Reiko Randoja / Mbed 2 deprecated ut_bbr_2018

Firmware for UT Robotex 2018 basketball robot

Dependencies:   mbed USBDevice

RFManager/RFManager.cpp@4:81cb68f1bcbd, 2019-11-11 (annotated)

Committer:
Reiko
Date:
Mon Nov 11 19:19:43 2019 +0000
Revision:
4:81cb68f1bcbd
Parent:
0:ef6268629f0b 
Change default thrower (motor 3) pulsewidth_us from 800 to 100

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Reiko 0:ef6268629f0b 1 //#include <TARGET_LPC1768/cmsis.h>
Reiko 0:ef6268629f0b 2 #include "RFManager.h"
Reiko 0:ef6268629f0b 3
Reiko 0:ef6268629f0b 4 RFManager::RFManager(PinName txPinName, PinName rxPinName):
Reiko 0:ef6268629f0b 5 serial(txPinName, rxPinName), buf(64) {
Reiko 0:ef6268629f0b 6
Reiko 0:ef6268629f0b 7 messageAvailable = false;
Reiko 0:ef6268629f0b 8 receiveCounter = 0;
Reiko 0:ef6268629f0b 9 shortCommandsEnabled = false;
Reiko 0:ef6268629f0b 10 shortCommandLength = 5;
Reiko 0:ef6268629f0b 11 longCommandLength = 12;
Reiko 0:ef6268629f0b 12 commandLength = longCommandLength;
Reiko 0:ef6268629f0b 13
Reiko 0:ef6268629f0b 14 if (rxPinName == P2_1) {
Reiko 0:ef6268629f0b 15 serialId = 1;
Reiko 0:ef6268629f0b 16 } else if (rxPinName == P0_11) {
Reiko 0:ef6268629f0b 17 serialId = 2;
Reiko 0:ef6268629f0b 18 } else if (rxPinName == P0_1) {
Reiko 0:ef6268629f0b 19 serialId = 3;
Reiko 0:ef6268629f0b 20 } else {
Reiko 0:ef6268629f0b 21 serialId = 0;
Reiko 0:ef6268629f0b 22 }
Reiko 0:ef6268629f0b 23
Reiko 0:ef6268629f0b 24 serial.attach(this, &RFManager::rxHandler);
Reiko 0:ef6268629f0b 25 }
Reiko 0:ef6268629f0b 26
Reiko 0:ef6268629f0b 27 void RFManager::baud(int baudrate) {
Reiko 0:ef6268629f0b 28 serial.baud(baudrate);
Reiko 0:ef6268629f0b 29 }
Reiko 0:ef6268629f0b 30
Reiko 0:ef6268629f0b 31 void RFManager::rxHandler(void) {
Reiko 0:ef6268629f0b 32 // Interrupt does not work with RTOS when using standard functions (getc, putc)
Reiko 0:ef6268629f0b 33 // https://developer.mbed.org/forum/bugs-suggestions/topic/4217/
Reiko 0:ef6268629f0b 34
Reiko 0:ef6268629f0b 35 while (serial.readable()) {
Reiko 0:ef6268629f0b 36 char c = serialReadChar();
Reiko 0:ef6268629f0b 37
Reiko 0:ef6268629f0b 38 if (receiveCounter < commandLength) {
Reiko 0:ef6268629f0b 39 if (receiveCounter == 0) {
Reiko 0:ef6268629f0b 40 // Do not continue before a is received
Reiko 0:ef6268629f0b 41 if (c == 'a') {
Reiko 0:ef6268629f0b 42 receiveBuffer[receiveCounter] = c;
Reiko 0:ef6268629f0b 43 receiveCounter++;
Reiko 0:ef6268629f0b 44 }
Reiko 0:ef6268629f0b 45 } else if (c == 'a' && !shortCommandsEnabled
Reiko 0:ef6268629f0b 46 || c == 'a' && shortCommandsEnabled && (receiveCounter < commandLength - 1)
Reiko 0:ef6268629f0b 47 ) {
Reiko 0:ef6268629f0b 48 // If a is received in the middle, assume some bytes got lost before and start from beginning
Reiko 0:ef6268629f0b 49 receiveCounter = 0;
Reiko 0:ef6268629f0b 50
Reiko 0:ef6268629f0b 51 receiveBuffer[receiveCounter] = c;
Reiko 0:ef6268629f0b 52 receiveCounter++;
Reiko 0:ef6268629f0b 53 } else {
Reiko 0:ef6268629f0b 54 receiveBuffer[receiveCounter] = c;
Reiko 0:ef6268629f0b 55 receiveCounter++;
Reiko 0:ef6268629f0b 56 }
Reiko 0:ef6268629f0b 57
Reiko 0:ef6268629f0b 58 if (receiveCounter == commandLength) {
Reiko 0:ef6268629f0b 59 receiveCounter = 0;
Reiko 0:ef6268629f0b 60
Reiko 0:ef6268629f0b 61 for (unsigned int i = 0; i < commandLength; i++) {
Reiko 0:ef6268629f0b 62 buf.queue(receiveBuffer[i]);
Reiko 0:ef6268629f0b 63 }
Reiko 0:ef6268629f0b 64
Reiko 0:ef6268629f0b 65 if (!messageAvailable) {
Reiko 0:ef6268629f0b 66 handleMessage();
Reiko 0:ef6268629f0b 67 //break;
Reiko 0:ef6268629f0b 68 }
Reiko 0:ef6268629f0b 69 }
Reiko 0:ef6268629f0b 70 }
Reiko 0:ef6268629f0b 71 }
Reiko 0:ef6268629f0b 72 }
Reiko 0:ef6268629f0b 73
Reiko 0:ef6268629f0b 74 bool RFManager::readable() {
Reiko 0:ef6268629f0b 75 return messageAvailable;
Reiko 0:ef6268629f0b 76 }
Reiko 0:ef6268629f0b 77
Reiko 0:ef6268629f0b 78 char *RFManager::read() {
Reiko 0:ef6268629f0b 79 messageAvailable = false;
Reiko 0:ef6268629f0b 80 return receivedMessage;
Reiko 0:ef6268629f0b 81 }
Reiko 0:ef6268629f0b 82
Reiko 0:ef6268629f0b 83 void RFManager::send(char *sendData) {
Reiko 0:ef6268629f0b 84 serialWrite(sendData, commandLength);
Reiko 0:ef6268629f0b 85 }
Reiko 0:ef6268629f0b 86
Reiko 0:ef6268629f0b 87 void RFManager::send(char *sendData, int length) {
Reiko 0:ef6268629f0b 88 serialWrite(sendData, length);
Reiko 0:ef6268629f0b 89 }
Reiko 0:ef6268629f0b 90
Reiko 0:ef6268629f0b 91 void RFManager::update() {
Reiko 0:ef6268629f0b 92 /*if (receiveCounter == commandLength) {
Reiko 0:ef6268629f0b 93 handleMessage();
Reiko 0:ef6268629f0b 94 _callback.call();
Reiko 0:ef6268629f0b 95 }*/
Reiko 0:ef6268629f0b 96
Reiko 0:ef6268629f0b 97 if (buf.available() >= commandLength) {
Reiko 0:ef6268629f0b 98 handleMessage();
Reiko 0:ef6268629f0b 99 }
Reiko 0:ef6268629f0b 100 }
Reiko 0:ef6268629f0b 101
Reiko 0:ef6268629f0b 102 void RFManager::handleMessage() {
Reiko 0:ef6268629f0b 103 if (messageAvailable) {
Reiko 0:ef6268629f0b 104 return;
Reiko 0:ef6268629f0b 105 }
Reiko 0:ef6268629f0b 106
Reiko 0:ef6268629f0b 107 for (unsigned int i = 0; i < commandLength; i++) {
Reiko 0:ef6268629f0b 108 buf.dequeue(receivedMessage + i);
Reiko 0:ef6268629f0b 109 }
Reiko 0:ef6268629f0b 110
Reiko 0:ef6268629f0b 111 receivedMessage[commandLength] = '\0';
Reiko 0:ef6268629f0b 112
Reiko 0:ef6268629f0b 113 /*receiveCounter = 0;
Reiko 0:ef6268629f0b 114
Reiko 0:ef6268629f0b 115 memcpy(receivedMessage, receiveBuffer, sizeof(receiveBuffer));*/
Reiko 0:ef6268629f0b 116
Reiko 0:ef6268629f0b 117 messageAvailable = true;
Reiko 0:ef6268629f0b 118 }
Reiko 0:ef6268629f0b 119
Reiko 0:ef6268629f0b 120 void RFManager::serialWrite(char *sendData, int length) {
Reiko 0:ef6268629f0b 121 int i = 0;
Reiko 0:ef6268629f0b 122
Reiko 0:ef6268629f0b 123 while (i < length) {
Reiko 0:ef6268629f0b 124 if (serial.writeable()) {
Reiko 0:ef6268629f0b 125 serial.putc(sendData[i]);
Reiko 0:ef6268629f0b 126 }
Reiko 0:ef6268629f0b 127 i++;
Reiko 0:ef6268629f0b 128 }
Reiko 0:ef6268629f0b 129 }
Reiko 0:ef6268629f0b 130
Reiko 0:ef6268629f0b 131 char RFManager::serialReadChar() {
Reiko 0:ef6268629f0b 132 if (serialId == 1) {
Reiko 0:ef6268629f0b 133 return LPC_UART1->RBR;
Reiko 0:ef6268629f0b 134 }
Reiko 0:ef6268629f0b 135
Reiko 0:ef6268629f0b 136 if (serialId == 2) {
Reiko 0:ef6268629f0b 137 return LPC_UART2->RBR;
Reiko 0:ef6268629f0b 138 }
Reiko 0:ef6268629f0b 139
Reiko 0:ef6268629f0b 140 if (serialId == 3) {
Reiko 0:ef6268629f0b 141 return LPC_UART3->RBR;
Reiko 0:ef6268629f0b 142 }
Reiko 0:ef6268629f0b 143
Reiko 0:ef6268629f0b 144 return LPC_UART0->RBR;
Reiko 0:ef6268629f0b 145 }
Reiko 0:ef6268629f0b 146
Reiko 0:ef6268629f0b 147 void RFManager::setShortCommandMode(bool isEnabled) {
Reiko 0:ef6268629f0b 148 shortCommandsEnabled = isEnabled;
Reiko 0:ef6268629f0b 149 receiveCounter = 0;
Reiko 0:ef6268629f0b 150
Reiko 0:ef6268629f0b 151 if (isEnabled) {
Reiko 0:ef6268629f0b 152 commandLength = shortCommandLength;
Reiko 0:ef6268629f0b 153 } else {
Reiko 0:ef6268629f0b 154 commandLength = longCommandLength;
Reiko 0:ef6268629f0b 155 }
Reiko 0:ef6268629f0b 156 }