Diff: LAS_TB.cpp

Revision:

2:4697650da797

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LAS_TB.cpp	Tue Jan 25 19:26:21 2022 +0000
@@ -0,0 +1,70 @@
+#include "mbed.h"
+#include "LAS_TB.h"
+
+LAS_TB::LAS_TB(PinName PinTX, PinName PinRX) : SerialPort(PinTX,PinRX)
+{
+    //constructor.
+    SerialPort.baud(115200);
+    SerialPort.attach(callback(this,&LAS_TB::Rx_interrupt), Serial::RxIrq);
+    
+    //Dit verzenden we naar de LAS-TB. Bevat het order get measured....
+    Stack[0] = 0x55;    //Sync byte.
+    Stack[1] = 0x08;    //Order (Get measerued values from L-LAS-RAM.)
+    Stack[2] = 0x00;    //ARG LO.
+    Stack[3] = 0x00;    //ARG HI.
+    Stack[4] = 0x00;    //LEN LO.
+    Stack[5] = 0x00;    //LEN HI.
+    Stack[6] = 0xAA;    //CRC8 HEAD.
+    Stack[7] = 0x76;    //CRC8 DATA.
+}
+
+union Converter
+{
+    int32_t um;     // occupies 4 bytes
+    uint8_t byteArray[4]; // occupies 4 bytes
+}; 
+
+//Vragen om een meting.
+void LAS_TB::MeasurementRequest()
+{
+    SendStack();
+}
+
+//Wordt uitgevoerd bij ontvangen bericht.
+void LAS_TB::Rx_interrupt()
+{
+    while (SerialPort.readable())
+    {
+        for (int i = 0; i < 71; i++)
+        {
+            ReceivedStack[i] = ReceivedStack[i+1];
+        }
+        ReceivedStack[71] = SerialPort.getc();
+        
+        //Hoe weten we dat het bericht goed is?
+        if (ReceivedStack[0] == 0x55 && ReceivedStack[1] == 0x08 && ReceivedStack[4] == 64)
+        {
+            int32_t temp = ReceivedStack[16];
+            
+            umvalue = temp << 24;
+            temp = ReceivedStack[17];
+            umvalue += temp << 16;
+            temp = ReceivedStack[18];
+            umvalue += temp << 8;
+            temp = ReceivedStack[19];
+            umvalue += temp;       
+        }
+    }
+}
+
+//Het sturen van data.
+//Sends the stack of data to the sensor module.
+void LAS_TB::SendStack()
+{
+        
+    for (int i = 0; i < 10; i++)
+    {
+        SerialPort.putc(Stack[i]);
+    }
+    
+}
\ No newline at end of file