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ringBuffer26
ringBuffer26
MotorControl.h@0:333434a8611b, 2020-03-20 (annotated)
- Committer:
- Picmon
- Date:
- Fri Mar 20 10:54:58 2020 +0000
- Revision:
- 0:333434a8611b
- Child:
- 1:0cb065f9d55a
motor controller 200320A
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Picmon | 0:333434a8611b | 1 | #ifndef MOTORCONTROL_H |
Picmon | 0:333434a8611b | 2 | #define MOTORCONTROL_H |
Picmon | 0:333434a8611b | 3 | |
Picmon | 0:333434a8611b | 4 | #include "mbed.h" |
Picmon | 0:333434a8611b | 5 | #include <string> |
Picmon | 0:333434a8611b | 6 | |
Picmon | 0:333434a8611b | 7 | #define DEBUG_MOTOR |
Picmon | 0:333434a8611b | 8 | |
Picmon | 0:333434a8611b | 9 | #define BUFFER_SIZE 32 |
Picmon | 0:333434a8611b | 10 | #define MESSAGE 20 |
Picmon | 0:333434a8611b | 11 | |
Picmon | 0:333434a8611b | 12 | #define REV_MAX_STEPS -2147483648 |
Picmon | 0:333434a8611b | 13 | #define FWD_MAX_STEPS 2147483648 |
Picmon | 0:333434a8611b | 14 | #define DEBUG |
Picmon | 0:333434a8611b | 15 | |
Picmon | 0:333434a8611b | 16 | |
Picmon | 0:333434a8611b | 17 | extern RawSerial mc_usart;// this will be USART6 for motor control |
Picmon | 0:333434a8611b | 18 | extern const string rxMsgTable[]; |
Picmon | 0:333434a8611b | 19 | extern char rxMsgStore[];//received local message store |
Picmon | 0:333434a8611b | 20 | extern char mc_Tx_Buffer[];//transmitted message buffer |
Picmon | 0:333434a8611b | 21 | extern volatile char mc_Rx_Buffer[];//received message buffer |
Picmon | 0:333434a8611b | 22 | extern volatile unsigned char mc_Rx_Rd_Ptr;//circulare buffer read pointer |
Picmon | 0:333434a8611b | 23 | extern volatile unsigned char mc_Rx_Wr_Ptr;//circulare buffer write pointer |
Picmon | 0:333434a8611b | 24 | extern unsigned int rx_int;//received integer / character |
Picmon | 0:333434a8611b | 25 | |
Picmon | 0:333434a8611b | 26 | //unsigned char i; |
Picmon | 0:333434a8611b | 27 | extern bool msgRecFlag;//message received flag |
Picmon | 0:333434a8611b | 28 | |
Picmon | 0:333434a8611b | 29 | void motMsg_RX_ISR(void); |
Picmon | 0:333434a8611b | 30 | bool getMotMsg(char * msgArray); |
Picmon | 0:333434a8611b | 31 | void motMsgDecode(unsigned int rxMsgTable[], unsigned int rxMsg[]);void clrRxMsg(char array[]); |
Picmon | 0:333434a8611b | 32 | bool moveMot(uint8_t par1, int32_t par2); |
Picmon | 0:333434a8611b | 33 | |
Picmon | 0:333434a8611b | 34 | |
Picmon | 0:333434a8611b | 35 | |
Picmon | 0:333434a8611b | 36 | #endif |