Robert Labuz
/
mbed5b
mbed5b
main.cpp@0:d546b014a1e3, 2017-05-05 (annotated)
- Committer:
- Robsonik16
- Date:
- Fri May 05 20:00:16 2017 +0000
- Revision:
- 0:d546b014a1e3
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Robsonik16 | 0:d546b014a1e3 | 1 | #include "mbed.h" |
Robsonik16 | 0:d546b014a1e3 | 2 | //#include "servo.h" |
Robsonik16 | 0:d546b014a1e3 | 3 | //#include "command_decoder.h" |
Robsonik16 | 0:d546b014a1e3 | 4 | #include "led.h" |
Robsonik16 | 0:d546b014a1e3 | 5 | #include "serwo.h" |
Robsonik16 | 0:d546b014a1e3 | 6 | #include "command_decoder.h" |
Robsonik16 | 0:d546b014a1e3 | 7 | |
Robsonik16 | 0:d546b014a1e3 | 8 | |
Robsonik16 | 0:d546b014a1e3 | 9 | |
Robsonik16 | 0:d546b014a1e3 | 10 | //#define DETECTOR_bm (PA4) |
Robsonik16 | 0:d546b014a1e3 | 11 | |
Robsonik16 | 0:d546b014a1e3 | 12 | |
Robsonik16 | 0:d546b014a1e3 | 13 | //DigitalIn det(PA_5); |
Robsonik16 | 0:d546b014a1e3 | 14 | //Ticker serwoTim; |
Robsonik16 | 0:d546b014a1e3 | 15 | |
Robsonik16 | 0:d546b014a1e3 | 16 | |
Robsonik16 | 0:d546b014a1e3 | 17 | |
Robsonik16 | 0:d546b014a1e3 | 18 | |
Robsonik16 | 0:d546b014a1e3 | 19 | //************************************************************************/ |
Robsonik16 | 0:d546b014a1e3 | 20 | |
Robsonik16 | 0:d546b014a1e3 | 21 | /******************************************************************/ |
Robsonik16 | 0:d546b014a1e3 | 22 | //------------------------------------ |
Robsonik16 | 0:d546b014a1e3 | 23 | // Hyperterminal configuration |
Robsonik16 | 0:d546b014a1e3 | 24 | // 9600 bauds, 8-bit data, no parity |
Robsonik16 | 0:d546b014a1e3 | 25 | //------------------------------------ |
Robsonik16 | 0:d546b014a1e3 | 26 | |
Robsonik16 | 0:d546b014a1e3 | 27 | RawSerial pc(USBTX,USBRX,9600); |
Robsonik16 | 0:d546b014a1e3 | 28 | |
Robsonik16 | 0:d546b014a1e3 | 29 | DigitalOut led_green(LED1); |
Robsonik16 | 0:d546b014a1e3 | 30 | DigitalOut led_red(LED2); |
Robsonik16 | 0:d546b014a1e3 | 31 | |
Robsonik16 | 0:d546b014a1e3 | 32 | |
Robsonik16 | 0:d546b014a1e3 | 33 | |
Robsonik16 | 0:d546b014a1e3 | 34 | Timeout LedTimeout; |
Robsonik16 | 0:d546b014a1e3 | 35 | Ticker Sender; |
Robsonik16 | 0:d546b014a1e3 | 36 | |
Robsonik16 | 0:d546b014a1e3 | 37 | void LedOff() |
Robsonik16 | 0:d546b014a1e3 | 38 | { |
Robsonik16 | 0:d546b014a1e3 | 39 | led_red=0; |
Robsonik16 | 0:d546b014a1e3 | 40 | } |
Robsonik16 | 0:d546b014a1e3 | 41 | |
Robsonik16 | 0:d546b014a1e3 | 42 | int my_puts(char tab[],int size) |
Robsonik16 | 0:d546b014a1e3 | 43 | { |
Robsonik16 | 0:d546b014a1e3 | 44 | //retutn 0 if string is valid |
Robsonik16 | 0:d546b014a1e3 | 45 | bool StringIsValid=false; |
Robsonik16 | 0:d546b014a1e3 | 46 | for( int index=0; index<size; index++) { |
Robsonik16 | 0:d546b014a1e3 | 47 | if (tab[index]==NULL) { |
Robsonik16 | 0:d546b014a1e3 | 48 | StringIsValid = true; |
Robsonik16 | 0:d546b014a1e3 | 49 | break; |
Robsonik16 | 0:d546b014a1e3 | 50 | } |
Robsonik16 | 0:d546b014a1e3 | 51 | } |
Robsonik16 | 0:d546b014a1e3 | 52 | if(StringIsValid == false) { |
Robsonik16 | 0:d546b014a1e3 | 53 | LedTimeout.attach(&LedOff, 0.5); |
Robsonik16 | 0:d546b014a1e3 | 54 | led_red=1; |
Robsonik16 | 0:d546b014a1e3 | 55 | return(1); |
Robsonik16 | 0:d546b014a1e3 | 56 | } |
Robsonik16 | 0:d546b014a1e3 | 57 | |
Robsonik16 | 0:d546b014a1e3 | 58 | for( int index=0; index<size; index++) { |
Robsonik16 | 0:d546b014a1e3 | 59 | if (tab[index]==NULL) { |
Robsonik16 | 0:d546b014a1e3 | 60 | pc.putc('\r'); |
Robsonik16 | 0:d546b014a1e3 | 61 | while(!pc.writeable()); |
Robsonik16 | 0:d546b014a1e3 | 62 | pc.putc('\n'); |
Robsonik16 | 0:d546b014a1e3 | 63 | return(0); |
Robsonik16 | 0:d546b014a1e3 | 64 | } |
Robsonik16 | 0:d546b014a1e3 | 65 | while(!pc.writeable()); |
Robsonik16 | 0:d546b014a1e3 | 66 | pc.putc(tab[index]); |
Robsonik16 | 0:d546b014a1e3 | 67 | } |
Robsonik16 | 0:d546b014a1e3 | 68 | return(0); |
Robsonik16 | 0:d546b014a1e3 | 69 | } |
Robsonik16 | 0:d546b014a1e3 | 70 | |
Robsonik16 | 0:d546b014a1e3 | 71 | void hardbeatSend() |
Robsonik16 | 0:d546b014a1e3 | 72 | { |
Robsonik16 | 0:d546b014a1e3 | 73 | static int count=0; |
Robsonik16 | 0:d546b014a1e3 | 74 | char tekst[25]; |
Robsonik16 | 0:d546b014a1e3 | 75 | sprintf(tekst,"hardbeat number: %d \r\n", count ); |
Robsonik16 | 0:d546b014a1e3 | 76 | //pc.printf("This program runs since %d seconds.\r\n", i); |
Robsonik16 | 0:d546b014a1e3 | 77 | my_puts(tekst,22); |
Robsonik16 | 0:d546b014a1e3 | 78 | count++; |
Robsonik16 | 0:d546b014a1e3 | 79 | } |
Robsonik16 | 0:d546b014a1e3 | 80 | |
Robsonik16 | 0:d546b014a1e3 | 81 | char my_gets(char str[],int size) |
Robsonik16 | 0:d546b014a1e3 | 82 | { |
Robsonik16 | 0:d546b014a1e3 | 83 | if (!pc.readable())return (NULL); |
Robsonik16 | 0:d546b014a1e3 | 84 | char c; |
Robsonik16 | 0:d546b014a1e3 | 85 | for(int index=0; index <size; index++) { |
Robsonik16 | 0:d546b014a1e3 | 86 | c=pc.getc(); |
Robsonik16 | 0:d546b014a1e3 | 87 | pc.putc(c); |
Robsonik16 | 0:d546b014a1e3 | 88 | if ((c=='\r')||(c=='\n')) { |
Robsonik16 | 0:d546b014a1e3 | 89 | pc.putc('\r'); |
Robsonik16 | 0:d546b014a1e3 | 90 | pc.putc('\n'); |
Robsonik16 | 0:d546b014a1e3 | 91 | str[index]=NULL; |
Robsonik16 | 0:d546b014a1e3 | 92 | return (1); |
Robsonik16 | 0:d546b014a1e3 | 93 | } |
Robsonik16 | 0:d546b014a1e3 | 94 | str[index]=c; |
Robsonik16 | 0:d546b014a1e3 | 95 | } |
Robsonik16 | 0:d546b014a1e3 | 96 | LedTimeout.attach(&LedOff, 5); |
Robsonik16 | 0:d546b014a1e3 | 97 | led_red=1; |
Robsonik16 | 0:d546b014a1e3 | 98 | return (1); |
Robsonik16 | 0:d546b014a1e3 | 99 | } |
Robsonik16 | 0:d546b014a1e3 | 100 | |
Robsonik16 | 0:d546b014a1e3 | 101 | |
Robsonik16 | 0:d546b014a1e3 | 102 | |
Robsonik16 | 0:d546b014a1e3 | 103 | |
Robsonik16 | 0:d546b014a1e3 | 104 | |
Robsonik16 | 0:d546b014a1e3 | 105 | |
Robsonik16 | 0:d546b014a1e3 | 106 | int main (){ |
Robsonik16 | 0:d546b014a1e3 | 107 | |
Robsonik16 | 0:d546b014a1e3 | 108 | |
Robsonik16 | 0:d546b014a1e3 | 109 | unsigned int uiPreviusPos; |
Robsonik16 | 0:d546b014a1e3 | 110 | //ButtonInit(); |
Robsonik16 | 0:d546b014a1e3 | 111 | //Servo_Init(500); |
Robsonik16 | 0:d546b014a1e3 | 112 | char cOdebranyString[20]; |
Robsonik16 | 0:d546b014a1e3 | 113 | char init[] = "system start\r\n"; |
Robsonik16 | 0:d546b014a1e3 | 114 | const char tekstSize = 20; |
Robsonik16 | 0:d546b014a1e3 | 115 | my_puts(init,tekstSize); |
Robsonik16 | 0:d546b014a1e3 | 116 | char tekst5[20]; |
Robsonik16 | 0:d546b014a1e3 | 117 | |
Robsonik16 | 0:d546b014a1e3 | 118 | |
Robsonik16 | 0:d546b014a1e3 | 119 | int liczba=3; |
Robsonik16 | 0:d546b014a1e3 | 120 | char str[] = "ab234cid*(s349*(20kd"; |
Robsonik16 | 0:d546b014a1e3 | 121 | char str2[]="-0123456789"; |
Robsonik16 | 0:d546b014a1e3 | 122 | |
Robsonik16 | 0:d546b014a1e3 | 123 | |
Robsonik16 | 0:d546b014a1e3 | 124 | |
Robsonik16 | 0:d546b014a1e3 | 125 | |
Robsonik16 | 0:d546b014a1e3 | 126 | /* |
Robsonik16 | 0:d546b014a1e3 | 127 | sprintf(tekst5,"liczba: %d ", liczba ); |
Robsonik16 | 0:d546b014a1e3 | 128 | my_puts(tekst5,10); |
Robsonik16 | 0:d546b014a1e3 | 129 | my_puts(str+liczba,20); |
Robsonik16 | 0:d546b014a1e3 | 130 | //long strtol( const char * start, char ** end, int base ); |
Robsonik16 | 0:d546b014a1e3 | 131 | sprintf(tekst5,"caly string: %d ", atoi(str) ); |
Robsonik16 | 0:d546b014a1e3 | 132 | my_puts(tekst5,20); |
Robsonik16 | 0:d546b014a1e3 | 133 | */ |
Robsonik16 | 0:d546b014a1e3 | 134 | char * pZnak = strpbrk(str, str2); |
Robsonik16 | 0:d546b014a1e3 | 135 | my_puts(pZnak,20); |
Robsonik16 | 0:d546b014a1e3 | 136 | sprintf(tekst5,"string + li: %d ", atoi(pZnak) ); |
Robsonik16 | 0:d546b014a1e3 | 137 | my_puts(tekst5,20); |
Robsonik16 | 0:d546b014a1e3 | 138 | |
Robsonik16 | 0:d546b014a1e3 | 139 | |
Robsonik16 | 0:d546b014a1e3 | 140 | |
Robsonik16 | 0:d546b014a1e3 | 141 | |
Robsonik16 | 0:d546b014a1e3 | 142 | Servo_Init(100); |
Robsonik16 | 0:d546b014a1e3 | 143 | //Servo_Callib(); |
Robsonik16 | 0:d546b014a1e3 | 144 | |
Robsonik16 | 0:d546b014a1e3 | 145 | while(1){ |
Robsonik16 | 0:d546b014a1e3 | 146 | |
Robsonik16 | 0:d546b014a1e3 | 147 | |
Robsonik16 | 0:d546b014a1e3 | 148 | |
Robsonik16 | 0:d546b014a1e3 | 149 | if (my_gets(cOdebranyString,tekstSize)!=NULL) { |
Robsonik16 | 0:d546b014a1e3 | 150 | if(strstr( cOdebranyString, "callib" )){Servo_Callib();} |
Robsonik16 | 0:d546b014a1e3 | 151 | if(strstr( cOdebranyString, "id" )){my_puts("ID:0x1234",15);} |
Robsonik16 | 0:d546b014a1e3 | 152 | if(strstr( cOdebranyString, "goto" )){ |
Robsonik16 | 0:d546b014a1e3 | 153 | char * pZnak = strpbrk(cOdebranyString, str2); |
Robsonik16 | 0:d546b014a1e3 | 154 | uiPreviusPos = atoi(pZnak) ; |
Robsonik16 | 0:d546b014a1e3 | 155 | Servo_GoTo(uiPreviusPos); |
Robsonik16 | 0:d546b014a1e3 | 156 | my_puts(pZnak,20); |
Robsonik16 | 0:d546b014a1e3 | 157 | } |
Robsonik16 | 0:d546b014a1e3 | 158 | if(strstr( cOdebranyString, "step" )){ |
Robsonik16 | 0:d546b014a1e3 | 159 | char * pZnak = strpbrk(cOdebranyString, str2); |
Robsonik16 | 0:d546b014a1e3 | 160 | uiPreviusPos = uiPreviusPos+ atoi( pZnak ); |
Robsonik16 | 0:d546b014a1e3 | 161 | Servo_GoTo(uiPreviusPos); |
Robsonik16 | 0:d546b014a1e3 | 162 | my_puts(pZnak,20); |
Robsonik16 | 0:d546b014a1e3 | 163 | } |
Robsonik16 | 0:d546b014a1e3 | 164 | } |
Robsonik16 | 0:d546b014a1e3 | 165 | |
Robsonik16 | 0:d546b014a1e3 | 166 | |
Robsonik16 | 0:d546b014a1e3 | 167 | |
Robsonik16 | 0:d546b014a1e3 | 168 | /* |
Robsonik16 | 0:d546b014a1e3 | 169 | if (my_gets(cOdebranyString,tekstSize)!=NULL) { |
Robsonik16 | 0:d546b014a1e3 | 170 | //if(eReciever_GetStatus() == READY){ |
Robsonik16 | 0:d546b014a1e3 | 171 | |
Robsonik16 | 0:d546b014a1e3 | 172 | //Reciever_GetStringCopy( cOdebranyString ); |
Robsonik16 | 0:d546b014a1e3 | 173 | DecodeMsg( cOdebranyString ); |
Robsonik16 | 0:d546b014a1e3 | 174 | if ((ucTokenNr > 0) && (asToken[0].eType == KEYWORD)){ |
Robsonik16 | 0:d546b014a1e3 | 175 | switch (asToken[0].uValue.eKeyword){ |
Robsonik16 | 0:d546b014a1e3 | 176 | case CALLIB: |
Robsonik16 | 0:d546b014a1e3 | 177 | Servo_Callib(); |
Robsonik16 | 0:d546b014a1e3 | 178 | break; |
Robsonik16 | 0:d546b014a1e3 | 179 | case GOTO: |
Robsonik16 | 0:d546b014a1e3 | 180 | if (asToken[1].eType == NUMBER){ |
Robsonik16 | 0:d546b014a1e3 | 181 | Servo_GoTo(asToken[1].uValue.uiNumber); |
Robsonik16 | 0:d546b014a1e3 | 182 | uiPreviusPos = asToken[1].uValue.uiNumber; |
Robsonik16 | 0:d546b014a1e3 | 183 | } |
Robsonik16 | 0:d546b014a1e3 | 184 | break; |
Robsonik16 | 0:d546b014a1e3 | 185 | case STEP: |
Robsonik16 | 0:d546b014a1e3 | 186 | if (asToken[1].eType == NUMBER){ |
Robsonik16 | 0:d546b014a1e3 | 187 | Servo_GoTo(uiPreviusPos + asToken[1].uValue.uiNumber); |
Robsonik16 | 0:d546b014a1e3 | 188 | uiPreviusPos = uiPreviusPos + asToken[1].uValue.uiNumber; |
Robsonik16 | 0:d546b014a1e3 | 189 | } |
Robsonik16 | 0:d546b014a1e3 | 190 | break; |
Robsonik16 | 0:d546b014a1e3 | 191 | case ID: |
Robsonik16 | 0:d546b014a1e3 | 192 | my_puts("ID:0x1234",15); |
Robsonik16 | 0:d546b014a1e3 | 193 | break; |
Robsonik16 | 0:d546b014a1e3 | 194 | default: |
Robsonik16 | 0:d546b014a1e3 | 195 | break; |
Robsonik16 | 0:d546b014a1e3 | 196 | } |
Robsonik16 | 0:d546b014a1e3 | 197 | } |
Robsonik16 | 0:d546b014a1e3 | 198 | } |
Robsonik16 | 0:d546b014a1e3 | 199 | */ |
Robsonik16 | 0:d546b014a1e3 | 200 | } |
Robsonik16 | 0:d546b014a1e3 | 201 | } |
Robsonik16 | 0:d546b014a1e3 | 202 | |
Robsonik16 | 0:d546b014a1e3 | 203 | |
Robsonik16 | 0:d546b014a1e3 | 204 | |
Robsonik16 | 0:d546b014a1e3 | 205 | |
Robsonik16 | 0:d546b014a1e3 | 206 | |
Robsonik16 | 0:d546b014a1e3 | 207 | |
Robsonik16 | 0:d546b014a1e3 | 208 | |
Robsonik16 | 0:d546b014a1e3 | 209 | |
Robsonik16 | 0:d546b014a1e3 | 210 | /* |
Robsonik16 | 0:d546b014a1e3 | 211 | int main() |
Robsonik16 | 0:d546b014a1e3 | 212 | { |
Robsonik16 | 0:d546b014a1e3 | 213 | |
Robsonik16 | 0:d546b014a1e3 | 214 | |
Robsonik16 | 0:d546b014a1e3 | 215 | bool flag=false; |
Robsonik16 | 0:d546b014a1e3 | 216 | |
Robsonik16 | 0:d546b014a1e3 | 217 | const char tekstSize = 7; |
Robsonik16 | 0:d546b014a1e3 | 218 | char tekst[tekstSize]; |
Robsonik16 | 0:d546b014a1e3 | 219 | //my_puts("[2J",5);//clear console |
Robsonik16 | 0:d546b014a1e3 | 220 | //pc.putc('[2J'); |
Robsonik16 | 0:d546b014a1e3 | 221 | pc.putc(27); |
Robsonik16 | 0:d546b014a1e3 | 222 | char init[] = "system start\r\n"; |
Robsonik16 | 0:d546b014a1e3 | 223 | my_puts(init,tekstSize); |
Robsonik16 | 0:d546b014a1e3 | 224 | Sender.attach(&hardbeatSend,1); |
Robsonik16 | 0:d546b014a1e3 | 225 | |
Robsonik16 | 0:d546b014a1e3 | 226 | |
Robsonik16 | 0:d546b014a1e3 | 227 | |
Robsonik16 | 0:d546b014a1e3 | 228 | while(1) { |
Robsonik16 | 0:d546b014a1e3 | 229 | |
Robsonik16 | 0:d546b014a1e3 | 230 | |
Robsonik16 | 0:d546b014a1e3 | 231 | |
Robsonik16 | 0:d546b014a1e3 | 232 | if (my_gets(tekst,tekstSize)!=NULL) { |
Robsonik16 | 0:d546b014a1e3 | 233 | |
Robsonik16 | 0:d546b014a1e3 | 234 | my_puts(tekst,tekstSize); |
Robsonik16 | 0:d546b014a1e3 | 235 | if(strcmp(tekst,"on"))flag = true; |
Robsonik16 | 0:d546b014a1e3 | 236 | if(strcmp(tekst,"off"))flag = false; |
Robsonik16 | 0:d546b014a1e3 | 237 | if(strcmp(tekst,"toggle"))flag = !flag; |
Robsonik16 | 0:d546b014a1e3 | 238 | led_green =flag; |
Robsonik16 | 0:d546b014a1e3 | 239 | } |
Robsonik16 | 0:d546b014a1e3 | 240 | |
Robsonik16 | 0:d546b014a1e3 | 241 | } |
Robsonik16 | 0:d546b014a1e3 | 242 | } |
Robsonik16 | 0:d546b014a1e3 | 243 | */ |
Robsonik16 | 0:d546b014a1e3 | 244 |