main.cpp

00001 #include "mbed.h"
00002 #include "scolor_TCS3200.h"
00003 
00004 /* *****************************************************************************
00005 Programa que solicita telemetria al sistema embebido, por medio del comando  0xFe
00006 para preguntar por el color  que detecta el sensor TCS3200
00007 
00008 el sistema embebido recibe  el inicio de trama FE  y el número de comado: 01
00009    
00010 |   INITELE  |  CMD       |   
00011 |     0xfe   | 0x01       | 
00012 
00013 
00014 para enviar los comandos usar el programa Coolterm http://freeware.the-meiers.org/
00015 
00016 
00017 @fabeltranm 2019
00018 fbeltranm@ecci.edu.co
00019 
00020 ********************************************************************************
00021    datasheet https://www.mouser.com/catalog/specsheets/TCS3200-E11.pdf
00022 
00023 
00024     S0      Frequency scaling 
00025     S1      Frequency scaling 
00026     S2      Photo diode selection 
00027     S3      Photo diode selection 
00028     OutFreq Frequency
00029 
00030        -----------------------------------
00031       |   ____________     ____________   |
00032 ----> |  |            |   |            |  |                ___     ___ 
00033 Light |  | Photodiode |   |   Current  |--|---OUTPUT_FREQ |   |___|   |___
00034 ----> |  |   Array    |---|     to     |  |
00035       |  |            |   |  Frequency |  |
00036       |  |____________|   |____________|  |
00037       |       ^  ^             ^  ^       |
00038        -------|--|-------------|--|-------
00039               |  |             |  |
00040              S2 S3            S0  S1
00041              
00042 SO | S1 | OUTPUT FREQUENCY SCALING |        | S2 | S3 |   PHOTODIODE TYPE   |
00043  0 | 0  |        power down        |        |  0 | 0  |         Red         |
00044  0 | 1  |           2%             |        |  0 | 1  |         Blue        |
00045  1 | 0  |           20%            |        |  1 | 0  |  Clear (no filter)  |
00046  1 | 1  |           100%           |        |  1 | 1  |         Green       | 
00047              
00048 ******************************************************************************/
00049 
00050 #define INITCMD 0xFF
00051 #define DO  2000
00052 #define RE  2500
00053 #define MI  3000
00054 #define FA  3500
00055 
00056 /* ||Definicion de Puertos || */
00057    
00058     //                     S0,    S1,   S2,   S3,    OUT
00059     scolor_TCS3200 scolor( PA_9, PC_7, PB_6, PA_4, PB_3 ) ;//PA_9, PC_7, PB_6, PA_7, PA_6 //PA_9, PC_7, PB_6, PA_4, PB_3 
00060     Serial command(USBTX, USBRX);
00061     
00062     DigitalOut stepper_step (PB_4);
00063     DigitalOut steppeer_dir (PB_5);
00064     DigitalOut stepper_step2 (PB_10);
00065     DigitalOut steppeer_dir2 (PA_8);
00066         
00067     AnalogIn analog_value0 (A0);
00068     AnalogIn analog_value1 (A1);
00069     PwmOut mybuzzer(PB_9) ;
00070     
00071     Ticker tk1;
00072     Ticker tk2;
00073     
00074     volatile int Exit = 0 ;
00075 
00076 /*|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||/                                                                             /                                                      
00077 / |                                                                           |/     
00078 / |              Interrupcion del Joystick- Eliminando ruido                  |/
00079 / |                                                                           |/
00080 / | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||*/
00081 
00082 //Definicion de variables
00083 DigitalOut led1(LED1);
00084 InterruptIn Button_joy(USER_BUTTON);
00085 Timeout Button_joy_timeout; // Used for debouncing
00086 
00087 
00088 //Definicion de las funciones
00089 volatile bool Button_joy_pressed = false; // Used in the main loop
00090 volatile bool Button_joy_enabled = true; // Used for debouncing
00091 
00092 // Habilita el botón cuando termina el rebote.
00093 void Button_joy_enabled_cb(void)
00094 {
00095     Button_joy_enabled = true;
00096 }
00097 
00098 // ISR Luego de precionar el boton
00099 void Button_joy_onpressed_cb(void)
00100 {
00101     if (Button_joy_enabled) { // Desabilitado mientras e ruido 
00102         Button_joy_enabled = false;
00103         Button_joy_pressed = true; // Se cambia el valor para ser leido más adelante
00104         Button_joy_timeout.attach(callback(Button_joy_enabled_cb), 0.3); // Delay de 300 ms
00105     }
00106     if (Button_joy_pressed) { // Etablece cuando se preciona el botn
00107             Button_joy_pressed = false;
00108             //NVIC_SystemReset();
00109             led1 = !led1;
00110         }
00111 }
00112 /*|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||/                                                                             /                                                      
00113 / |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||/     
00114 / | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||*/
00115 
00116 void Rx_interrupt();
00117 
00118 /*Definicion de variables codigo principal*/
00119 
00120     uint32_t VELOCITY = 1000; // Tiempo en micro segundos
00121 
00122     double In [ 1 ] = {} ; 
00123     
00124 // Definición de las funciones bucle principal
00125     void leer_datos ();
00126     void leer_color ();
00127   
00128     void funcionesrobot ( uint8_t _Parametro, uint8_t _Comando );
00129     int16_t Lectura [ 2 ] = {} ;
00130     void setup_uart ();
00131     
00132     
00133     SPI spi(PA_7, PA_6, PA_5); //  MOSI, MISO, SCK
00134 
00135 DigitalOut cs(PB_0);    // TFT chipselect pin
00136 DigitalOut dc(PC_0);    // TFT data command select pin
00137 DigitalOut rst(PC_1);  // TFT reset pin
00138 
00139 #define TFT_WIDTH 320
00140 #define TFT_HEIGHT 240
00141 
00142 #define TFT_BLUE    0x1F00
00143 #define TFT_RED     0x00F8
00144 #define TFT_GREEN   0xE007
00145 #define TFT_YELLOW  0xE0FF
00146 #define TFT_WHITE   0xFFFF
00147 
00148 /*-------------------------------------------------------------------*/
00149 /*  Write command                                                    */
00150 /*-------------------------------------------------------------------*/
00151 void write_cmd(uint8_t cmd)
00152 {
00153     dc = 0;
00154     spi.write(cmd);
00155 }
00156   
00157 /*-------------------------------------------------------------------*/
00158 /*  Write data                                                       */
00159 /*-------------------------------------------------------------------*/
00160 void write_data(uint8_t data)
00161 {
00162     dc = 1;
00163     spi.write(data);
00164 }
00165 
00166 /*-------------------------------------------------------------------*/
00167 /*  TFT reset                                                        */
00168 /*-------------------------------------------------------------------*/
00169 void tft_reset()
00170 {
00171     wait_ms(200);
00172     cs = 1;
00173     dc = 1;
00174     rst = 1;
00175     wait_ms(200);
00176     rst = 0;
00177     wait_us(10);
00178     rst = 1;
00179     wait_ms(120);
00180     cs = 0;
00181     wait_ms(10);
00182         
00183     write_cmd(0x3A); // Pixel Format    
00184     write_data(0x55); // 16bit Color
00185     
00186     write_cmd(0xB1); // Frame Control    
00187     write_data(0);
00188     write_data(0x1f);
00189         
00190     write_cmd(0x36); // Memory Access Control 
00191     write_data(0xE8); // MY MX MV BGR
00192 
00193     write_cmd(0x11); // Sleep Out
00194     wait_ms(5);
00195         
00196     write_cmd(0x29); // Display On    
00197 }
00198 
00199 /*-------------------------------------------------------------------*/
00200 /*  Set the windows area and Start memory write.                     */
00201 /*-------------------------------------------------------------------*/
00202 void tft_set_window(uint16_t x0, uint16_t y0, uint16_t x1, uint16_t y1)
00203 {
00204   write_cmd(0x2A); // Column Address Set
00205   write_data(x0 >> 8);
00206   write_data(x0);
00207   write_data(x1 >> 8);
00208   write_data(x1);
00209 
00210   write_cmd(0x2B); // Page Address Set
00211   write_data(y0 >> 8);
00212   write_data(y0);
00213   write_data(y1 >> 8);
00214   write_data(y1);
00215 
00216   write_cmd(0x2C); // Memory Write
00217   
00218   wait_us(20);
00219   
00220   dc = 1;
00221 }
00222 
00223 /*-------------------------------------------------------------------*/
00224 /*  Clear screen                                                     */
00225 /*-------------------------------------------------------------------*/
00226 void tft_clear(uint16_t color)
00227 {
00228     tft_set_window(0, 0, TFT_WIDTH, TFT_HEIGHT);
00229 
00230     for (int i = 0; i < TFT_WIDTH * TFT_HEIGHT; ++i)
00231     {
00232         spi.write(color & 0xff);
00233         spi.write(color >> 8);        
00234     }    
00235 }
00236     
00237     
00238     
00239     
00240     
00241     
00242     
00243     
00244     
00245     
00246     
00247     
00248     
00249     
00250     
00251     
00252     
00253     
00254     
00255     
00256     
00257     
00258 int main() {
00259 
00260     setup_uart();
00261     tk1.attach (&leer_color, 10); // Se dirigue a la funcion leer_color cada 0.8 segundos
00262     Button_joy.fall(callback(Button_joy_onpressed_cb)); // Llama a la funcion Button_joy_onpressed_cb al precionar el botón 
00263     spi.frequency(45000000);
00264     
00265     while(1){ 
00266      
00267         tft_reset();
00268         //Interrupcion boton
00269         leer_datos();
00270         funcionesrobot (Lectura [ 1 ], Lectura [ 0 ]);
00271         //Lcd();
00272     }
00273 }
00274 
00275 //Declaracion de las funciones
00276 
00277 
00278 void setup_uart(){
00279     command.baud(115200);
00280 }
00281 
00282 
00283 void leer_datos(){
00284  
00285     while ( command.getc()!= INITCMD ) ;
00286     uint8_t i ;
00287     
00288     for ( i = 0 ; i < 2 ; i++){
00289         
00290         Lectura [ i ] = command.getc (); 
00291         printf ( " %4d ", Lectura [ i ]);
00292         
00293         }
00294 }
00295 
00296 void Rx_interrupt() {
00297     
00298     if ( command.readable () == 1 ){
00299                         
00300     uint8_t l1, l2 ;
00301     
00302     while ( command.getc()!= INITCMD ) ;
00303         l1 = command.getc () ; 
00304         l2 = command.getc () ;
00305     
00306         if ( l1 == 10 and l2 == 2 ){
00307             
00308             //NVIC_SystemReset();
00309             Exit = 1 ;
00310         }
00311 
00312     }
00313 }
00314 void leer_color(){
00315     
00316     long     red = scolor.ReadRed();
00317     long     green = scolor.ReadGreen();
00318     long     blue = scolor.ReadBlue();
00319     long     clear = scolor.ReadClear();
00320     
00321     long frqred;
00322     long frqgreen;
00323     long frqblue;
00324     long frqclear;
00325     int8_t sel_color = 0;
00326     printf("RED: %5d     GREEN: %5d     BLUE: %5d     CLEAR: %5d    \n ", red, green, blue, clear);
00327     
00328     frqred = ( ( 1.0/red )* 1000.0 );
00329     frqgreen = ( ( 1.0/green ) * 1000.0);
00330     frqblue = ( (1.0/blue) *1000.0 );
00331     frqclear = ( (1.0/clear) *1000.0 );
00332     printf("RED: %5d     GREEN: %5d     BLUE: %5d     CLEAR: %5d    \n ", frqred, frqgreen, frqblue,frqclear);
00333  ///////////////////////////////////////////////////////////////////////////////
00334  /*||||||||||||||||Seleccionando los diferentes colores.||||||||||||||||||||||*/
00335  /*||||||||||||||||||||||||||||||Color rojo|||||||||||||||||||||||||||||||||||*/
00336  /////////////////////////////////////////////////////////////////////////////// 
00337     if ( frqred >= 30.0 and frqred <= 500.0) {
00338         
00339         if( frqgreen >= 0.0 and frqgreen <= 20.0 ) {
00340             
00341             if ( frqblue >= 5.0 and frqblue <= 29.0 ) {  
00342                 
00343                 sel_color = 1;
00344                 
00345             }
00346         }
00347     }
00348 ////////////////////////////////////////////////////////////////////////////////
00349 /*°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°Color verde°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°*/
00350 ////////////////////////////////////////////////////////////////////////////////      
00351     if ( frqgreen >= 11.0 and frqgreen <= 21.0) {
00352 
00353         if( frqred >= 8.0 and frqred <= 20.0 ) {
00354 
00355             if ( frqblue >= 10.0 and frqblue <= 26.0 ) { 
00356             
00357             sel_color = 2;
00358             
00359             }
00360         }
00361     }
00362 ////////////////////////////////////////////////////////////////////////////////
00363 /*°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°Color azul°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°*/
00364  ///////////////////////////////////////////////////////////////////////////////       
00365     if ( frqblue >= 10.0 and frqblue <= 70.0) {
00366     
00367         if( frqgreen >= 5.0 and frqgreen <= 26.0 ) {
00368             
00369             if ( frqred >= 5.0 and frqred <= 20.0 ) { 
00370             
00371             sel_color = 3;
00372             
00373             }
00374         }
00375     }
00376 /////////////////////////////////////////////////////////////////////////////////
00377 /*°°°°°°°°°°°°°°°°°°°°°°°°°°°°°Color amarillo°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°*/
00378  ////////////////////////////////////////////////////////////////////////////////
00379     if ( frqblue >= 0.0 and frqblue <= 30.0 ) {
00380         
00381         if( frqgreen >= 20.0 and frqgreen <= 40.0) {
00382             
00383             if ( frqred >= 20.0 and frqred <= 50.0 ) {
00384                     
00385             sel_color = 4;
00386                         
00387             }
00388         }
00389     }
00390 /////////////////////////////////////////////////////////////////////////////////
00391 /*°°°°°°°°°°°°°°°°°°°°°°°°°°°°°Color no found°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°*/
00392  ////////////////////////////////////////////////////////////////////////////////
00393  
00394  switch ( sel_color ) {
00395     
00396     case 0 :
00397     
00398     //int32_t enviar5 = RESPUESTA5 ;
00399     //char txt5 [6] ;
00400     //printf ( txt5 , "%02X" , enviar5 );
00401     command.putc( 0xFE );
00402     command.putc( 0x00 );
00403    // tft_reset();
00404    tft_clear(TFT_WHITE);  
00405 
00406     
00407     break ;
00408     
00409     case 1 :
00410     
00411     //int32_t enviar1 = RESPUESTA1 ;
00412     //char txt1 [6] ;
00413     command.putc( 0xFE );
00414     command.putc( 0x01 );
00415     sel_color = 0;  
00416  //   tft_reset();
00417     tft_clear(TFT_RED); 
00418     
00419     break ;
00420     
00421     case 2 :
00422     
00423     //int32_t enviar2 = RESPUESTA2 ;
00424     //char txt2 [6] ;
00425     command.putc ( 0xFE );
00426     command.putc ( 0x02 );
00427     sel_color = 0;
00428    // tft_reset();
00429    tft_clear(TFT_GREEN);
00430     
00431     break ;
00432     
00433     case 3 :
00434     
00435     //int32_t enviar3 = RESPUESTA3;
00436     //char txt3 [6] ;
00437     command.putc ( 0xFE );
00438     command.putc ( 0x03 );
00439     sel_color = 0;
00440     
00441 //tft_reset();
00442     tft_clear(TFT_BLUE);               
00443 
00444     
00445     break ;
00446     
00447     case 4 :
00448     
00449     //int32_t enviar4 = RESPUESTA4;
00450     //char txt4 [6] ;
00451     command.putc ( 0xFE );
00452     command.putc ( 0x04 );
00453     sel_color = 0;
00454     //tft_reset();
00455     tft_clear(TFT_YELLOW);
00456       
00457     break ; 
00458 }
00459 
00460 }
00461 void funcionesrobot ( uint8_t _Parametro, uint8_t _Comando ){
00462         
00463         /*  °°Declaración de contadores°°  */
00464         uint8_t i ;
00465         uint8_t j ;
00466             
00467         switch ( _Comando ){
00468             // Acciones que ejerce el robot
00469             
00470             case 0 :
00471             
00472                 tft_reset();
00473     
00474                 tft_clear(TFT_RED);    
00475                 
00476                 wait(1);
00477                 
00478                 tft_clear(TFT_GREEN);    
00479                 
00480                 wait(1);
00481                 
00482                 tft_clear(TFT_BLUE);    
00483                 
00484                 wait(1);
00485                 
00486                 tft_clear(TFT_YELLOW);
00487                 
00488                 wait(1);
00489                 
00490             break ; 
00491             
00492             case 1 :
00493             
00494                 printf ( "Frecuencia: 2000              Tiempo: %d s  \n" , _Parametro ) ;
00495                 mybuzzer.period_us ( DO ) ;
00496                 mybuzzer.write ( 0.8 ) ;
00497                 wait( _Parametro ) ;
00498                 mybuzzer.write ( 0 ) ;
00499                 
00500             break ;
00501             
00502             case 2 :
00503             
00504                 printf ( "Frecuencia: 2500              Tiempo: %d s  \n" , _Parametro ) ;
00505                 mybuzzer.period_us ( RE ) ;
00506                 mybuzzer.write ( 0.8 ) ;
00507                 wait ( _Parametro ) ;
00508                 mybuzzer.write ( 0 ) ;
00509                 
00510             break ;
00511             
00512             case 3 :
00513             
00514                 printf ( " Frecuencia: 3000 " ); printf ( " Tiempo: %d s  \n " , _Parametro ) ;
00515                 mybuzzer.period_us ( MI ) ;
00516                 mybuzzer.write ( 0.8 ) ;
00517                 wait( _Parametro ) ;
00518                 mybuzzer.write ( 0 ) ;
00519                 
00520             break ;
00521             
00522             case 4 :
00523             
00524                 printf ( "Frecuencia: 3500              Tiempo: %d s  \n" , _Parametro ) ;
00525                 mybuzzer.period_us ( FA );
00526                 mybuzzer.write ( 0.8 );
00527                 wait ( 5 );
00528                 mybuzzer.write ( 0 );
00529                 
00530             break ;
00531             
00532             case 5 :
00533             
00534                 steppeer_dir = 1 ;
00535                 steppeer_dir2 = 0 ;
00536                 wait_us ( 1 );
00537                 for ( j = 1 ; j <= _Parametro ; j++){
00538             
00539                     for ( i= 0 ; i <=  200 ; i++ ){
00540                  
00541                         stepper_step  = 1 ; 
00542                         stepper_step2 = 1;
00543                         wait_us( VELOCITY );
00544                         stepper_step = 0;
00545                         stepper_step2 = 0;
00546                         wait_us ( VELOCITY );
00547             
00548                     } 
00549                 }
00550                 
00551             break ;  
00552             
00553             case 6 :
00554             
00555                 steppeer_dir = 0;
00556                 steppeer_dir2 = 1;
00557                 wait_us ( 1 );
00558         
00559                 for ( j = 1 ; j <= _Parametro ; j++){
00560             
00561                     for ( i= 0 ; i <=  200 ; i++ ){
00562                  
00563                         stepper_step = 1  ; 
00564                         stepper_step2 = 1 ;
00565                         wait_us( VELOCITY ) ;
00566                         stepper_step = 0 ;
00567                         stepper_step2 = 0 ;
00568                         wait_us ( VELOCITY ) ;
00569             
00570                     } 
00571                 
00572                 }
00573                 
00574             break ;
00575             
00576         case 7 : 
00577         
00578             steppeer_dir = 0;
00579             wait_us ( 1 );
00580         
00581             for ( j = 1 ; j <= _Parametro ; j++){
00582             
00583                 for ( i= 0 ; i <= 250 ; i++ ){
00584                  
00585                     stepper_step = 1 ; 
00586                     //stepper_step2 = 1 ;
00587                     wait_us(VELOCITY) ;
00588                     stepper_step = 0 ;
00589                     //stepper_step2 = 0 ;
00590                     wait_us(VELOCITY) ;
00591             
00592                     } 
00593             }
00594             
00595         break ; 
00596         
00597         case  8 :
00598         
00599             steppeer_dir2 = 1;
00600             wait_us ( 1 );
00601         
00602             for ( j = 1 ; j <= _Parametro ; j++){
00603             
00604                 for ( i= 0 ; i <=  250 ; i++ ){
00605                  
00606                     //stepper_step = 1 ; 
00607                     stepper_step2 = 1 ;
00608                     wait_us( VELOCITY ) ;
00609                     //stepper_step = 0 ;
00610                     stepper_step2 = 0 ;
00611                     wait_us ( VELOCITY ) ;
00612             
00613                 } 
00614                 
00615             }
00616             
00617         break ;
00618         
00619         case 9 :
00620          
00621             switch ( _Parametro ){
00622              
00623                 case 1:
00624              
00625                     VELOCITY = 400 ;
00626                 
00627                 break ;
00628              
00629                 case 2:
00630              
00631                     VELOCITY = 2500 ;
00632                 
00633                 break ;
00634             
00635                 case 3:
00636              
00637                     VELOCITY = 5000 ;
00638                 
00639                 break ;  
00640             
00641             }
00642           
00643         break ;
00644         
00645         case 10:
00646 
00647             
00648             if ( _Parametro == 1){
00649                 
00650                 while ( !Exit ){ 
00651                 
00652                     In [ 0 ] = analog_value0.read(); // Converts and read the analog input value (value from 0.0 to 1.0)    
00653                    // printf(" X = %.04f \n", In[0]);                
00654                     if ( In [ 0 ] > 0.6 ){ 
00655  
00656                         steppeer_dir = 1;
00657                         wait_us( 1 );
00658                 
00659                         for ( i= 0 ; i <=  50 ; i++ ){
00660                  
00661                             stepper_step = 1 ; 
00662                             //stepper_step2 = 1 ;
00663                             wait_us( VELOCITY ) ;
00664                             stepper_step = 0 ;
00665                             //stepper_step2 = 0 ;
00666                             wait_us( VELOCITY ) ;
00667                         }
00668                     }
00669                  
00670                     if ( In [ 0 ] < 0.3 ){ 
00671                 
00672                         steppeer_dir2 = 1;
00673                         wait_us( 1 );
00674                         
00675                         for ( i= 0 ; i <=  50 ; i++ ){
00676                  
00677                             //stepper_step = 1 ; 
00678                             stepper_step2 = 1 ;
00679                             wait_us( VELOCITY ) ;
00680                             //stepper_step = 0 ;
00681                             stepper_step2 = 0 ;
00682                             wait_us( VELOCITY ) ;
00683                         
00684                         }
00685                     }
00686                     
00687                     In [ 1 ] = analog_value1.read(); // Converts and read the analog input value (value from 0.0 to 1.0)    
00688                     //printf(" Y = %.04f \n", In[0]); 
00689                                 
00690                     if (In [ 1 ] > 0.6 ){
00691                      
00692                         steppeer_dir = 1 ;
00693                         steppeer_dir2 = 0 ;
00694                         wait_us( 1 );
00695                         
00696                         for ( i= 0 ; i <= 50 ; i++ ){
00697                  
00698                             stepper_step = 1 ; 
00699                             stepper_step2 = 1 ;
00700                             wait_us( VELOCITY ) ;
00701                             stepper_step = 0 ;
00702                             stepper_step2 = 0 ;
00703                             wait_us( VELOCITY ) ;
00704             
00705                         } 
00706                     }
00707                 
00708                     if ( In [ 1 ] < 0.3 ){
00709                      
00710                         steppeer_dir = 0 ;
00711                         steppeer_dir2 = 1 ;
00712                         wait_us( 1 );
00713                         
00714                         for ( i= 0 ; i <= 50 ; i++ ){
00715                          
00716                             stepper_step = 1 ; 
00717                             stepper_step2 = 1 ;
00718                             wait_us( VELOCITY ) ;
00719                             stepper_step = 0 ;
00720                             stepper_step2 = 0 ;
00721                             wait_us ( VELOCITY ) ;
00722                 
00723                         } 
00724                     
00725                     }
00726                     
00727                     command.attach( callback(Rx_interrupt), Serial::RxIrq );
00728                     /*if ( command.readable () == 1 ){
00729                         
00730                         uint8_t l1, l2 ;
00731                         
00732                         while ( command.getc()!= INITCMD ) ;
00733                         l1 = command.getc () ; 
00734                         l2 = command.getc () ;
00735                         
00736                         if ( l1 == 10 and l2 == 2 ){
00737                         
00738                             Exit = 1 ;
00739                         }
00740                     }*/
00741                     
00742                     wait_us ( 1 );
00743                     
00744                 }
00745             }
00746                 
00747             break ;
00748             
00749             }
00750 }
00751 
00752