Yujia Gao / Mbed 2 deprecated lighthouse_2

lighthouse

Dependencies:   RobotArmController SerialHalfDuplex mbed

Fork of PR_RobotArm by James Hilder

serial.cpp@2:55f39e7883a6, 2017-07-14 (annotated)

Committer:
JessicaGao
Date:
Fri Jul 14 12:32:18 2017 +0000
Revision:
2:55f39e7883a6
lighthouse;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JessicaGao 2:55f39e7883a6 1
JessicaGao 2:55f39e7883a6 2 #include "serial.h"
JessicaGao 2:55f39e7883a6 3 #include "mbed.h"
JessicaGao 2:55f39e7883a6 4 #include "robotarm.h"
JessicaGao 2:55f39e7883a6 5
JessicaGao 2:55f39e7883a6 6 #define ENABLE_BLUETOOTH 1
JessicaGao 2:55f39e7883a6 7 #define ENABLE_PC_SERIAL 1
JessicaGao 2:55f39e7883a6 8 #define COMMAND_MESSAGE_BYTE 0X1D
JessicaGao 2:55f39e7883a6 9
JessicaGao 2:55f39e7883a6 10 #define PC_BAUD 115200
JessicaGao 2:55f39e7883a6 11 #define BLUETOOTH_BAUD 115200
JessicaGao 2:55f39e7883a6 12
JessicaGao 2:55f39e7883a6 13 Serial bt(p13, p14);
JessicaGao 2:55f39e7883a6 14
JessicaGao 2:55f39e7883a6 15 int turning = 1;
JessicaGao 2:55f39e7883a6 16
JessicaGao 2:55f39e7883a6 17 char pc_command_message_started = 0;
JessicaGao 2:55f39e7883a6 18 char pc_command_message_byte = 0;
JessicaGao 2:55f39e7883a6 19 char pc_command_message[3];
JessicaGao 2:55f39e7883a6 20
JessicaGao 2:55f39e7883a6 21 char bt_command_message_started = 0;
JessicaGao 2:55f39e7883a6 22 char bt_command_message_byte = 0;
JessicaGao 2:55f39e7883a6 23 char bt_command_message[3];
JessicaGao 2:55f39e7883a6 24
JessicaGao 2:55f39e7883a6 25 char file_transfer_mode = 0;
JessicaGao 2:55f39e7883a6 26 Timeout pc_command_timeout;
JessicaGao 2:55f39e7883a6 27 Timeout bt_command_timeout;
JessicaGao 2:55f39e7883a6 28
JessicaGao 2:55f39e7883a6 29 void SerialControl::setup_serial_interfaces()
JessicaGao 2:55f39e7883a6 30 {
JessicaGao 2:55f39e7883a6 31 if(ENABLE_PC_SERIAL) {
JessicaGao 2:55f39e7883a6 32 pc.baud(PC_BAUD);
JessicaGao 2:55f39e7883a6 33 pc.attach(this,&SerialControl::IF_pc_rx_callback, Serial::RxIrq);
JessicaGao 2:55f39e7883a6 34 }
JessicaGao 2:55f39e7883a6 35 if(ENABLE_BLUETOOTH) {
JessicaGao 2:55f39e7883a6 36 bt.baud(BLUETOOTH_BAUD);
JessicaGao 2:55f39e7883a6 37 bt.attach(this,&SerialControl::IF_bt_rx_callback, Serial::RxIrq);
JessicaGao 2:55f39e7883a6 38 }
JessicaGao 2:55f39e7883a6 39 }
JessicaGao 2:55f39e7883a6 40
JessicaGao 2:55f39e7883a6 41 void SerialControl::IF_handle_command_serial_message(char message[3], char interface){
JessicaGao 2:55f39e7883a6 42 if(message[0]==1){
JessicaGao 2:55f39e7883a6 43 turning = 1;
JessicaGao 2:55f39e7883a6 44 pc.printf("start turn(beacon on)%d\n",turning);
JessicaGao 2:55f39e7883a6 45 }
JessicaGao 2:55f39e7883a6 46 else if(message[1]==1){
JessicaGao 2:55f39e7883a6 47 pc.printf("stop turn(beacon on)%d\n", turning);
JessicaGao 2:55f39e7883a6 48 turning = 0;
JessicaGao 2:55f39e7883a6 49 }
JessicaGao 2:55f39e7883a6 50 else if(message[2]==1){
JessicaGao 2:55f39e7883a6 51 pc.printf("beacon off\n");
JessicaGao 2:55f39e7883a6 52 turning = 2;
JessicaGao 2:55f39e7883a6 53 }
JessicaGao 2:55f39e7883a6 54 else if(message[0] == 2){
JessicaGao 2:55f39e7883a6 55 bt.printf("%c%d",COMMAND_MESSAGE_BYTE, turning);
JessicaGao 2:55f39e7883a6 56 pc.printf("%c%d", COMMAND_MESSAGE_BYTE, turning);
JessicaGao 2:55f39e7883a6 57 }
JessicaGao 2:55f39e7883a6 58 }
JessicaGao 2:55f39e7883a6 59
JessicaGao 2:55f39e7883a6 60
JessicaGao 2:55f39e7883a6 61 Timeout bt_message_timeout;
JessicaGao 2:55f39e7883a6 62 //static float bt_message_timeout_period = 0.001; // 1 millisecond
JessicaGao 2:55f39e7883a6 63 char bt_buffer[255];
JessicaGao 2:55f39e7883a6 64 int bt_buffer_index = 0;
JessicaGao 2:55f39e7883a6 65
JessicaGao 2:55f39e7883a6 66 void SerialControl::IF_bt_message_timeout()
JessicaGao 2:55f39e7883a6 67 {
JessicaGao 2:55f39e7883a6 68 char buffer[255];
JessicaGao 2:55f39e7883a6 69
JessicaGao 2:55f39e7883a6 70 sprintf(buffer, bt_buffer, bt_buffer_index);
JessicaGao 2:55f39e7883a6 71 buffer[bt_buffer_index] = 0;
JessicaGao 2:55f39e7883a6 72 if(file_transfer_mode == 1) {
JessicaGao 2:55f39e7883a6 73 } else {
JessicaGao 2:55f39e7883a6 74 // debug("BT message timeout: %s [%d chars]\n", buffer, bt_buffer_index);
JessicaGao 2:55f39e7883a6 75 if(bt_buffer_index == 5 && buffer[0] == COMMAND_MESSAGE_BYTE && buffer[4] == COMMAND_MESSAGE_BYTE) {
JessicaGao 2:55f39e7883a6 76 bt_command_message[0] = buffer[1];
JessicaGao 2:55f39e7883a6 77 bt_command_message[1] = buffer[2];
JessicaGao 2:55f39e7883a6 78 bt_command_message[2] = buffer[3];
JessicaGao 2:55f39e7883a6 79 IF_handle_command_serial_message(bt_command_message , 1);
JessicaGao 2:55f39e7883a6 80 }
JessicaGao 2:55f39e7883a6 81 }
JessicaGao 2:55f39e7883a6 82 bt_buffer_index = 0;
JessicaGao 2:55f39e7883a6 83 }
JessicaGao 2:55f39e7883a6 84
JessicaGao 2:55f39e7883a6 85
JessicaGao 2:55f39e7883a6 86 void SerialControl::IF_bt_rx_callback()
JessicaGao 2:55f39e7883a6 87 {
JessicaGao 2:55f39e7883a6 88 int count = 0;
JessicaGao 2:55f39e7883a6 89 char message_array[255];
JessicaGao 2:55f39e7883a6 90
JessicaGao 2:55f39e7883a6 91 wait_ms(500); // Wait 0.5ms to allow a complete message to arrive before atttempting to process it
JessicaGao 2:55f39e7883a6 92
JessicaGao 2:55f39e7883a6 93 while(bt.readable()) {
JessicaGao 2:55f39e7883a6 94 char tc = bt.getc();
JessicaGao 2:55f39e7883a6 95 message_array[count] = tc;
JessicaGao 2:55f39e7883a6 96 count ++;
JessicaGao 2:55f39e7883a6 97 if(bt_command_message_started == 1) {
JessicaGao 2:55f39e7883a6 98 if(bt_command_message_byte == 3) {
JessicaGao 2:55f39e7883a6 99 bt_command_timeout.detach();
JessicaGao 2:55f39e7883a6 100 if(tc == COMMAND_MESSAGE_BYTE) {
JessicaGao 2:55f39e7883a6 101 // A complete command message succesfully received, call handler
JessicaGao 2:55f39e7883a6 102 bt_command_message_started = 0;
JessicaGao 2:55f39e7883a6 103 count = 0;
JessicaGao 2:55f39e7883a6 104 IF_handle_command_serial_message(bt_command_message , 1);
JessicaGao 2:55f39e7883a6 105 } else {
JessicaGao 2:55f39e7883a6 106 // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message
JessicaGao 2:55f39e7883a6 107 bt_command_message_started = 0;
JessicaGao 2:55f39e7883a6 108 message_array[0] = COMMAND_MESSAGE_BYTE;
JessicaGao 2:55f39e7883a6 109 message_array[1] = bt_command_message[0];
JessicaGao 2:55f39e7883a6 110 message_array[2] = bt_command_message[1];
JessicaGao 2:55f39e7883a6 111 message_array[3] = bt_command_message[2];
JessicaGao 2:55f39e7883a6 112 message_array[4] = tc;
JessicaGao 2:55f39e7883a6 113 count = 5;
JessicaGao 2:55f39e7883a6 114 }
JessicaGao 2:55f39e7883a6 115 } else {
JessicaGao 2:55f39e7883a6 116
JessicaGao 2:55f39e7883a6 117 bt_command_message[bt_command_message_byte] = tc;
JessicaGao 2:55f39e7883a6 118 bt_command_message_byte ++;
JessicaGao 2:55f39e7883a6 119 }
JessicaGao 2:55f39e7883a6 120 } else {
JessicaGao 2:55f39e7883a6 121 if(count == 1) {
JessicaGao 2:55f39e7883a6 122 if(tc == COMMAND_MESSAGE_BYTE) {
JessicaGao 2:55f39e7883a6 123 bt_command_message_started = 1;
JessicaGao 2:55f39e7883a6 124 bt_command_message_byte = 0;
JessicaGao 2:55f39e7883a6 125
JessicaGao 2:55f39e7883a6 126 }
JessicaGao 2:55f39e7883a6 127 }
JessicaGao 2:55f39e7883a6 128 }
JessicaGao 2:55f39e7883a6 129 }
JessicaGao 2:55f39e7883a6 130 }
JessicaGao 2:55f39e7883a6 131
JessicaGao 2:55f39e7883a6 132 void SerialControl::IF_pc_rx_callback()
JessicaGao 2:55f39e7883a6 133 {
JessicaGao 2:55f39e7883a6 134 int count = 0;
JessicaGao 2:55f39e7883a6 135 char message_array[255];
JessicaGao 2:55f39e7883a6 136
JessicaGao 2:55f39e7883a6 137 while(pc.readable()) {
JessicaGao 2:55f39e7883a6 138 char tc = pc.getc();
JessicaGao 2:55f39e7883a6 139 message_array[count] = tc;
JessicaGao 2:55f39e7883a6 140 count ++;
JessicaGao 2:55f39e7883a6 141 if(pc_command_message_started == 1) {
JessicaGao 2:55f39e7883a6 142 if(pc_command_message_byte == 3) {
JessicaGao 2:55f39e7883a6 143 pc_command_timeout.detach();
JessicaGao 2:55f39e7883a6 144 if(tc == COMMAND_MESSAGE_BYTE) {
JessicaGao 2:55f39e7883a6 145 // A complete command message succesfully received, call handler
JessicaGao 2:55f39e7883a6 146 pc_command_message_started = 0;
JessicaGao 2:55f39e7883a6 147 count = 0;
JessicaGao 2:55f39e7883a6 148 IF_handle_command_serial_message(pc_command_message , 0);
JessicaGao 2:55f39e7883a6 149 } else {
JessicaGao 2:55f39e7883a6 150 // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message
JessicaGao 2:55f39e7883a6 151 pc_command_message_started = 0;
JessicaGao 2:55f39e7883a6 152 message_array[0] = COMMAND_MESSAGE_BYTE;
JessicaGao 2:55f39e7883a6 153 message_array[1] = pc_command_message[0];
JessicaGao 2:55f39e7883a6 154 message_array[2] = pc_command_message[1];
JessicaGao 2:55f39e7883a6 155 message_array[3] = pc_command_message[2];
JessicaGao 2:55f39e7883a6 156 message_array[4] = tc;
JessicaGao 2:55f39e7883a6 157 count = 5;
JessicaGao 2:55f39e7883a6 158 }
JessicaGao 2:55f39e7883a6 159 } else {
JessicaGao 2:55f39e7883a6 160 pc_command_message[pc_command_message_byte] = tc;
JessicaGao 2:55f39e7883a6 161 pc_command_message_byte ++;
JessicaGao 2:55f39e7883a6 162 }
JessicaGao 2:55f39e7883a6 163 } else {
JessicaGao 2:55f39e7883a6 164 if(count == 1) {
JessicaGao 2:55f39e7883a6 165 if(tc == COMMAND_MESSAGE_BYTE) {
JessicaGao 2:55f39e7883a6 166 pc_command_message_started = 1;
JessicaGao 2:55f39e7883a6 167 pc_command_message_byte = 0;
JessicaGao 2:55f39e7883a6 168
JessicaGao 2:55f39e7883a6 169 }
JessicaGao 2:55f39e7883a6 170 }
JessicaGao 2:55f39e7883a6 171 }
JessicaGao 2:55f39e7883a6 172 }
JessicaGao 2:55f39e7883a6 173 }