Revision 11:3c11a0355a3e, committed 2016-03-21

Comitter:

palmdotax

Date:

Mon Mar 21 20:20:42 2016 +0000

Parent:

9:dd0f35b36473

Commit message:

007

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Receiver.cpp	Mon Mar 21 20:20:42 2016 +0000
@@ -0,0 +1,382 @@
+#include "mbed.h"
+#include "Receiver.h"
+
+
+DigitalOut rs485_dirc(RS485_DIRC);
+
+Bear_Receiver::Bear_Receiver(PinName tx,PinName rx,int baudrate)
+{
+    com = new COMMUNICATION(tx,rx,baudrate);
+}
+
+uint8_t Bear_Receiver::ReceiveCommand(uint8_t *id,uint8_t *data_array,uint8_t *ins)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    rs485_dirc=0;
+    wait_us(RS485_DELAY);
+    uint8_t status = com->receiveCommunicatePacket(&package);
+
+    if(status == ANDANTE_ERRBIT_NONE) {
+
+        *id = package.robotId;
+        for(int i=0; i<30; i++) {
+            data_array[i] = package.parameter[i];
+        }
+        *ins=package.instructionErrorId;
+
+    }
+    return status;
+}
+
+
+
+
+
+void Bear_Receiver::FloatSep(float input_float,uint8_t *int_data_array,uint8_t *float_data_array)
+{
+    float float_buffer;
+    float int_buffer;
+    int16_t integer;
+    int16_t floating_point;
+
+    float_buffer=modf(input_float,&int_buffer);
+    float_buffer*=FLOAT_CONVERTER;
+    integer=(int16_t)int_buffer;
+    floating_point=(int16_t)float_buffer;
+    Utilities::ConvertInt16ToUInt8Array(integer,int_data_array);
+    Utilities::ConvertInt16ToUInt8Array(floating_point,float_data_array);
+}
+
+
+
+
+uint8_t Bear_Receiver::sendMotorPos(uint8_t id,float up_angle,float low_angle)
+{
+    uint8_t IntUpAngle[2],FloatUpAngle[2];
+    uint8_t IntLowAngle[2],FloatLowAngle[2];
+    FloatSep(up_angle,IntUpAngle,FloatUpAngle);
+    FloatSep(low_angle,IntLowAngle,FloatLowAngle);
+
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 10;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=IntUpAngle[0];
+    package.parameter[1]=IntUpAngle[1];
+    package.parameter[2]=FloatUpAngle[0];
+    package.parameter[3]=FloatUpAngle[1];
+    package.parameter[4]=IntLowAngle[0];
+    package.parameter[5]=IntLowAngle[1];
+    package.parameter[6]=FloatLowAngle[0];
+    package.parameter[7]=FloatLowAngle[1];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+
+
+}
+
+
+
+uint8_t Bear_Receiver::sendUpMotorKpKiKd(uint8_t id,float Kp,float Ki,float Kd)
+{
+    uint8_t IntKp[2],FloatKp[2];
+    uint8_t IntKi[2],FloatKi[2];
+    uint8_t IntKd[2],FloatKd[2];
+
+    FloatSep(Kp,IntKp,FloatKp);
+    FloatSep(Ki,IntKi,FloatKi);
+    FloatSep(Kd,IntKd,FloatKd);
+
+
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 14;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=IntKp[0];
+    package.parameter[1]=IntKp[1];
+    package.parameter[2]=FloatKp[0];
+    package.parameter[3]=FloatKp[1];
+    package.parameter[4]=IntKi[0];
+    package.parameter[5]=IntKi[1];
+    package.parameter[6]=FloatKi[0];
+    package.parameter[7]=FloatKi[1];
+    package.parameter[8]=IntKd[0];
+    package.parameter[9]=IntKd[1];
+    package.parameter[10]=FloatKd[0];
+    package.parameter[11]=FloatKd[1];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+
+
+
+uint8_t Bear_Receiver::sendLowMotorKpKiKd(uint8_t id,float Kp,float Ki,float Kd)
+{
+    uint8_t IntKp[2],FloatKp[2];
+    uint8_t IntKi[2],FloatKi[2];
+    uint8_t IntKd[2],FloatKd[2];
+
+    FloatSep(Kp,IntKp,FloatKp);
+    FloatSep(Ki,IntKi,FloatKi);
+    FloatSep(Kd,IntKd,FloatKd);
+
+
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 14;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=IntKp[0];
+    package.parameter[1]=IntKp[1];
+    package.parameter[2]=FloatKp[0];
+    package.parameter[3]=FloatKp[1];
+    package.parameter[4]=IntKi[0];
+    package.parameter[5]=IntKi[1];
+    package.parameter[6]=FloatKi[0];
+    package.parameter[7]=FloatKi[1];
+    package.parameter[8]=IntKd[0];
+    package.parameter[9]=IntKd[1];
+    package.parameter[10]=FloatKd[0];
+    package.parameter[11]=FloatKd[1];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+
+
+uint8_t Bear_Receiver::sendUpMargin(uint8_t id,float Margin)
+{
+    uint8_t Int[2],Float[2];
+    FloatSep(Margin,Int,Float);
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 6;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=Int[0];
+    package.parameter[1]=Int[1];
+    package.parameter[2]=Float[0];
+    package.parameter[3]=Float[1];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+
+}
+
+uint8_t Bear_Receiver::sendLowMargin(uint8_t id,float Margin)
+{
+    uint8_t Int[2],Float[2];
+    FloatSep(Margin,Int,Float);
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 6;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=Int[0];
+    package.parameter[1]=Int[1];
+    package.parameter[2]=Float[0];
+    package.parameter[3]=Float[1];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+uint8_t Bear_Receiver::sendHeight(uint8_t id,uint8_t *Height)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 6;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=Height[0];
+    package.parameter[1]=Height[1];
+    package.parameter[2]=Height[2];
+    package.parameter[3]=Height[3];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+uint8_t Bear_Receiver::sendWheelPos(uint8_t id,uint8_t *WheelPos)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 6;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=WheelPos[0];
+    package.parameter[1]=WheelPos[1];
+    package.parameter[2]=WheelPos[2];
+    package.parameter[3]=WheelPos[3];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+uint8_t Bear_Receiver::sendMagData(uint8_t id,uint8_t *Mag)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 26;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=Mag[0];
+    package.parameter[1]=Mag[1];
+    package.parameter[2]=Mag[2];
+    package.parameter[3]=Mag[3];
+    package.parameter[4]=Mag[4];
+    package.parameter[5]=Mag[5];
+    package.parameter[6]=Mag[6];
+    package.parameter[7]=Mag[7];
+    package.parameter[8]=Mag[8];
+    package.parameter[9]=Mag[9];
+    package.parameter[10]=Mag[10];
+    package.parameter[11]=Mag[11];
+    package.parameter[12]=Mag[12];
+    package.parameter[13]=Mag[13];
+    package.parameter[14]=Mag[14];
+    package.parameter[15]=Mag[15];
+    package.parameter[16]=Mag[16];
+    package.parameter[17]=Mag[17];
+    package.parameter[18]=Mag[18];
+    package.parameter[19]=Mag[19];
+    package.parameter[20]=Mag[20];
+    package.parameter[21]=Mag[21];
+    package.parameter[22]=Mag[22];
+    package.parameter[23]=Mag[23];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+uint8_t Bear_Receiver::sendOffset(uint8_t id,uint8_t *Offset)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 10;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=Offset[0];
+    package.parameter[1]=Offset[1];
+    package.parameter[2]=Offset[2];
+    package.parameter[3]=Offset[3];
+    package.parameter[4]=Offset[4];
+    package.parameter[5]=Offset[5];
+    package.parameter[6]=Offset[6];
+    package.parameter[7]=Offset[7];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+uint8_t Bear_Receiver::sendBodyWidth(uint8_t id,uint8_t *BodyWidth)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 6;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=BodyWidth[0];
+    package.parameter[1]=BodyWidth[1];
+    package.parameter[2]=BodyWidth[2];
+    package.parameter[3]=BodyWidth[3];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+uint8_t Bear_Receiver::sendUpAngleRange(uint8_t id,uint8_t *Angle)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 10;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=Angle[0];
+    package.parameter[1]=Angle[1];
+    package.parameter[2]=Angle[2];
+    package.parameter[3]=Angle[3];
+    package.parameter[4]=Angle[4];
+    package.parameter[5]=Angle[5];
+    package.parameter[6]=Angle[6];
+    package.parameter[7]=Angle[7];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+
+uint8_t Bear_Receiver::sendLowAngleRange(uint8_t id,uint8_t *Angle)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 10;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=Angle[0];
+    package.parameter[1]=Angle[1];
+    package.parameter[2]=Angle[2];
+    package.parameter[3]=Angle[3];
+    package.parameter[4]=Angle[4];
+    package.parameter[5]=Angle[5];
+    package.parameter[6]=Angle[6];
+    package.parameter[7]=Angle[7];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+uint8_t Bear_Receiver::sendUpLinkLength(uint8_t id,uint8_t *Length)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 6;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=Length[0];
+    package.parameter[1]=Length[1];
+    package.parameter[2]=Length[2];
+    package.parameter[3]=Length[3];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+
+}
+
+uint8_t Bear_Receiver::sendLowLinkLength(uint8_t id,uint8_t *Length)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 6;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=Length[0];
+    package.parameter[1]=Length[1];
+    package.parameter[2]=Length[2];
+    package.parameter[3]=Length[3];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Receiver.h	Mon Mar 21 20:20:42 2016 +0000
@@ -0,0 +1,40 @@
+#ifndef __RECEIVER__H_
+#define __RECEIVER__H_
+
+#include "mbed.h"
+#include "iSerial.h"
+#include "Command.h"
+#include "communication.h"
+#define RS485_DELAY 90
+#define RS485_DIRC PB_5
+#define FLOAT_CONVERTER 10000
+
+class Bear_Receiver
+{
+private:
+    COMMUNICATION *com;
+
+public:
+    Bear_Receiver(PinName,PinName,int);
+    void FloatSep(float,uint8_t*,uint8_t*);
+
+    //Receiver
+    uint8_t ReceiveCommand(uint8_t*,uint8_t*,uint8_t*);
+    //Sender
+    uint8_t sendMotorPos(uint8_t,float,float);
+    uint8_t sendUpMotorKpKiKd(uint8_t,float,float,float);
+    uint8_t sendLowMotorKpKiKd(uint8_t,float,float,float);
+    uint8_t sendUpMargin(uint8_t,float);
+    uint8_t sendLowMargin(uint8_t,float);
+    uint8_t sendHeight(uint8_t,uint8_t*);
+    uint8_t sendWheelPos(uint8_t,uint8_t*);
+    uint8_t sendMagData(uint8_t,uint8_t*);
+    uint8_t sendOffset(uint8_t,uint8_t*);
+    uint8_t sendBodyWidth(uint8_t,uint8_t*);
+    uint8_t sendUpAngleRange(uint8_t,uint8_t*);
+    uint8_t sendLowAngleRange(uint8_t,uint8_t*);
+    uint8_t sendUpLinkLength(uint8_t,uint8_t*);
+    uint8_t sendLowLinkLength(uint8_t,uint8_t*);
+};
+
+#endif