Diff: serial.cpp

Revision:

2:55f39e7883a6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/serial.cpp	Fri Jul 14 12:32:18 2017 +0000
@@ -0,0 +1,173 @@
+
+#include "serial.h"
+#include "mbed.h"
+#include "robotarm.h"
+
+#define ENABLE_BLUETOOTH 1
+#define ENABLE_PC_SERIAL 1
+#define COMMAND_MESSAGE_BYTE 0X1D
+
+#define PC_BAUD 115200
+#define BLUETOOTH_BAUD 115200
+
+Serial bt(p13, p14);
+
+int turning = 1;
+
+char pc_command_message_started = 0;
+char pc_command_message_byte = 0;
+char pc_command_message[3];
+
+char bt_command_message_started = 0;
+char bt_command_message_byte = 0;
+char bt_command_message[3];
+
+char file_transfer_mode = 0;
+Timeout pc_command_timeout;
+Timeout bt_command_timeout;
+
+void SerialControl::setup_serial_interfaces()
+{
+    if(ENABLE_PC_SERIAL) {
+        pc.baud(PC_BAUD);
+        pc.attach(this,&SerialControl::IF_pc_rx_callback, Serial::RxIrq);
+    }
+    if(ENABLE_BLUETOOTH) {
+        bt.baud(BLUETOOTH_BAUD);
+        bt.attach(this,&SerialControl::IF_bt_rx_callback, Serial::RxIrq);
+    }
+}
+    
+void SerialControl::IF_handle_command_serial_message(char message[3], char interface){
+    if(message[0]==1){
+        turning = 1;
+        pc.printf("start turn(beacon on)%d\n",turning);
+    }
+    else if(message[1]==1){
+        pc.printf("stop turn(beacon on)%d\n", turning);
+        turning = 0;
+    }
+    else if(message[2]==1){
+        pc.printf("beacon off\n");
+        turning = 2;
+    }
+    else if(message[0] == 2){
+        bt.printf("%c%d",COMMAND_MESSAGE_BYTE, turning);
+        pc.printf("%c%d", COMMAND_MESSAGE_BYTE, turning);
+    }
+}
+
+
+Timeout bt_message_timeout;
+//static float bt_message_timeout_period = 0.001; // 1 millisecond
+char bt_buffer[255];
+int bt_buffer_index = 0;
+
+void SerialControl::IF_bt_message_timeout()
+{
+    char buffer[255];
+
+    sprintf(buffer, bt_buffer, bt_buffer_index);
+    buffer[bt_buffer_index] = 0;
+    if(file_transfer_mode == 1) {
+    } else {
+//    debug("BT message timeout: %s [%d chars]\n", buffer, bt_buffer_index);
+        if(bt_buffer_index == 5 && buffer[0] == COMMAND_MESSAGE_BYTE && buffer[4] == COMMAND_MESSAGE_BYTE) {
+            bt_command_message[0] = buffer[1];
+            bt_command_message[1] = buffer[2];
+            bt_command_message[2] = buffer[3];
+            IF_handle_command_serial_message(bt_command_message , 1);
+        } 
+    }
+    bt_buffer_index = 0;
+}
+
+
+void SerialControl::IF_bt_rx_callback()
+{
+    int count = 0;
+    char message_array[255];
+
+    wait_ms(500); // Wait 0.5ms to allow a complete message to arrive before atttempting to process it
+
+    while(bt.readable()) {
+        char tc = bt.getc();
+        message_array[count] = tc;
+        count ++;
+        if(bt_command_message_started == 1) {
+            if(bt_command_message_byte == 3) {
+                bt_command_timeout.detach();
+                if(tc == COMMAND_MESSAGE_BYTE) {
+                    // A complete command message succesfully received, call handler
+                    bt_command_message_started = 0;
+                    count = 0;
+                    IF_handle_command_serial_message(bt_command_message , 1);
+                } else {
+                    // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message
+                    bt_command_message_started = 0;
+                    message_array[0] = COMMAND_MESSAGE_BYTE;
+                    message_array[1] = bt_command_message[0];
+                    message_array[2] = bt_command_message[1];
+                    message_array[3] = bt_command_message[2];
+                    message_array[4] = tc;
+                    count = 5;
+                }
+            } else {
+
+                bt_command_message[bt_command_message_byte] = tc;
+                bt_command_message_byte ++;
+            }
+        } else {
+            if(count == 1) {
+                if(tc == COMMAND_MESSAGE_BYTE) {
+                    bt_command_message_started = 1;
+                    bt_command_message_byte = 0;
+
+                }
+            }
+        }
+    }
+}
+
+void SerialControl::IF_pc_rx_callback()
+{
+    int count = 0;
+    char message_array[255];
+
+    while(pc.readable()) {
+        char tc = pc.getc();
+        message_array[count] = tc;
+        count ++;
+        if(pc_command_message_started == 1) {
+            if(pc_command_message_byte == 3) {
+                pc_command_timeout.detach();
+                if(tc == COMMAND_MESSAGE_BYTE) {
+                    // A complete command message succesfully received, call handler
+                    pc_command_message_started = 0;
+                    count = 0;
+                    IF_handle_command_serial_message(pc_command_message , 0);
+                } else {
+                    // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message
+                    pc_command_message_started = 0;
+                    message_array[0] = COMMAND_MESSAGE_BYTE;
+                    message_array[1] = pc_command_message[0];
+                    message_array[2] = pc_command_message[1];
+                    message_array[3] = pc_command_message[2];
+                    message_array[4] = tc;
+                    count = 5;
+                }
+            } else {
+                pc_command_message[pc_command_message_byte] = tc;
+                pc_command_message_byte ++;
+            }
+        } else {
+            if(count == 1) {
+                if(tc == COMMAND_MESSAGE_BYTE) {
+                    pc_command_message_started = 1;
+                    pc_command_message_byte = 0;
+
+                }
+            }
+        }
+    }
+}
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