Vanesa Lara Cruz / Mbed 2 deprecated serial-protocol-V2

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Dependencies:   mbed

Fork of 02_LAB_serial_protocol by ferney alberto beltran molina

main.cpp@17:a0b884f78802, 2017-10-19 (annotated)

Committer:
fabeltranm
Date:
Thu Oct 19 23:38:01 2017 +0000
Revision:
17:a0b884f78802
Parent:
14:124051c4524a
Child:
18:08bd68471535
line okey

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fabeltranm 10:d2bf51fdc68a 1
fabeltranm 10:d2bf51fdc68a 2
fabeltranm 10:d2bf51fdc68a 3 #include "draw.h"
fabeltranm 10:d2bf51fdc68a 4 #include "main.h"
fabeltranm 0:55d11eeb0faf 5 #include "mbed.h"
fabeltranm 0:55d11eeb0faf 6
fabeltranm 10:d2bf51fdc68a 7
fabeltranm 0:55d11eeb0faf 8 Serial command(USBTX, USBRX);
fabeltranm 10:d2bf51fdc68a 9
fabeltranm 0:55d11eeb0faf 10 #define DEBUG 1
fabeltranm 0:55d11eeb0faf 11
fabeltranm 10:d2bf51fdc68a 12 uint8_t buffer_cmd[BUFF_SIZE]={0,0,0,0};
fabeltranm 7:fab201aa45b7 13
fabeltranm 7:fab201aa45b7 14
fabeltranm 7:fab201aa45b7 15
fabeltranm 0:55d11eeb0faf 16
fabeltranm 10:d2bf51fdc68a 17 void print_num(uint8_t val) {
fabeltranm 10:d2bf51fdc68a 18 if (val <10)
fabeltranm 1:0bcd96e56022 19 command.putc(val+0x30);
fabeltranm 1:0bcd96e56022 20 else
fabeltranm 2:200a9507b696 21 command.putc(val-9+0x40);
fabeltranm 10:d2bf51fdc68a 22
fabeltranm 1:0bcd96e56022 23 }
fabeltranm 10:d2bf51fdc68a 24
fabeltranm 1:0bcd96e56022 25 void print_bin2hex (uint8_t val)
fabeltranm 1:0bcd96e56022 26 {
fabeltranm 1:0bcd96e56022 27 command.printf(" 0x");
fabeltranm 1:0bcd96e56022 28 print_num(val>>4);
fabeltranm 10:d2bf51fdc68a 29 print_num(val&0x0f);
fabeltranm 1:0bcd96e56022 30 }
fabeltranm 1:0bcd96e56022 31
fabeltranm 10:d2bf51fdc68a 32
fabeltranm 0:55d11eeb0faf 33 void Read_command()
fabeltranm 0:55d11eeb0faf 34 {
fabeltranm 10:d2bf51fdc68a 35 // TODO : TIMEOUT UART SERIAL
fabeltranm 0:55d11eeb0faf 36 for (uint8_t i=0; i<BUFF_SIZE;i++)
fabeltranm 10:d2bf51fdc68a 37 buffer_cmd[i]=command.getc();
fabeltranm 0:55d11eeb0faf 38 }
fabeltranm 0:55d11eeb0faf 39
fabeltranm 0:55d11eeb0faf 40 void echo_command()
fabeltranm 0:55d11eeb0faf 41 {
fabeltranm 0:55d11eeb0faf 42 for (uint8_t i=0; i<BUFF_SIZE;i++)
fabeltranm 10:d2bf51fdc68a 43 print_bin2hex(buffer_cmd[i]);
fabeltranm 0:55d11eeb0faf 44
fabeltranm 0:55d11eeb0faf 45 }
fabeltranm 0:55d11eeb0faf 46
fabeltranm 0:55d11eeb0faf 47
fabeltranm 10:d2bf51fdc68a 48 bool check_command()
fabeltranm 5:bf9591a365a4 49 {
fabeltranm 10:d2bf51fdc68a 50 if (buffer_cmd[BUFF_SIZE-1]== '>')
fabeltranm 10:d2bf51fdc68a 51 return 1;
fabeltranm 10:d2bf51fdc68a 52 return 0;
fabeltranm 10:d2bf51fdc68a 53 }
fabeltranm 10:d2bf51fdc68a 54
fabeltranm 10:d2bf51fdc68a 55
fabeltranm 10:d2bf51fdc68a 56 void command_led(){
fabeltranm 10:d2bf51fdc68a 57 uint16_t sec = buffer_cmd[TIME_LED_S1];
fabeltranm 10:d2bf51fdc68a 58 sec = (sec <<8) + buffer_cmd[TIME_LED_S0];
fabeltranm 10:d2bf51fdc68a 59 uint16_t msec = buffer_cmd[TIME_LED_mS1];
fabeltranm 10:d2bf51fdc68a 60 msec = (msec <<8) + buffer_cmd[TIME_LED_mS0];
fabeltranm 10:d2bf51fdc68a 61 #if DEBUG
fabeltranm 10:d2bf51fdc68a 62 command.printf("LED ON: %i segundos y %i milisegundos\n", sec, msec);
fabeltranm 10:d2bf51fdc68a 63 #endif
fabeltranm 10:d2bf51fdc68a 64 led_on(sec,msec);
fabeltranm 10:d2bf51fdc68a 65
fabeltranm 10:d2bf51fdc68a 66
fabeltranm 10:d2bf51fdc68a 67 }
fabeltranm 10:d2bf51fdc68a 68 void command_dot(){
fabeltranm 10:d2bf51fdc68a 69 uint8_t x=buffer_cmd[DOT_POS_X];
fabeltranm 10:d2bf51fdc68a 70 uint8_t y=buffer_cmd[DOT_POS_Y];
fabeltranm 10:d2bf51fdc68a 71
fabeltranm 10:d2bf51fdc68a 72 #if DEBUG
fabeltranm 10:d2bf51fdc68a 73 command.printf("draw dot: Coord X= %i y Coord Y = %i\n", x,y);
fabeltranm 9:3a8624147a4c 74 #endif
fabeltranm 10:d2bf51fdc68a 75 vertex2d(x,y);
fabeltranm 10:d2bf51fdc68a 76 draw();
fabeltranm 10:d2bf51fdc68a 77 nodraw();
fabeltranm 10:d2bf51fdc68a 78
fabeltranm 10:d2bf51fdc68a 79 }
fabeltranm 10:d2bf51fdc68a 80 void command_line(){
fabeltranm 10:d2bf51fdc68a 81 uint8_t xi=buffer_cmd[LINE_POS_Xi];
fabeltranm 10:d2bf51fdc68a 82 uint8_t xf=buffer_cmd[LINE_POS_Xf];
fabeltranm 10:d2bf51fdc68a 83 uint8_t yi=buffer_cmd[LINE_POS_Yi];
fabeltranm 10:d2bf51fdc68a 84 uint8_t yf=buffer_cmd[LINE_POS_Yf];
fabeltranm 10:d2bf51fdc68a 85
fabeltranm 10:d2bf51fdc68a 86 #if DEBUG
fabeltranm 12:b780833f517e 87 command.printf("draw line: ");
fabeltranm 12:b780833f517e 88 command.printf("Coord Xi= %i Coord Yi = %i Coord Xf= %i Coord Yf = %i\n", xi,yi,xf,yf);
fabeltranm 10:d2bf51fdc68a 89 #endif
fabeltranm 10:d2bf51fdc68a 90 line( xi, yi, xf, yf);
fabeltranm 17:a0b884f78802 91
fabeltranm 17:a0b884f78802 92
fabeltranm 17:a0b884f78802 93 }
fabeltranm 10:d2bf51fdc68a 94
fabeltranm 10:d2bf51fdc68a 95 void command_rectangle(){
fabeltranm 10:d2bf51fdc68a 96 uint8_t x=buffer_cmd[REC_POS_X];
fabeltranm 10:d2bf51fdc68a 97 uint8_t y=buffer_cmd[REC_POS_Y];
fabeltranm 10:d2bf51fdc68a 98 uint8_t width=buffer_cmd[REC_WIDTH];
fabeltranm 10:d2bf51fdc68a 99 uint8_t height=buffer_cmd[REC_HEIGHT ];
fabeltranm 10:d2bf51fdc68a 100
fabeltranm 10:d2bf51fdc68a 101 #if DEBUG
fabeltranm 10:d2bf51fdc68a 102 command.printf("draw rectangle: ");
fabeltranm 10:d2bf51fdc68a 103 command.printf("Coord X= %i Coord Y = %i width = %i height= %i\n", x,y,width,height);
fabeltranm 10:d2bf51fdc68a 104 #endif
fabeltranm 10:d2bf51fdc68a 105 rectangle( x, y, width, height);
fabeltranm 10:d2bf51fdc68a 106 }
fabeltranm 13:4226825e2060 107 void command_cicle(){
fabeltranm 13:4226825e2060 108 #if DEBUG
fabeltranm 13:4226825e2060 109 command.printf("draw cicle: ");
fabeltranm 13:4226825e2060 110 #endif
fabeltranm 13:4226825e2060 111 }
fabeltranm 14:124051c4524a 112 void command_home(){
fabeltranm 14:124051c4524a 113 #if DEBUG
fabeltranm 14:124051c4524a 114 command.printf("pos home ");
fabeltranm 14:124051c4524a 115 #endif
fabeltranm 14:124051c4524a 116 home();
fabeltranm 14:124051c4524a 117 }
fabeltranm 13:4226825e2060 118 void command_rstepservo(){
fabeltranm 13:4226825e2060 119 #if DEBUG
fabeltranm 13:4226825e2060 120 command.printf("config rstepservo: ");
fabeltranm 13:4226825e2060 121 #endif
fabeltranm 13:4226825e2060 122 }
fabeltranm 13:4226825e2060 123 void command_sstime(){
fabeltranm 13:4226825e2060 124 #if DEBUG
fabeltranm 13:4226825e2060 125 command.printf("config tiempo entre movimientos de los servos: ");
fabeltranm 13:4226825e2060 126 #endif
fabeltranm 14:124051c4524a 127 put_sstime(buffer_cmd[POS_1]);
fabeltranm 13:4226825e2060 128 }
fabeltranm 13:4226825e2060 129 void command_stop(){
fabeltranm 13:4226825e2060 130 #if DEBUG
fabeltranm 13:4226825e2060 131 command.printf("stop");
fabeltranm 13:4226825e2060 132 #endif
fabeltranm 13:4226825e2060 133 }
fabeltranm 13:4226825e2060 134 void command_pause(){
fabeltranm 13:4226825e2060 135 #if DEBUG
fabeltranm 13:4226825e2060 136 command.printf("picolo en pausa ");
fabeltranm 13:4226825e2060 137 #endif
fabeltranm 13:4226825e2060 138 }
fabeltranm 13:4226825e2060 139 void command_reanudar(){
fabeltranm 13:4226825e2060 140 #if DEBUG
fabeltranm 13:4226825e2060 141 command.printf("reanuda picolo ");
fabeltranm 13:4226825e2060 142 #endif
fabeltranm 13:4226825e2060 143 }
fabeltranm 13:4226825e2060 144 void command_stepmotor(){
fabeltranm 13:4226825e2060 145 #if DEBUG
fabeltranm 13:4226825e2060 146 command.printf("comando mover picolo: ");
fabeltranm 13:4226825e2060 147 #endif
fabeltranm 13:4226825e2060 148 }
fabeltranm 10:d2bf51fdc68a 149
fabeltranm 7:fab201aa45b7 150 void command_exe()
fabeltranm 7:fab201aa45b7 151 {
fabeltranm 9:3a8624147a4c 152 #if DEBUG
fabeltranm 10:d2bf51fdc68a 153 command.printf("Ejecutando comando: \n");
fabeltranm 7:fab201aa45b7 154 #endif
fabeltranm 10:d2bf51fdc68a 155
fabeltranm 10:d2bf51fdc68a 156 switch (buffer_cmd[COMM_N]){
fabeltranm 13:4226825e2060 157 case COMMAND_LED : command_led(); break;
fabeltranm 13:4226825e2060 158 case COMMAND_DOT : command_dot(); break;
fabeltranm 13:4226825e2060 159 case COMMAND_LINE: command_line(); break;
fabeltranm 13:4226825e2060 160 case COMMAND_RECTANGLE: command_rectangle(); break;
fabeltranm 13:4226825e2060 161 case COMMAND_CICLE: command_cicle(); break;
fabeltranm 14:124051c4524a 162 case COMMAND_HOME: command_home(); break;
fabeltranm 13:4226825e2060 163 case COMMAND_RSTEPSERVO: command_rstepservo(); break;
fabeltranm 13:4226825e2060 164 case COMMAND_SS_TIME: command_sstime(); break;
fabeltranm 13:4226825e2060 165 case COMMAND_STOP : command_stop(); break;
fabeltranm 13:4226825e2060 166 case COMMAND_PAUSA: command_pause(); break;
fabeltranm 13:4226825e2060 167 case COMMAND_REANUDAR: command_reanudar(); break;
fabeltranm 13:4226825e2060 168 case MOVER_STEPMOTOR: command_stepmotor(); break;
fabeltranm 10:d2bf51fdc68a 169 default:
fabeltranm 10:d2bf51fdc68a 170 #if DEBUG
fabeltranm 10:d2bf51fdc68a 171 command.printf("comando no encontrado\n");
fabeltranm 10:d2bf51fdc68a 172 #endif
fabeltranm 10:d2bf51fdc68a 173 }
fabeltranm 7:fab201aa45b7 174 }
fabeltranm 7:fab201aa45b7 175
fabeltranm 7:fab201aa45b7 176
fabeltranm 7:fab201aa45b7 177
fabeltranm 0:55d11eeb0faf 178 int main() {
fabeltranm 0:55d11eeb0faf 179 #if DEBUG
fabeltranm 0:55d11eeb0faf 180 command.printf("inicio con debug\n");
fabeltranm 0:55d11eeb0faf 181 #else
fabeltranm 0:55d11eeb0faf 182 command.printf("inicio sin debug\n");
fabeltranm 0:55d11eeb0faf 183 #endif
fabeltranm 0:55d11eeb0faf 184 uint8_t val;
fabeltranm 0:55d11eeb0faf 185 while(1){
fabeltranm 0:55d11eeb0faf 186 val=command.getc();
fabeltranm 0:55d11eeb0faf 187 if (val== '<'){
fabeltranm 0:55d11eeb0faf 188 Read_command();
fabeltranm 4:bcc2d1bebb95 189 if (check_command()){
fabeltranm 7:fab201aa45b7 190 command_exe();
fabeltranm 8:cd9b52716920 191 }else{
fabeltranm 6:cb6b868465c3 192 #if DEBUG
fabeltranm 8:cd9b52716920 193 command.printf("\n ERROR COMANDO -> ");
fabeltranm 8:cd9b52716920 194 echo_command();
fabeltranm 10:d2bf51fdc68a 195 command.printf("\n");
fabeltranm 6:cb6b868465c3 196 #endif
fabeltranm 8:cd9b52716920 197 }
fabeltranm 8:cd9b52716920 198 }else{
fabeltranm 8:cd9b52716920 199 #if DEBUG
fabeltranm 8:cd9b52716920 200 command.printf("error de inicio de trama: ");
fabeltranm 8:cd9b52716920 201 command.putc(val);
fabeltranm 8:cd9b52716920 202 #endif
fabeltranm 3:7c26d338e372 203 }
fabeltranm 3:7c26d338e372 204
fabeltranm 0:55d11eeb0faf 205 }
fabeltranm 0:55d11eeb0faf 206 }
fabeltranm 0:55d11eeb0faf 207