t ins)
 {
     switch(cmd[0]) {
         case SET_MOTOR_UPPER_ANG : {
@@ -182,15 +184,38 @@
         }
     }
 }
-
-
+/******************************************************/
+void Start_Up ()// load parameter from eeprom before start
+{
+    // wait for reciever
+    memory.read(0x00,MY_ID);
+    memory.read(0x04,Upper_SetPoint);
+    memory.read(0x08,Lower_SetPoint);
+    memory.read(0x10,U_Kc);
+    memory.read(0x14,U_Ti);
+    memory.read(0x18,U_Td);
+    memory.read(0x1c,L_Kc);
+    memory.read(0x20,L_Ti);
+    memory.read(0x24,L_Td);
+    
+}
+/*******************************************************/    
+void Rc ()
+{
+    uint8_t data_array[10];
+    int8_t ins;
+    
+    com.ReceiveCommand(MY_ID,data_array);
+    CmdCheck(data_array,ins);
+}
+/*******************************************************/
 int main()
 {
-    uint8_t id;
-    uint8_t data_array[10];
+    Recieve.attach(&Rc,0.2);
+    Start_Up();
     SET_UpperPID();
     SET_LowerPID();
-    /*
+
         while(1) {
             //Set Set_point
             Up_PID.setSetPoint(Upper_SetPoint);
@@ -200,9 +225,9 @@
             Move_Upper();
             Move_Lower();
         }
-    */
+
 
-    com.ReceiveCommand(id,data_array);
+    //com.ReceiveCommand(id,data_array);
 }