Nurbol Nurdaulet
/
2sensors_2servo_22_11_11
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
main.cpp@0:e5b9c99f23f2, 2011-11-22 (annotated)
- Committer:
- Nurbol
- Date:
- Tue Nov 22 15:37:21 2011 +0000
- Revision:
- 0:e5b9c99f23f2
- Child:
- 1:9b749b30afc9
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Nurbol | 0:e5b9c99f23f2 | 1 | // |
| Nurbol | 0:e5b9c99f23f2 | 2 | // COM_test : program to communicate via a COM port to a PC/laptop |
| Nurbol | 0:e5b9c99f23f2 | 3 | // ======== |
| Nurbol | 0:e5b9c99f23f2 | 4 | // |
| Nurbol | 0:e5b9c99f23f2 | 5 | // Description |
| Nurbol | 0:e5b9c99f23f2 | 6 | // Program to receive ASCII format commands through a virtual COM port and |
| Nurbol | 0:e5b9c99f23f2 | 7 | // after executing the command return some data (optional, depending on |
| Nurbol | 0:e5b9c99f23f2 | 8 | // the command) and a status value. |
| Nurbol | 0:e5b9c99f23f2 | 9 | // The program understands two possible commands : |
| Nurbol | 0:e5b9c99f23f2 | 10 | // "s i j" : move servo 'i (0 to 5) to postion 'j' (0 to 90) |
| Nurbol | 0:e5b9c99f23f2 | 11 | // "r" : read the 'i' parameter of the last "s" command |
| Nurbol | 0:e5b9c99f23f2 | 12 | // |
| Nurbol | 0:e5b9c99f23f2 | 13 | // Version : 1.0 |
| Nurbol | 0:e5b9c99f23f2 | 14 | // Author : Jim Herd |
| Nurbol | 0:e5b9c99f23f2 | 15 | // Date : 5th Oct 2011 |
| Nurbol | 0:e5b9c99f23f2 | 16 | // |
| Nurbol | 0:e5b9c99f23f2 | 17 | #include "mbed.h" |
| Nurbol | 0:e5b9c99f23f2 | 18 | #include "MCP23017.h" |
| Nurbol | 0:e5b9c99f23f2 | 19 | #include "WattBob_TextLCD.h" |
| Nurbol | 0:e5b9c99f23f2 | 20 | #include "cmd_io.h" |
| Nurbol | 0:e5b9c99f23f2 | 21 | #include "globals.h" |
| Nurbol | 0:e5b9c99f23f2 | 22 | |
| Nurbol | 0:e5b9c99f23f2 | 23 | |
| Nurbol | 0:e5b9c99f23f2 | 24 | |
| Nurbol | 0:e5b9c99f23f2 | 25 | Ticker timer1p; |
| Nurbol | 0:e5b9c99f23f2 | 26 | Ticker timer2p; |
| Nurbol | 0:e5b9c99f23f2 | 27 | Ticker timercounter1p; |
| Nurbol | 0:e5b9c99f23f2 | 28 | Ticker timercounter2p; |
| Nurbol | 0:e5b9c99f23f2 | 29 | |
| Nurbol | 0:e5b9c99f23f2 | 30 | |
| Nurbol | 0:e5b9c99f23f2 | 31 | AnalogIn sensor1(p15); |
| Nurbol | 0:e5b9c99f23f2 | 32 | AnalogIn sensor2(p16); |
| Nurbol | 0:e5b9c99f23f2 | 33 | AnalogOut valueLED1(p18); |
| Nurbol | 0:e5b9c99f23f2 | 34 | DigitalOut valueLED2(p25); |
| Nurbol | 0:e5b9c99f23f2 | 35 | |
| Nurbol | 0:e5b9c99f23f2 | 36 | |
| Nurbol | 0:e5b9c99f23f2 | 37 | DigitalOut led1(LED1); |
| Nurbol | 0:e5b9c99f23f2 | 38 | DigitalOut led2(LED2); |
| Nurbol | 0:e5b9c99f23f2 | 39 | DigitalOut led3(LED3); |
| Nurbol | 0:e5b9c99f23f2 | 40 | DigitalOut led4(LED4); |
| Nurbol | 0:e5b9c99f23f2 | 41 | |
| Nurbol | 0:e5b9c99f23f2 | 42 | DigitalOut clk(p24); |
| Nurbol | 0:e5b9c99f23f2 | 43 | |
| Nurbol | 0:e5b9c99f23f2 | 44 | AnalogIn counter1p(p19); |
| Nurbol | 0:e5b9c99f23f2 | 45 | AnalogIn counter2p(p20); |
| Nurbol | 0:e5b9c99f23f2 | 46 | |
| Nurbol | 0:e5b9c99f23f2 | 47 | |
| Nurbol | 0:e5b9c99f23f2 | 48 | |
| Nurbol | 0:e5b9c99f23f2 | 49 | |
| Nurbol | 0:e5b9c99f23f2 | 50 | |
| Nurbol | 0:e5b9c99f23f2 | 51 | //****************************************************************************** |
| Nurbol | 0:e5b9c99f23f2 | 52 | // declare functions |
| Nurbol | 0:e5b9c99f23f2 | 53 | // |
| Nurbol | 0:e5b9c99f23f2 | 54 | void sensor1p (void); |
| Nurbol | 0:e5b9c99f23f2 | 55 | void sensor2p (void); |
| Nurbol | 0:e5b9c99f23f2 | 56 | void counter1 (void); |
| Nurbol | 0:e5b9c99f23f2 | 57 | void counter2 (void); |
| Nurbol | 0:e5b9c99f23f2 | 58 | |
| Nurbol | 0:e5b9c99f23f2 | 59 | // |
| Nurbol | 0:e5b9c99f23f2 | 60 | // |
| Nurbol | 0:e5b9c99f23f2 | 61 | // 2. five servo outputs |
| Nurbol | 0:e5b9c99f23f2 | 62 | // |
| Nurbol | 0:e5b9c99f23f2 | 63 | |
| Nurbol | 0:e5b9c99f23f2 | 64 | PwmOut servo_0(p26); |
| Nurbol | 0:e5b9c99f23f2 | 65 | //PwmOut servo_1(p25); |
| Nurbol | 0:e5b9c99f23f2 | 66 | //PwmOut servo_2(p24); |
| Nurbol | 0:e5b9c99f23f2 | 67 | //PwmOut servo_3(p23); |
| Nurbol | 0:e5b9c99f23f2 | 68 | PwmOut servo_4(p22); |
| Nurbol | 0:e5b9c99f23f2 | 69 | PwmOut servo_5(p21); |
| Nurbol | 0:e5b9c99f23f2 | 70 | |
| Nurbol | 0:e5b9c99f23f2 | 71 | // |
| Nurbol | 0:e5b9c99f23f2 | 72 | // 3. objects necessary to use the 2*16 character MBED display |
| Nurbol | 0:e5b9c99f23f2 | 73 | // |
| Nurbol | 0:e5b9c99f23f2 | 74 | MCP23017 *par_port; |
| Nurbol | 0:e5b9c99f23f2 | 75 | WattBob_TextLCD *lcd; |
| Nurbol | 0:e5b9c99f23f2 | 76 | // |
| Nurbol | 0:e5b9c99f23f2 | 77 | // 4. Virtual COM port over USB link to laptop/PC |
| Nurbol | 0:e5b9c99f23f2 | 78 | // |
| Nurbol | 0:e5b9c99f23f2 | 79 | Serial pc(USBTX, USBRX); |
| Nurbol | 0:e5b9c99f23f2 | 80 | |
| Nurbol | 0:e5b9c99f23f2 | 81 | //****************************************************************************** |
| Nurbol | 0:e5b9c99f23f2 | 82 | // Defined GLOBAL variables and structures |
| Nurbol | 0:e5b9c99f23f2 | 83 | // |
| Nurbol | 0:e5b9c99f23f2 | 84 | CMD_STRUCT ext_cmd, commandcounter2; // structure to hold command data |
| Nurbol | 0:e5b9c99f23f2 | 85 | STAT_STRUCT ext_stat; // structure to hold status reply |
| Nurbol | 0:e5b9c99f23f2 | 86 | //CMD_STRUCT commandcounter2; |
| Nurbol | 0:e5b9c99f23f2 | 87 | |
| Nurbol | 0:e5b9c99f23f2 | 88 | uint32_t last_servo; // store for last servo number |
| Nurbol | 0:e5b9c99f23f2 | 89 | |
| Nurbol | 0:e5b9c99f23f2 | 90 | //************************************************************************ |
| Nurbol | 0:e5b9c99f23f2 | 91 | //************************************************************************ |
| Nurbol | 0:e5b9c99f23f2 | 92 | // init_sys : initialise the system |
| Nurbol | 0:e5b9c99f23f2 | 93 | // ======== |
| Nurbol | 0:e5b9c99f23f2 | 94 | // |
| Nurbol | 0:e5b9c99f23f2 | 95 | // 1. Configure 2*16 character display |
| Nurbol | 0:e5b9c99f23f2 | 96 | // 2. Print "COM test" string |
| Nurbol | 0:e5b9c99f23f2 | 97 | // 3. initialise relevant global variables |
| Nurbol | 0:e5b9c99f23f2 | 98 | // 4. set COM port baud rate to 19200 bits per second |
| Nurbol | 0:e5b9c99f23f2 | 99 | // |
| Nurbol | 0:e5b9c99f23f2 | 100 | void init_sys(void) { |
| Nurbol | 0:e5b9c99f23f2 | 101 | |
| Nurbol | 0:e5b9c99f23f2 | 102 | par_port = new MCP23017(p9, p10, 0x40); |
| Nurbol | 0:e5b9c99f23f2 | 103 | lcd = new WattBob_TextLCD(par_port); |
| Nurbol | 0:e5b9c99f23f2 | 104 | |
| Nurbol | 0:e5b9c99f23f2 | 105 | par_port->write_bit(1,BL_BIT); // turn LCD backlight ON |
| Nurbol | 0:e5b9c99f23f2 | 106 | lcd->cls(); |
| Nurbol | 0:e5b9c99f23f2 | 107 | lcd->locate(0,0); |
| Nurbol | 0:e5b9c99f23f2 | 108 | lcd->printf("COM "); |
| Nurbol | 0:e5b9c99f23f2 | 109 | |
| Nurbol | 0:e5b9c99f23f2 | 110 | servo_0.period(0.020); // servo requires a 20ms period, common for all 5 servo objects |
| Nurbol | 0:e5b9c99f23f2 | 111 | last_servo = SERVO_UNKNOWN; |
| Nurbol | 0:e5b9c99f23f2 | 112 | pc.baud(19200); |
| Nurbol | 0:e5b9c99f23f2 | 113 | |
| Nurbol | 0:e5b9c99f23f2 | 114 | servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); |
| Nurbol | 0:e5b9c99f23f2 | 115 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); |
| Nurbol | 0:e5b9c99f23f2 | 116 | servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); |
| Nurbol | 0:e5b9c99f23f2 | 117 | |
| Nurbol | 0:e5b9c99f23f2 | 118 | return; |
| Nurbol | 0:e5b9c99f23f2 | 119 | } // end init_sys |
| Nurbol | 0:e5b9c99f23f2 | 120 | |
| Nurbol | 0:e5b9c99f23f2 | 121 | //************************************************************************ |
| Nurbol | 0:e5b9c99f23f2 | 122 | // process_cmd : decode and execute command |
| Nurbol | 0:e5b9c99f23f2 | 123 | // =========== |
| Nurbol | 0:e5b9c99f23f2 | 124 | uint32_t process_cmd(CMD_STRUCT *command) |
| Nurbol | 0:e5b9c99f23f2 | 125 | { |
| Nurbol | 0:e5b9c99f23f2 | 126 | int32_t pulse_width; |
| Nurbol | 0:e5b9c99f23f2 | 127 | |
| Nurbol | 0:e5b9c99f23f2 | 128 | switch (command->cmd_code) { |
| Nurbol | 0:e5b9c99f23f2 | 129 | // |
| Nurbol | 0:e5b9c99f23f2 | 130 | // move a servo |
| Nurbol | 0:e5b9c99f23f2 | 131 | // |
| Nurbol | 0:e5b9c99f23f2 | 132 | case SERVO_CMD : |
| Nurbol | 0:e5b9c99f23f2 | 133 | command->nos_data = 0; // no data to be returned |
| Nurbol | 0:e5b9c99f23f2 | 134 | // |
| Nurbol | 0:e5b9c99f23f2 | 135 | // check that parameters are OK |
| Nurbol | 0:e5b9c99f23f2 | 136 | // |
| Nurbol | 0:e5b9c99f23f2 | 137 | if (command->nos_params != 2) { // check for 2 parameters |
| Nurbol | 0:e5b9c99f23f2 | 138 | command->result_status = CMD_BAD_NUMBER_OF_PARAMETERS; |
| Nurbol | 0:e5b9c99f23f2 | 139 | break; |
| Nurbol | 0:e5b9c99f23f2 | 140 | } |
| Nurbol | 0:e5b9c99f23f2 | 141 | if (command->param[0] > MAX_SERVO_NUMBER ) { // check servo number |
| Nurbol | 0:e5b9c99f23f2 | 142 | command->result_status = CMD_BAD_SERVO_NUMBER; |
| Nurbol | 0:e5b9c99f23f2 | 143 | break; |
| Nurbol | 0:e5b9c99f23f2 | 144 | } |
| Nurbol | 0:e5b9c99f23f2 | 145 | if ((command->param[1] < MIN_SERVO_ANGLE) || |
| Nurbol | 0:e5b9c99f23f2 | 146 | (command->param[1] > MAX_SERVO_ANGLE) ) { |
| Nurbol | 0:e5b9c99f23f2 | 147 | command->result_status = CMD_BAD_SERVO_VALUE; |
| Nurbol | 0:e5b9c99f23f2 | 148 | break; |
| Nurbol | 0:e5b9c99f23f2 | 149 | } |
| Nurbol | 0:e5b9c99f23f2 | 150 | if ((command->param[0] == 4) && (command->param[1] == 0)) { |
| Nurbol | 0:e5b9c99f23f2 | 151 | pulse_width = 0; // convert angle to pulse width |
| Nurbol | 0:e5b9c99f23f2 | 152 | } |
| Nurbol | 0:e5b9c99f23f2 | 153 | else{ |
| Nurbol | 0:e5b9c99f23f2 | 154 | pulse_width = 1000 + (command->param[1] * 1000) / MAX_SERVO_ANGLE; // convert angle to pulse width |
| Nurbol | 0:e5b9c99f23f2 | 155 | } |
| Nurbol | 0:e5b9c99f23f2 | 156 | |
| Nurbol | 0:e5b9c99f23f2 | 157 | |
| Nurbol | 0:e5b9c99f23f2 | 158 | |
| Nurbol | 0:e5b9c99f23f2 | 159 | // |
| Nurbol | 0:e5b9c99f23f2 | 160 | // implement servo move to all 5 servos |
| Nurbol | 0:e5b9c99f23f2 | 161 | // |
| Nurbol | 0:e5b9c99f23f2 | 162 | switch (command->param[0]) { |
| Nurbol | 0:e5b9c99f23f2 | 163 | case 0 : servo_0.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:e5b9c99f23f2 | 164 | // case 1 : servo_1.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:e5b9c99f23f2 | 165 | // case 2 : servo_2.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:e5b9c99f23f2 | 166 | // case 3 : servo_3.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:e5b9c99f23f2 | 167 | case 4 : servo_4.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:e5b9c99f23f2 | 168 | // case 5 : servo_5.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:e5b9c99f23f2 | 169 | |
| Nurbol | 0:e5b9c99f23f2 | 170 | } |
| Nurbol | 0:e5b9c99f23f2 | 171 | last_servo = command->param[0]; |
| Nurbol | 0:e5b9c99f23f2 | 172 | break; |
| Nurbol | 0:e5b9c99f23f2 | 173 | // |
| Nurbol | 0:e5b9c99f23f2 | 174 | // return last servo number |
| Nurbol | 0:e5b9c99f23f2 | 175 | // |
| Nurbol | 0:e5b9c99f23f2 | 176 | case READ_CMD : |
| Nurbol | 0:e5b9c99f23f2 | 177 | command->nos_data = 2; // no data to be returned |
| Nurbol | 0:e5b9c99f23f2 | 178 | command->result_data[0] = valueLED1; |
| Nurbol | 0:e5b9c99f23f2 | 179 | command->result_data[1] = valueLED2; |
| Nurbol | 0:e5b9c99f23f2 | 180 | break; |
| Nurbol | 0:e5b9c99f23f2 | 181 | // |
| Nurbol | 0:e5b9c99f23f2 | 182 | // catch any problems |
| Nurbol | 0:e5b9c99f23f2 | 183 | // |
| Nurbol | 0:e5b9c99f23f2 | 184 | default: |
| Nurbol | 0:e5b9c99f23f2 | 185 | command->nos_data = 0; // no data to be returned |
| Nurbol | 0:e5b9c99f23f2 | 186 | command->result_status = CMD_BAD_SERVO_VALUE; |
| Nurbol | 0:e5b9c99f23f2 | 187 | break; |
| Nurbol | 0:e5b9c99f23f2 | 188 | } |
| Nurbol | 0:e5b9c99f23f2 | 189 | return OK; |
| Nurbol | 0:e5b9c99f23f2 | 190 | } |
| Nurbol | 0:e5b9c99f23f2 | 191 | |
| Nurbol | 0:e5b9c99f23f2 | 192 | //************************************************************************ |
| Nurbol | 0:e5b9c99f23f2 | 193 | |
| Nurbol | 0:e5b9c99f23f2 | 194 | //function to send value on the FPGA when 1p is detected |
| Nurbol | 0:e5b9c99f23f2 | 195 | void sensor1p (void){ |
| Nurbol | 0:e5b9c99f23f2 | 196 | clk = !clk; |
| Nurbol | 0:e5b9c99f23f2 | 197 | wait(0.01); |
| Nurbol | 0:e5b9c99f23f2 | 198 | sensor1.read(); |
| Nurbol | 0:e5b9c99f23f2 | 199 | if(sensor1 > 0.5) { |
| Nurbol | 0:e5b9c99f23f2 | 200 | led1 = 1; |
| Nurbol | 0:e5b9c99f23f2 | 201 | valueLED1 = 1; |
| Nurbol | 0:e5b9c99f23f2 | 202 | } |
| Nurbol | 0:e5b9c99f23f2 | 203 | else if(sensor1 < 0.5){ |
| Nurbol | 0:e5b9c99f23f2 | 204 | led1 = 0; |
| Nurbol | 0:e5b9c99f23f2 | 205 | valueLED1 = 0; |
| Nurbol | 0:e5b9c99f23f2 | 206 | } |
| Nurbol | 0:e5b9c99f23f2 | 207 | } |
| Nurbol | 0:e5b9c99f23f2 | 208 | |
| Nurbol | 0:e5b9c99f23f2 | 209 | //function to send value on the FPGA when 2p is detected |
| Nurbol | 0:e5b9c99f23f2 | 210 | void sensor2p (){ |
| Nurbol | 0:e5b9c99f23f2 | 211 | sensor2.read(); |
| Nurbol | 0:e5b9c99f23f2 | 212 | if(sensor2 > 0.5) { |
| Nurbol | 0:e5b9c99f23f2 | 213 | led2 = 1; |
| Nurbol | 0:e5b9c99f23f2 | 214 | valueLED2 = 1; |
| Nurbol | 0:e5b9c99f23f2 | 215 | } |
| Nurbol | 0:e5b9c99f23f2 | 216 | else if(sensor2 < 0.5){ |
| Nurbol | 0:e5b9c99f23f2 | 217 | led2 = 0; |
| Nurbol | 0:e5b9c99f23f2 | 218 | valueLED2 = 0; |
| Nurbol | 0:e5b9c99f23f2 | 219 | } |
| Nurbol | 0:e5b9c99f23f2 | 220 | } |
| Nurbol | 0:e5b9c99f23f2 | 221 | |
| Nurbol | 0:e5b9c99f23f2 | 222 | //function to move servo when we have counter1p equal to 10 |
| Nurbol | 0:e5b9c99f23f2 | 223 | void counter1 (){ |
| Nurbol | 0:e5b9c99f23f2 | 224 | if(counter1p > 0.5){ |
| Nurbol | 0:e5b9c99f23f2 | 225 | led3 = 1; |
| Nurbol | 0:e5b9c99f23f2 | 226 | servo_4.pulsewidth_us(0); |
| Nurbol | 0:e5b9c99f23f2 | 227 | wait(1); |
| Nurbol | 0:e5b9c99f23f2 | 228 | servo_0.pulsewidth_us(1000 + (200 * 1000) / 90); |
| Nurbol | 0:e5b9c99f23f2 | 229 | } |
| Nurbol | 0:e5b9c99f23f2 | 230 | else{ |
| Nurbol | 0:e5b9c99f23f2 | 231 | led3 = 0; |
| Nurbol | 0:e5b9c99f23f2 | 232 | servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); |
| Nurbol | 0:e5b9c99f23f2 | 233 | if(counter2p < 0.5){ |
| Nurbol | 0:e5b9c99f23f2 | 234 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); |
| Nurbol | 0:e5b9c99f23f2 | 235 | } |
| Nurbol | 0:e5b9c99f23f2 | 236 | } |
| Nurbol | 0:e5b9c99f23f2 | 237 | } |
| Nurbol | 0:e5b9c99f23f2 | 238 | |
| Nurbol | 0:e5b9c99f23f2 | 239 | //function to move servo when we have counter2p equal to 5 |
| Nurbol | 0:e5b9c99f23f2 | 240 | void counter2(){ |
| Nurbol | 0:e5b9c99f23f2 | 241 | if(counter2p > 0.5){ |
| Nurbol | 0:e5b9c99f23f2 | 242 | led4 = 1; |
| Nurbol | 0:e5b9c99f23f2 | 243 | servo_4.pulsewidth_us(0); |
| Nurbol | 0:e5b9c99f23f2 | 244 | wait(1); |
| Nurbol | 0:e5b9c99f23f2 | 245 | servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); |
| Nurbol | 0:e5b9c99f23f2 | 246 | } |
| Nurbol | 0:e5b9c99f23f2 | 247 | else{ |
| Nurbol | 0:e5b9c99f23f2 | 248 | led4 = 0; |
| Nurbol | 0:e5b9c99f23f2 | 249 | servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); |
| Nurbol | 0:e5b9c99f23f2 | 250 | if(counter1p < 0.5){ |
| Nurbol | 0:e5b9c99f23f2 | 251 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); |
| Nurbol | 0:e5b9c99f23f2 | 252 | } |
| Nurbol | 0:e5b9c99f23f2 | 253 | } |
| Nurbol | 0:e5b9c99f23f2 | 254 | } |
| Nurbol | 0:e5b9c99f23f2 | 255 | |
| Nurbol | 0:e5b9c99f23f2 | 256 | |
| Nurbol | 0:e5b9c99f23f2 | 257 | |
| Nurbol | 0:e5b9c99f23f2 | 258 | |
| Nurbol | 0:e5b9c99f23f2 | 259 | //************************************************************************ |
| Nurbol | 0:e5b9c99f23f2 | 260 | // |
| Nurbol | 0:e5b9c99f23f2 | 261 | int main() { |
| Nurbol | 0:e5b9c99f23f2 | 262 | |
| Nurbol | 0:e5b9c99f23f2 | 263 | valueLED1=0; |
| Nurbol | 0:e5b9c99f23f2 | 264 | valueLED2=0; |
| Nurbol | 0:e5b9c99f23f2 | 265 | clk=0; |
| Nurbol | 0:e5b9c99f23f2 | 266 | init_sys(); |
| Nurbol | 0:e5b9c99f23f2 | 267 | |
| Nurbol | 0:e5b9c99f23f2 | 268 | FOREVER { |
| Nurbol | 0:e5b9c99f23f2 | 269 | |
| Nurbol | 0:e5b9c99f23f2 | 270 | timer2p.attach(&sensor2p, 0.1); //function sensor2p is reading all the 0.1 ms |
| Nurbol | 0:e5b9c99f23f2 | 271 | timer1p.attach(&sensor1p, 0.1); //function sensor1p is reading all the 0.1 ms |
| Nurbol | 0:e5b9c99f23f2 | 272 | timercounter2p.attach(&counter2, 0.1); //function counter2 is reading all the 0.1 ms |
| Nurbol | 0:e5b9c99f23f2 | 273 | timercounter1p.attach(&counter1, 0.1); //function counter1 is reading all the 0.1 ms |
| Nurbol | 0:e5b9c99f23f2 | 274 | |
| Nurbol | 0:e5b9c99f23f2 | 275 | clk = !clk; |
| Nurbol | 0:e5b9c99f23f2 | 276 | wait(0.01); |
| Nurbol | 0:e5b9c99f23f2 | 277 | |
| Nurbol | 0:e5b9c99f23f2 | 278 | get_cmd(&ext_cmd); |
| Nurbol | 0:e5b9c99f23f2 | 279 | // |
| Nurbol | 0:e5b9c99f23f2 | 280 | // Check status of read command activity and return an error status if there was a problem |
| Nurbol | 0:e5b9c99f23f2 | 281 | // If there is a problem, then return status code only and wait for next command. |
| Nurbol | 0:e5b9c99f23f2 | 282 | // |
| Nurbol | 0:e5b9c99f23f2 | 283 | if (ext_cmd.result_status != OK){ |
| Nurbol | 0:e5b9c99f23f2 | 284 | send_status(ext_cmd.result_status); |
| Nurbol | 0:e5b9c99f23f2 | 285 | continue; |
| Nurbol | 0:e5b9c99f23f2 | 286 | } |
| Nurbol | 0:e5b9c99f23f2 | 287 | // |
| Nurbol | 0:e5b9c99f23f2 | 288 | // Parse command and return an error staus if there is a problem |
| Nurbol | 0:e5b9c99f23f2 | 289 | // If there is a problem, then return status code only and wait for next command. |
| Nurbol | 0:e5b9c99f23f2 | 290 | // |
| Nurbol | 0:e5b9c99f23f2 | 291 | parse_cmd(&ext_cmd); |
| Nurbol | 0:e5b9c99f23f2 | 292 | lcd->locate(1,0); lcd->printf(ext_cmd.cmd_str); |
| Nurbol | 0:e5b9c99f23f2 | 293 | if ((ext_cmd.result_status != OK) && (ext_cmd.cmd_code != TEXT_CMD)){ |
| Nurbol | 0:e5b9c99f23f2 | 294 | lcd->locate(1,0); lcd->printf("parse : error"); |
| Nurbol | 0:e5b9c99f23f2 | 295 | send_status(ext_cmd.result_status); |
| Nurbol | 0:e5b9c99f23f2 | 296 | continue; |
| Nurbol | 0:e5b9c99f23f2 | 297 | } |
| Nurbol | 0:e5b9c99f23f2 | 298 | // |
| Nurbol | 0:e5b9c99f23f2 | 299 | // Execute command and return an error staus if there is a problem |
| Nurbol | 0:e5b9c99f23f2 | 300 | // |
| Nurbol | 0:e5b9c99f23f2 | 301 | process_cmd(&ext_cmd); |
| Nurbol | 0:e5b9c99f23f2 | 302 | reply_to_cmd(&ext_cmd); |
| Nurbol | 0:e5b9c99f23f2 | 303 | |
| Nurbol | 0:e5b9c99f23f2 | 304 | |
| Nurbol | 0:e5b9c99f23f2 | 305 | |
| Nurbol | 0:e5b9c99f23f2 | 306 | } |
| Nurbol | 0:e5b9c99f23f2 | 307 | |
| Nurbol | 0:e5b9c99f23f2 | 308 | } |
| Nurbol | 0:e5b9c99f23f2 | 309 | |
| Nurbol | 0:e5b9c99f23f2 | 310 | |
| Nurbol | 0:e5b9c99f23f2 | 311 | |
| Nurbol | 0:e5b9c99f23f2 | 312 | |
| Nurbol | 0:e5b9c99f23f2 | 313 | |
| Nurbol | 0:e5b9c99f23f2 | 314 | |
| Nurbol | 0:e5b9c99f23f2 | 315 | |
| Nurbol | 0:e5b9c99f23f2 | 316 | |
| Nurbol | 0:e5b9c99f23f2 | 317 |