Weber Yang / Mbed 2 deprecated RS485_DetaSevro

send RS485 for testing Delta Sevro

Dependencies:   mbed

Fork of RS4851121R by albatross

main.cpp@3:48b96c8c25fa, 2018-04-13 (annotated)

Committer:
WeberYang
Date:
Fri Apr 13 06:55:06 2018 +0000
Branch:
RS485_DeltaSevro
Revision:
3:48b96c8c25fa
Parent:
2:bbb217e1219e
Child:
6:ec210c04bec9
send data to sevro and get.; Then print data to pc

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YusukeWakuta 0:c963f91bdd23 1 //相互通信確認用
YusukeWakuta 0:c963f91bdd23 2 #include "mbed.h"
YusukeWakuta 0:c963f91bdd23 3 #define BUFFER 30
YusukeWakuta 0:c963f91bdd23 4
WeberYang 2:bbb217e1219e 5 Serial rs485(PA_9,PA_10);//,115200);//(p9,p10);
YusukeWakuta 0:c963f91bdd23 6 Serial pc(USBTX,USBRX);
WeberYang 2:bbb217e1219e 7 DigitalOut Receiver(D7);//(p5);
WeberYang 3:48b96c8c25fa 8
WeberYang 3:48b96c8c25fa 9 unsigned int CRC_Verify(unsigned char *cBuffer, unsigned int iBufLen);
WeberYang 3:48b96c8c25fa 10 void setAddress(char MotorAddress,int16_t DataAddress,int16_t Data);
WeberYang 3:48b96c8c25fa 11
WeberYang 2:bbb217e1219e 12 #define LENG 31 //0x42 + 31 bytes equal to 32 bytes
WeberYang 2:bbb217e1219e 13 unsigned char buf[LENG];
WeberYang 2:bbb217e1219e 14 //attributes - program variables
WeberYang 2:bbb217e1219e 15 char stringOverSerialBuffer[41]; // buffer to store received string over pc
WeberYang 2:bbb217e1219e 16 int newCommandFlag = 0; // flag for ISR
YusukeWakuta 0:c963f91bdd23 17
WeberYang 2:bbb217e1219e 18 char data[BUFFER];
YusukeWakuta 0:c963f91bdd23 19 int num1,num2;
WeberYang 2:bbb217e1219e 20 int idx;
WeberYang 2:bbb217e1219e 21 bool flagrec = false;
WeberYang 3:48b96c8c25fa 22
WeberYang 3:48b96c8c25fa 23 unsigned int CRC_Verify(unsigned char *cBuffer, unsigned int iBufLen)
WeberYang 3:48b96c8c25fa 24 {
WeberYang 3:48b96c8c25fa 25 unsigned int i, j;
WeberYang 3:48b96c8c25fa 26 //#define wPolynom 0xA001
WeberYang 3:48b96c8c25fa 27 unsigned int wCrc = 0xffff;
WeberYang 3:48b96c8c25fa 28 unsigned int wPolynom = 0xA001;
WeberYang 3:48b96c8c25fa 29 /*---------------------------------------------------------------------------------*/
WeberYang 3:48b96c8c25fa 30 for (i = 0; i < iBufLen; i++)
WeberYang 3:48b96c8c25fa 31 {
WeberYang 3:48b96c8c25fa 32 wCrc ^= cBuffer[i];
WeberYang 3:48b96c8c25fa 33 for (j = 0; j < 8; j++)
WeberYang 3:48b96c8c25fa 34 {
WeberYang 3:48b96c8c25fa 35 if (wCrc &0x0001)
WeberYang 3:48b96c8c25fa 36 {
WeberYang 3:48b96c8c25fa 37 wCrc = (wCrc >> 1) ^ wPolynom;
WeberYang 3:48b96c8c25fa 38 }
WeberYang 3:48b96c8c25fa 39 else
WeberYang 3:48b96c8c25fa 40 {
WeberYang 3:48b96c8c25fa 41 wCrc = wCrc >> 1;
WeberYang 3:48b96c8c25fa 42 }
WeberYang 3:48b96c8c25fa 43 }
WeberYang 3:48b96c8c25fa 44 }
WeberYang 3:48b96c8c25fa 45 return wCrc;
WeberYang 3:48b96c8c25fa 46 }
WeberYang 2:bbb217e1219e 47 void pc_rx(){
WeberYang 2:bbb217e1219e 48 //pc.putc(rs485.getc());
WeberYang 2:bbb217e1219e 49 int index = 0;
WeberYang 2:bbb217e1219e 50
WeberYang 2:bbb217e1219e 51 Receiver = 0;
WeberYang 2:bbb217e1219e 52 // while(rs485.readable() || (rx != '\n')) {
WeberYang 2:bbb217e1219e 53 // while(flagrec) {
WeberYang 2:bbb217e1219e 54 num1 = rs485.readable();
WeberYang 2:bbb217e1219e 55 for(idx= 0; rs485.readable(); idx++)
WeberYang 2:bbb217e1219e 56 {
WeberYang 2:bbb217e1219e 57 data[idx]= rs485.getc();
WeberYang 2:bbb217e1219e 58
WeberYang 2:bbb217e1219e 59 }
WeberYang 2:bbb217e1219e 60
WeberYang 2:bbb217e1219e 61 data[++idx]= '\0';
WeberYang 2:bbb217e1219e 62 for(idx= 0; data[idx] != '\0'; idx++)
WeberYang 2:bbb217e1219e 63 pc.putc(data[idx]);
WeberYang 2:bbb217e1219e 64 flagrec = true;
WeberYang 2:bbb217e1219e 65 // }
WeberYang 2:bbb217e1219e 66 // pc.printf("finish!");
YusukeWakuta 0:c963f91bdd23 67
taurin 1:41cb97261876 68 }
WeberYang 3:48b96c8c25fa 69 void setAddress(char MotorAddress,int16_t DataAddress,int16_t Data)
WeberYang 3:48b96c8c25fa 70 {
WeberYang 3:48b96c8c25fa 71 unsigned char sendData[8];
WeberYang 3:48b96c8c25fa 72 int16_t tmpCRC;
WeberYang 3:48b96c8c25fa 73 //char MotorAddress;
WeberYang 3:48b96c8c25fa 74 char Function;
WeberYang 3:48b96c8c25fa 75 //int DataAddress,Data;
WeberYang 3:48b96c8c25fa 76 char DataAddressH,DataAddressL;
WeberYang 3:48b96c8c25fa 77 char dataH,dataL;
WeberYang 3:48b96c8c25fa 78 int i;
WeberYang 3:48b96c8c25fa 79 sendData[6] = 0xff;
WeberYang 3:48b96c8c25fa 80 sendData[7] = 0xff;
WeberYang 3:48b96c8c25fa 81
WeberYang 3:48b96c8c25fa 82 //MotorAddress = address;
WeberYang 3:48b96c8c25fa 83 Function = 0x06;
WeberYang 3:48b96c8c25fa 84 //DataAddress = data;
WeberYang 3:48b96c8c25fa 85 //Data = 0x0001;
WeberYang 3:48b96c8c25fa 86 DataAddressH = ((DataAddress>>8)&0xFF);
WeberYang 3:48b96c8c25fa 87 DataAddressL = ((DataAddress>>0)&0xFF);
WeberYang 3:48b96c8c25fa 88 dataH = ((Data>>8)&0xFF);
WeberYang 3:48b96c8c25fa 89 dataL = ((Data>>0)&0xFF);
WeberYang 3:48b96c8c25fa 90
WeberYang 3:48b96c8c25fa 91 sendData[0] = 0x01;//MotorAddress;
WeberYang 3:48b96c8c25fa 92 sendData[1] = 0x03;//Function;
WeberYang 3:48b96c8c25fa 93 sendData[2] = 0x02;//DataAddressH;
WeberYang 3:48b96c8c25fa 94 sendData[3] = 0;//DataAddressL;
WeberYang 3:48b96c8c25fa 95 sendData[4] = 0;//dataH;
WeberYang 3:48b96c8c25fa 96 sendData[5] = 2;//dataL;
WeberYang 3:48b96c8c25fa 97 tmpCRC = CRC_Verify(sendData, 6);
WeberYang 3:48b96c8c25fa 98 sendData[6] = (tmpCRC & 0xFF);
WeberYang 3:48b96c8c25fa 99 sendData[7] = (tmpCRC>>8);
WeberYang 3:48b96c8c25fa 100 Receiver = 1;
WeberYang 3:48b96c8c25fa 101 wait_ms(1);
WeberYang 3:48b96c8c25fa 102 for (i=0;i<8;i++)
WeberYang 3:48b96c8c25fa 103 {
WeberYang 3:48b96c8c25fa 104 rs485.printf("%c",sendData[i]);
WeberYang 3:48b96c8c25fa 105 }
WeberYang 3:48b96c8c25fa 106 wait_ms(1);
WeberYang 3:48b96c8c25fa 107 Receiver = 0;
WeberYang 3:48b96c8c25fa 108 //RS485.attach(&onInterrupt,Serial::RxIrq);
WeberYang 3:48b96c8c25fa 109 //===========================================
WeberYang 3:48b96c8c25fa 110 }
YusukeWakuta 0:c963f91bdd23 111 int main()
YusukeWakuta 0:c963f91bdd23 112 {
WeberYang 2:bbb217e1219e 113 rs485.baud(115200);
WeberYang 2:bbb217e1219e 114 pc.baud(115200);
WeberYang 3:48b96c8c25fa 115
taurin 1:41cb97261876 116 Receiver=0;
WeberYang 2:bbb217e1219e 117 rs485.attach(pc_rx, Serial::RxIrq);
WeberYang 2:bbb217e1219e 118 while(1)
WeberYang 2:bbb217e1219e 119 {
WeberYang 2:bbb217e1219e 120 // pc.printf("test");
WeberYang 3:48b96c8c25fa 121
WeberYang 3:48b96c8c25fa 122 setAddress(1,0x0214,0x0001);
WeberYang 3:48b96c8c25fa 123
WeberYang 3:48b96c8c25fa 124
WeberYang 3:48b96c8c25fa 125 wait_ms(1);
WeberYang 3:48b96c8c25fa 126
WeberYang 3:48b96c8c25fa 127
WeberYang 3:48b96c8c25fa 128
WeberYang 3:48b96c8c25fa 129 }
YusukeWakuta 0:c963f91bdd23 130 }