Tony YI
/
ESDC2014
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communication.h@0:3417ca0a36c0, 2014-07-01 (annotated)
- Committer:
- TonyYI
- Date:
- Tue Jul 01 10:59:33 2014 +0000
- Revision:
- 0:3417ca0a36c0
- Child:
- 1:cbec1283a16a
2014
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
TonyYI | 0:3417ca0a36c0 | 1 | /****************************************************** |
TonyYI | 0:3417ca0a36c0 | 2 | |
TonyYI | 0:3417ca0a36c0 | 3 | ****┏┓ ┏┓ |
TonyYI | 0:3417ca0a36c0 | 4 | **┏┛┻━━━━━━┛┻┓ |
TonyYI | 0:3417ca0a36c0 | 5 | **┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 6 | **┃ ━━━ ┃ |
TonyYI | 0:3417ca0a36c0 | 7 | **┃ ┳┛ ┗┳ ┃ |
TonyYI | 0:3417ca0a36c0 | 8 | **┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 9 | **┃ ''' ┻ ''' ┃ |
TonyYI | 0:3417ca0a36c0 | 10 | **┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 11 | **┗━━┓ ┏━━┛ |
TonyYI | 0:3417ca0a36c0 | 12 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 13 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 14 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 15 | *******┃ ┗━━━━━━━━┓ |
TonyYI | 0:3417ca0a36c0 | 16 | *******┃ ┃━┓ |
TonyYI | 0:3417ca0a36c0 | 17 | *******┃ NO BUG ┏━┛ |
TonyYI | 0:3417ca0a36c0 | 18 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 19 | *******┗━┓ ┓ ┏━┏━┓ ━┛ |
TonyYI | 0:3417ca0a36c0 | 20 | ***********┃ ┛ ┛ ┃ ┛ ┛ |
TonyYI | 0:3417ca0a36c0 | 21 | ***********┃ ┃ ┃ ┃ ┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 22 | ***********┗━┛━┛ ┗━┛━┛ |
TonyYI | 0:3417ca0a36c0 | 23 | |
TonyYI | 0:3417ca0a36c0 | 24 | This part is added by project ESDC2014 of CUHK team. |
TonyYI | 0:3417ca0a36c0 | 25 | All the code with this header are under GPL open source license. |
TonyYI | 0:3417ca0a36c0 | 26 | This program is running on Mbed Platform 'mbed LPC1768' avaliable in 'http://mbed.org'. |
TonyYI | 0:3417ca0a36c0 | 27 | **********************************************************/ |
TonyYI | 0:3417ca0a36c0 | 28 | |
TonyYI | 0:3417ca0a36c0 | 29 | /* |
TonyYI | 0:3417ca0a36c0 | 30 | The communication protocol is inside source/intel_board/lib/message.h |
TonyYI | 0:3417ca0a36c0 | 31 | */ |
TonyYI | 0:3417ca0a36c0 | 32 | #include "lifter.h" |
TonyYI | 0:3417ca0a36c0 | 33 | #include "camera_platform.h" |
TonyYI | 0:3417ca0a36c0 | 34 | #include "mbed.h" |
TonyYI | 0:3417ca0a36c0 | 35 | #include "compass.h" |
TonyYI | 0:3417ca0a36c0 | 36 | #include "buzzer.h" |
TonyYI | 0:3417ca0a36c0 | 37 | |
TonyYI | 0:3417ca0a36c0 | 38 | #ifndef _COMMUNICATION_H |
TonyYI | 0:3417ca0a36c0 | 39 | #define _COMMUNICATION_H |
TonyYI | 0:3417ca0a36c0 | 40 | |
TonyYI | 0:3417ca0a36c0 | 41 | #define BUFFER_SIZE 1024 |
TonyYI | 0:3417ca0a36c0 | 42 | #define STARTER 0x7e |
TonyYI | 0:3417ca0a36c0 | 43 | #define COMPASS_STARTER 0x7d |
TonyYI | 0:3417ca0a36c0 | 44 | |
TonyYI | 0:3417ca0a36c0 | 45 | #define DEBUG_ON 1 |
TonyYI | 0:3417ca0a36c0 | 46 | |
TonyYI | 0:3417ca0a36c0 | 47 | class Communication |
TonyYI | 0:3417ca0a36c0 | 48 | { |
TonyYI | 0:3417ca0a36c0 | 49 | public: |
TonyYI | 0:3417ca0a36c0 | 50 | Communication(MySerial* _DEBUG, MySerial *_IntelToMbed, MySerial *_MbedToArduino); |
TonyYI | 0:3417ca0a36c0 | 51 | ~Communication(); |
TonyYI | 0:3417ca0a36c0 | 52 | |
TonyYI | 0:3417ca0a36c0 | 53 | void putToBuffer(uint8_t _x, uint8_t communication_type); //0 is IntelToMbed, 1 is MbedTOArduino |
TonyYI | 0:3417ca0a36c0 | 54 | uint8_t getByte(uint8_t communication_type); //0 is IntelToMbed, 1 is MbedTOArduino |
TonyYI | 0:3417ca0a36c0 | 55 | uint16_t get2Bytes(uint8_t communication_type); //0 is IntelToMbed, 1 is MbedTOArduino |
TonyYI | 0:3417ca0a36c0 | 56 | void putByte(uint8_t _x, uint8_t _i); //_i = 0 is _DEBUG, _i = 1 is _IntelToMbed, _i = 2 is _MbedToArduino |
TonyYI | 0:3417ca0a36c0 | 57 | void put2Bytes(uint16_t _x, uint8_t _i); |
TonyYI | 0:3417ca0a36c0 | 58 | void parseMessage(); |
TonyYI | 0:3417ca0a36c0 | 59 | void forwardMessage(); //forward the message to the Arduino |
TonyYI | 0:3417ca0a36c0 | 60 | void ACK(Lifter* lifter, Camera_platform* camera_platform); //send ACK back to the intel board |
TonyYI | 0:3417ca0a36c0 | 61 | |
TonyYI | 0:3417ca0a36c0 | 62 | uint8_t getInfoOK(uint8_t communication_type); //0 is IntelToMbed, 1 is MbedTOArduino |
TonyYI | 0:3417ca0a36c0 | 63 | void resetInfoOK(uint8_t communication_type); //0 is IntelToMbed, 1 is MbedTOArduino |
TonyYI | 0:3417ca0a36c0 | 64 | uint16_t getMoveDis(); |
TonyYI | 0:3417ca0a36c0 | 65 | uint16_t getRotateDis(); |
TonyYI | 0:3417ca0a36c0 | 66 | uint8_t getMoveDir(); |
TonyYI | 0:3417ca0a36c0 | 67 | uint8_t getRotateDir(); |
TonyYI | 0:3417ca0a36c0 | 68 | |
TonyYI | 0:3417ca0a36c0 | 69 | unsigned short campass_degree; |
TonyYI | 0:3417ca0a36c0 | 70 | HMC5883L compass; |
TonyYI | 0:3417ca0a36c0 | 71 | private: |
TonyYI | 0:3417ca0a36c0 | 72 | void init(); |
TonyYI | 0:3417ca0a36c0 | 73 | uint8_t* buffer_IntelToMbed; |
TonyYI | 0:3417ca0a36c0 | 74 | uint8_t* buffer_MbedToArduino; |
TonyYI | 0:3417ca0a36c0 | 75 | uint16_t in_IntelToMbed; |
TonyYI | 0:3417ca0a36c0 | 76 | uint16_t out_IntelToMbed; |
TonyYI | 0:3417ca0a36c0 | 77 | uint16_t in_MbedToArduino; |
TonyYI | 0:3417ca0a36c0 | 78 | uint16_t out_MbedToArduino; |
TonyYI | 0:3417ca0a36c0 | 79 | uint8_t state_IntelToMbed; |
TonyYI | 0:3417ca0a36c0 | 80 | uint8_t state_MbedToArduino; |
TonyYI | 0:3417ca0a36c0 | 81 | uint8_t check_sum; |
TonyYI | 0:3417ca0a36c0 | 82 | uint8_t info_ok_IntelToMbed; //0 is not ok, 1 is car, 2 is lifter and 3 is camera platform |
TonyYI | 0:3417ca0a36c0 | 83 | uint8_t info_ok_MbedToArduino; //0 is not ok, 1 is ok |
TonyYI | 0:3417ca0a36c0 | 84 | |
TonyYI | 0:3417ca0a36c0 | 85 | uint8_t action_type; |
TonyYI | 0:3417ca0a36c0 | 86 | uint16_t move_dis; |
TonyYI | 0:3417ca0a36c0 | 87 | uint8_t move_dir; |
TonyYI | 0:3417ca0a36c0 | 88 | uint16_t rotate_dis; |
TonyYI | 0:3417ca0a36c0 | 89 | uint8_t rotate_dir; |
TonyYI | 0:3417ca0a36c0 | 90 | |
TonyYI | 0:3417ca0a36c0 | 91 | MySerial *_DEBUG; |
TonyYI | 0:3417ca0a36c0 | 92 | MySerial *_IntelToMbed; |
TonyYI | 0:3417ca0a36c0 | 93 | MySerial *_MbedToArduino; |
TonyYI | 0:3417ca0a36c0 | 94 | }; |
TonyYI | 0:3417ca0a36c0 | 95 | |
TonyYI | 0:3417ca0a36c0 | 96 | #endif |