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ringBuffer26
ringBuffer26
Diff: MotorControl.h
- Revision:
- 0:333434a8611b
- Child:
- 1:0cb065f9d55a
diff -r 000000000000 -r 333434a8611b MotorControl.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MotorControl.h Fri Mar 20 10:54:58 2020 +0000 @@ -0,0 +1,36 @@ +#ifndef MOTORCONTROL_H +#define MOTORCONTROL_H + +#include "mbed.h" +#include <string> + +#define DEBUG_MOTOR + +#define BUFFER_SIZE 32 +#define MESSAGE 20 + +#define REV_MAX_STEPS -2147483648 +#define FWD_MAX_STEPS 2147483648 +#define DEBUG + + +extern RawSerial mc_usart;// this will be USART6 for motor control +extern const string rxMsgTable[]; +extern char rxMsgStore[];//received local message store +extern char mc_Tx_Buffer[];//transmitted message buffer +extern volatile char mc_Rx_Buffer[];//received message buffer +extern volatile unsigned char mc_Rx_Rd_Ptr;//circulare buffer read pointer +extern volatile unsigned char mc_Rx_Wr_Ptr;//circulare buffer write pointer +extern unsigned int rx_int;//received integer / character + +//unsigned char i; +extern bool msgRecFlag;//message received flag + +void motMsg_RX_ISR(void); +bool getMotMsg(char * msgArray); +void motMsgDecode(unsigned int rxMsgTable[], unsigned int rxMsg[]);void clrRxMsg(char array[]); +bool moveMot(uint8_t par1, int32_t par2); + + + +#endif \ No newline at end of file