J L
/
ringBuffer26a
ringBuffer26a
MotorControl.h
- Committer:
- Picmon
- Date:
- 2020-03-20
- Revision:
- 0:333434a8611b
- Child:
- 1:0cb065f9d55a
File content as of revision 0:333434a8611b:
#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