Luis Miguel Castro Tenjica / Mbed 2 deprecated 02_LAB_serial_protocol

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Dependencies:   mbed

Fork of 02_LAB_serial_protocol by ferney alberto beltran molina

main.cpp

Committer:
fabeltranm
Date:
2017-04-26
Revision:
1:0bcd96e56022
Parent:
0:55d11eeb0faf
Child:
2:200a9507b696

File content as of revision 1:0bcd96e56022:

#include "mbed.h"
#include "mbed.h"

Serial command(USBTX, USBRX);

#define DEBUG 1

//*****************************************************************************
//  COMANDO  MOVER MOTOR
//  |POS 1|POS 2|POS 3|POS 4| POS 5|
//  |  <  | #M  |  ,  | #°G |  >   |
//
// #M  -> indica el motor que se va a mover
// #°G -> indica los grados a mover del  servomotor 
// <,> -> inicio, separdor  y fin de comando 
//  el inicio de comando no se almacena en el buffer
//*****************************************************************************

// VARIABLES PARA DEFINIR  EL  COMMANDO
#define BUFF_SIZE 4
#define COMM_NUM_MOTOR 0
#define COMM_SEPARADOR 1
#define COMM_GRADOS_MOTOR  2


uint8_t buffer_command[BUFF_SIZE]={0,0,0,0};


void print_num(uint8_t val)

{
if (val <10)
        command.putc(val+0x30);
    else 
        command.putc(val-10+0x40);
        
}
void print_bin2hex (uint8_t val)
{
    command.printf(" 0x");
    print_num(val>>4);
    print_num(val&0x0f);
        
        
}

// TODO : TIMEOUT UART SERIAL
void Read_command()
{
    for (uint8_t i=0; i<BUFF_SIZE;i++)
        buffer_command[i]=command.getc();
    
}

void echo_command()
{
    for (uint8_t i=0; i<BUFF_SIZE;i++)
        print_bin2hex(buffer_command[i]);
      
}


void check_command()
{
       if (buffer_command[BUFF_SIZE-1]== '>' && buffer_command[COMM_SEPARADOR]==','){
        
        #if DEBUG
            command.printf("\nMover Motor:");
            print_bin2hex(buffer_command[COMM_NUM_MOTOR]);
            command.printf(" -> ");
            print_bin2hex(buffer_command[COMM_GRADOS_MOTOR]);
            command.printf(" grados \n");  
        #endif
        }else{ 
        #if DEBUG
            command.printf("\n ERROR COMANDO -> ");
            echo_command();
        #endif
        
        }
     
}
int main() {
    #if DEBUG
    command.printf("inicio con debug\n");
    #else
    command.printf("inicio sin debug\n");
    #endif
    uint8_t val;
    while(1){
        val=command.getc();
        if (val== '<'){
            Read_command();
            check_command();
            
            }
    }
}