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SMART CLEO Uart step
Revision 0:f8b276414790, committed 2017-09-28
- Comitter:
- SMART_CLEO
- Date:
- Thu Sep 28 03:41:04 2017 +0000
- Commit message:
- SMART_CLEO
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed-os.lib | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Sep 28 03:41:04 2017 +0000
@@ -0,0 +1,120 @@
+#include "mbed.h"
+
+struct UART_buf
+{
+ uint8_t STA;
+ uint8_t MODE;
+ uint8_t CMD;
+ uint8_t LEN;
+ uint8_t DATA[32];
+ uint8_t END;
+};
+
+// 1A, 1B, 2A, 2B
+PinName pin_STEP[4] = {PA_5, PA_6, PA_7, PA_8};
+
+BusOut Step(pin_STEP[0], pin_STEP[1], pin_STEP[2], pin_STEP[3]);
+
+uint8_t Phase_2[4] = {0x03, 0x06, 0x0C, 0x09};
+
+Serial SerialUART(PA_2, PA_3);
+
+UART_buf RX_BUF;
+
+enum{STOP, CW, CCW};
+
+void SerialUARTRX_ISR(void);
+
+uint8_t Step_flag = STOP;
+
+int main() {
+
+ int step_count = 0;
+ SerialUART.baud(115200);
+
+ SerialUART.attach(&SerialUARTRX_ISR);
+
+ while(1)
+ {
+ if(Step_flag == STOP)
+ {
+ Step = 0;
+ }
+ else if(Step_flag == CW)
+ {
+ Step = Phase_2[step_count++];
+
+ if(step_count > 3)
+ {
+ step_count = 0;
+ }
+ }
+ else
+ {
+ Step = Phase_2[step_count--];
+
+ if(step_count < 0)
+ {
+ step_count = 3;
+ }
+ }
+ wait(0.01);
+ }
+}
+
+void SerialUARTRX_ISR(void)
+{
+ static uint8_t RX_count = 0, RX_Len = 32, RX_Status = 0;
+ uint8_t rx_da = SerialUART.getc();
+ switch(RX_Status)
+ {
+ case 0:
+ if(rx_da == 0x76)
+ {
+ RX_BUF.STA = rx_da;
+ RX_Status++;
+ }
+ break;
+ case 1:
+ RX_BUF.MODE = rx_da;
+ RX_Status++;
+ break;
+ case 2:
+ RX_BUF.CMD = rx_da;
+ RX_Status++;
+ break;
+ case 3:
+ RX_BUF.LEN = rx_da;
+ RX_Len = RX_BUF.LEN;
+ RX_Status++;
+ if(RX_Len == 0)
+ RX_Status++;
+ break;
+ case 4:
+ RX_BUF.DATA[RX_count] = rx_da;
+ RX_count++;
+ if(RX_count == RX_Len)
+ {
+ RX_Status++;
+ RX_count = 0;
+ RX_Len = 32;
+ }
+ break;
+ case 5:
+ if(rx_da == 0x3E)
+ {
+ RX_BUF.END = rx_da;
+ RX_Status = 0;
+ switch(RX_BUF.MODE)
+ {
+ case 0x01:
+ if(RX_BUF.CMD == 0x14)
+ {
+ Step_flag = RX_BUF.DATA[0];
+ }
+ break;
+ }
+ }
+ break;
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Thu Sep 28 03:41:04 2017 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#ca661f9d28526ca8f874b05432493a489c9671ea